CN218462187U

CN218462187U - Mechanical arm and robot

Info

Publication number: CN218462187U
Application number: CN202221746749.7U
Authority: CN
Inventors: 马宗涛; 谷湘煜; 徐劲莉; 周仁彬; 王琴
Original assignee: Shenzhen Launch Digital Technology Co Ltd
Current assignee: Shenzhen Launch Digital Technology Co Ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2023-02-10
Anticipated expiration: 2032-07-07

Abstract

This application is applicable to equipment technical field that patrols and examines, provides a mechanical arm, includes: a base; a source of rotational power; the first rotating arm is provided with a first transmission mechanism and a driving piece, and the first transmission mechanism and the first rotating arm are respectively in transmission connection with a rotary power source; the second rotating arm is provided with a second transmission mechanism connected with the driving part and a driven part connected with the first transmission mechanism; at least one of the first rotary arm and the second rotary arm is a telescopic arm; a holder; the rotary power source can drive the driven part to rotate and drive the second rotary arm to rotate relative to the first rotary arm through the first transmission mechanism, and the driving part drives the holder to rotate relative to the second rotary arm through the second transmission mechanism so as to drive the holder to move from a first position to a second position; the mechanical arm can be folded and folded to reduce the occupied space, and meanwhile, the mechanical arm can be contracted to further reduce the occupied space; the application also provides a robot patrols and examines including the arm.

Description

Mechanical arm and robot

Technical Field

The application belongs to the technical field of inspection equipment, and particularly relates to a mechanical arm and a robot.

Background

In recent years, with the development of automation and intellectualization, inspection robots are more and more widely applied, and the robots are required to inspect not only outdoors but also indoors, wherein the main inspection objects for indoor inspection are various cabinets. Since the indoor space is very limited, the inspection robot is required to have a small size, a short length and a small turning radius to be suitable for the narrow indoor space. Meanwhile, the inspection equipment is required to be ensured to inspect different positions of the cabinet at different heights; and in the indoor inspection process, the inspection equipment needs to inspect the cabinet at different positions at the same angle all the time.

The mechanical arm of the inspection robot in the prior art is usually large, poor in folding and gathering capacity and inconvenient to move in a narrow space.

SUMMERY OF THE UTILITY MODEL

To above-mentioned problem, this application provides a arm, has solved at least that the arm that patrols and examines the robot among the prior art folds and draws in the problem that the ability is poor, the space occupies greatly in folding.

Embodiments of a first aspect of the present application provide a robot arm, including:

the base is provided with a rotary power source;

one end of the first swing arm is rotatably connected to the base, a first transmission mechanism is arranged on the first swing arm, the first swing arm and the first transmission mechanism are respectively in transmission connection with the rotary power source, and a driving piece is further arranged on the first swing arm;

one end of the second swing arm is rotatably connected to one end, away from the base, of the first swing arm, a second transmission mechanism connected with the driving piece is arranged on the second swing arm, and a driven piece connected with the first transmission mechanism is further arranged on the second swing arm; at least one of the first radial arm and the second radial arm is a telescopic arm;

the holder is rotatably connected to one end, away from the first swing arm, of the second swing arm and is in transmission connection with the second transmission mechanism;

the rotary power source can drive through first drive mechanism the follower rotates and drives the second spiral arm is relative first spiral arm rotates, and makes the driving piece passes through second drive mechanism and drives the cloud platform is relative the second spiral arm rotates, in order to drive the cloud platform moves to the second position from the first position, the cloud platform is in the orientation of second position with the cloud platform is in the orientation of first position is the same.

In an embodiment, the first swing arm includes a first housing and a second housing, the first housing is rotatably connected to the base, and the second housing is movably sleeved on the first housing.

In one embodiment, the first transmission mechanism includes a first gear, a first transmission shaft, and a second gear, the first gear being rotatably connected to the first housing and connected to the source of rotational power; the first transmission shaft is a telescopic rod piece; the first gear and the second gear are both connected with the first transmission shaft so that the first gear and the second gear can synchronously rotate; the second gear is rotationally connected to the second shell and is in transmission connection with the driven member.

In one embodiment, the first transmission shaft includes a first threaded sleeve and a first lead screw, and the first threaded sleeve is rotatably disposed in the first housing and connected to the first gear; the first screw rod is rotatably arranged in the second shell and is connected with the second gear, the first screw rod penetrates through the first threaded sleeve along the axial sliding direction, the first screw rod can rotate along with the first threaded sleeve, and the first screw rod can drive the second shell to slide relative to the first shell along the axial sliding direction.

