CN217195324U

CN217195324U - Multifunctional mechanical arm device for wall surface operation robot

Info

Publication number: CN217195324U
Application number: CN202123342688.6U
Authority: CN
Inventors: 梁康养; 王宇林
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2022-08-16
Anticipated expiration: 2031-12-28

Abstract

The utility model discloses a multifunctional mechanical arm device for a wall surface operation robot, which comprises a fixed base, a mounting seat and a connecting plate, wherein the mounting seat is fixed on the top bolt of the fixed base, a lifting column is nested in the mounting seat, a damping spring is arranged on the outer side of the top of the lifting column, and the end part of the lifting column is fixedly connected with the connecting plate; further comprising: the supporting arm is arranged at the top of the connecting plate, the top of the supporting arm is connected with the connecting arm, the end part of the connecting arm is provided with the processing shell, and the flaw detection head is embedded and arranged in the processing shell; the connecting rod, fixed connection in the right side of the head of detecting a flaw, and the inside threaded connection of connecting rod has the rotation lead screw. The multifunctional mechanical arm device for the wall surface operation robot utilizes the arrangement of the detecting head to realize simultaneous processing and flaw detection of an object, so that the processing failure rate is reduced, and meanwhile, the processing head can be quickly disassembled and assembled to realize different processing operations such as cleaning, rust removal and welding.

Description

Multifunctional mechanical arm device for wall surface operation robot

Technical Field

The utility model relates to the technical field of robot, specifically be a wall operation robot is with multi-functional mechanical arm device.

Background

The robot is an automatic machine, can replace mankind to accomplish various work, improves work quality, compares in the manual work, and the robot is accomplishing simple repeated class work's efficiency higher, and in each subassembly of robot, the arm is the main component that the robot accomplished multiple work, designs a multi-functional mechanical arm device for wall operation robot for this scheme.

At present, the traditional mechanical arm device still has certain not enough on the quick replacement processing head, and the arm need use multiple processing head to mutually support at the during operation often, when the comparatively loaded down with trivial details of operation of more changing the processing head, and then produces the influence to follow-up processing progress.

Aiming at the existing problems, innovation is urgently needed on the basis of the original mechanical arm device.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wall operation robot is with multi-functional mechanical arm device to solve and still have certain not enough in what propose among the above-mentioned background art on the quick replacement processing head, the arm at the during operation, often need use multiple processing head to mutually support, when the comparatively loaded down with trivial details of operation of the processing head of changing, and then produce the influence to follow-up processing progress.

In order to achieve the above object, the utility model provides a following technical scheme: a multifunctional mechanical arm device for a wall surface operation robot comprises a fixed base, a mounting seat and a connecting plate, wherein the mounting seat is fixed on the top of the fixed base through a bolt, a lifting column is nested inside the mounting seat, a damping spring is mounted on the outer side of the top of the lifting column, and the end of the lifting column is fixedly connected with the connecting plate;

further comprising:

the supporting arm is arranged at the top of the connecting plate, the top of the supporting arm is connected with the connecting arm, the end part of the connecting arm is provided with the processing shell, and the inside of the processing shell is nested with the flaw detection head;

the connecting rod is fixedly connected to the right side of the flaw detection head, the inner thread of the connecting rod is connected with a rotating screw rod, and the outer side of the connecting rod is connected with a fixing strip;

the butt joint seat is installed in the left side of processing casing, and the processing head is installed to the left side of butt joint seat to the outside of processing head is connected with the stopper, and the outside welded connection of stopper has the locating piece simultaneously.

Preferably, lift post and damping spring all are the equidistance setting about the outer wall of connecting plate, and are welded connection between lift post and the connecting plate to damping spring's bottom and the top of mount pad are laminated each other, utilize a plurality of lift posts that the connecting plate bottom set up, and the lift post nestification is damping spring's inside, and is swing joint between lift post and the mount pad.

Preferably, the connecting plate constitutes elastic telescopic structure through lift post and damping spring and mount pad, and the lift post nestification sets up in damping spring's inside, and when receiving the impact, the connecting plate drives the lift post and slides in the mount pad, extrudees damping spring simultaneously, utilizes a plurality of damping spring's setting, comes to shock attenuation buffering to the impact, realizes carrying out shock attenuation protection's effect to the arm.

