CN210361336U - Synchronous telescopic arm and inspection robot thereof - Google Patents
Synchronous telescopic arm and inspection robot thereof Download PDFInfo
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- CN210361336U CN210361336U CN201921279505.0U CN201921279505U CN210361336U CN 210361336 U CN210361336 U CN 210361336U CN 201921279505 U CN201921279505 U CN 201921279505U CN 210361336 U CN210361336 U CN 210361336U
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Abstract
The utility model discloses a synchronous flexible arm and inspection robot thereof, this synchronous flexible arm include the frame and locate the drive arrangement in the frame, it is connected with first link assembly to rotate in the frame, first link assembly free end rotates and is connected with second link assembly, second link assembly free end rotates and is connected with the swing joint seat, the drive arrangement drive when first link assembly takes place to rotate for the frame, second link assembly for first link assembly rotates in step. The utility model discloses install the camera on swing joint seat during the use to make this flexible arm can carry the camera and pass the fence door and get into and shoot in the prison, can in time discover the unusual circumstances and the potential hidden danger in the prison, be favorable to further improving the safety supervision level of prison.
Description
Technical Field
The utility model relates to a robotechnology, concretely relates to synchronous flexible arm and inspection robot thereof.
Background
The patrol robot is used for replacing a person on duty in a prison to carry out night patrol in a prison room, checking the work and rest conditions and night activities of the person on duty, reducing the working pressure of the person on duty, reducing the danger of handling the prison and improving the safety supervision level of the prison. However, most of the prior patrol robots only carry out patrol shooting outside a prison room fence gate during patrol, and a camera of the patrol robots cannot extend into the prison room to carry out shooting, so that abnormal conditions and potential hidden dangers in the prison room cannot be effectively found.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at: the problem that a camera of an existing patrol robot is mostly only used for patrolling and shooting outside a prison room fence gate when patrolling and cannot stretch into the prison room to shoot is solved.
In order to realize the purpose, the utility model discloses a technical scheme be:
the utility model provides a synchronous telescopic boom, includes the frame and locates the drive arrangement in the frame, it is connected with first link assembly to rotate in the frame, first link assembly free end rotates and is connected with second link assembly, second link assembly free end rotates and is connected with the swing joint seat, the drive arrangement drive when first link assembly takes place to rotate for the frame, second link assembly for first link assembly rotates in step.
The utility model discloses a rotation is connected with first link assembly in the frame, it is connected with second link assembly to rotate at first link assembly free end, it is connected with the swing joint seat to rotate at second link assembly free end, when taking place to rotate for the frame through the first link assembly of drive arrangement drive, second link assembly rotates for first link assembly is synchronous, install the camera on the swing joint seat during use, thereby make this flexible arm can carry the camera and pass the fence door and get into and shoot in the prison, can in time discover the unusual situation and the potential hidden danger in the prison, be favorable to further improving the safety supervision level of prison.
As a preferable proposal of the utility model, the first connecting rod component comprises two first driving connecting rods and two first driven connecting rods, the first driving connecting rod is connected with a first intermediate gear, the second connecting rod component comprises two second driving connecting rods and two second driven connecting rods, the second driving connecting rod is connected with a second intermediate gear, the first intermediate gear is meshed with the second intermediate gear, the first driven connecting rod is hinged with the second driving connecting rod, the first driving connecting rod is hinged with the second driven connecting rod, and the two articulated shafts are also rotatably connected with a rotating shaft frame, the first driving connecting rod, the first driven connecting rod, the frame and the two articulated shafts form a parallelogram motion mechanism, the second driving connecting rod, the second driven connecting rod, the two articulated shafts and the movable connecting seat also form a parallelogram motion mechanism. By enabling the first driving connecting rod, the first driven connecting rod, the frame and the hinge shaft to form a parallelogram motion mechanism, and the second driving connecting rod, the second driven connecting rod, the hinge shaft and the movable connecting seat form another parallelogram motion mechanism, and the first driving connecting rod and the second driving connecting rod are mutually meshed through a first intermediate gear and a second intermediate gear to transmit motion, when the driving device drives the first connecting rod component to rotate relative to the frame, the second connecting rod component can synchronously rotate around the hinging shaft of the first connecting rod component, thereby realizing the extension and retraction of the telescopic arm, and after the two-stage parallelogram link mechanism is adopted, can be so that the camera be in the horizontality throughout stretching out and withdrawing the in-process, the condition of the room fence door of monitoring that can be better, the shooting every single move angle of regulation camera when being convenient for follow-up shooting again.