In an embodiment, the first radial arm further includes a first stopper and a first stopper, and the first stopper can abut against the first stopper to limit the relative displacement between the first housing and the second housing;

the first stop piece is arranged on the first shell, and the first limit piece is arranged on the second shell; or the like, or, alternatively,

the first limiting part is arranged on the screw rod, and the first stop piece is arranged on the first threaded sleeve.

In one embodiment, the rotary power source comprises a motor and a power gear arranged on the base; the motor is used for driving the first rotary arm to rotate; the power gear is engaged with the first gear.

In an embodiment, the second swing arm includes a third shell and a fourth shell, the third shell is rotatably connected to the first swing arm, and the fourth shell is sleeved on the third shell.

In one embodiment, the second transmission mechanism includes a third gear, a second transmission shaft, and a fourth gear; the third gear is arranged on the third shell, the fourth gear is arranged on the fourth shell, and the fourth gear and the third gear are both connected with the second transmission shaft so that the third gear and the fourth gear can synchronously rotate;

the driving part is a gear, the driving part is connected to the first swing arm and is in transmission connection with the third gear, and the second swing arm rotates relative to the first swing arm to enable the driving part to drive the third gear to rotate;

and the holder is provided with a holder gear meshed with the fourth gear.

In an embodiment, the second transmission shaft is a telescopic rod, the second transmission shaft includes a second threaded sleeve and a second screw rod, and the second threaded sleeve is rotatably connected to the third housing and connected to the third gear; the second lead screw rotates to be connected with the fourth shell and is connected with the fourth gear, the second lead screw penetrates through the second threaded sleeve along the axial sliding direction, the second lead screw can rotate along with the second threaded sleeve, and the second lead screw can drive the fourth shell to slide relative to the third shell along the axial sliding direction.

In an embodiment, the second radial arm further includes a second stopper and a second stopper, and the second stopper can abut against the second stopper to limit the relative displacement between the third housing and the fourth housing;

the second stop piece is arranged on the third shell, and the second limit piece is arranged on the fourth shell; or

The second limiting part is arranged on the second screw rod, and the second stopping part is arranged on the second threaded sleeve.

Embodiments of the second aspect of the present application also provide a robot including the robot arm of the first aspect.

The folding ability of drawing in of arm to patrolling and examining robot among the prior art is poor, the space occupies big problem and makes the improved design, has following beneficial effect:

1. the first swing arm and the second swing arm which can rotate relative to the base are arranged, and the cloud deck is arranged on the second swing arm, so that the mechanical arm can be folded and furled conveniently, and the space occupation of the robot in the moving process is reduced;

2. the first transmission mechanism, the driving piece, the second transmission mechanism and the driven piece are arranged, so that the second spiral arm can rotate along with the rotation of the first spiral arm, a second spiral arm driving assembly is omitted, related space is saved, and the space occupation of the mechanical arm is reduced;

3. at least one of the first swing arm and the second swing arm is set as a telescopic arm, so that the space occupation of a mechanical arm of the inspection robot in the moving process is further reduced on the basis that the first swing arm and the second swing arm can be folded, and the inspection robot can walk in a narrow indoor space more flexibly;

this application structure is succinct, and the arm can be folded and draw in order to reduce the space and occupy, and the arm can also contract simultaneously and occupy in order to further reduce the space to satisfy the demand of indoor removal, the practicality is strong.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a pan-tilt head in a robot arm located at a second position according to an embodiment of the present application.

Fig. 2 is a schematic perspective view of a pan-tilt head in a mechanical arm located at a first position according to an embodiment of the present application.

Figure 3 is a front view of the robotic arm shown in figure 2.

Figure 4 isbase:Sub>A schematic cross-sectional view of the robotic arm shown in figure 3 taken along linebase:Sub>A-base:Sub>A.

Fig. 5 is a perspective view of a first transmission mechanism in the robot arm shown in fig. 1.

Fig. 6 is a schematic cross-sectional view of the first transmission mechanism shown in fig. 5.

Fig. 7 is a perspective view of a second transmission mechanism in the robot arm shown in fig. 1.

Fig. 8 is a schematic sectional view of the second transmission mechanism 41 shown in fig. 7.

The designations in the figures mean:

100. a mechanical arm;

10. a base;

20. a source of rotational power; 21. a motor; 22. a power gear;

30. a first swing arm; 301. a first housing; 302. a second housing; 31. a first transmission mechanism; 311. a first gear; 312. a first drive shaft; 3121. a first threaded sleeve; 3122. a first lead screw; 313. a second gear; 32. a drive member; 33. a first limit piece; 34. a first stopper;

40. a second swing arm; 401. a third housing; 402. a fourth housing; 41. a second transmission mechanism; 411. a third gear; 412. a second transmission shaft; 4121. a second threaded sleeve; 4122. a second lead screw; 413. a fourth gear; 42. a driven member; 43. a second limiting member; 44. a second stopper;

50. a holder; 501. cloud platform gear.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings, which are examples. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," etc. indicate orientations or positional relationships based on those shown in the drawings, which are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The mechanical arm of the inspection robot in the prior art is usually large, poor in folding and furling capabilities and inconvenient to move in a narrow space.

