CN117621005B - Mechanical arm based on automatic aerial working robot - Google Patents
Mechanical arm based on automatic aerial working robot Download PDFInfo
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- CN117621005B CN117621005B CN202410101255.0A CN202410101255A CN117621005B CN 117621005 B CN117621005 B CN 117621005B CN 202410101255 A CN202410101255 A CN 202410101255A CN 117621005 B CN117621005 B CN 117621005B
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- 238000005488 sandblasting Methods 0.000 claims description 11
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- 238000006073 displacement reaction Methods 0.000 claims 2
- 230000002045 lasting effect Effects 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 36
- 230000009471 action Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of manipulators, in particular to a manipulator based on an automatic aerial working robot, which is arranged at the free end of a telescopic arm; the mechanical arm comprises at least one rotating joint and at least one moving joint; a first locking mechanism is arranged at the rotary joint, and the first locking mechanism can unlock the rotary joint before the rotary joint starts rotating and lock the rotary joint after the rotary joint finishes rotating; a second locking mechanism is arranged at the movable joint; the second locking mechanism can unlock the movable joint before the movable joint starts to stretch and lock the rotary joint after the movable joint ends to stretch. The robot has reliable joint self-locking capability, can ensure the service life of each part of the mechanical arm, ensures the lasting normal operation of the mechanical arm and ensures the operation safety of the automatic overhead operation robot.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator based on an automatic aerial working robot.
Background
The aerial working robot is a robot capable of operating the aerial working module in an aerial designated area through a plurality of transmission mechanisms, has the characteristics of high safety, high stability and high flexibility, and can avoid manual work from directly arriving at the aerial working.
In the existing automatic overhead working robot, a working module is usually mounted at a free end of a mechanical arm, and the working module is supported to a preset area through the mechanical arm to perform working. However, when the mounted operation module is operated, the mechanical arm is often required to be kept in the same posture for a certain time, in the process, the dead weight of the mechanical arm, the weight of the mounted operation module, the recoil force generated during the operation of the operation module and the like can act on each joint of the mechanical arm, so that the joint generates a rotation or expansion trend, the power source of the joint bears a large load (for example, the output shaft of the driving motor for rotating the joint can be subjected to a moment for driving the output shaft to rotate further or rotate reversely, the hydraulic cylinder can be subjected to a pressure for driving the hydraulic cylinder to extend further or retract, the pressure of the oil supply pipeline is increased and the like), the service life of equipment parts is shortened, the mechanical arm operates abnormally and the like.
In order to ensure that the mechanical arm reliably keeps a preset posture, the bearing capacity of the mechanical arm on recoil generated by a carried operation module is improved, the load borne by power sources of all joints of the mechanical arm is reduced, the service life of all parts of the mechanical arm is ensured, the durable normal operation of the mechanical arm is ensured, and a brand new mechanical arm based on an automatic overhead operation robot is needed to be provided.
Disclosure of Invention
The invention aims to provide a mechanical arm based on an automatic aerial working robot, which can at least partially overcome the technical problems, realize reliable self-locking of each joint of the mechanical arm, ensure the service life of each part of the mechanical arm and ensure the lasting and normal operation of the mechanical arm.
The invention provides a mechanical arm based on an automatic aerial working robot, which comprises a frame, wherein a telescopic arm capable of adjusting the height and the angle is arranged on the frame, and the mechanical arm is arranged at the free end of the telescopic arm; the mechanical arm comprises at least one rotating joint and at least one moving joint; a first locking mechanism is arranged at the rotary joint, and the first locking mechanism can unlock the rotary joint before the rotary joint starts rotating and lock the rotary joint after the rotary joint finishes rotating; a second locking mechanism is arranged at the movable joint; the second locking mechanism can unlock the movable joint before the movable joint starts to stretch and lock the rotary joint after the movable joint ends to stretch.
Further, the rotary joint comprises a first rotary piece and a second rotary piece, and the first rotary piece and the second rotary piece can relatively rotate around a preset rotating shaft; the first locking mechanism includes: the first lock pin is at least one and is arranged in the second rotating piece; the first telescopic units are arranged in the second rotating piece in one-to-one correspondence with the first locking pins; the first locking parts are a plurality of first grooves, and the first grooves are uniformly distributed on the surface, attached to the second rotating piece, of the first rotating piece around the circumference of the preset rotating shaft; after the rotating joint finishes rotating, the first telescopic unit drives the first lock pin to move towards the direction approaching to the first rotating piece and is inserted into a first groove; and before the rotary joint starts to rotate, the first telescopic unit drives the first lock pin to move away from the first rotary piece and is pulled out of the first groove.