As the utility model discloses a preferred scheme, drive arrangement includes driving motor, even there is drive gear on the driving motor output shaft, even there is driven gear on the first initiative connecting rod, drive gear with driven gear meshes mutually. Through adopting driving motor to drive gear and rotate, and then drive driven gear and rotate to realize that two first initiative connecting rods rotate for the frame, adopt above-mentioned gear drive structure, make drive arrangement structure simple compacter, satisfy the robot application requirement.
As the utility model discloses an optimal scheme, the frame includes the curb plate that two parallel intervals set up two be provided with the connecting plate between the curb plate, the connecting plate encloses into with two blocks of curb plates and has concave type space. By designing the frame as above, the gear assembly is located in the concave space, and after the telescopic arm is retracted, the first connecting rod assembly and the second connecting rod assembly are also retracted into the concave space.
As the preferred scheme of the utility model, first initiative connecting rod with all be provided with the shrouding on the second initiative connecting rod both sides. After adopting above-mentioned scheme, the space that forms between two relative shroudings can be used for laying the control cable to the line is hidden in the realization.
As the preferred scheme of the utility model, first link assembly and second link assembly go up with articulated shaft matched with position is inlayed and is had oil bearing. Through setting up the oiliness bearing to reduce the frictional force when first link assembly and second link assembly rotate around the articulated shaft, rotate nimble difficult wearing and tearing.
As the utility model discloses an optimal scheme, be provided with the angle adjustment mechanism who is used for controlling the camera to shoot pitch angle on the swing joint seat. Through set up angle adjustment mechanism on swing joint seat for the camera can carry out the pitching motion for the horizontal plane when shooing, is favorable to expanding the shooting scope of camera.
As the utility model discloses an optimal scheme, angle adjustment mechanism is including locating the mounting panel on the swing joint seat and locating the slider on the mounting panel, still be equipped with the articulated seat that is used for articulated camera on the mounting panel, still be equipped with matched with lead screw motor and screw-nut on the mounting panel, screw-nut with the slider links to each other, it carries out pivoted push rod to still link to be used for promoting the camera around articulated seat on the slider. Through adopting lead screw motor and screw-nut to drive the slider motion to drive the push rod motion through the slider, thereby promote the camera and rotate around articulated seat, and then realize the camera and shoot the regulation of every single move angle, be favorable to enlarging the shooting scope of camera, and this angle adjustment mechanism principle is simple, implements easily and installs.
As the preferred scheme of the utility model, still be equipped with the limit switch who is used for controlling camera limit corner on the mounting panel. Through setting up limit switch, limit corner when can controlling the camera and shoot avoids the camera to exceed limit working range and takes place to damage.
The utility model also provides a tour robot, including above synchronous flexible arm. After the synchronous telescopic arm is adopted on the patrol robot, the robot can carry a camera through the telescopic arm to pass through a barrier door to enter a prison chamber for shooting when patrolling, abnormal conditions and potential hidden dangers in the prison chamber can be found in time, and the safety supervision level of the prison is improved.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the utility model discloses a rotate on the frame and be connected with first link assembly, rotate at first link assembly free end and be connected with second link assembly, rotate at second link assembly free end and be connected with the swing joint seat, when taking place to rotate through drive arrangement drive first link assembly for the frame, second link assembly rotates for first link assembly is synchronous, install the camera on the swing joint seat during the use, thereby make this telescopic boom can carry the camera and pass the fence door and get into the prison indoor and shoot, can discover in time the unusual circumstances and the potential hidden danger in the prison, be favorable to further improving the safety supervision level of prison;
2. the utility model forms a parallelogram motion mechanism by the first driving connecting rod, the first driven connecting rod, the frame and the hinge shaft, and the second driving connecting rod, the second driven connecting rod, the hinge shaft and the movable connecting seat form another parallelogram motion mechanism, and the first driving connecting rod and the second driving connecting rod are mutually meshed through a first intermediate gear and a second intermediate gear to transmit motion, when the driving device drives the first connecting rod component to rotate relative to the frame, the second connecting rod component can synchronously rotate around the hinging shaft of the first connecting rod component, thereby realizing the extension and retraction of the telescopic arm, and after the two-stage parallelogram link mechanism is adopted, the camera can be in a horizontal state all the time in the extending and retracting processes, the condition of a monitoring room barrier can be better adapted, and the shooting pitch angle of the camera can be conveniently adjusted in the subsequent shooting process;
3. the utility model discloses an adopt lead screw motor and screw-nut to drive the slider motion to drive the push rod motion through the slider, thereby promote the camera and rotate around articulated seat, and then realize the camera and shoot the regulation of pitch angle, be favorable to enlarging the shooting scope of camera, and this angle adjustment mechanism principle is simple, implements easily and installs.