Therefore, the mechanical arm can be folded and retracted, and can be stretched and retracted so as to facilitate the movement of the robot in a narrow indoor space; the present application further provides a robot including a robotic arm.

To explain the technical solutions of the present application, the following description is made with reference to specific drawings and examples.

Referring to fig. 1 to 4, a robot arm 100 provided in the embodiment of the present disclosure includes a base 10, a first swing arm 30, a second swing arm 40, and a pan/tilt head 50.

The base 10 is used for providing a fixed foundation for the first swing arm 30, a rotary power source 20 is arranged on the base 10, and the rotary power source 20 may include a motor 21 or a rotary cylinder, or may be other various components capable of providing rotary force.

One end of the first swing arm 30 is rotatably connected to the base 10, and the rotary power source 20 is connected to the first swing arm 30 and can drive the first swing arm 30 to rotate relative to the base 10; the first swing arm 30 is provided with a first transmission mechanism 31 and a driving member 32, and the first transmission mechanism 31 is connected with the rotary power source 20.

One end of the second radial arm 40 is rotatably connected to one end of the first radial arm 30, which is far away from the base 10, and the second radial arm 40 can rotate relative to the first radial arm 30; a second transmission mechanism 41 is arranged on the second swing arm 40, and the second transmission mechanism 41 is connected with the driving part 32; the second swing arm 40 is further provided with a driven member 42, the driven member 42 is connected to the first transmission mechanism 31, and the rotary power source 20 can drive the driven member 42 to rotate through the first transmission mechanism 31, so as to drive the second swing arm 40 to rotate and enable the rotation direction of the second swing arm 40 to be opposite to the rotation direction of the first swing arm 30.

Cloud platform 50 is used for bearing and patrols and examines equipment, for example camera etc. cloud platform 50 rotates to be connected in the one end that second spiral arm 40 deviates from first spiral arm 30, specifically locates and keeps away from second spiral arm 40 and the one end of being connected with first spiral arm 30 rotation, and second drive mechanism 41 can drive the relative second spiral arm 40 rotation of cloud platform 50.

At least one of the first and second

radial arms

30 and 40 is a telescopic arm.

If the lengths of the first radial arm 30 and the second radial arm 40 are fixed, the pan-tilt 50 can only move in the vertical direction along with the rotation of the first radial arm 30 and the second radial arm 40; the first radial arm 30 and/or the second radial arm 40 are/is set as telescopic arms, so that the moving direction of the pan/tilt head 50 can be increased, namely, the pan/tilt head 50 can move along the horizontal direction along with the telescopic movement of the first radial arm 30 and/or the second radial arm 40; if the first swing arm 30 is a telescopic arm, the rotary power source 20 can drive the first swing arm 30 to extend and retract through the first transmission mechanism 31; if the second swing arm 40 is a telescopic arm, the rotary power source 20 transmits power to the second transmission mechanism 41 through the first transmission mechanism 31, and drives the second swing arm 40 to extend and retract through the second transmission mechanism 41.

The first transmission mechanism 31 and the second transmission mechanism 41 may include a screw transmission structure, or may include other transmission structures that convert rotational power into linear feed motion.

In this embodiment, the first transmission mechanism 31 may include a gear transmission mechanism, a belt transmission mechanism, or other various transmission mechanisms, on the premise that the rotation directions of the first swing arm 30 and the second swing arm 40 are opposite.

On the premise that the rotational directions of the pan/tilt head 50 and the second swing arm 40 are opposite, the second transmission mechanism 41 may include a gear transmission mechanism, a belt transmission mechanism, or other various transmission mechanisms.

The action process of the embodiment is as follows: the rotary power source 20 can drive the first radial arm 30 to rotate relative to the base 10, and at the same time, the rotary power source 20 also drives the driven member 42 to rotate through the first transmission mechanism 31, so as to drive the second radial arm 40 to swing relative to the first radial arm 30, so that the second radial arm 40 and the first radial arm 30 rotate synchronously, and the rotation of the first radial arm 30 and the second radial arm 40 can enable the pan-tilt 50 to move from the first position to the second position; the rotary power source 20 can also drive the corresponding first radial arm 30 and/or second radial arm 40 to extend and retract through the first transmission mechanism 31 and/or second transmission mechanism 41; during the movement of the platform 50 from the first position to the second position, i.e. during the rotation or extension of the first and

second swing arms

30, 40, the orientation of the platform 50 relative to the base 10 changes, but the platform 50 is oriented in the second position as in the first position relative to the base 10.

