CN212241077U - Robot arm and inspection robot - Google Patents
Robot arm and inspection robot Download PDFInfo
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- CN212241077U CN212241077U CN202021313309.3U CN202021313309U CN212241077U CN 212241077 U CN212241077 U CN 212241077U CN 202021313309 U CN202021313309 U CN 202021313309U CN 212241077 U CN212241077 U CN 212241077U
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- 238000007689 inspection Methods 0.000 title abstract description 5
- 238000003825 pressing Methods 0.000 claims abstract description 16
- 230000005489 elastic deformation Effects 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 238000012856 packing Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
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Abstract
A robot arm and inspection robot, the robot arm includes: the lifting wheel assembly comprises a gripper base plate, a walking wheel piece, a lifting wheel assembly and a lifting driver; the walking wheel piece is rotatably arranged on the gripper base plate; the pressing wheel support is rotatably arranged on the gripper base plate; the output end of the lifting driver is connected with the pinch roller support and used for driving the pinch roller support to rotate; the pinch roller support is provided with a lifting wheel piece; when the pinch roller support is lifted, the pinch roller support drives the lifting wheel piece to swing, and meanwhile, the lifting wheel piece is close to and far away from the walking wheel piece; a line patrol robot has a robot arm providing a moving function for a robot main body. This robot arm is applied to and patrols line robot on, drives the tight pulley support through the lift driver and rotates to drive the lift of lift wheel spare, make the lift wheel spare become the cambered surface and be close to the cable, reduced the occupation of space, can compress tightly the cable through great packing force again simultaneously.
Description
Technical Field
The utility model relates to a patrol line robot technical field, especially relate to a robot arm and patrol line robot.
Background
In the existing line patrol robot, a robot arm moves on a cable; generally, a robot arm is respectively provided with an upper end wheel and a lower end wheel, and a cable is tightly pressed through the combination of the upper end wheel and the lower end wheel, so that the road patrol robot is locked on the cable; however, in the robot arm in the prior art, the upper end wheel and the lower end wheel move linearly when being pressed, so that the pressing force is limited.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robot arm, through the angle modulation of pinch roller support, control lift wheel spare after the swing compresses tightly in the cable with the walking wheel spare.
The utility model discloses still provide an inspection robot, robot arm provides the removal function for the robot main part.
To achieve the purpose, the utility model adopts the following technical proposal:
a robotic arm comprising: the lifting wheel assembly comprises a gripper base plate, a walking wheel piece, a lifting wheel assembly and a lifting driver;
the walking wheel piece is rotatably arranged on the gripper base plate;
the lift wheel assembly includes: a pinch roller support and a lifting wheel piece;
the pressing wheel support is rotatably arranged on the gripper base plate; the output end of the lifting driver is connected to the pinch roller support and is used for driving the pinch roller support to rotate; the pinch roller support is provided with the lifting wheel piece;
when the pinch roller support is lifted, the pinch roller support drives the lifting wheel piece to swing, and meanwhile, the lifting wheel piece is close to and far away from the walking wheel piece.
Preferably, the gripper base plate is provided with a support fixing shaft;
the pinch roller support is rotatably arranged on the gripper base plate through the support fixing shaft.
Preferably, the lifting wheel assembly comprises: an articulated arm;
one end of the movable connecting arm is rotatably connected with the pinch roller support, and the other end of the movable connecting arm is connected with the output end of the lifting driver;
the output end of the lifting driver can move linearly.
Preferably, the pinch roller support comprises: the support main frame and the support auxiliary frame;
the support main frame is connected with the support auxiliary frame, and a wheel mounting station and/or a shaft sleeve are formed at the connecting position of the support main frame and the support auxiliary frame;
the wheel mounting station is used for accommodating the lifting wheel piece, so that the lifting wheel piece can be rotatably mounted on the main support frame and/or the auxiliary support frame;
the shaft sleeve is used for mounting the support fixing shaft.
Preferably, the method further comprises the following steps: a wheel grasping driver;
the gripper wheel driver is arranged on the gripper base plate, and the output end of the gripper wheel driver is connected with the traveling wheel piece and used for driving the traveling wheel piece to rotate.
Preferably, the gripper base plate is provided with a shaft passing hole;
and the output end of the gripper wheel driver penetrates through the shaft through hole from one side of the gripper base plate and is connected with the traveling wheel piece from the other side of the gripper base plate.
Preferably, the traveling wheel member and/or the lifting wheel member includes: an upper half wheel body and a lower half wheel body;
the upper half wheel body is connected with the lower half wheel body, and a movable concave part for contacting a cable is formed at the connection position between the upper half wheel body and the lower half wheel body;
the upper half wheel body and/or the lower half wheel body have elasticity, wherein an elastic deformation groove with a gap is arranged in one of the elasticity.