Further, the first locking part is a first friction part, and the first friction part is continuously distributed on the surface of the first rotating piece, which is attached to the second rotating piece, around the preset rotating shaft in a steering direction; after the rotating joint finishes rotating, the first telescopic unit drives the first lock pin to move towards the direction approaching to the first rotating piece and is abutted to the first friction part; and before the rotary joint starts to rotate, the first telescopic unit drives the first lock pin to move in a direction away from the first rotating piece and is out of contact with the first friction part.
Further, a motor is fixedly installed in the first rotating member, and an output shaft of the motor extends into the second rotating member; the first telescopic unit includes: a cam portion provided on the output shaft and located within the second rotating member; the baffle plate is arranged in the second rotating piece, and can stop the cam part in the rotating process of the output shaft; the top pin is inserted on the baffle plate and is in sliding connection with the baffle plate, the first lock pin is positioned on one side of the baffle plate far away from the output shaft, and the sliding direction of the top pin is overlapped with the connecting line of the first lock pin and the output shaft; one end of the ejector pin, which is close to the output shaft, is abutted against the working surface of the cam part, an inclined surface is arranged at one end of the ejector pin, which is far away from the output shaft, and one side of the inclined surface, which is close to the output shaft, is higher than one side of the inclined surface, which is far away from the output shaft; a pushing part is arranged on the first lock pin and is abutted against the inclined plane; and the reset spring is arranged on the first lock pin, and enables the first lock pin to bear reset force towards the first rotating piece.
Further, the movable joint comprises a first movable member and a second movable member, and the first movable member and the second movable member can relatively move along a preset direction; the second locking mechanism includes: the second lock pin is at least one and is arranged in the second moving piece; the second telescopic units are arranged in the second moving parts in one-to-one correspondence with the second locking pins; the second locking parts are a plurality of second grooves, and each second groove is linearly arrayed on the surface of the first moving piece, which is attached to the second moving piece, along the preset direction; after the movable joint finishes moving, the second telescopic unit drives the second lock pin to move towards the direction approaching to the first movable piece and is inserted into a second groove; and before the movable joint starts to move, the second telescopic unit drives the second lock pin to move away from the first movable piece and is pulled out of the second groove.
Further, the second locking part is a second friction part, and the second friction part is linearly and continuously distributed on the surface of the first moving part, which is attached to the second moving part, along the preset direction; after the movable joint finishes moving, the second telescopic unit drives the second lock pin to move towards the direction approaching the first movable piece and is abutted to the second friction part; and before the movable joint starts to move, the second telescopic unit drives the second lock pin to move in a direction away from the first movable piece and is out of contact with the second friction part.
Further, the automated aerial work robot further comprises a hydraulic pump, the first moving member is a double-acting hydraulic cylinder, and the second moving member is connected to a movable end of the double-acting hydraulic cylinder; the second telescopic unit is a single-acting hydraulic cylinder, and a compression spring is arranged on the rodless side of the single-acting hydraulic cylinder; the hydraulic pump is connected to the P end of the two-position four-way valve I, the A end of the two-position four-way valve I is connected to the rod side of the single-acting hydraulic cylinder through a first oil pipe, and the first oil pipe is connected to the P end of the two-position four-way valve II through a second oil pipe; the second oil pipe is further provided with a first overflow valve, and when the oil pressure in the first oil pipe exceeds a preset threshold value, the first overflow valve overflows to enable the second oil pipe to be a passage; the end A and the end B of the two-position four-way valve II are respectively connected to the rod side and the rod-free side of the double-acting hydraulic cylinder; the O end of the two-position four-way valve II is connected to the B end of the two-position four-way valve I; and the O end of the two-position four-way valve I is connected to an oil tank.