When the holder 50 is located at the first position, the first swing arm 30 and the second swing arm 40 are in a folded, furled and contracted state; when the holder 50 is located at the second position, the first swing arm 30 and the second swing arm 40 are in an open and extended state.

The beneficial effect of this embodiment lies in: arranging a first radial arm 30 and a second radial arm 40 which can rotate relative to the base 10, and arranging a cloud deck 50 on the second radial arm 40, so that the mechanical arm 100 can be folded and folded, and the space occupation of the robot in the moving process is reduced; the first transmission mechanism 31, the driving part 32, the second transmission mechanism 41 and the driven part 42 are arranged, so that the second swing arm 40 can rotate along with the rotation of the first swing arm 30, a driving component of the second swing arm 40 is omitted, the related space is saved, and the space occupation of the mechanical arm 100 is reduced; set up at least one in first spiral arm 30, the second spiral arm 40 into flexible arm, on the basis that first spiral arm 30, second spiral arm 40 can be folded, further reduced and patrolled and examined the robot and removed the space of in-process arm 100 and occupy for patrol and examine the robot and can more nimble walk in indoor narrow and small space.

In this embodiment, the first swing arm 30 may be a hollow member, and the first transmission mechanism 31 is disposed in the first swing arm 30; the second swing arm 40 may also be a hollow member, and the second transmission mechanism 41 is disposed in the second swing arm 40 to further reduce the occupied space.

One end of the driven member 42 is fixedly or detachably connected to the second radial arm 40, and the other end of the driven member 42 extends into the first radial arm 30, and the first transmission mechanism 31 drives the driven member 42 to rotate so as to drive the second radial arm 40 to rotate synchronously.

One end of the driving member 32 is fixedly connected to the first swing arm 30, the other end of the driving member 32 extends into the second swing arm 40, and the driving member 32 can drive the pan/tilt head 50 to rotate through the second transmission mechanism 41 when the second swing arm 40 rotates relative to the first swing arm 30.

Referring to fig. 1-4, in one embodiment, the first radial arm 30 includes a first housing 301 and a second housing 302.

The first shell 301 is a hollow component, and the first shell 301 is rotatably connected to the base 10 and connected to the rotary power source 20; the second housing 302 is a hollow member, the second housing 302 is sleeved on the first housing 301, and the second housing 302 can slide along the first housing 301 to form a telescopic arm; the second housing 302 is sleeved on the first housing 301 and forms a cavity for accommodating the first transmission mechanism 31.

Referring to fig. 1 to 4, in an embodiment, the first transmission mechanism 31 includes a first gear 311, a first transmission shaft 312, and a second gear 313.

The first gear 311 is rotatably connected in the first housing 301, the first gear 311 can rotate relative to the first housing 301, and the first gear 311 can move synchronously with the first housing 301, that is, the first housing 301 rotates relative to the base 10 to drive the first gear 311 to move synchronously; the first gear 311 is connected to the rotary power source 20, and the rotary power source 20 can rotate the first gear 311.

The second gear 313 is rotatably connected in the second housing 302, the second gear 313 can rotate relative to the second housing 302, and the second gear 313 can move synchronously with the second housing 302, that is, the second housing 302 drives the second gear 313 to move synchronously when moving telescopically relative to the first housing 301, and the second housing 302 drives the second gear 313 to move synchronously when swinging relative to the base 10; the second gear 313 is connected to the driven member 42 and rotates the driven member 42.

Two ends of the first transmission shaft 312 are respectively connected with the first gear 311 and the second gear 313, so that the second gear 313 can synchronously rotate along with the first gear 311; because the first swing arm 30 is a telescopic arm and the second housing 302 can slide relative to the first housing 301, the first transmission shaft 312 is a telescopic rod, the first transmission shaft 312 can drive the second gear 313 to synchronously rotate along with the first gear 311, and the first transmission shaft 312 can also synchronously extend and retract along with the extension and retraction movement of the second housing 302.

In this embodiment, the second gear 313 is a bevel gear, the driven member 42 is also a bevel gear and is connected to the second swing arm 40 through a connecting shaft, the second gear 313 is engaged with the driven member 42 and drives the driven member 42 to rotate, so as to drive the second swing arm 40 to rotate; optionally, the coupling sleeve is sleeved with a shaft sleeve.