Preferably, the head of detecting a flaw passes through the connecting rod, it constitutes sliding construction with the processing casing to rotate lead screw and fixed strip, and the head of detecting a flaw is provided with two about the axis symmetry of processing casing, and set up for the integration between processing casing and the fixed strip, rotation through control rotation lead screw, it is threaded connection to rotate lead screw and connecting rod, and then drive the connecting rod and detect a flaw the head and slide in the processing casing, and be fixed with the fixed strip in the processing casing, utilize the setting of fixed strip, it is spacing to the slip of the head of detecting a flaw, it carries out concertina movement to go forward to the head of detecting a flaw, the ultrasonic wave that the head of detecting a flaw sent is utilized to detect a flaw and detect a flaw to the object, and then realize the effect of detecting a flaw while processing.

Preferably, a movable block and a ball are arranged inside the butt joint seat;

the movable block is fixedly connected to the end part of the limiting block, and a hydraulic rod is arranged on the side of the movable block;

the ball is nested in the movable block, and the outer surface of the ball is attached to the inner surface of the butt joint seat.

Preferably, stopper and locating piece all set up about the axis symmetry of butt joint seat, and be connected for the block between locating piece and the processing head, the motion of control hydraulic stem, the hydraulic stem drives the stopper motion on movable block and the movable block, is provided with the locating piece on the stopper, lets locating piece and processing head carry out the block to utilize the stopper to carry on spacingly, and then it is fixed to realize the fast assembly to processing head and butt joint seat, be convenient for change different processing heads and realize different operations such as cleanness, welding and rust cleaning.

Compared with the prior art, the beneficial effects of the utility model are that: the multifunctional mechanical arm device for the wall surface operation robot;

1. the rotary screw rod and the flaw detection head are adopted, the rotary screw rod is in threaded connection with the connecting rod by controlling the rotation of the rotary screw rod, so that the connecting rod and the flaw detection head are driven to slide in the processing shell, the fixing strip is fixed in the processing shell, the sliding of the flaw detection head is limited by the arrangement of the fixing strip, the flaw detection head is further subjected to telescopic motion, the ultrasonic waves emitted by the flaw detection head are used for detecting flaws of an object, and the effect of flaw detection while processing is realized;

2. the limiting block and the positioning block are adopted to control the movement of the hydraulic rod, the hydraulic rod drives the movable block and the limiting block on the movable block to move, the positioning block is arranged on the limiting block to enable the positioning block to be clamped with the machining head, the limiting block is utilized to limit, the machining head and the butt joint seat are quickly assembled and fixed, and different machining heads which are convenient to replace are used for realizing different operations such as cleaning, welding and rust removal.

Drawings

Fig. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the internal structure of the mounting base of the present invention;

fig. 3 is an enlarged schematic structural view of a point a in fig. 1 according to the present invention;

FIG. 4 is a schematic view of the internal structure of the processing housing of the present invention;

FIG. 5 is a schematic view of the internal structure of the docking station of the present invention;

fig. 6 is a schematic view of the side-view connection structure of the processing head and the positioning block of the present invention.

In the figure: 1. a fixed base; 2. a mounting seat; 3. a lifting column; 4. a damping spring; 5. a connecting plate; 6. a support arm; 7. a connecting arm; 8. processing the shell; 9. a flaw detection head; 10. a connecting rod; 11. rotating the screw rod; 12. a fixing strip; 13. a docking station; 14. a machining head; 15. a hydraulic lever; 16. a movable block; 17. a ball bearing; 18. a limiting block; 19. and (5) positioning the blocks.

