CN210361338U - Synchronous telescopic arm and inspection robot thereof - Google Patents
Synchronous telescopic arm and inspection robot thereof Download PDFInfo
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- CN210361338U CN210361338U CN201921279556.3U CN201921279556U CN210361338U CN 210361338 U CN210361338 U CN 210361338U CN 201921279556 U CN201921279556 U CN 201921279556U CN 210361338 U CN210361338 U CN 210361338U
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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 the intermediate junction seat, it is connected with second link assembly to rotate on the intermediate junction seat, 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 the intermediate junction seat, rotate on the intermediate junction seat and be connected with second link assembly, second link assembly free end rotates and is connected with the swing joint seat, 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 the intermediate junction seat to rotate at first link assembly free end, it is connected with second link assembly to rotate on the intermediate junction seat, 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 the 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 condition and the potential hidden danger in the prison, be favorable to further improving the safety supervision level of prison.
As a preferred scheme of the present invention, the first link assembly includes two first driving links and two first driven links, and the first driving links, the first driven links, the frame and the intermediate connecting seat form a parallelogram motion mechanism; the second connecting rod assembly comprises two second driving connecting rods and two second driven connecting rods, the second driving connecting rods, the second driven connecting rods, the middle connecting seats and the movable connecting seats also form a parallelogram motion mechanism, and the middle connecting rods are rotatably connected between the first driven connecting rods and the second driving connecting rods. By enabling the first driving connecting rod, the first driven connecting rod, the machine frame and the middle connecting seat to form a parallelogram motion mechanism, and the second driving connecting rod, the second driven connecting rod, the middle connecting seat and the movable connecting seat form another parallelogram motion mechanism, and an intermediate connecting rod is rotatably connected between the first driven connecting rod and the second driving connecting rod, when the driving device drives the first driving connecting rod to rotate relative to the frame, the first driven connecting rod rotates along with the second driving connecting rod and drives the second driving connecting rod to rotate synchronously through the middle connecting rod, 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 the worm on the driving motor output shaft, be equipped with in the frame with the turbine of worm adaptation, the turbine both sides correspond with two first initiative connecting rod fixed connection. Through adopting driving motor to drive the worm and rotate, and then drive the turbine and rotate to realize that two first initiative connecting rods rotate for the frame, adopt above-mentioned worm gear structure, be favorable to making drive arrangement structure compacter, satisfy the robot application requirement.
As the preferred scheme of the utility model, the turbine is provided with the pivot of running through the turbine both sides along the central axis, the pivot both ends with the frame links to each other. By adopting the mounting structure, the turbine can rotate around the rotating shaft on the rack, and then the first driving connecting rod is driven to rotate relative to the rack, and the mode stably supports the turbine, so that the turbine can be stably and stably rotated.
As the utility model discloses a preferred scheme, the intermediate linkage is the I-shaped, two first driven connecting rod correspond and connect in on two ends of intermediate linkage one side, two the second initiative connecting rod correspond and connect in on two ends of intermediate linkage opposite side. Through adopting I-shaped intermediate connecting rod to connect two first driven connecting rods and the second driving connecting rod, the two first driven connecting rods and the second driving connecting rod can synchronously run, and further the second connecting rod assembly synchronously rotates relative to the first connecting rod assembly when the driving device drives the first connecting rod assembly to rotate relative to the frame.
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 utility model discloses an optimal scheme, first link assembly and second link assembly through the round pin axle with intermediate junction seat links to each other, second link assembly through the round pin axle with swing joint seat links to each other. The first connecting rod assembly and the second connecting rod assembly are connected with the middle connecting seat and the movable connecting seat through the pin shaft, so that the telescopic boom is more convenient to assemble during production.
As the preferred scheme of the utility model, first link assembly and second link assembly go up with round pin axle matched with position is inlayed and is had the copper sheathing. Through setting up the copper sheathing to increase the wearability when first link assembly and the relative round pin axle of second link assembly rotate.
As the preferred scheme of the utility model, be provided with the steering wheel that is used for controlling the camera to shoot the every single move angle on the swing joint seat. Through set up the steering wheel on swing joint seat for the camera can carry out the every single move action for the horizontal plane when shooing, is favorable to enlarging the shooting scope of camera.
