CN210633660U

CN210633660U - Swing arm robot

Info

Publication number: CN210633660U
Application number: CN201920839364.7U
Authority: CN
Inventors: 不公告发明人
Original assignee: Sichuan Tuoge Robot Technology Co Ltd
Current assignee: Sichuan Tuoge Robot Technology Co Ltd
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2020-05-29
Anticipated expiration: 2029-06-05

Abstract

The utility model discloses a swing arm robot, which comprises a robot main body, wherein the upper surface of the robot main body is provided with a rotating device, the upper surface of the rotating device is provided with a folding rod, the upper surface of the folding rod is provided with a swing arm joint, and the rear surface of the swing arm joint is provided with a clamp, the utility model provides a robot main body with a rotating device, a folding rod, a swing arm joint and a clamp, when in use, the swing arm joint and the clamp are folded and stored through folding of the folding rod, in the rotating process of a speed reducing motor, an occlusion disc is driven to rotate, a balance ball rolls in a ball groove, thereby ensuring the stability of the swing arm joint in the rotating process, avoiding the bearing of the clamp, leading the output end of the speed reducing motor to bend, improving the integral strength of the utility model, effectively solving the problem that the sampling arm of the existing detection robot is easy to block after long-time use, simple structure can fold, convenient storage.

Description

Swing arm robot

Technical Field

The utility model relates to the technical field of robot, specifically be a swing arm robot.

Background

A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The robot aims to assist or replace work of human work, such as production industry, construction industry or dangerous work, along with development of basic industry of modern society, the application range of the robot is more and more extensive, in the existing detection robot used in scenes such as field exploration, cave exploration and the like, after a sampling swing arm used by the robot is used for a long time, due to load and the like, a connecting shaft at the rotating position of a swing arm is easy to bend, and jamming occurs between the connecting members in the rotating process of the connecting shaft.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a swing arm robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a swing arm robot, includes the robot main part, the upper surface of robot main part is equipped with rotating device, rotating device's upper surface is equipped with the folding rod, the upper surface of folding rod is equipped with the swing arm joint, the rear surface of swing arm joint is equipped with anchor clamps, the swing arm joint includes gear motor, gear motor's right side surface assembly has the interlock dish, the ball groove has been seted up to the inboard surface of interlock dish, the internal surface in ball groove is equipped with balanced ball, the shaft hole has been seted up to the center department of interlock dish, the right surface assembly of interlock dish has the connector, the mounting hole has been seted up to the rear end upper surface of connector, the internal surface spiro union of mounting hole has the spiro union nail, the surface assembly of spiro union nail has the installation body.

Preferably, the robot main body includes a housing, a looping is provided at the center of the upper surface of the housing, a sliding groove is provided on the side surface of the housing, a housing is assembled on the inner surface of the sliding groove, a rotating motor is assembled on the inner surface of the housing, a power wheel is assembled at the output end of the rotating motor, and a track is sleeved on the outer surface of the power wheel.

Preferably, the rotating device comprises a sleeve ring, the outer surface of the sleeve ring is provided with a mounting ring, the inner surface of the sleeve ring is provided with a rotating disc, the upper and lower surfaces of the edge of the rotating disc and the inner wall surface of the sleeve ring are provided with guide rails, the inner surface of the guide rails is provided with balls, the inner surface of the rotating disc is provided with gear teeth, the inner surfaces of the gear teeth are meshed with a gear, and the center of the gear is provided with a motor.

Preferably, a sleeve hole is formed in the center of the rotating disc, and a rotating joint is assembled in the center of the sleeve hole.

Preferably, the folding rod includes the back shaft, the center department of back shaft has seted up the through wires mouth, the top center department of back shaft is equipped with the connecting axle, the medial extremity surface of connecting axle is equipped with the fixed axle, the upper surface of fixed axle is equipped with the stay tube, the upper surface of stay tube is equipped with at gear motor's lower surface.

Preferably, the outer side surface of the meshing disc is provided with a clamping block, the right surface of the speed reduction motor and the left surface of the connecting body are both provided with a clamping groove, and the clamping block is sleeved on the inner surface of the clamping groove.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a robot main part with rotating device, folding rod, swing arm joint and anchor clamps has been set up, when using, folding through the folding rod accomodates swing arm joint and anchor clamps are folding, at gear motor pivoted in-process, drives the interlock dish and rotates, and balanced ball rolls in the inside in ball groove to guarantee that the swing arm joint keeps pivoted stationarity at the pivoted in-process, avoid the anchor clamps bearing, lead to gear motor's output bending, improve the utility model discloses an overall strength, effectual sampling arm length who has solved current detection robot uses the problem of easy card dun easily, simple structure can fold, convenient the accomodating.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an assembly schematic diagram of the present invention.

Fig. 3 is the assembly schematic diagram of the rotating device of the present invention.