Preferably, the lifting wheel assemblies are arranged in pairs, and the output end of the lifting driver is simultaneously connected with the lifting wheel assemblies on the left side and the right side, so that the lifting wheel members on the left side and the right side move synchronously.
Preferably, when the lifting wheel assemblies are arranged in pairs, the lifting wheel members are respectively positioned at the left side and the right side of the walking wheel members.
A line patrol robot, comprising: a robot body and a robot arm as described above;
the robot body is mounted to the robot arm.
The utility model has the advantages that:
this robot arm is applied to and patrols line robot on, drives the tight pulley support through the lift driver and rotates to drive the lift of lift wheel spare, make the lift wheel spare become the cambered surface and be close to the cable, reduced the occupation of space, can compress tightly the cable through great packing force again simultaneously.
Drawings
FIG. 1 is a schematic diagram of a robot arm;
FIG. 2 is a schematic diagram of an exploded structure of a robot arm;
FIG. 3 is a schematic structural view of a pinch roller support;
FIG. 4 is a schematic view of the traveling wheel and the lifting wheel compressing the cable;
FIG. 5 is a schematic view of the construction of the running wheels or the lifting wheels;
FIG. 6 is a schematic cross-sectional view of a walking or lifting wheel;
fig. 7 is a schematic cross-sectional view of a walking wheel or a lifting wheel.
Wherein:
a cable 001;
the inner gripper structure 1, the outer gripper structure 2 and the reversing structure 3; an inner plate rotating assembly 4;
an inner gripper reversing motor 31, an outer gripper reversing motor 32, an inner steering plate 33, a steering motor 34 and an outer steering plate 35; a steering plate unit 33A;
a rotary arm 41 and a swing actuator 42;
a gripper base plate 11, a traveling wheel member 12, a lifting wheel member 13, and a lifting driver 14; a wheel grasping driver 15;
a lift wheel assembly 136; the shaft passing hole 111;
a pinch roller support 16; a support fixing shaft 17; an articulating arm 18;
a support main frame 161 and a support subframe 162; wheel mounting station 163, bushing 164.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
A robotic arm comprising: the handle comprises a handle base plate 11, a walking wheel piece 12, a lifting wheel component and a lifting driver 14;
the traveling wheel member 12 is rotatably mounted on the gripper base plate 11;
the lift wheel assembly includes: a pinch roller support 16 and a lifting wheel piece 13;
the pinch roller support 16 is rotatably mounted on the gripper base plate 11; the output end of the lifting driver 14 is connected to the pinch roller support 16 and is used for driving the pinch roller support 16 to rotate; the pinch roller support 16 is provided with the lifting wheel piece 13;
when the pinch roller support 16 is lifted, the pinch roller support 16 drives the lifting roller piece 13 to swing, and meanwhile, the lifting roller piece 13 is close to and far away from the walking roller piece 12.
The robot arm is applied to a line patrol robot, the lifting driver 14 drives the pinch roller support 16 to rotate, and drives the lifting wheel piece 13 to lift, so that the lifting wheel piece 13 is in a cambered surface and close to a cable 001, the occupied space is reduced, and meanwhile, the cable can be tightly pressed through larger pressing force.
Specifically, as shown in the figure, the bottom roller surface of the running wheel 12 is in contact with the cable 001; the output end of the lifting driver 14 can stretch to drive the pressing wheel support 16 to rotate; one end of the pressing wheel support 16 is movably arranged on the gripper base plate 11, one end of the pressing wheel support is connected with the lifting wheel piece 13, and the other end of the pressing wheel support is connected with the output end of the lifting driver 14, so that a triangular structure is formed; when the output end of the lifting driver 14 drives the pinch roller support 16, the pinch roller support 16 is rotatably fixed on the gripper base plate 11 around the X axis, and the gripper base plate 11 rotates around the support fixing shaft 17 as the axis (or around the X axis), so that one end of the gripper base plate 11 with the lifting wheel piece 13 and one end connected with the lifting driver 14 can swing, and the swinging lifting of the lifting wheel piece 13 is realized. After the lifting wheel piece 13 swings, the position of the lifting wheel piece rises and then contacts with the cable 001, and the cable 001 is clamped under the interaction of the lifting wheel piece and the walking wheel piece 12, so that the effect of fixing the line patrol robot on the cable is realized; the running wheel unit 12 can now be moved over the cable without being detached because of the clamping effect. And after the lifting wheel piece 13 swings and descends, the lifting wheel piece 13 is separated from the cable, the clamping action is cancelled, and the line patrol robot can be easily separated from the cable.