Further, the operation module of the automatic aerial operation robot is a sand blasting gun, the sand blasting gun is arranged at the tail end of the mechanical arm, and the automatic aerial operation robot further comprises an air compressor; the first moving part is a double-acting air cylinder, and the second moving part is connected to the movable end of the double-acting air cylinder; the second telescopic unit is a single-acting cylinder, and a compression spring is arranged on the rodless side of the single-acting cylinder; the air compressor is connected to the P end of a two-position four-way valve III, the A end of the two-position four-way valve III is connected to the rod side of the single-acting cylinder through a first air pipe, and the B end of the two-position four-way valve III is connected to the sand blasting gun; the first air pipe is connected to the P end of the two-position four-way valve IV through a second air pipe; a second overflow valve is further arranged on the second air pipe, and the second overflow valve overflows when the air pressure in the first air pipe exceeds a preset threshold value, so that the second air pipe becomes a passage; the end A and the end B of the two-position four-way valve IV are respectively connected to the rod side and the rod-free side of the double-acting cylinder; and the O end of the two-position four-way valve IV is connected to the atmosphere.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the mechanical arm based on the automatic aerial working robot, through the first telescopic unit, the first lock pin, the first groove, the second telescopic unit, the second lock pin and the second groove, locking can be performed under the condition that each joint stops moving, and the corresponding first lock mechanism or the second lock mechanism bears the load such as the self weight of the mechanical arm acting on the joint, the weight of the carried working module and the recoil generated in the working process of the working module;
2. according to the mechanical arm based on the automatic aerial working robot, the phenomenon of stepping does not exist in locking of all the rotary joints, stepless locking can be achieved, and all the rotary joints can be locked at any position; by using the flexible first friction part to abut against the rigid head part of the first lock pin, the contact can be more compact, the contact area is larger, and the locking effect is better; the size of the head part of the first lock pin is smaller than the ring width of the ring groove, so that after the head part of the first lock pin is abutted to the first friction part, the flexible material at the position, close to the head part of the first lock pin, of the first friction part is upwards protruded and abutted to the surface, where the first rotating piece is abutted to the first rotating piece, of the first friction part, and the locking effect can be further ensured;
3. According to the mechanical arm based on the automatic aerial working robot, under the condition that any rotating joint stops rotating, the motor stops power output, the cam part does not push the ejector pin any more, the first lock pin stretches out under the action of the reset spring to lock the rotating joint, in the process that the first lock pin stretches out, the pushing part is abutted to the inclined plane, so that the ejector pin is retracted, and the ejector pin is retracted to reset the cam part; when the rotary joint starts to rotate, the cam part rotates, at the moment, the cam part pushes the ejector pin to enable the ejector pin to extend, the inclined plane is abutted against the ejector part in the extending process of the ejector pin, so that the first lock pin is retracted to unlock the joint, the output shaft continues to rotate, the cam part is abutted against the inner wall of the baffle, and then the second rotating piece starts to rotate under the pushing of the cam part; based on the above, the telescoping action of the first telescoping unit does not need to be controlled independently, only the start and stop of the motor are controlled, the motor is controlled to start, the output shaft starts to rotate and enables the first lock pin to retract, the rotating joint is unlocked, and after unlocking, the output shaft continues to rotate, the cam part is enabled to abut against the baffle plate, and power is transmitted to the second rotating piece; controlling the motor to stop rotating, and enabling the first lock pin to extend out under the action of a reset spring to lock the rotating joint;
4. According to the mechanical arm based on the automatic high-altitude operation robot, the action of independently controlling the second telescopic unit is not needed, when the movable joint needs to execute the action, the hydraulic oil is pumped into the first oil pipe only by controlling the position of the two-position four-way valve I, so that the single-acting hydraulic cylinder is retracted, the movable joint is unlocked, then the oil pressure of the first oil pipe is continuously increased, the first overflow valve overflows, hydraulic oil is connected to the first movable part to enable the first movable part to act, and the moving state (elongation or shortening) of the movable joint can be changed through the two-position four-way valve II; after the movable joint finishes the action, only the two-position four-way valve I is controlled to change direction, so that the first oil pipe is communicated with the oil tank, and the single-acting hydraulic cylinder stretches out under the action of the pressure spring, so that the movable joint is locked;