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. 1-6, the present invention provides a technical solution: a multifunctional mechanical arm device for a wall surface operation robot comprises a fixed base 1, a mounting seat 2 and a connecting plate 5, wherein the mounting seat 2 is fixed on the top of the fixed base 1 through bolts, a lifting column 3 is nested inside the mounting seat 2, a damping spring 4 is installed on the outer side of the top of the lifting column 3, and the end of the lifting column 3 is fixedly connected with the connecting plate 5;

further comprising:

the supporting arm 6 is arranged at the top of the connecting plate 5, the top of the supporting arm 6 is connected with a connecting arm 7, the end part of the connecting arm 7 is provided with a processing shell 8, and the inside of the processing shell 8 is nested with a flaw detection head 9;

the connecting rod 10 is fixedly connected to the right side of the flaw detection head 9, the inner thread of the connecting rod 10 is connected with a rotating screw rod 11, and the outer side of the connecting rod 10 is connected with a fixing strip 12;

the butt joint seat 13 is arranged on the left side of the processing shell 8, the processing head 14 is arranged on the left side of the butt joint seat 13, the limiting block 18 is connected to the outer side of the processing head 14, and the positioning block 19 is welded and connected to the outer side of the limiting block 18;

the lifting columns 3 and the damping springs 4 are arranged at equal intervals around the outer wall of the connecting plate 5, the lifting columns 3 are connected with the connecting plate 5 in a welding mode, and the bottoms of the damping springs 4 are attached to the top of the mounting base 2; the connecting plate 5 and the mounting base 2 form an elastic telescopic structure through the lifting column 3 and the damping spring 4, and the lifting column 3 is nested in the damping spring 4;

utilize a plurality of lift post 3 that 5 bottoms of connecting plate set up, lift post 3 nestification is in damping spring 4's inside, and be swing joint between lift post 3 and the mount pad 2, when the arm received the impact, connecting plate 5 drove lift post 3 and slides in mount pad 2, extrudees damping spring 4 simultaneously, utilizes a plurality of damping spring 4's setting, comes to carry out the shock attenuation buffering to the impact, realizes carrying out shock attenuation protection's effect to the arm.

The flaw detection heads 9 and the processing shell 8 form a sliding structure through a connecting rod 10, a rotating screw rod 11 and a fixing strip 12, two flaw detection heads 9 are symmetrically arranged about the central axis of the processing shell 8, and the processing shell 8 and the fixing strip 12 are integrally arranged;

through the rotation of control rotation lead screw 11, it is threaded connection to rotate lead screw 11 and connecting rod 10, and then drive connecting rod 10 and flaw detection head 9 and slide in processing casing 8, and processing casing 8 internal fixation has fixed strip 12, utilize the setting of fixed strip 12, it is spacing to the slip of flaw detection head 9, and then let flaw detection head 9 can carry out concertina movement, the ultrasonic wave that utilizes flaw detection head 9 to send comes to detect a flaw to the object, and then realize the effect of detecting a flaw while processing.

A movable block 16 and a ball 17 are arranged in the butt joint seat 13; the movable block 16 is fixedly connected to the end part of the limiting block 18, and a hydraulic rod 15 is arranged on the side of the movable block 16; the ball 17 is nested in the movable block 16, and the outer surface of the ball 17 is attached to the inner surface of the butt joint seat 13; the limiting block 18 and the positioning block 19 are symmetrically arranged about the central axis of the butt joint seat 13, and the positioning block 19 is in clamping connection with the machining head 14;

the motion of control hydraulic stem 15, hydraulic stem 15 drive the stopper 18 motion on movable block 16 and the movable block 16, are provided with locating piece 19 on the stopper 18, let locating piece 19 and processing head 14 carry out the block to utilize stopper 18 to carry on spacingly, and then realize fixing the fast assembly of processing head 14 and butt joint seat 13, be convenient for change different processing heads 14 and realize different operations such as cleanness, welding and rust cleaning.