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 the intermediate junction seat, rotate on the intermediate junction seat and be connected with second link assembly, rotate at second link assembly free end and be connected with the swing joint seat, when driving first link assembly and take place to rotate for the frame through drive arrangement, second link assembly rotates for first link assembly synchronization, install the camera on the swing joint seat during the use, thereby make this flexible arm can carry the camera and pass the fence door and get into the prison indoor and shoot, can discover the unusual circumstances and the potential hidden danger in the prison indoor in time, 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 middle connecting seat, and the second driving connecting rod, the second driven connecting rod, the middle connecting seat and the movable connecting seat form another parallelogram motion mechanism, and an intermediate connecting rod is rotatably connected between the first driven connecting rod and the second driving connecting rod, when the driving device drives the first driving connecting rod to rotate relative to the frame, the first driven connecting rod rotates along with the second driving connecting rod and drives the second driving connecting rod to rotate synchronously through the middle connecting rod, 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 driving motor to drive the worm and rotate, and then drive the turbine and rotate to realize that two first initiative connecting rods rotate in the relative frame, adopt above-mentioned worm gear structure, be favorable to making the drive arrangement structure compacter, satisfy the robot application requirement.
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 and second link assemblies to the intermediate link base.
FIG. 7 is a schematic view of the second link assembly connecting to the movable connecting base.
The labels in the figure are: 1-a rack, 11-a side plate, 12-a connecting plate, 13-a concave space, 2-a driving device, 21-a driving motor, 22-a worm, 23-a turbine, 24-a support, 25-a rotating shaft, 3-a first connecting rod component, 31-a first driving connecting rod, 32-a first driven connecting rod, 4-an intermediate connecting seat, 5-a second connecting rod component, 51-a second driving connecting rod, 52-a second driven connecting rod, 6-a movable connecting seat, 61-a steering engine, 62-a camera, 7-an intermediate connecting rod, 8-a pin shaft, 9-a sealing plate and 10-a nylon spacer bush.
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 7, the synchronous telescopic boom in this embodiment includes a frame 1 and a driving device 2 disposed on the frame 1, a first link assembly 3 is rotatably connected to the frame 1, an intermediate connecting seat 4 is rotatably connected to a free end of the first link assembly 3, a second link assembly 5 is rotatably connected to the intermediate connecting seat 4, a movable connecting seat 6 is rotatably connected to a free end of the second link assembly 5, 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 the intermediate junction seat to rotate at first link assembly free end, it is connected with second link assembly to rotate on the intermediate junction seat, 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 the 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 condition 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, and the first driving links 31 and the first driven links 32 form a parallelogram motion mechanism with the frame 1 and the intermediate connecting seat 4; the second connecting rod assembly 5 comprises two second driving connecting rods 51 and two second driven connecting rods 52, the second driving connecting rods 51 and the second driven connecting rods 52, the middle connecting seat 4 and the movable connecting seat 6 also form a parallelogram motion mechanism, and a middle connecting rod 7 is rotatably connected between the first driven connecting rod 32 and the second driving connecting rod 51. By enabling the first driving connecting rod, the first driven connecting rod, the machine frame and the middle connecting seat to form a parallelogram motion mechanism, and the second driving connecting rod, the second driven connecting rod, the middle connecting seat and the movable connecting seat form another parallelogram motion mechanism, and an intermediate connecting rod is rotatably connected between the first driven connecting rod and the second driving connecting rod, when the driving device drives the first driving connecting rod to rotate relative to the frame, the first driven connecting rod rotates along with the second driving connecting rod and drives the second driving connecting rod to rotate synchronously through the middle connecting rod, 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, an output shaft of the driving motor 21 is connected with a worm 22, a worm wheel 23 adapted to the worm 22 is arranged on the frame 1, and two sides of the worm wheel 23 are correspondingly and fixedly connected with the two first driving connecting rods 31. Through adopting driving motor to drive the worm and rotate, and then drive the turbine and rotate to realize that two first initiative connecting rods rotate for the frame, adopt above-mentioned worm gear structure, be favorable to making drive arrangement structure compacter, satisfy the robot application requirement. In this embodiment, the driving motor 21, the worm 22 and the worm wheel 23 are all mounted on a support 24, and the support 24 is connected to the frame 1.
In this embodiment, the turbine 23 is provided with a rotating shaft 25 penetrating through two sides of the turbine along the central axis, two ends of the rotating shaft 25 are connected with the support 24, and the support 24 is connected with the frame 1. By adopting the mounting structure, the turbine can rotate around the rotating shaft on the rack, and then the first driving connecting rod is driven to rotate relative to the rack, and the mode stably supports the turbine, so that the turbine can be stably and stably rotated.
In this embodiment, the frame 1 includes two parallel side plates 11 arranged at an interval, a connecting plate 12 is arranged between the two side plates 11, a concave space 13 is enclosed by the connecting plate 12 and the two side plates 11, two ends of a rotating shaft 25 of the turbine 23 are mounted on a support 24, and two sides of the support 24 are connected with the two side plates 11, so that the turbine is located in the concave space, and after the telescopic arm is retracted, the first connecting rod assembly 3 and the second connecting rod assembly 5 are also retracted into the concave space 13.