Fig. 4 is the schematic view of the sectioning structure of the rotating device of the utility model.

Fig. 5 is the schematic view of the rotary disc sectioning structure of the utility model.

Fig. 6 is the assembly schematic diagram of the swing arm joint of the present invention.

Fig. 7 is an enlarged view of the structure a in fig. 6.

In the figure: 1. the robot comprises a robot main body, 11, a shell, 12, a sliding groove, 13, a shell, 14, a rotating motor, 15, a power wheel, 16, a crawler belt, 17, a sleeve opening, 2, a rotating device, 21, a sleeve ring, 22, a mounting ring, 23, a guide rail, 24, a ball, 25, a rotating disc, 26, a sleeve hole, 27, a rotating joint, 28, a motor, 3, a folding rod, 31, a support shaft, 32, a threading opening, 33, a connecting shaft, 34, a fixed shaft, 35, a support pipe, 4, a swing arm joint, 41, a speed reducing motor, 42, a clamping groove, 43, a meshing disc, 44, a ball groove, 45, a balance ball, 46, a clamping block, 47, a shaft hole, 48, a connecting body, 49, a mounting groove, 410, a mounting hole, 411, a threaded nail, 412, a mounting body, 5 and.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: a swing arm robot comprises a robot main body 1, wherein a rotating device 2 is assembled on the upper surface of the robot main body 1, a folding rod 3 is assembled on the upper surface of the rotating device 2, a swing arm joint 4 is assembled on the upper surface of the folding rod 3, a clamp 5 is assembled on the rear surface of the swing arm joint 4, the swing arm joint 4 comprises a speed reduction motor 41, an engagement disc 43 is assembled on the right surface of the speed reduction motor 41, a ball groove 44 is formed in the inner side surface of the engagement disc 43, a balance ball 45 is assembled on the inner surface of the ball groove 44, a shaft hole 47 is formed in the center of the engagement disc 43, a connecting body 48 is assembled on the right surface of the engagement disc 43, a mounting hole 410 is formed in the upper surface of the rear end of the connecting body 48, a threaded nail 411 is screwed on the inner surface of the mounting hole 410;

the utility model discloses a robot main part with rotating device 2, folding rod 3, swing arm joint 4 and anchor clamps 5 has been set up, when using, folding through folding rod 3 accomodate swing arm joint 4 and anchor clamps 5 are folding, at gear motor 41 pivoted in-process, drive interlock dish 43 and rotate, balanced ball 45 rolls in the inside of ball groove 44, thereby guarantee swing arm joint 4 at the pivoted in-process, keep the pivoted stationarity, avoid anchor clamps 5 bearing, the output that leads to gear motor 41 is crooked, improve the utility model discloses an overall strength, effectual sampling arm that has solved current detection robot uses the problem that the card is easy to pause for a long time, simple structure can fold, convenient storage.

Specifically, the robot main body 1 includes a housing 11, a pocket 17 is opened at the center of the upper surface of the housing 11, a sliding groove 12 is opened on the side surface of the housing 11, a housing 13 is assembled on the inner surface of the sliding groove 12, a rotating motor 14 is assembled on the inner surface of the housing 13, a power wheel 15 is assembled at the output end of the rotating motor 14, a track 16 is sleeved on the outer surface of the power wheel 15, a small drag chain (not shown) is installed on the left surface of the housing 15 for installing and connecting the rotary motor 14 and a wire between an electronic component for controlling the forward and reverse rotation of the rotary motor 14 and the robot main body 1, in the utility model, the robot main body 1 is the most common walking technology of the crawler robot in the prior art, except for its robot main part 1 the utility model discloses a but remote control module outside the lifting coupling mechanism, walking module, control module's function and program control isoparametric all refer to the model and are: xcqm-045's crawler robot chassis parameter setting to can utilize remote controller or drive-by-wire instrument remote control robot main part 1, guarantee the utility model discloses well robot main part 1's normal control walking, and the utility model discloses well rotation motor 14 and the motor 28 that use are the step motor among the prior art, can be through the motor controller control turned angle and the speed among the prior art, and then convenient the utility model discloses a normal operation.

Specifically, rotating device 2 includes lantern ring 21, and the surface of lantern ring 21 is equipped with collar 22, and the internal surface of lantern ring 21 is equipped with rolling disc 25, and guide rail 23 has all been seted up to the edge upper and lower surface of rolling disc 25 and the inner wall surface of lantern ring 21, and the internal surface of guide rail 23 is equipped with ball 24, and the gear tooth has been seted up to the internal surface of rolling disc 25, and the internal surface meshing of gear tooth has the gear, and the center department of gear is equipped with motor 28, through rotating device 2's collar 22, makes things convenient for rotating device 2's installation.