5. according to the mechanical arm based on the automatic aerial working robot, the movable joint and the second telescopic unit provide power through the air compressor required by the operation of the automatic aerial working robot, a hydraulic pump station is not required to be arranged independently, the cost of the automatic aerial working robot is saved, and a series of troubles such as oil leakage and oil maintenance are avoided. In addition, the single-acting air cylinder serving as the second telescopic unit is pushed by the air medium, so that the air medium can be quickly decompressed when the movable joint is required to be locked, the movable joint is locked more timely, and the position and the posture of the movable joint are ensured to be accurate.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
fig. 1 is a schematic perspective view of an automated aerial working robot according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a mechanical arm based on an automated aerial working robot according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a revolute joint according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a revolute joint according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a first rotating member with a plurality of first grooves formed on a surface thereof contacting with a second rotating member according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a first friction portion formed on a surface of the first rotating member attached to the second rotating member according to an embodiment of the present invention;
FIG. 7 is a schematic view of another perspective view of a revolute joint according to one embodiment of the present invention;
FIG. 8 is a top view of the revolute joint according to FIG. 7;
fig. 9 is a schematic perspective view of the first telescopic unit in the rotary joint according to fig. 7;
FIG. 10 is an exploded view of a portion of the first telescopic unit according to FIG. 9;
FIG. 11 is a cross-sectional view of the revolute joint according to FIG. 7;
FIG. 12 is a schematic view of a mobile joint according to an embodiment of the present invention;
FIG. 13 is an enlarged view of a portion of the area A according to FIG. 12;
FIG. 14 is a schematic illustration of a hydraulic control circuit when the second telescopic unit is a single-acting hydraulic cylinder, according to an embodiment of the present invention;
FIG. 15 is a schematic diagram of a pneumatic control circuit when the second telescopic unit is a single acting cylinder according to an embodiment of the present invention;
in the drawings, the reference numerals and corresponding part names:
1-a frame; 2-a travelling mechanism; 3-telescoping arms; 4-a mechanical arm; 401-a base; 402-waist; 403-big arm; 404-forearm i; 405-forearm II; 406-terminal; 411-first rotation member; 412-a second rotating member; 421-first lock pin; 4211-pushing part; 423-a first groove; 424-first friction portion; 425-an output shaft; 426-cam portion; 427-baffle; 428-knock-pin; 4281-inclined plane; 429-a return spring; 431-first mover; 432-a second mover; 441-a second lock pin; 443-a second groove; 451-hydraulic pumps; 452-double acting hydraulic cylinder; 453-single-acting hydraulic cylinder; 454-two-position four-way valve I; 455-a first oil pipe; 456-a second oil pipe; 457-two-position four-way valve II; 458-a first overflow valve; 461-air compressor; 462—double acting cylinder; 463—single-acting cylinder; 464-two-position four-way valve iii; 465-first trachea; 466-a second trachea; 467—two-position four-way valve iv; 468-a second overflow valve; 469—a sandblasting gun; 5-job module.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention. It should be noted that the present invention is already in a practical development and use stage.
When an operation module carried by an aerial operation robot is operated, the mechanical arm is often required to be kept in the same posture for a certain time, and in the process, the dead weight of the mechanical arm, the weight of the carried operation module, the recoil generated during the operation of the operation module (for example, the carried operation module is a sand blasting gun, a high-pressure water gun and the like, and strong recoil is generated), and the like can act on each joint of the mechanical arm, so that the joint part has a rotating or telescopic trend. The existing mechanical arm generally does not have a reliable self-locking function, and the current pose is usually kept by stopping power input after each joint moves in place (for example, a motor-driven joint keeps the current pose by stopping rotation of a motor, a hydraulic cylinder-driven joint keeps the current pose by stopping liquid supply). However, this can result in the power source of each joint being subjected to a significant load (e.g., the output shaft of the drive motor that rotates the joint can be subjected to a torque that drives the output shaft to rotate or counter-rotate further, severely resulting in motor damage, joint failure, and the hydraulic cylinder can be subjected to pressure that drives the hydraulic cylinder to extend or retract further resulting in increased oil supply line pressure, severely resulting in line damage, oil leakage, joint failure, etc.), resulting in shortened equipment component life, abnormal robot arm operation, etc. In the mechanical arm mounted on the automatic overhead working robot, if one joint of the mechanical arm fails during the working process, safety accidents such as high falling and the like are easily caused. Therefore, in order to ensure that the mechanical arm reliably maintains the preset posture, the bearing capacity of the mechanical arm to the recoil force generated by the carried operation module is improved, the service life of each part of the mechanical arm is ensured, the lasting normal operation of the mechanical arm is ensured, the operation safety of the automatic aerial working robot is ensured, and the mechanical arm based on the automatic aerial working robot with the reliable self-locking capacity is required to be provided.