In this embodiment, the first transmission shaft 312 includes a first threaded sleeve 3121 and a first lead screw 3122.

One end of the first threaded sleeve 3121 is connected to the first gear 311, the first threaded sleeve 3121 is rotatably disposed in the first housing 301, the first threaded sleeve 3121 can only rotate around the shaft, and the first threaded sleeve 3121 cannot slide relative to the first housing 301 in the axial direction; optionally, a first bearing seat is disposed in the first housing 301, the first threaded sleeve 3121 is disposed through the first bearing seat, a first thrust bearing is disposed outside the first threaded sleeve 3121, and the first thrust bearing abuts against the first bearing seat, so that the first threaded sleeve 3121 can only rotate relative to the first bearing seat and cannot slide relative to the first bearing seat along the axial direction.

One end of the first lead screw 3122 is connected with the second gear 313, the first lead screw 3122 is rotatably arranged in the second housing 302, the first lead screw 3122 can only self-transmit around a shaft, and the first lead screw 3122 can not slide relative to the second housing 302 along the axial direction; one end of the first lead screw 3122 departing from the second gear 313 is accommodated in the first threaded sleeve 3121, and the first lead screw 3122 is in threaded fit with the first threaded sleeve 3121; optionally, a second bearing seat is disposed in the second housing 302, the first lead screw 3122 penetrates the second bearing seat, a second thrust bearing is disposed outside the first lead screw 3122, and the second thrust bearing abuts against the second bearing seat, so that the first lead screw 3122 can only rotate relative to the second bearing seat and cannot slide relative to the second bearing seat along the axial direction.

Referring to fig. 5 and 6, in the present embodiment, the first radial arm 30 further includes a first stopper 33 and a first stopper 34.

The first stopper 34 is disposed on the first housing 301, the first stopper 33 is disposed on the second housing 302, and when the second housing 302 moves to a certain position along a direction away from the first housing 301, the first stopper 33 abuts against the first stopper 34 to prevent the second housing 302 from separating from the first housing 301; in another embodiment, the first stop member 34 is disposed on the first threaded sleeve 3121, the first limit member 33 is disposed on the first lead screw 3122, when the first lead screw 3122 moves to a certain position relative to the first threaded sleeve 3121, the first limit member 33 abuts against the first stop member 34 to prevent the first lead screw 3122 from coming off the first threaded sleeve 3121, and thus the second housing 302 is prevented from coming off the first housing 301.

Referring to fig. 4, in the present embodiment, the rotary power source 20 includes a motor 21 and a power gear 22.

The motor 21 is arranged on the base 10, and the motor 21 is connected with the first shell 301 and drives the first swing arm 30 to rotate relative to the base 10; the power gear 22 is disposed on the base 10 and engaged with the first gear 311, when the first swing arm 30 rotates relative to the base 10, the first swing arm 30 also rotates relative to the power gear 22, and at this time, the power gear 22 drives the first gear 311 to rotate; optionally, the first gear 311 and the power gear 22 are both bevel gears

The action process of the embodiment is as follows: the motor 21 is started to drive the first rotating arm 30 to rotate relative to the base 10, so that the first gear 311 rotates relative to the power gear 22; the first gear 311 rotates to transmit a rotary force to the second gear 313 through the first threaded sleeve 3121 and the first lead screw 3122, because the second gear 313 is engaged with the driven member 42, and the driven member 42 is connected with the second swing arm 40, at this time, the second gear 313 has a large load and cannot drive the driven member 42 to rotate, so the first lead screw 3122 cannot rotate, at this time, the first threaded sleeve 3121 rotates to drive the first lead screw 3122 to move in a direction away from the first housing 301 along an axial direction, and thus the second housing 302 is driven to synchronously move in a direction away from the first housing 301; when the limiting member abuts against the stopping member, the first screw 3122 cannot move continuously in a direction away from the first housing 301, and at this time, the first thread sleeve 3121 can rotate to drive the second gear 313 to rotate through the first screw 3122.

The above-mentioned motion process of the first transmission mechanism 31 is reflected on the first radial arm 30, and the effect is as follows: when the motor 21 is started, the first swing arm 30 is driven to extend through the first transmission mechanism 31, and specifically the second casing 302 is driven to move in a direction away from the first casing 301, and at this time, the second swing arm 40 and the second casing 302 are relatively static; when the second housing 302 is extended to the most distal end, the second housing 302 cannot be extended further; the motor 21 drives the second swing arm 40 to move relative to the second housing 302 through the first transmission mechanism 31.