In this embodiment, the middle connecting rod 7 is h-shaped, the two first driven connecting rods 32 are correspondingly connected to two ends of one side of the middle connecting rod 7, and the two second driving connecting rods 51 are correspondingly connected to two ends of the other side of the middle connecting rod 7. Through adopting I-shaped intermediate connecting rod to connect two first driven connecting rods and the second driving connecting rod, the two first driven connecting rods and the second driving connecting rod can synchronously run, and further the second connecting rod assembly synchronously rotates relative to the first connecting rod assembly when the driving device drives the first connecting rod assembly to rotate relative to the frame.
In this embodiment, the first driving link 31 and the second driving link 51 are provided with sealing plates 9 on both sides, and the sealing plates 9 are connected to the first driving link 31 and the second driving link 51 through screws. 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, the first link assembly 3 and the second link assembly 5 are connected to the intermediate connecting base 4 through a pin 8, and the second link assembly 5 is connected to the movable connecting base 6 through a pin 8. The first connecting rod assembly and the second connecting rod assembly are connected with the middle connecting seat and the movable connecting seat through the pin shaft, so that the telescopic boom is more convenient to assemble during production. In order to facilitate the installation of the pin shaft and the connecting rods, a nylon spacer bush 10 is sleeved on the pin shaft and used for separating the two connecting rods on the pin shaft.
In this embodiment, the positions of the first link assembly and the second link assembly, which are matched with the pin shaft, are inlaid with copper sleeves, that is, the copper sleeves are inlaid on the first driving link, the first driven link, the second driving link and the second driven link, and the links are assembled and connected with the pin shaft through the copper sleeves. Through setting up the copper sheathing to increase the wearability when first link assembly and the relative round pin axle of second link assembly rotate.
In this embodiment, the movable connection seat 6 is provided with a steering engine 61, preferably a dual-axis steering engine, for controlling the shooting pitch angle of the camera 62. Through set up the steering wheel on swing joint seat for the camera can carry out the every single move action for the horizontal plane when shooing, is favorable to enlarging the shooting scope of camera.
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 the intermediate junction seat, rotate on the intermediate junction seat and be connected with second link assembly, second link assembly free end rotates and is connected with the swing joint seat, 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 synchronous telescopic boom of claim 1, wherein the first link assembly comprises two first driving links and a first driven link, and the first driving links and the first driven link form a parallelogram motion mechanism with the frame and the intermediate connecting seat; the second connecting rod assembly comprises two second driving connecting rods and two second driven connecting rods, the second driving connecting rods, the second driven connecting rods, the middle connecting seats and the movable connecting seats also form a parallelogram motion mechanism, and the middle connecting rods are rotatably connected between the first driven connecting rods and the second driving connecting rods.
3. The synchronous telescopic boom of claim 2, wherein the driving device comprises a driving motor, a worm is connected to an output shaft of the driving motor, a worm wheel matched with the worm is arranged on the frame, and two sides of the worm wheel are correspondingly fixedly connected with the two first driving connecting rods.
4. The synchronous telescopic boom of claim 3, wherein the turbine is provided with a rotating shaft penetrating through two sides of the turbine along a central axis, and two ends of the rotating shaft are connected with the frame.
5. The synchronous telescopic arm according to claim 2, wherein the intermediate link is h-shaped, two first driven links are correspondingly connected to both ends of one side of the intermediate link, and two second driving links are correspondingly connected to both ends of the other side of the intermediate link.
6. The synchronized telescopic arm according to claim 2, wherein a sealing plate is provided on both sides of the first and second driving links.
7. The synchronized telescopic boom of claim 1, wherein said first link assembly and said second link assembly are connected to said intermediate connecting base by a pin, and said second link assembly is connected to said movable connecting base by a pin.
8. The synchronous telescopic boom of claim 7, wherein a copper sleeve is embedded in the position, matched with the pin shaft, of the first connecting rod assembly and the second connecting rod assembly.
9. The synchronous telescopic arm according to claim 1, wherein a steering engine for controlling the shooting pitch angle of the camera is arranged on the movable connecting seat.
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 |
|---|---|---|---|
| CN201921279556.3U CN210361338U (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 |
|---|---|---|---|
| CN201921279556.3U CN210361338U (en) | 2019-08-08 | 2019-08-08 | Synchronous telescopic arm and inspection robot thereof |
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| Publication Number | Publication Date |
|---|---|
| CN210361338U true CN210361338U (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921279556.3U Active CN210361338U (en) | 2019-08-08 | 2019-08-08 | Synchronous telescopic arm and inspection robot thereof |
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Cited By (2)
| 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 |
-
2019
- 2019-08-08 CN CN201921279556.3U patent/CN210361338U/en active Active
Cited By (2)
| 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 |
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