The lifting driver 14 is a concept, and can be replaced by a common driver, such as an air cylinder, a ball screw, a linear motor, and the like, as long as the rotation of the pinch roller support 16 can be realized; as shown in the figure, the lifting driver 14 is the matching of a motor and a screw rod; the motor is arranged on the gripper base plate 11, and the output end of the motor is connected with the screw rod and used for driving the screw rod to rotate; the nut seat with an internal thread structure is arranged on the screw rod and is connected with the pressing wheel support 16, and when the nut seat moves on the screw rod, one end of the pressing wheel support 16 is driven to swing and lift.
Preferably, the gripper base plate 11 is provided with a support fixing shaft 17;
the pinch roller support 16 is rotatably mounted on the gripper base plate 11 through the support fixing shaft 17.
The support fixing shaft 17 extends into the pinch roller support 16 and is used for providing a rotating shaft for the pinch roller support 16, so that the lifting wheel piece 13 can rotate around the X axis of the support fixing shaft 17 under the vertical driving action of the lifting driver 14, the lifting wheel piece 13 is enabled to swing into an arc surface and then to be in contact with and separated from a cable, and the stability and pressing force of the lifting wheel piece 13 are improved.
Preferably, the lifting wheel assembly comprises: an articulating arm 18;
one end of the movable connecting arm 18 is rotatably connected with the pinch roller support 16, and the other end of the movable connecting arm 18 is connected with the output end of the lifting driver 14;
the output of the lift drive 14 is linearly movable.
One end of the movable connecting arm 18 is rotatably connected with the pinch roller support 16, and when the movable connecting arm 18 and the pinch roller support 16 can rotate, the position of the movable connecting arm 18 can be adjusted to serve as a buffer for the lifting driver 14 to drive the pinch roller support 16, so that the swinging range of the pinch roller support 16 is controlled; namely, the lifting wheel piece 13 is in limited swing under the connection of the movable connecting arm 18.
Preferably, the pinch roller support 16 comprises: a support main frame 161 and a support sub-frame 162;
the support main frame 161 is connected with the support auxiliary frame 162, and the connection position between the support main frame and the support auxiliary frame forms a wheel mounting station 163 and/or a shaft sleeve 164;
the wheel mounting station 163 is used for accommodating the lifting wheel member 13, so that the lifting wheel member 13 can be rotatably mounted on the support main frame 161 and/or the support auxiliary frame 162;
the bushing 164 is used for mounting the support fixing shaft 17.
In the scheme, the support fixing shaft 17 is fixed through the shaft sleeve 164, so that the pressing wheel support 16 can rotate around the support fixing shaft 17, and the connectivity of the support fixing shaft 17 and the shaft sleeve is improved; meanwhile, the main support frame 161 and the auxiliary support frame 162 contact the support fixing shaft 17, so that the lifting wheel member 13 is prevented from loosening during swinging lifting.
Preferably, the method further comprises the following steps: a wheel grasping driver 15;
the grab wheel driver 15 is installed on the grab base plate 11, and the output end of the grab wheel driver is connected with the traveling wheel 12 and used for driving the traveling wheel 12 to rotate.
The grab wheel driver 15 is used for driving the walking wheel piece 12 to rotate, so that the robot arm can move on the cable; when the lifting wheel piece 13 is pressed on the cable, the robot arm is clamped on the cable; at the moment, the grabbing wheel driver 15 is started to drive the traveling wheel piece 12 to rotate, the robot arm can move on the cable, in the process, the lifting wheel piece 13 is driven to act, the upper position and the lower position of the cable are in contact with the roller surface, and the fluency of the robot arm is improved.
Preferably, the gripper base plate 11 is provided with a shaft passing hole 111;
the output end of the grip wheel driver 15 passes through the shaft passing hole 111 from one side of the grip base plate 11 and is connected to the traveling wheel member 12 at the other side of the grip base plate 11.
The output end 151 of the wheel grasping driver 15 passes through the shaft passing hole 111 of the grasping base plate 11, i.e., the output end of the wheel grasping driver 15 can be limited to the shaft passing hole 111; under this structure, when the robot arm effect was removed, the output of grabbing wheel driver 15 can not rock about, has guaranteed walking wheel spare 12's mobility stability.
As shown in fig. 2, the wheel grasping driver 15 is a motor, and the motor spindle is limited in the aperture of the shaft passing hole 111, so that when the inspection robot moves on a cable with irregular fluctuation, the motor spindle does not leave the shaft passing hole 111 or change the direction of the motor spindle, but keeps the original direction, and drives the traveling wheel 12 to move, thereby improving the movement stability of the traveling wheel 12.