The beneficial effect of this embodiment does: the specific structure of the first transmission mechanism 31 is provided, the motor 21 can drive the first swing arm 30 and the second swing arm 40 to rotate through the first transmission mechanism 31, and a power component for rotating the second swing arm 40 is saved, so that the space requirement is reduced; the motor 21 can also drive the first swing arm 30 to stretch through the first transmission mechanism 31, so that the stretching member of the first swing arm 30 is saved, and the space requirement is further reduced; meanwhile, the embodiment also ensures the stability of power transmission in the process of extending and retracting the first swing arm 30.

Referring to fig. 1-4, in one embodiment, the second radial arm 40 includes a third housing 401 and a fourth housing 402.

The third shell 401 is a hollow member, and the third shell 401 is rotatably connected to the second shell 302; the fourth shell 402 is a hollow member, the fourth shell 402 is sleeved on the third shell 401, and the fourth shell 402 can slide along the third shell 401; the fourth housing 402 is sleeved on the third housing 401 and forms a cavity for accommodating the second transmission mechanism 41.

Referring to fig. 1 to 4, in an embodiment, the second transmission mechanism 41 includes a third gear 411, a second transmission shaft 412 and a fourth gear 413.

The third gear 411 is rotatably connected in the third housing 401, the third gear 411 can rotate relative to the third housing 401, and the third gear 411 can move synchronously with the third housing 401, that is, the third housing 401 rotates relative to the second housing 302 to drive the third gear 411 to move synchronously; the third gear 411 is connected to the driving member 32, and the driving member 32 can drive the third gear 411 to rotate relative to the third housing 401.

The fourth gear 413 is rotatably connected in the fourth housing 402, the fourth gear 413 can rotate relative to the fourth housing 402, and the fourth gear 413 can synchronously move with the fourth housing 402, that is, the fourth housing 402 drives the fourth gear 413 to synchronously move when telescopically moving relative to the third housing 401, and the fourth housing 402 also drives the fourth gear 413 to synchronously move when swinging relative to the first swing arm 30; the fourth gear 413 is connected to the pan/tilt head 50 and can drive the pan/tilt head 50 to rotate synchronously.

Two ends of the second transmission shaft 412 are respectively connected with the third gear 411 and the fourth gear 413, so that the fourth gear 413 can synchronously rotate along with the third gear 411; because the second swing arm 40 is a telescopic arm and the fourth housing 402 can slide relative to the third housing 401, the second transmission shaft 412 is a telescopic rod, the second transmission shaft 412 can drive the fourth gear 413 to synchronously rotate along with the third gear 411, and the second transmission shaft 412 can also synchronously extend and retract along with the extending and retracting movement of the fourth housing 402.

In this embodiment, the third gear 411 is a bevel gear, the driving member 32 is also a bevel gear and is connected to the second housing 302 through a coupling, and the second swing arm 40 rotates relative to the first swing arm 30 to rotate the third gear 411 relative to the driving member 32, so that the driving member 32 drives the third gear 411 to rotate relative to the third housing 401.

In this embodiment, the second transmission shaft 412 includes a second threaded sleeve 4121 and a second lead screw 4122.

One end of the second thread sleeve 4121 is connected with the third gear 411, the second thread sleeve 4121 is rotatably connected in the third housing 401, the second thread sleeve 4121 can only rotate around the shaft, and the second thread sleeve 4121 cannot slide relative to the third housing 401 along the axial direction; optionally, a third bearing seat is disposed in the third housing 401, the second threaded sleeve 4121 penetrates through the third bearing seat, a third thrust bearing is disposed outside the third threaded sleeve, and the third thrust bearing abuts against the third bearing seat, so that the second threaded sleeve 4121 can only rotate relative to the third bearing seat and cannot slide relative to the third bearing seat along the axial direction.

One end of the second lead screw 4122 is connected to the fourth gear 413, the second lead screw 4122 is rotatably connected to the fourth housing 402, the second lead screw 4122 can only self-transmit around the shaft, and the second lead screw 4122 cannot slide relative to the fourth housing 402 along the axial direction; one end of the second screw rod 4122 departing from the fourth gear 413 is accommodated in the second thread sleeve 4121, and the second screw rod 4122 is in thread fit with the second thread sleeve 4121; optionally, a fourth bearing seat is disposed in the fourth housing 402, the second lead screw 4122 is disposed through the fourth bearing seat, a fourth thrust bearing is disposed outside the second lead screw 4122, and the fourth thrust bearing abuts against the fourth bearing seat, so that the second lead screw 4122 can only rotate relative to the fourth bearing seat and cannot slide relative to the fourth bearing seat along the axial direction.

Referring to fig. 7 and 8, in the present embodiment, the second radial arm 40 further includes a second stopper 43 and a second stopper 44.