Example 1:
as shown in fig. 1 to 5, the present embodiment provides a robotic arm 4 based on an automated aerial working robot, the automated aerial working robot including a frame 1, a telescopic arm 3 capable of height and angle adjustment is provided on the frame 1, and the robotic arm 4 is mounted at a free end of the telescopic arm 3; preferably, the automatic aerial working robot further comprises a travelling mechanism 2, the frame 1 is mounted on the travelling mechanism 2, and the automatic aerial working robot walks on the ground through the travelling mechanism 2.
The mechanical arm 4 comprises at least one rotary joint and at least one movable joint; a first locking mechanism is arranged at the rotary joint, and the first locking mechanism can unlock the rotary joint before the rotary joint starts rotating and lock the rotary joint after the rotary joint finishes rotating; a second locking mechanism is arranged at the movable joint; the second locking mechanism can unlock the movable joint before the movable joint starts to stretch and lock the rotary joint after the movable joint ends to stretch. For example, as shown in fig. 2, the mechanical arm 4 includes a base 401, a waist 402, a large arm 403, a small arm i 404, a small arm ii 405, and a distal end 406, where the base 401 and the waist 402, the waist 402 and the large arm 403, the large arm 403 and the small arm i 404, the small arm ii 405 and the distal end 406 are all rotationally connected, and are a rotational joint, and the small arm i 404 and the small arm ii 405 are slidably connected, so that expansion and contraction can be realized, and are a movable joint.
Specifically, fig. 3 is a schematic perspective view of a revolute joint according to an embodiment of the present invention, and fig. 4 is a cross-sectional view of the revolute joint according to an embodiment of the present invention for convenience of observation (an end cover of a second revolute joint is omitted from the figure); as shown in fig. 3 to 4, the rotary joint includes a first rotary member 411 and a second rotary member 412, and the first rotary member 411 and the second rotary member 412 can relatively rotate around a preset rotation axis; the first locking mechanism includes: a first lock pin 421, at least one of the first lock pins 421 being disposed in the second rotating member 412; a first telescopic unit, which is disposed in the second rotating member 412 in one-to-one correspondence with the first locking pin 421; the first locking portion is a plurality of first grooves 423, and each first groove 423 is uniformly distributed on the surface of the first rotating member 411 attached to the second rotating member 412 around the circumference of the preset rotating shaft (as shown in fig. 5); after the rotation of the rotary joint is finished, the first telescopic unit drives the first locking pin 421 to move toward the first rotating member 411 and inserts into a first groove 423; and before the rotation of the rotary joint starts, the first telescopic unit drives the first locking pin 421 to move away from the first rotary member 411 and to be withdrawn from the first groove 423. In the above embodiment, for example, the first telescopic unit may be a mechanism capable of providing reciprocating rectilinear motion, such as a hydraulic cylinder, an air cylinder, or the like. It should be understood that the hydraulic cylinder or the air cylinder type first telescopic unit is not shown in the drawings, and in the case that the hydraulic cylinder or the air cylinder is used as the first telescopic unit, the cylinder rod of the hydraulic cylinder or the air cylinder may be directly used as the first locking pin 421.
As shown in fig. 12 to 13, the movable joint includes a first movable member 431 and a second movable member 432, and the first movable member 431 and the second movable member 432 are relatively movable in a predetermined direction; the second locking mechanism includes: a second lock pin 441, at least one of the second lock pins 441 being disposed in the second moving member 432; a second telescopic unit disposed in the second moving member 432 in one-to-one correspondence with the second lock pins 441; the second locking part is a plurality of second grooves 443, and each second groove 443 is linearly arrayed along the preset direction on the surface of the first moving member 431 attached to the second moving member 432; after the movable joint finishes moving, the second telescopic unit drives the second lock pin 441 to move towards the direction approaching the first movable member 431 and inserts into a second groove 443; and before the movable joint starts to move, the second telescopic unit drives the second lock pin 441 to move away from the first movable member 431 and to be withdrawn from the second groove 443. It should be understood that, in fig. 12 and 13, in order to facilitate the observation of the process of inserting the second lock pin 441 into the first groove 423, the above-mentioned "face of the first movable member 431 attached to the second movable member 432" is shown to be far from the second movable member 432, and in practice, the two are usually attached closely; similarly, the second telescopic unit may be a mechanism capable of providing reciprocating rectilinear motion, such as a hydraulic cylinder, an air cylinder, or the like, and in the case of using the hydraulic cylinder or the air cylinder as the second telescopic unit, the cylinder rod of the hydraulic cylinder or the air cylinder may be directly used as the second lock pin 441 (i.e., the case shown in fig. 12 and 13).