The working principle is as follows: when the multifunctional mechanical arm device for the wall surface operation robot is used, according to the figures 1-6, firstly, a processing head 14 is placed on a butt joint seat 13, two groups of hydraulic rods 15 in the butt joint seat 13 are controlled to move simultaneously, the hydraulic rods 15 drive a movable block 16 and a limiting block 18 to move, balls 17 are arranged on the movable block 16, the friction during the movement is reduced, then two groups of limiting blocks 18 are driven to move inwards to limit the processing head 14, a positioning block 19 is welded on the processing head 14 and is clamped with the processing head 14, so that the butt joint seat 13 and the processing head 14 are stably fixed, the fixing operation is simple and convenient, the cleaning, welding, rust removal and other different processing operations can be realized according to the replacement of different processing heads 14, and in the processing process, the rotary screw rod 11 is driven to rotate by controlling a driving motor in a processing shell 8, the rotary screw rod 11 is in threaded connection with the connecting rod 10, so that the connecting rod 10 and the flaw detection head 9 are driven to slide in the machining shell 8, the fixing strip 12 is fixed in the machining shell 8, the sliding of the flaw detection head 9 is limited by the arrangement of the fixing strip 12, the flaw detection head 9 can perform telescopic motion, an object is subjected to flaw detection by ultrasonic waves emitted by the flaw detection head 9, and the effect of detecting flaws while machining is achieved;

when in the arm removal transportation, utilize a plurality of lift post 3 that 5 bottoms of connecting plate set up, lift post 3 nestification is in damping spring 4's inside, and be swing joint between lift post 3 and the mount pad 2, when the arm receives the impact, connecting plate 5 drives lift post 3 and slides in mount pad 2, extrude damping spring 4 simultaneously, utilize a plurality of damping spring 4's setting, come to carry out the shock attenuation buffering to the impact, realize carrying out shock attenuation protection's effect to the arm.

Those not described in detail in this specification are well within the skill of the art.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multifunctional mechanical arm device for a wall surface operation robot comprises a fixed base (1), a mounting seat (2) and a connecting plate (5), wherein the mounting seat (2) is fixed to the top of the fixed base (1) through bolts, a lifting column (3) is nested inside the mounting seat (2), a damping spring (4) is installed on the outer side of the top of the lifting column (3), and the connecting plate (5) is fixedly connected to the end portion of the lifting column (3);

it is characterized by also comprising:

the supporting arm (6) is installed at the top of the connecting plate (5), the top of the supporting arm (6) is connected with the connecting arm (7), the end part of the connecting arm (7) is provided with a processing shell (8), and meanwhile, the inside of the processing shell (8) is nested with a flaw detection head (9);

the connecting rod (10) is fixedly connected to the right side of the flaw detection head (9), the inner thread of the connecting rod (10) is connected with a rotating screw rod (11), and the outer side of the connecting rod (10) is connected with a fixing strip (12);

butt joint seat (13) is installed in the left side of processing casing (8), and butt joint seat (13) left side install processing head (14) to the outside of processing head (14) is connected with stopper (18), and the outside welded connection of stopper (18) has locating piece (19) simultaneously.

2. The multifunctional arm device for a wall-working robot according to claim 1, wherein: lifting column (3) and damping spring (4) all are the equidistance setting about the outer wall of connecting plate (5), and are welded connection between lifting column (3) and connecting plate (5) to the bottom of damping spring (4) is laminated each other with the top of mount pad (2).

3. The multifunctional arm device for the wall working robot according to claim 1, wherein: the connecting plate (5) and the mounting seat (2) form an elastic telescopic structure through the lifting column (3) and the damping spring (4), and the lifting column (3) is nested in the damping spring (4).

4. The multifunctional arm device for a wall-working robot according to claim 1, wherein: flaw detection head (9) constitute sliding construction through connecting rod (10), rotation lead screw (11) and fixed strip (12) and processing casing (8), and flaw detection head (9) are provided with two about the axis symmetry of processing casing (8) to processing casing (8) and fixed strip (12) between for the integration setting.

5. The multifunctional arm device for a wall-working robot according to claim 1, wherein: a movable block (16) and a ball (17) are arranged in the butt joint seat (13);

the movable block (16) is fixedly connected to the end part of the limiting block (18), and a hydraulic rod (15) is installed on the side of the movable block (16);

and the ball (17) is nested in the movable block (16), and the outer surface of the ball (17) is attached to the inner surface of the butt joint seat (13).

6. The multifunctional arm device for a wall-working robot according to claim 5, wherein: the limiting block (18) and the positioning block (19) are symmetrically arranged about the central axis of the butt joint seat (13), and the positioning block (19) is connected with the machining head (14) in a clamping mode.