The second stopper 44 is disposed on the third housing 401, the second position-limiting member 43 is disposed on the fourth housing 402, and when the fourth housing 402 moves to a certain position along a direction away from the third housing 401, the second position-limiting member 43 abuts against the second stopper 44 to prevent the fourth housing 402 from separating from the third housing 401; in another embodiment, the second stopping member 44 is disposed on the second thread sleeve 4121, the second limiting member 43 is disposed on the second screw rod 4122, and when the second screw rod 4122 moves to a certain position relative to the second thread sleeve 4121, the second limiting member 43 abuts against the second stopping member 44 to prevent the second screw rod 4122 from coming out of the second thread sleeve 4121, and further prevent the fourth housing 402 from coming off the third housing 401.

Referring to fig. 4, in the present embodiment, a pan/tilt gear 501 engaged with the fourth gear 413 is disposed on the pan/tilt head 50, and the fourth gear 413 rotates to drive the pan/tilt gear 501 to rotate, so as to drive the pan/tilt head 50 to rotate relative to the second swing arm 40; optionally, the fourth gear 413 and the pan/tilt gear 501 are both bevel gears.

The action process of the embodiment is as follows: when the first swing arm 30 extends to the most distal end, the second gear 313 drives the follower 42 to rotate, and thus drives the second swing arm 40 to move; at this time, under the action of the driving member 32, the third gear 411 rotates relative to the third housing 401; the third gear 411 rotates to transmit a turning force to the fourth gear 413 through the second threaded sleeve 4121 and the second screw rod 4122, because the fourth gear 413 is meshed with the pan/tilt gear 501, and the pan/tilt gear 501 is connected with the pan/tilt head 50, at this time, the fourth gear 413 has a large load and cannot drive the pan/tilt gear 501 to rotate, so that the second screw rod 4122 cannot rotate, at this time, the second threaded sleeve 4121 rotates to drive the second screw rod 4122 to move in the direction far away from the third shell 401 along the axial direction, and thus the fourth shell 402 is driven to move in the direction far away from the third shell 401 synchronously; when the limiting member abuts against the stopping member, the second screw 4122 cannot move further in a direction away from the third housing 401, and at this time, the second screw 4121 can rotate to drive the fourth gear 413 to rotate through the second screw 4122.

The above-mentioned movement process of the second transmission mechanism 41 is reflected on the second radial arm 40, and the effect is: after the first swing arm 30 extends to the farthest end, the first transmission mechanism 31 drives the second swing arm 40 to extend through the driving member 32, the driven member 42 and the second transmission mechanism 41, and specifically drives the fourth housing 402 to move in a direction away from the third housing 401, at this time, the second swing arm 40 is flush with the first swing arm 30; when the fourth housing 402 extends to the most distal end, the fourth housing 402 cannot extend further; then, the first transmission mechanism 31 drives the second swing arm 40 to rotate relative to the first swing arm 30 through the driving member 32, the driven member 42 and the second transmission mechanism 41, and drives the pan/tilt head 50 to rotate relative to the second swing arm 40 until the pan/tilt head 50 moves to the second position.

The beneficial effect of this embodiment does: the specific structure of the second transmission mechanism 41 is provided, the first transmission mechanism 31 drives the pan-tilt 50 to rotate through the driving part 32, the driven part 42 and the second transmission mechanism 41, so that the power component for rotating the pan-tilt 50 is saved, and the space requirement is reduced; the first transmission mechanism 31 can also drive the second swing arm 40 to stretch, so that a telescopic member of the second swing arm 40 is saved, and the space requirement is further reduced; meanwhile, the embodiment also ensures the stability of power transmission in the process of extending and retracting the second swing arm 40.

The action process of the robot arm 100 provided by the present application is:

when the motor 21 is started, the first swing arm 30 is driven to extend through the first transmission mechanism 31, and specifically the second casing 302 is driven to move in a direction away from the first casing 301, and at this time, the second swing arm 40 and the second casing 302 are relatively static; when the second housing 302 extends to the most distal end, the second housing 302 cannot extend further; then, the first transmission mechanism 31 drives the second swing arm 40 to extend through the driving element 32, the driven element 42 and the second transmission mechanism 41, and specifically drives the fourth casing 402 to move in a direction away from the third casing 401, where the second swing arm 40 is flush with the first swing arm 30; when the fourth housing 402 extends to the most distal end, the fourth housing 402 cannot extend further; then, the first transmission mechanism 31 drives the second swing arm 40 to rotate relative to the first swing arm 30 through the driving member 32, the driven member 42 and the second transmission mechanism 41, and drives the pan/tilt head 50 to rotate relative to the second swing arm 40 until the pan/tilt head 50 moves to the second position.