Preferably, the running wheels 12 and/or the lifting wheels 13 comprise: an upper half wheel body 51 and a lower half wheel body 52;
the upper half wheel body 51 is connected with the lower half wheel body 52, and a movable concave part 53 for contacting a cable is formed at the connecting position between the upper half wheel body and the lower half wheel body;
the upper half wheel body 51 and/or the lower half wheel body 52 have elasticity, wherein one with elasticity is provided with an elastic deformation groove 54 with a gap.
This scheme is a walking wheel structure, and it designs into elastic construction through first wheel body 51 and second wheel body 52, through introducing the elastic deformation groove 54 in area space in inside for it is bigger to walk the area of contact of line wheel structure and cable, has reduced sliding friction's possibility more greatly, walks the rolling friction when line wheel structure and cable 001 effect and has obtained the assurance.
Specifically, the upper half wheel body 51 and/or the lower half wheel body 52 are elastic, and one with elasticity is provided with a void elastic deformation groove 54; when the routing wheel structure is pressed on the cable 001, the upper half wheel body 51 and/or the lower half wheel body 52 can deform, the elastic deformation groove 54 with the gap is easier to deform, and the gap in the elastic deformation groove 54 can be extruded when the cable 001 is pressed, so that the deformation in the elastic deformation groove 54 is relatively increased, the surface of the routing wheel structure is in closer contact with the cable 001, the gripping force of the routing wheel structure on the cable 001 is improved, the possibility of sliding friction is greatly reduced, and the rolling friction of the routing wheel structure and the cable is ensured when the routing wheel structure acts on the cable.
The elastic deformation groove 54 is disposed adjacent to the moving concave portion 53, and at least partially surrounds the moving concave portion 53. The movable inner concave portion 53 is a portion which is movably contacted with the cable, when the elastic deformation groove 54 is arranged around the movable inner concave portion 53, the elastic deformation groove 54 can be deformed to a large extent when the movable inner concave portion 53 compresses the cable, so that the movable inner concave portion 53 is more compact when being attached to the cable, and the deformability of the movable inner concave portion 53 is improved. As shown in fig. 7, when the elastic deformation groove 54 is surrounded by the moving concave portion 53, the wire 001 located in the moving concave portion 53 can be pressed against the moving concave portion 53 at the inner side, causing the elastic deformation groove 54 at the close position to be deformed.
Preferably, the lifting wheel assemblies 136 are arranged in pairs, and the output end of the lifting driver 14 is connected to the lifting wheel assemblies on the left and right sides simultaneously, so that the lifting wheel members 13 on the left and right sides move synchronously.
As in fig. 1, the lift wheel assemblies 136 are arranged in pairs; the left lower part and the right lower part of the walking wheel piece 12 are both provided with lifting wheel pieces 13, and because the lifting wheel components are simultaneously connected with the output end of the lifting driver 14, the lifting wheel pieces 13 on the left lower part and the right lower part of the walking wheel piece 12 can synchronously move, so that the full contact between the lifting wheel pieces 13 and cables below the walking wheel piece 12 is improved, the gravity of the robot arm is arranged at the central position, and the moving stability of the robot arm is improved.
Preferably, when the lifting wheel assemblies are arranged in pairs, the lifting wheel members 13 are respectively positioned at the left and right sides of the walking wheel member 12.
The lifting wheel pieces 13 are arranged in pairs, so that stable triangular distribution is formed between the walking wheel pieces 12 and the left and right lifting wheel pieces 13 below the walking wheel pieces; wherein, the walking wheel 12 in the middle position compresses the cable downwards, and the lifting wheel 13 on the two sides compresses the cable upwards; since the lifting wheel member 13 is lifted and lowered by the rotation of the pinch roller support 16, the pressing force of the lifting wheel member 13 on the cable is obliquely upward, and the direction of the force is obliquely oriented to the center position when the pair is arranged, that is, the position of the traveling wheel member 12; the lifting wheel pieces 13 on the two sides can respectively provide pressing forces pointing to the walking wheel pieces 12, and due to the mutual matching of forces in the horizontal direction and the vertical direction, the lifting wheel pieces 13 always incline to the direction of the central position to grasp the cable, and the grasping strength of the robot arm to the cable is improved under the downward pressing action of the walking wheel pieces 12.
A line patrol robot, comprising: a robot body and a robot arm as in any of the embodiments described above;
the robot body is mounted to the robot arm.
The robot body (not shown) is a component of a known patrol robot, and may be generally provided with a photographing function for checking a problem on a cable; the robot arm provides a moving function for the robot main body.
