CN218891864U

CN218891864U - Six-axis mechanical arm of inspection robot

Info

Publication number: CN218891864U
Application number: CN202223231424.8U
Authority: CN
Inventors: 唐开祥
Original assignee: Nanjing Xiangkai Electrical Technology Co ltd
Current assignee: Nanjing Xiangkai Electrical Technology Co ltd
Priority date: 2022-12-03
Filing date: 2022-12-03
Publication date: 2023-04-21
Anticipated expiration: 2032-12-03

Abstract

The utility model discloses a six-axis mechanical arm of a patrol robot, which comprises a movable base, a first rotating shaft and a controller, wherein the controller is fixedly arranged at the top end of the movable base, the first rotating shaft is rotatably arranged at the middle position of the top end of the movable base, a second rotating shaft is rotatably arranged at the right end of the first rotating shaft, a third rotating shaft is rotatably arranged at the top end of the second rotating shaft, a fourth rotating shaft is rotatably arranged at the left end of the third rotating shaft, a fifth rotating shaft is rotatably arranged at the left end of the fourth rotating shaft, and a sixth rotating shaft is rotatably arranged at the top end of the fifth rotating shaft. According to the utility model, the position of the camera can be conveniently adjusted at multiple angles through the six-axis mechanical arm, the inspection efficiency of the inspection robot is improved, the camera can be clamped in the cylindrical barrel through sleeve installation, the camera can be conveniently disassembled and maintained, the clamping block can be moved through the inclined plane rod, and the wire can be clamped and fixed.

Description

Six-axis mechanical arm of inspection robot

Technical Field

The utility model relates to the technical field of six-axis mechanical arms, in particular to a six-axis mechanical arm of a patrol robot.

Background

The six-axis mechanical arm fully plays the advantages of the cooperative robot, namely light weight, higher flexibility, high efficiency and easy operation, and the six-axis mechanical arm can be used for adjusting the position of the camera at multiple angles in the inspection robot, so that the inspection efficiency of the inspection robot is improved.

At present, a camera used for the inspection robot is generally fixedly installed inside a six-axis mechanical arm through a screw, so that the camera is inconvenient to detach and maintain conveniently, damage to the camera cannot be repaired in time, the working efficiency of the inspection robot is reduced, and therefore, the six-axis mechanical arm of the inspection robot is very necessary.

Disclosure of Invention

The utility model aims to solve the defects in the prior art, and provides a six-axis mechanical arm of a patrol robot.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the utility model provides a six-axis mechanical arm of inspection robot, includes mobile base, first axis of rotation and controller, mobile base top fixed mounting has the controller, mobile base top intermediate position rotates installs first axis of rotation, first axis of rotation right-hand member rotates installs the second axis of rotation, second axis of rotation top is lived to rotate and is installed the third axis of rotation, third axis of rotation left end is rotated and is installed the fourth axis of rotation, fourth axis of rotation left end is rotated and is installed the fifth axis of rotation, fifth axis of rotation top is rotated and is installed the sixth axis of rotation, the sixth axis of rotation has the rotation to install the cylinder pole, cylinder top fixed mounting has a cylinder, cylinder internally mounted has the camera, the wire is installed to the camera rear end, and wire one end extends to cylinder outside and controller electric connection, slidable mounting has the sleeve on the cylinder annular side, fixed mounting has the magnetic ring on the cylinder annular side, and one end and sleeve adsorb the laminating.

Further, two bar-shaped rods are symmetrically and fixedly arranged in the sleeve, two bar-shaped grooves are symmetrically formed in the annular side face of the cylindrical barrel, and the bar-shaped rods are slidably arranged in the bar-shaped grooves.

Further, two cylinder grooves are symmetrically formed in the inner wall of the sleeve, T-shaped clamping blocks are slidably mounted in the cylinder grooves, limiting holes are formed in one end of the strip-shaped rod and the inside of the strip-shaped groove, one end of the T-shaped clamping block penetrates through the strip-shaped rod and extends to the inside of the strip-shaped groove, a first spring is mounted on the annular side face of the T-shaped clamping block, and two ends of the first spring are fixedly mounted on the T-shaped clamping block and the inner wall of the cylinder groove respectively.

Further, a movable ring is arranged on the annular side face of the sleeve, an inclined plane is formed at one end, close to the movable ring, of the T-shaped clamping block, and one end of the movable ring is attached to the magnetic ring in an adsorption mode.

Further, two inclined plane rods are symmetrically and fixedly arranged at the rear end of the sleeve, two square grooves are symmetrically formed in the annular side face of the magnetic ring, and the rear end of each inclined plane rod penetrates through each square groove and extends to the rear side of the magnetic ring.