Particularly, trepanning 26 has been seted up to the center department of rolling disc 25, and the center department of trepanning 26 is equipped with rotary joint 27 the utility model discloses in, rotary joint 27 is one kind and connects the electrically conductive sliding ring of electric usefulness, and it uses the model to be: VSR-D for connecting the robot body 1 to the electrical connection of the reduction motor 41 and other electronic components.

Particularly, folding rod 3 includes support shaft 31, threading mouth 32 has been seted up to the center department of support shaft 31, the top center department of support shaft 31 is equipped with connecting axle 33, the medial extremity surface of connecting axle 33 is equipped with fixed axle 34, the upper surface of fixed axle 34 is equipped with stay tube 35, the upper surface of stay tube 35 is equipped with the lower surface at gear motor 41, side surface at support shaft 31 is equipped with a positioning bolt (not shown in the figure), positioning bolt's inboard end spiro union is at the surface of fixed axle 34, thereby spiro union or the back-off through positioning bolt, with folding rod 3 locking or unblock, it is convenient with the utility model provides a swing arm of robot is folding, convenient storage and use.

Particularly, the clamping block 46 is assembled on the outer side surface of the meshing disc 43, the clamping groove 42 is formed in the right surface of the speed reducing motor 41 and the left surface of the connecting body 48, the clamping block 46 is sleeved on the inner surface of the clamping groove 42, the meshing disc 43 is conveniently meshed on the outer surface of the corresponding contact piece through the clamping effect of the clamping block 46 and the clamping groove 42, and relative sliding is avoided.

The working principle is as follows: when using, folding through folding rod 3 accomodate swing arm joint 4 and anchor clamps 5 are folding, at gear motor 41 pivoted in-process, drive interlock dish 43 and rotate, balanced ball 45 rolls in the inside of ball groove 44 to guarantee swing arm joint 4 and keep the pivoted stationarity at the pivoted in-process, avoid anchor clamps 5 bearing, lead to gear motor 41's output crooked, improve the utility model discloses an overall strength.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An arm swinging robot comprising a robot main body (1), characterized in that: the upper surface of robot main part (1) is equipped with rotating device (2), the upper surface of rotating device (2) is equipped with folding rod (3), the upper surface of folding rod (3) is equipped with swing arm joint (4), the rear surface of swing arm joint (4) is equipped with anchor clamps (5), swing arm joint (4) include gear motor (41), gear motor's (41) right side surface is equipped with interlock dish (43), ball groove (44) have been seted up to the inboard surface of interlock dish (43), the internal surface of ball groove (44) is equipped with balanced ball (45), shaft hole (47) have been seted up to the center department of interlock dish (43), the right surface of interlock dish (43) is equipped with connector (48), mounting hole (410) have been seted up to the rear end upper surface of connector (48), the internal surface spiro union has spiro union nail (411) of mounting hole (410), the outer surface of the screw nail (411) is fitted with a mounting body (412).

2. The swing arm robot according to claim 1, wherein: robot main part (1) includes shell (11), cover mouth (17) have been seted up to the upper surface center department of shell (11), spout (12) have been seted up to the side surface of shell (11), the internal surface of spout (12) is equipped with casing (13), the internal surface of casing (13) is equipped with rotation motor (14), the output of rotating motor (14) is equipped with power wheel (15), track (16) have been cup jointed to the surface of power wheel (15).

3. The swing arm robot according to claim 1, wherein: the rotating device (2) comprises a sleeve ring (21), the outer surface of the sleeve ring (21) is provided with a mounting ring (22), the inner surface of the sleeve ring (21) is provided with a rotating disc (25), the upper surface and the lower surface of the edge of the rotating disc (25) and the inner wall surface of the sleeve ring (21) are provided with guide rails (23), the inner surface of each guide rail (23) is provided with a ball (24), the inner surface of the rotating disc (25) is provided with gear teeth, the inner surfaces of the gear teeth are meshed with gears, and the centers of the gears are provided with a motor (28).

4. The swing arm robot according to claim 3, wherein: a sleeve hole (26) is formed in the center of the rotating disc (25), and a rotating joint (27) is assembled in the center of the sleeve hole (26).

5. The swing arm robot according to claim 1, wherein: folding rod (3) are including support shaft (31), through wires mouth (32) have been seted up to the center department of support shaft (31), the top center department of support shaft (31) is equipped with connecting axle (33), the medial extremity surface of connecting axle (33) is equipped with fixed axle (34), the upper surface of fixed axle (34) is equipped with stay tube (35), the upper surface of stay tube (35) is equipped with the lower surface at gear motor (41).

6. The swing arm robot according to claim 1, wherein: the outer side surface of the meshing disc (43) is provided with a clamping block (46), the right surface of the speed reducing motor (41) and the left surface of the connecting body (48) are both provided with a clamping groove (42), and the clamping block (46) is sleeved on the inner surface of the clamping groove (42).