It should be noted that, in the embodiment of the present application, when the pan/tilt head 50 is located at the second position, the orientation of the pan/tilt head 50 is the same as the orientation of the pan/tilt head 50 at the first position; in the process of extending, retracting and swinging the first swing arm 30 and the second swing arm 40, the orientation of the pan/tilt head 50 changes accordingly.

The beneficial effects of the arm 100 that this application embodiment provided lie in:

1. arranging a first radial arm 30 and a second radial arm 40 which can rotate relative to the base 10, and arranging a cloud deck 50 on the second radial arm 40, so that the mechanical arm 100 can be folded and folded, and the space occupation of the robot in the moving process is reduced;

2. the first transmission mechanism 31, the driving part 32, the second transmission mechanism 41 and the driven part 42 are arranged, so that the second swing arm 40 can rotate along with the rotation of the first swing arm 30, a driving component of the second swing arm 40 is omitted, related space is saved, and the space occupation of the mechanical arm 100 is reduced;

3. set up at least one of first spiral arm 30, second spiral arm 40 into flexible arm, on the basis that first spiral arm 30, second spiral arm 40 can be folding, further reduced and patrolled and examined the robot and removed the space occupation of in-process mechanical arm 100 for patrol and examine the robot and can more nimble walk in indoor narrow and small space.

The embodiment of the present application further provides a robot, which includes a robot arm 100, and the robot can inspect indoors, control the folding or unfolding of the robot arm 100, and simultaneously enable the first swing arm 30 and the second swing arm 40 to contract or extend.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A robot arm, comprising:

the base is provided with a rotary power source;

2. The mechanical arm of claim 1, wherein the first swing arm comprises a first housing and a second housing, the first housing is rotatably connected to the base, and the second housing is movably sleeved on the first housing.

3. A robotic arm as claimed in claim 2, wherein the first transmission comprises a first gear, a first drive shaft and a second gear, the first gear being rotationally coupled to the first housing and coupled to the source of rotational power; the first transmission shaft is a telescopic rod piece; the first gear and the second gear are both connected with the first transmission shaft so that the first gear and the second gear can synchronously rotate; the second gear is rotationally connected to the second housing and is in transmission connection with the driven member.

4. A robotic arm as claimed in claim 3, in which the first drive shaft comprises a first threaded sleeve and a first lead screw, the first threaded sleeve being rotatably disposed within the first housing and being connected to the first gear; the first screw rod is rotatably arranged in the second shell and is connected with the second gear, the first screw rod penetrates through the first threaded sleeve along the axial sliding direction, the first screw rod can rotate along with the first threaded sleeve, and the first screw rod can drive the second shell to slide relative to the first shell along the axial sliding direction.

5. The mechanical arm of claim 4, wherein the first radial arm further comprises a first stopper and a first stopper, the first stopper being capable of abutting against the first stopper to limit the relative displacement of the first housing and the second housing;

6. A robotic arm as claimed in claim 3, in which the source of rotary power comprises a motor and power gear provided to the base; the motor is used for driving the first rotary arm to rotate; the power gear is engaged with the first gear.

7. The mechanical arm of any one of claims 1 to 6, wherein the second swing arm comprises a third housing and a fourth housing, the third housing is rotatably connected to the first swing arm, and the fourth housing is movably sleeved on the third housing.

8. A robotic arm as claimed in claim 7, in which the second transmission mechanism comprises a third gear, a second transmission shaft and a fourth gear; the third gear is arranged on the third shell, the fourth gear is arranged on the fourth shell, and the fourth gear and the third gear are both connected with the second transmission shaft so that the third gear and the fourth gear can synchronously rotate;

and the holder is provided with a holder gear meshed with the fourth gear.

9. The mechanical arm of claim 8, wherein the second transmission shaft is a telescopic rod, the second transmission shaft comprises a second threaded sleeve and a second lead screw, and the second threaded sleeve is rotatably connected to the third housing and connected to the third gear; the second lead screw rotates to be connected with the fourth shell and is connected with the fourth gear, the second lead screw penetrates through the second threaded sleeve along the axial sliding direction, the second lead screw can rotate along with the second threaded sleeve, and the second lead screw can drive the fourth shell to slide relative to the third shell along the axial sliding direction.

10. The mechanical arm of claim 9, wherein the second radial arm further comprises a second stop and a second stop, the second stop being capable of abutting against the second stop to limit the relative displacement of the third housing and the fourth housing;

11. A robot comprising a robot arm as claimed in any one of claims 1-10.