Further, two clamp splice of sleeve rear end symmetry slidable mounting, two the clamp splice keeps away from one end mutually and laminates with the inclined plane pole, two the clamp splice is close to one end mutually and laminates with the wire.

Further, two grooves are symmetrically formed in the rear end of the sleeve, a guide rod is fixedly mounted in each groove, a sliding block is slidably mounted on the annular side face of the guide rod, and the rear end of the sliding block is fixedly mounted on the clamping block.

Furthermore, a second spring is arranged on the annular side face of the guide rod, and two ends of the second spring are respectively and fixedly arranged on the sliding block and the inner wall of the groove.

The beneficial effects of the utility model are as follows:

1. the position of camera is convenient for multi-angle adjustment through six arms, has improved inspection robot's inspection efficiency, and the horizontal migration of camera is convenient for to remove the design of base, has improved the scope of inspection monitoring, and the design of controller is convenient for control remove the base and remove, six arms's rotation is adjusted and the information transmission of camera.

2. The camera is clamped inside the cylindrical barrel through sleeve installation, the camera is convenient to detach and maintain, the sleeve is installed on the annular side face of the cylindrical barrel, the strip-shaped rod slides along the strip-shaped groove, the sleeve slides and is attached to the magnetic ring in an adsorption mode, the sleeve is further fixed in an auxiliary mode, at the moment, the T-shaped clamping block and the limiting hole on the strip-shaped rod are aligned with the limiting hole in the strip-shaped groove, the movable ring is installed on the annular side face of the sleeve, the movable ring moves to squeeze the inclined plane on the T-shaped clamping block, the T-shaped clamping block moves into the limiting hole in the strip-shaped groove, the sleeve is fixedly installed on the cylindrical barrel, and convenient installation of the camera is achieved.

3. The clamping blocks are moved by moving and extruding through the inclined plane rods, so that the wires are clamped and fixed, the stability of connection between the wires and the camera is improved, the inclined plane rods are driven to move in the sleeve moving process, the inclined plane rods move to extrude the clamping blocks through the inclined planes, the two clamping blocks move close to each other to clamp and fix the wires, the sliding block is driven to move along the guide rod in the clamping block moving process, the sliding block moves to stretch the second spring, the second spring generates elastic force, and the second spring force is convenient for the sliding block and the clamping block to move and reset.

Drawings

Fig. 1 is a schematic perspective view of a six-axis mechanical arm of a inspection robot according to the present utility model;

fig. 2 is a schematic diagram of a partial cross-sectional structure of a six-axis mechanical arm of a inspection robot according to the present utility model;

fig. 3 is a schematic diagram of an assembling structure of an inclined plane rod of a six-axis mechanical arm of a inspection robot.

In the figure: 1. a movable base; 2. a first rotation shaft; 3. a controller; 4. a second rotation shaft; 5. a third rotation shaft; 6. a fourth rotation shaft; 7. a fifth rotation shaft; 8. a sixth rotation shaft; 9. a cylindrical rod; 10. a cylinder barrel; 11. a camera; 12. a wire; 13. a magnetic ring; 14. a sleeve; 15. a bar-shaped rod; 16. a moving ring; 17. a T-shaped clamping block; 18. a first spring; 19. a bevel lever; 20. clamping blocks; 21. a guide rod; 22. a slide block; 23. and a second spring.

Detailed Description

The technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present utility model are included in the protection scope of the present utility model.

Referring to fig. 1-3, a six-axis mechanical arm of inspection robot, including moving base 1, first axis of rotation 2 and controller 3, it installs controller 3 to remove base 1 top through the screw, the design of controller 3 is convenient for control and is moved base 1 removal, six-axis mechanical arm's rotation regulation and the information transmission of camera 11, it installs first axis of rotation 2 to remove base 1 top intermediate position rotation, first axis of rotation 2 right-hand member rotation installs second axis of rotation 4, second axis of rotation 4 top is lived and is rotated and is installed third axis of rotation 5, fourth axis of rotation 6 is rotated and install fourth axis of rotation 5 left end, the fifth axis of rotation 7 top is rotated and is installed sixth axis of rotation 8, the design is convenient for the position of multi-angle regulation camera 11, and then be convenient for improved inspection robot's inspection efficiency, sixth axis of rotation 8 has the rotation to install cylinder 9, cylinder 9 top fixed mounting has cylinder 10, cylinder 10 internally mounted has camera 11, the installation of this design is convenient for the installation of camera 11, the wire 12 is installed to the second axis of rotation 4 top, the second axis of rotation 4 top is lived and is rotated and is installed third axis of rotation 5, the fourth axis of rotation 5 left end is rotated and is installed fourth axis of rotation 6, the fifth axis of rotation 7 top is rotated and is installed to be installed the fifth axis of rotation 7, the top 7 top is rotated and is installed to be convenient for the fifth axis of rotation 7, the top is rotated and is installed the position of camera 11, and is convenient for improve the position of rotation 11, and is convenient for improve inspection robot, and inspection efficiency, and cylinder 10.