Drawings
Fig. 1 is a perspective view of the synchronous telescopic boom of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a partially enlarged view of a portion a in fig. 2.
Fig. 4 is a partially enlarged view of fig. 2 at B.
Fig. 5 is a schematic view of a driving device.
FIG. 6 is a schematic view of the connection of the first link assembly to the second link assembly.
Fig. 7 is a schematic view of fig. 6 after being turned upside down.
FIG. 8 is a schematic view of the second link assembly connecting to the movable connecting base.
The labels in the figure are: 1-frame, 11-side plate, 12-connecting plate, 13-concave space, 2-driving device, 21-driving motor, 22-driving gear, 23-driven gear, 24-support, 3-first connecting rod component, 31-first driving connecting rod, 32-first driven connecting rod, 33-first intermediate gear, 4-rotating shaft frame, 5-second connecting rod component, 51-second driving connecting rod, 52-second driven connecting rod, 53-connecting block, 54-second intermediate gear, 6-movable connecting seat, 61-angle adjusting mechanism, 611-mounting plate, 612-slide block, 613-hinged seat, 614-screw motor, 615-screw nut, 616-push rod, 617-limit switch and 62-camera, 7-articulated shaft, 8-closing plate.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Example 1
The embodiment provides a synchronous telescopic arm;
as shown in fig. 1 to 8, the synchronous telescopic boom in this embodiment includes a frame 1 and a driving device 2 disposed on the frame 1, the frame 1 is rotatably connected with a first link assembly 3, a free end of the first link assembly 3 is rotatably connected with a second link assembly 5, a free end of the second link assembly 5 is rotatably connected with a movable connection base 6, and when the driving device 2 drives the first link assembly 3 to rotate relative to the frame 1, the second link assembly 5 rotates synchronously relative to the first link assembly 3.
The utility model discloses a rotation is connected with first link assembly in the frame, it is connected with second link assembly to rotate at first link assembly free end, it is connected with the swing joint seat to rotate at second link assembly free end, when taking place to rotate for the frame through the first link assembly of drive arrangement drive, second link assembly rotates for first link assembly is synchronous, install the camera on the swing joint seat during use, thereby make this flexible arm can carry the camera and pass the fence door and get into and shoot in the prison, can in time discover the unusual situation and the potential hidden danger in the prison, be favorable to further improving the safety supervision level of prison.
In this embodiment, the first link assembly 3 includes two first driving links 31 and two first driven links 32, the first driving link 31 is connected with a first intermediate gear 33, the second link assembly 5 includes two second driving links 51 and two second driven links 52, the second driving link 51 is connected with a second intermediate gear 54, the first intermediate gear 33 is engaged with the second intermediate gear 54, the first driven link 32 is hinged with the second driving link 51 through a hinge shaft 7, the first driving link 31 is hinged with the second driven link 52 through a connecting block 53 and a hinge shaft 7, and a pivot shaft frame 4 is further rotatably connected to the two hinge shafts 7, the first driving link 31, the first driven link 32, the frame 1 and the two hinge shafts 7 form a parallelogram motion mechanism, and the second driving links 51, 52, The second driven link 52, together with the two articulated shafts 7 and the movable connecting seat 6, also form a parallelogram kinematic mechanism. By enabling the first driving connecting rod, the first driven connecting rod, the frame and the hinge shaft to form a parallelogram motion mechanism, and the second driving connecting rod, the second driven connecting rod, the hinge shaft and the movable connecting seat form another parallelogram motion mechanism, and the first driving connecting rod and the second driving connecting rod are mutually meshed through a first intermediate gear and a second intermediate gear to transmit motion, when the driving device drives the first connecting rod component to rotate relative to the frame, the second connecting rod component can synchronously rotate around the hinging shaft of the first connecting rod component, thereby realizing the extension and retraction of the telescopic arm, and after the two-stage parallelogram link mechanism is adopted, can be so that the camera be in the horizontality throughout stretching out and withdrawing the in-process, the condition of the room fence door of monitoring that can be better, the shooting every single move angle of regulation camera when being convenient for follow-up shooting again.