Based on this, each joint of the mechanical arm 4 is in a locked state, that is, a state in which the corresponding lock pin (the first lock pin 421 or the second lock pin 441) of each joint is inserted into the corresponding groove (the first groove 423 or the second groove 443) without performing an action; when each joint needs to perform an action, operating each first telescopic unit to enable the corresponding first lock pin 421 to be pulled out of the first groove 423, and operating each second telescopic unit to enable the corresponding second lock pin 441 to be pulled out of the second groove 443, so that the locking can be released; when each joint reaches a designated position after the completion of the motion, each first telescopic unit is operated to enable the corresponding first lock pin 421 to extend and insert into a first groove 423, and each second telescopic unit is operated to enable the corresponding second lock pin 441 to extend and insert into a second groove 443, so that each joint is locked in time. By providing the first telescopic unit, the first lock pin 421, the first groove 423, the second telescopic unit, the second lock pin 441, and the second groove 443, when each joint is stopped, the locking is performed, and the load such as the dead weight of the robot arm 4 itself acting on the joint, the weight of the mounted work module 5, and the recoil generated during the work of the work module 5 can be received by the corresponding first lock mechanism or second lock mechanism.
Example 2:
as shown in fig. 6, the present embodiment is based on embodiment 1, except that in the present embodiment, the first locking portion is a first friction portion 424, and the first friction portion 424 is continuously distributed around the preset rotation axis direction on the surface of the first rotating member 411 attached to the second rotating member 412; after the rotation of the rotary joint is finished, the first telescopic unit drives the first lock pin 421 to move toward the direction approaching the first rotating member 411 and is abutted to the first friction part 424; and before the rotation of the rotary joint starts, the first telescopic unit drives the first locking pin 421 to move away from the first rotating member 411 and out of contact with the first friction part 424. More preferably, a ring groove is formed on the surface of the first rotating member 411, which is attached to the second rotating member 412, the first friction portion 424 is located in the ring groove, the first friction portion 424 is made of a flexible material, the head portion (the portion contacting with the first friction portion 424) of the first locking pin 421 is made of a rigid material, and the size of the head portion of the first locking pin 421 is smaller than the ring width of the ring groove.
Similarly, the second locking portion is a second friction portion, and the second friction portion is continuously and linearly distributed on the surface of the first moving member 431, which is attached to the second moving member 432, along the preset direction; after the movement of the movable joint is finished, the second telescopic unit drives the second lock pin 441 to move toward the direction approaching the first movable member 431 and is abutted to the second friction part; and before the movable joint starts to move, the second telescopic unit drives the second lock pin 441 to move away from the first moving member 431 and out of contact with the second friction portion. More preferably, a groove is formed on the surface of the first moving member 431, which is attached to the second moving member 432, along the preset direction, the second friction portion is located in the groove, the second friction portion is made of a flexible material, the head portion (the portion contacting with the second friction portion) of the second lock pin 441 is made of a rigid material, and the size of the head portion of the second lock pin 441 is smaller than the width of the groove.
Based on this, the mechanical arm 4 based on the automated aerial working robot provided in this embodiment has no "step" phenomenon in locking of each rotating joint, so that stepless locking can be achieved, and each rotating joint can be locked at any position (i.e., the first rotating member 411 and the second rotating member 412 are locked under any rotation angle); by using the flexible first friction part 424 to abut against the rigid head part of the first lock pin 421, the contact can be more compact, the contact area is larger, and the locking effect is better; the head of the first lock pin 421 has a smaller size than the ring width of the ring groove, so that the head of the first lock pin 421 can be made to protrude upward from the flexible material at the position where the first friction part 424 is close to the head of the first lock pin 421 and to abut against the face where the first rotating member is attached to the first rotating member 411 after abutting against the first friction part 424, and the locking effect can be further ensured. The second friction part and the second lock pin 441 produce similar advantageous effects to those produced by the first friction part 424 and the first lock pin 421 described above, and will not be described again.