The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A robotic arm, comprising: the lifting wheel assembly comprises a gripper base plate, a walking wheel piece, a lifting wheel assembly and a lifting driver;
the walking wheel piece is rotatably arranged on the gripper base plate;
the lift wheel assembly includes: a pinch roller support and a lifting wheel piece;
the pressing wheel support is rotatably arranged on the gripper base plate; the output end of the lifting driver is connected to the pinch roller support and is used for driving the pinch roller support to rotate; the pinch roller support is provided with the lifting wheel piece;
when the pinch roller support is lifted, the pinch roller support drives the lifting wheel piece to swing, and meanwhile, the lifting wheel piece is close to and far away from the walking wheel piece.
2. A robot arm as claimed in claim 1, wherein the gripper base plate is provided with a support fixing shaft;
the pinch roller support is rotatably arranged on the gripper base plate through the support fixing shaft.
3. A robot arm as claimed in claim 1, wherein the lifting wheel assembly comprises: an articulated arm;
one end of the movable connecting arm is rotatably connected with the pinch roller support, and the other end of the movable connecting arm is connected with the output end of the lifting driver;
the output end of the lifting driver can move linearly.
4. A robot arm as claimed in claim 2, wherein the pinch roller mount comprises: the support main frame and the support auxiliary frame;
the support main frame is connected with the support auxiliary frame, and a wheel mounting station and/or a shaft sleeve are formed at the connecting position of the support main frame and the support auxiliary frame;
the wheel mounting station is used for accommodating the lifting wheel piece, so that the lifting wheel piece can be rotatably mounted on the main support frame and/or the auxiliary support frame;
the shaft sleeve is used for mounting the support fixing shaft.
5. A robot arm as claimed in claim 1, further comprising: a wheel grasping driver;
the gripper wheel driver is arranged on the gripper base plate, and the output end of the gripper wheel driver is connected with the traveling wheel piece and used for driving the traveling wheel piece to rotate.
6. A robot arm as claimed in claim 5, wherein the gripper base plate is provided with a shaft passing hole;
and the output end of the gripper wheel driver penetrates through the shaft through hole from one side of the gripper base plate and is connected with the traveling wheel piece from the other side of the gripper base plate.
7. A robot arm according to claim 1, characterised in that the walking wheel and/or the lifting wheel comprise: an upper half wheel body and a lower half wheel body;
the upper half wheel body is connected with the lower half wheel body, and a movable concave part for contacting a cable is formed at the connection position between the upper half wheel body and the lower half wheel body;
the upper half wheel body and/or the lower half wheel body have elasticity, wherein an elastic deformation groove with a gap is arranged in one of the elasticity.
8. A robot arm as claimed in any of claims 1 to 7, wherein the lifting wheel assemblies are arranged in pairs, and the output end of the lifting drive is connected to both the left and right lifting wheel assemblies to move the left and right lifting wheel assemblies synchronously.
9. A robot arm as claimed in claim 8, wherein the lifting wheel members are located on the left and right sides of the walking wheel member when the lifting wheel members are provided in pairs.
10. A line patrol robot, comprising: a robot body and a robot arm according to any of claims 1-9;
the robot body is mounted to the robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021313309.3U CN212241077U (en) | 2020-07-07 | 2020-07-07 | Robot arm and inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021313309.3U CN212241077U (en) | 2020-07-07 | 2020-07-07 | Robot arm and inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212241077U true CN212241077U (en) | 2020-12-29 |
Family
ID=73979454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021313309.3U Active CN212241077U (en) | 2020-07-07 | 2020-07-07 | Robot arm and inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212241077U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673774A (en) * | 2020-07-07 | 2020-09-18 | 广东科凯达智能机器人有限公司 | Robot arm and inspection robot |
| CN111673775A (en) * | 2020-07-07 | 2020-09-18 | 广东科凯达智能机器人有限公司 | Line inspection robot's removal structure and line inspection robot |
-
2020
- 2020-07-07 CN CN202021313309.3U patent/CN212241077U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673774A (en) * | 2020-07-07 | 2020-09-18 | 广东科凯达智能机器人有限公司 | Robot arm and inspection robot |
| CN111673775A (en) * | 2020-07-07 | 2020-09-18 | 广东科凯达智能机器人有限公司 | Line inspection robot's removal structure and line inspection robot |
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Denomination of utility model: A robot arm and patrol robot Granted publication date: 20201229 Pledgee: Agricultural Bank of China Limited Shunde Daliang sub branch Pledgor: GUANGDONG KEYSTAR INTELLIGENCE ROBOT Co.,Ltd. Registration number: Y2024980025204 |