In this embodiment, the driving device 2 includes a driving motor 21, two driving gears 22 are connected to an output shaft of the driving motor 21, driven gears 23 are fixedly connected to the first driving connecting rods 31, specifically, two first driving connecting rods 31 are fixedly connected to end faces of the two driven gears 23, and the driving gears 22 are engaged with the driven gears 23. Through adopting driving motor to drive gear and rotate, and then drive driven gear and rotate to realize that two first initiative connecting rods rotate for the frame, adopt above-mentioned gear drive structure, make drive arrangement structure simple compacter, satisfy the robot application requirement. In this embodiment, the driving motor 21, the driving gear 22 and the driven gear 23 are all mounted on a support 24, and the support 24 is connected to the frame 1.
In this embodiment, the frame 1 includes two parallel side plates 11 arranged at intervals, a connecting plate 12 is arranged between the two side plates 11, and a concave space 13 is enclosed by the connecting plate 12 and the two side plates 11. By designing the frame as described above, the gear assembly is located in the recessed space, and after the telescopic arm is retracted, the first and second link assemblies 3 and 5 are also retracted into the recessed space 13.
In this embodiment, the first driving link 31 and the second driving link 51 are provided with sealing plates 8 on both sides. After adopting above-mentioned scheme, the space that forms between two relative shroudings can be used for laying the control cable to the line is hidden in the realization.
In this embodiment, oil-retaining bearings are embedded in the positions of the first link assembly 3 and the second link assembly 5, which are matched with the hinge shaft 7, that is, the oil-retaining bearings are embedded in the first driving connecting rod 31, the first driven connecting rod 32, the second driving connecting rod 51 and the second driven connecting rod 52, and the connecting rods are assembled and connected with the hinge shaft 7 through the oil-retaining bearings; meanwhile, in order to make the rotation flexible, oil-retaining bearings are embedded in the first intermediate gear 33 and the second intermediate gear 54, and the first intermediate gear 33 and the second intermediate gear 54 are also assembled and connected with the hinge shaft 7 through the oil-retaining bearings. Through setting up the oiliness bearing to reduce the frictional force when first link assembly and second link assembly rotate around the articulated shaft, rotate nimble difficult wearing and tearing.
In this embodiment, the movable connection seat 6 is provided with an angle adjusting mechanism 61 for controlling the shooting pitch angle of the camera 62. Through set up angle adjustment mechanism on swing joint seat for the camera can carry out the pitching motion for the horizontal plane when shooing, is favorable to expanding the shooting scope of camera.
In this embodiment, the angle adjusting mechanism 61 includes a mounting plate 611 disposed on the movable connecting seat 6 and a sliding block 612 disposed on the mounting plate 611, the mounting plate 611 is further provided with a hinge seat 613 for hinging the camera 62, the mounting plate 611 is further provided with a lead screw motor 614 and a lead screw nut 615, which are matched with each other, the lead screw nut 615 is connected to the sliding block 612, and the sliding block 612 is further connected to a push rod 616 for pushing the camera 62 to rotate around the hinge seat 613. Through adopting lead screw motor and screw-nut to drive the slider motion to drive the push rod motion through the slider, thereby promote the camera and rotate around articulated seat, and then realize the camera and shoot the regulation of every single move angle, be favorable to enlarging the shooting scope of camera, and this angle adjustment mechanism principle is simple, implements easily and installs.
In this embodiment, the mounting plate 611 is further provided with a limit switch 617 for controlling a limit rotation angle of the camera, and when the lead screw nut 615 drives the slider 612 to slide on the mounting plate 611, the slider will touch the limit switch 617, so as to limit the limit displacement of the slider. Through setting up limit switch, limit corner when can controlling the camera and shoot avoids the camera to exceed limit working range and takes place to damage.
Example 2
The present embodiment provides a patrol robot including the synchronous telescopic arm described in embodiment 1. After the synchronous telescopic arm is adopted on the patrol robot, the robot can carry a camera through the telescopic arm to pass through a barrier door to enter a prison chamber for shooting when patrolling, abnormal conditions and potential hidden dangers in the prison chamber can be found in time, and the safety supervision level of the prison is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the principles of the present invention should be included within the scope of the present invention.
Claims (10)
1. The utility model provides a synchronous telescopic boom, its characterized in that includes the frame and locates the drive arrangement in the frame, it is connected with first link assembly to rotate in the frame, first link assembly free end rotates and is connected with second link assembly, second link assembly free end rotates and is connected with the swing joint seat, the drive arrangement drive when first link assembly takes place to rotate for the frame, second link assembly for first link assembly rotates in step.