Example 3:
as shown in fig. 7 to 11, the present embodiment is based on embodiment 1, except that in the present embodiment, a motor (not shown) is fixedly installed in the first rotating member 411, and an output shaft 425 of the motor extends into the second rotating member 412; the first telescopic unit includes: a cam portion 426, the cam portion 426 being disposed on the output shaft 425 and within the second rotator 412; a baffle plate 427, wherein the baffle plate 427 is disposed in the second rotating member 412, and the baffle plate 427 can stop the cam portion 426 during rotation of the output shaft 425; a top pin 428, wherein the top pin 428 is inserted into the baffle 427 and is slidably connected with the baffle 427, the first lock pin 421 is located at a side of the baffle 427 away from the output shaft 425, and the sliding direction of the top pin 428 coincides with the connection line between the first lock pin 421 and the output shaft 425; an end of the ejector pin 428, which is close to the output shaft 425, abuts against a working surface of the cam portion 426, an inclined surface 4281 is provided on an end of the ejector pin 428, which is far away from the output shaft 425, and one side of the inclined surface 4281, which is close to the output shaft 425, is higher than one side of the inclined surface 4281, which is far away from the output shaft 425; a pushing portion 4211 is provided on the first lock pin 421, and the pushing portion 4211 abuts against the inclined surface 4281; a return spring 429, the return spring 429 is provided on the first lock pin 421, and the return spring 429 allows the first lock pin 421 to receive a return force toward the first rotary member 411.
Preferably, as shown in fig. 8, the cross section of the working surface of the cam portion 426 is elliptical, the cross section of the inner wall of the baffle 427 is also elliptical, the baffle 427 is sleeved outside the cam portion 426, the centers of the two ellipses coincide, and the following relationship is satisfied by the cam portion 426 and the baffle 427:
a 1 ＞a 2 ＞b 1
wherein a is 1 A is the length of the long half axis of the ellipse corresponding to the cross section of the inner wall of the baffle 427 2 B is the length of the major half axis of the ellipse corresponding to the cross section of the working surface of the cam portion 426 1 The length of the minor half axis of the ellipse is corresponding to the cross section of the inner wall of the baffle 427;
the two first locking pins 421 are located on a line where the shorter half axis of the ellipse corresponding to the cross section of the inner wall of the baffle 427 is located, and the two first locking pins 421 are symmetrical with respect to the line where the longer half axis of the ellipse corresponding to the cross section of the inner wall of the baffle 427 is located.
Based on this, when any one of the revolute joints stops rotating, the motor stops power output, the cam portion 426 no longer pushes the knock pin 428, the first lock pin 421 is extended under the action of the return spring 429, so as to lock the revolute joint, during the extension of the first lock pin 421, the pushing portion 4211 abuts against the inclined surface 4281, so that the knock pin 428 is retracted, the knock pin 428 returns the cam portion 426 (so that the cam portion 426 no longer abuts against the baffle plate 427, and the contact position of the knock pin 428 and the cam portion 426 is located at the minimum radius of the cam portion 426); when the rotating joint starts to rotate, the cam portion 426 rotates, at this time, the cam portion 426 pushes the ejector pin 428 to enable the ejector pin 428 to extend, the inclined surface 4281 abuts against the pushing portion 4211 during extending of the ejector pin 428, so that the first lock pin 421 retracts to unlock the joint, the output shaft 425 continues to rotate, the cam portion 426 abuts against the inner wall of the baffle plate 427, and then the second rotating member 412 starts to rotate under pushing of the cam portion 426.
In this embodiment, the telescoping action of the first telescoping unit does not need to be controlled separately, only the start and stop of the motor are controlled, and the motor is controlled to start, so that the output shaft 425 starts to rotate and makes the first lock pin 421 retract, the revolute joint is unlocked, and after unlocking, the output shaft 425 continues to rotate so that the cam part 426 abuts against the baffle plate 427, and power is transmitted to the second rotating member 412; the motor is controlled to stop, and the first lock pin 421 is extended under the action of the return spring 429 to lock the rotary joint.