In the utility model, it is to be noted that two bar-shaped rods 15 are symmetrically welded inside the sleeve 14, two bar-shaped grooves are symmetrically processed on the annular side surface of the cylindrical barrel 10, the bar-shaped rods 15 are slidably installed inside the bar-shaped grooves, the design of the bar-shaped rods 15 and the bar-shaped grooves facilitates sliding installation of the sleeve 14 on the cylindrical barrel 10, two cylindrical grooves are symmetrically processed on the inner wall of the sleeve 14, T-shaped clamping blocks 17 are slidably installed inside the cylindrical grooves, limit holes are processed at one end of the bar-shaped rods 15 and inside the bar-shaped grooves, one end of each T-shaped clamping block 17 penetrates through the bar-shaped rods 15 and extends to the inside of each bar-shaped groove, the design of the T-shaped clamping blocks 17 and the limit holes facilitates fixing the positions of the cylinders, a first spring 18 is installed on the annular side surface of each T-shaped clamping block 17, two ends of the first spring 18 are respectively welded on the T-shaped clamping blocks 17 and the inner wall of the cylindrical grooves, the design of the first spring 18 facilitates moving reset of the T-shaped clamping blocks 17, and further facilitates dismounting of the sleeve 14, a moving ring 16 is installed on the annular side surface of the sleeve 14, one end of each T-shaped clamping block 17 is processed to be close to one end of the moving ring 16, one end of each moving ring 16 is matched with one end of the moving ring 13, and one end of each moving ring 13 is matched with one end of the moving ring 13, and the two magnetic rings 13 are symmetrically designed to be convenient for the two side surfaces of the moving rings 19 are welded to extend to the two side surfaces of the corresponding to the corresponding ring 13, and the moving ring 13 are arranged on the side surface 13, and the side surface is further designed to be convenient to extend to be matched with the side surface to be 19.

In particular, two clamp splice 20 are installed in the symmetry sliding of sleeve 14 rear end, two clamp splice 20 keep away from one end each other and laminate with inclined plane pole 19 mutually, inclined plane pole 19 removes and is convenient for promote clamp splice 20 and remove, two clamp splice 20 are close to one end each other and laminate with wire 12 mutually, two clamp splice 20 are convenient for carry out the centre gripping fixed to wire 12, two recesses are processed to sleeve 14 rear end symmetry, the welding has guide arm 21 inside the recess, slidable mounting has slider 22 on the annular side of guide arm 21, slider 22 rear end fixed mounting is on clamp splice 20, slider 22 and guide arm 21's design is convenient for the slidable mounting of clamp splice 20, be equipped with spring two 23 on the annular side of guide arm 21, and the welding of spring two 23 both ends is on slider 22 and recess inner wall respectively, the design of spring two 23 is convenient for the removal reset of slider 22 and clamp splice 20.

Working principle: when the camera 11 needs to be installed, firstly, the camera 11 is installed inside the cylindrical barrel 10, meanwhile, the lead 12 is inserted into the camera 11 from the rear end of the cylindrical barrel 10, then the sleeve 14 is installed on the annular side surface of the cylindrical barrel 10, the first strip-shaped rod 15 slides along the first strip-shaped groove, the sleeve 14 slides to be attached to the magnetic ring 13 in an adsorption mode, further auxiliary fixing is carried out on the sleeve 14, at the moment, the limiting holes on the T-shaped clamping block 17 and the first strip-shaped rod 15 are aligned with the limiting holes inside the strip-shaped groove, then the moving ring 16 is installed on the annular side surface of the sleeve 14, the moving ring 16 moves to squeeze the inclined surface on the T-shaped clamping block 17, the T-shaped clamping block 17 moves into the limiting holes inside the strip-shaped groove, the sleeve 14 is fixedly installed on the cylindrical barrel 10, the T-shaped clamping block 17 moves to stretch the first spring 18, the elastic force of the first spring 18 is generated, the movement of the first spring 18 is convenient for the movement of the T-shaped clamping block 17 to be attached to the magnetic ring 13 in an adsorption mode, and then the position of the moving ring 16 is fixed.