2. The synchronized telescoping arm of claim 1, wherein the first link assembly comprises two first drive links and a first follower link, the first driving connecting rod is connected with a first intermediate gear, the second connecting rod component comprises two second driving connecting rods and two second driven connecting rods, the second driving connecting rod is connected with a second intermediate gear, the first intermediate gear is meshed with the second intermediate gear, the first driven connecting rod is hinged with the second driving connecting rod, the first driving connecting rod is hinged with the second driven connecting rod, and the two articulated shafts are also rotatably connected with a rotating shaft frame, the first driving connecting rod, the first driven connecting rod, the frame and the two articulated shafts form a parallelogram motion mechanism, the second driving connecting rod, the second driven connecting rod, the two articulated shafts and the movable connecting seat also form a parallelogram motion mechanism.
3. The synchronous telescopic arm according to claim 2, wherein the driving device comprises a driving motor, a driving gear is connected to an output shaft of the driving motor, a driven gear is connected to the first driving connecting rod, and the driving gear is meshed with the driven gear.
4. The synchronous telescopic arm according to claim 1, wherein the frame comprises two parallel side plates arranged at intervals, a connecting plate is arranged between the two side plates, and a concave space is defined between the connecting plate and the two side plates.
5. The synchronized telescopic arm according to claim 2, wherein a sealing plate is provided on both sides of the first and second driving links.
6. The boom as claimed in claim 2, wherein oil-filled bearings are embedded in the positions of the first and second link assemblies which are engaged with the hinge shafts.
7. The synchronous telescopic arm according to claim 1, wherein an angle adjusting mechanism for controlling the shooting pitch angle of the camera is arranged on the movable connecting seat.
8. The synchronous telescopic arm according to claim 7, wherein the angle adjusting mechanism comprises a mounting plate arranged on the movable connecting seat and a sliding block arranged on the mounting plate, the mounting plate is further provided with a hinge seat for hinging the camera, the mounting plate is further provided with a lead screw motor and a lead screw nut which are matched, the lead screw nut is connected with the sliding block, and the sliding block is further connected with a push rod for pushing the camera to rotate around the hinge seat.
9. The synchronous telescopic boom of claim 8, wherein the mounting plate is further provided with a limit switch for controlling a limit rotation angle of the camera.
10. A patrol robot comprising a synchronized telescopic arm according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921279505.0U CN210361336U (en) | 2019-08-08 | 2019-08-08 | Synchronous telescopic arm and inspection robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921279505.0U CN210361336U (en) | 2019-08-08 | 2019-08-08 | Synchronous telescopic arm and inspection robot thereof |
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| Publication Number | Publication Date |
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| CN210361336U true CN210361336U (en) | 2020-04-21 |
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| CN201921279505.0U Active CN210361336U (en) | 2019-08-08 | 2019-08-08 | Synchronous telescopic arm and inspection robot thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405790A (en) * | 2019-08-08 | 2019-11-05 | 四川阿泰因机器人智能装备有限公司 | A kind of synchronous telescopic boom and its inspecting robot |
| CN110421577A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | Synchronous telescopic boom and its inspecting robot |
| CN113247236A (en) * | 2021-06-21 | 2021-08-13 | 浙江点辰航空科技有限公司 | Unmanned aerial vehicle horn subassembly for electric power inspection |
| CN113264177A (en) * | 2021-06-21 | 2021-08-17 | 浙江点辰航空科技有限公司 | Unmanned aerial vehicle for electric power cruising |
-
2019
- 2019-08-08 CN CN201921279505.0U patent/CN210361336U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405790A (en) * | 2019-08-08 | 2019-11-05 | 四川阿泰因机器人智能装备有限公司 | A kind of synchronous telescopic boom and its inspecting robot |
| CN110421577A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | Synchronous telescopic boom and its inspecting robot |
| CN113247236A (en) * | 2021-06-21 | 2021-08-13 | 浙江点辰航空科技有限公司 | Unmanned aerial vehicle horn subassembly for electric power inspection |
| CN113264177A (en) * | 2021-06-21 | 2021-08-17 | 浙江点辰航空科技有限公司 | Unmanned aerial vehicle for electric power cruising |
| CN113247236B (en) * | 2021-06-21 | 2022-05-13 | 浙江点辰航空科技有限公司 | Unmanned aerial vehicle horn subassembly for electric power inspection |
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