The inclined plane rod 19 is driven to move in the moving process of the sleeve 14, the inclined plane rod 19 moves to squeeze the clamping blocks 20 through the inclined plane, so that the two clamping blocks 20 move close to each other to clamp and fix the lead 12, the sliding block 22 is driven to move along the guide rod 21 in the moving process of the clamping blocks 20, the sliding block 22 moves to stretch the second spring 23, the second spring 23 generates elastic force, and the elastic force of the second spring 23 is convenient for the sliding block 22 and the clamping blocks 20 to move and reset.

Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components.

Claims

1. The utility model provides a six-axis mechanical arm of inspection robot, includes mobile base (1), first axis of rotation (2) and controller (3), its characterized in that, mobile base (1) top fixed mounting has controller (3), mobile base (1) top intermediate position rotation installs first axis of rotation (2), first axis of rotation (2) right-hand member rotation installs second axis of rotation (4), second axis of rotation (4) top is lived to rotate and is installed third axis of rotation (5), third axis of rotation (5) left end rotation is installed fourth axis of rotation (6), fourth axis of rotation (6) left end rotation is installed fifth axis of rotation (7), fifth axis of rotation (7) top rotation is installed sixth axis of rotation (8), sixth axis of rotation (8) have rotation and are installed cylinder pole (9), cylinder (9) top fixed mounting has cylinder (10), cylinder (10) internally mounted has camera (11), wire (12) are installed to second axis of rotation (4) top, and wire (12) left end rotation are installed fourth axis of rotation (6), fourth axis of rotation (6) left end rotation is installed fifth axis of rotation (7) is installed to fifth axis of rotation (8), sixth axis of rotation (8) top rotation (8) is installed cylinder (9), cylinder (10) top fixed with cylinder (10), and one end of the magnetic ring (13) is attached to the sleeve (14) in an adsorption manner.

2. The six-axis mechanical arm of the inspection robot according to claim 1, wherein two strip-shaped rods (15) are symmetrically and fixedly arranged in the sleeve (14), two strip-shaped grooves are symmetrically formed in the annular side face of the cylinder (10), and the strip-shaped rods (15) are slidably arranged in the strip-shaped grooves.

3. The six-axis mechanical arm of the inspection robot according to claim 2, wherein two cylindrical grooves are symmetrically formed in the inner wall of the sleeve (14), T-shaped clamping blocks (17) are slidably mounted in the cylindrical grooves, limiting holes are formed in one end of the strip-shaped rod (15) and the inside of the strip-shaped grooves, one end of the T-shaped clamping block (17) penetrates through the strip-shaped rod (15) and extends to the inside of the strip-shaped groove, a first spring (18) is mounted on the annular side face of the T-shaped clamping block (17), and two ends of the first spring (18) are fixedly mounted on the T-shaped clamping block (17) and the inner wall of the cylindrical groove respectively.

4. The six-axis mechanical arm of the inspection robot according to claim 3, wherein the movable ring (16) is installed on the annular side face of the sleeve (14), an inclined plane is formed at one end, close to the movable ring (16), of the T-shaped clamping block (17), and one end of the movable ring (16) is attached to the magnetic ring (13) in an adsorption mode.

5. The six-axis mechanical arm of the inspection robot according to claim 1, wherein two inclined plane rods (19) are symmetrically and fixedly arranged at the rear end of the sleeve (14), two square grooves are symmetrically formed in the annular side face of the magnetic ring (13), and the rear end of the inclined plane rod (19) penetrates through the square grooves and extends to the rear side of the magnetic ring (13).

6. The six-axis mechanical arm of the inspection robot according to claim 1, wherein two clamping blocks (20) are symmetrically and slidably arranged at the rear end of the sleeve (14), one end, far away from each other, of each clamping block (20) is attached to an inclined surface rod (19), and one end, close to each other, of each clamping block (20) is attached to a lead (12).

7. The six-axis mechanical arm of the inspection robot according to claim 6, wherein two grooves are symmetrically formed in the rear end of the sleeve (14), a guide rod (21) is fixedly installed in each groove, a sliding block (22) is slidably installed on the annular side face of the guide rod (21), and the rear end of the sliding block (22) is fixedly installed on the clamping block (20).

8. The six-axis mechanical arm of the inspection robot according to claim 7, wherein the second spring (23) is installed on the annular side surface of the guide rod (21), and two ends of the second spring (23) are fixedly installed on the sliding block (22) and the inner wall of the groove respectively.