Example 4:
as shown in fig. 12 and 14, the present embodiment is based on embodiment 1, except that the automated aerial work robot further includes a hydraulic pump 451, the first movable member 431 is a double-acting hydraulic cylinder 452, and the second movable member 432 is connected to a movable end of the double-acting hydraulic cylinder 452; the second telescopic unit is a single-acting hydraulic cylinder 453, and a compression spring is arranged on the rodless side of the single-acting hydraulic cylinder 453; the hydraulic pump 451 is connected to the P end (i.e., the oil inlet) of the two-position four-way valve i 454, the a end of the two-position four-way valve i 454 is connected to the rod side of the single-acting hydraulic cylinder 453 through the first oil pipe 455, and the first oil pipe 455 is connected to the P end of the two-position four-way valve ii 457 through the second oil pipe 456; a first relief valve 458 is further provided on the second oil pipe 456, and when the oil pressure in the first oil pipe 455 exceeds a preset threshold value, the first relief valve 458 is relieved so that the second oil pipe 456 becomes a passage; the end A and the end B of the two-position four-way valve II 457 are respectively connected to the rod side and the rod-free side of the double-acting hydraulic cylinder 452; the O end (namely, an oil return port) of the two-position four-way valve II 457 is connected to the B end of the two-position four-way valve I454; the O-terminal of the two-position four-way valve I454 is connected to an oil tank.
Based on this, the mechanical arm 4 based on the automatic aerial working robot provided in this embodiment does not need to independently control the motion of the second telescopic unit, when the moving joint needs to perform the motion, only the position of the two-position four-way valve i 454 needs to be controlled to pump hydraulic oil into the first oil pipe 455, so that the single-acting hydraulic cylinder 453 is retracted, the moving joint is unlocked, then, the oil pressure of the first oil pipe 455 is continuously raised, so that the first overflow valve 458 overflows, and further hydraulic oil is connected to the first moving member 431 to enable the first moving member 431 to move, and the moving state (extension or shortening) of the moving joint can be changed through the two-position four-way valve ii 457; after the movable joint finishes the action, only the two-position four-way valve I454 is controlled to change direction, so that the first oil pipe 455 is communicated with the oil tank, and the single-acting hydraulic cylinder 453 stretches out under the action of the pressure spring, so that the movable joint is locked.
Example 5:
as shown in fig. 15, the present embodiment is based on embodiment 4, except that the working module 5 of the automated aerial working robot of the present embodiment is a sand blasting gun 469, the sand blasting gun 469 is mounted at the end 406 of the mechanical arm 4, and the automated aerial working robot further includes an air compressor 461; the first moving member 431 is a double-acting cylinder 462, and the second moving member 432 is connected to the movable end of the double-acting cylinder 462; the second telescopic unit is a single-acting cylinder 463, and a compression spring is arranged on the rodless side of the single-acting cylinder 463; the air compressor 461 is connected to the P end of a two-position four-way valve III 464, the A end of the two-position four-way valve III 464 is connected to the rod side of the single-acting cylinder 463 through a first air pipe 465, and the B end of the two-position four-way valve III 464 is connected to the sand blasting gun 469; the first air pipe 465 is connected to the P end of the two-position four-way valve IV 467 through a second air pipe 466; a second overflow valve 468 is further provided on the second air pipe 466, and when the air pressure in the first air pipe 465 exceeds a preset threshold value, the second overflow valve 468 overflows, so that the second air pipe 466 becomes a passage; the A end and the B end of the two-position four-way valve IV 467 are respectively connected to the rod side and the rod-free side of the double-acting cylinder 462; the O end of the two-position four-way valve IV 467 is connected to the atmosphere.
Based on this, the movable joint and the second telescopic unit of this embodiment all provide power through the air compressor 461 that this automatic aerial working robot operation needs, need not to set up hydraulic pump 451 stand alone, saved this automatic aerial working robot's cost, and avoided a series of troubles such as fluid seepage, fluid maintenance, and need not to set up the oil return line like hydraulic system, the return air mouth directly insert the atmosphere can, preferably, the return air mouth can be connected to this automatic aerial working robot's position that needs the cooling, utilize the air current blowing to form convection heat dissipation. In addition, utilize gaseous medium to promote the single-acting cylinder 463 as second telescopic unit, when this movable joint of locking is needed, gaseous medium can be faster the pressure release, makes this movable joint's locking more timely, is favorable to guaranteeing movable joint's position appearance accuracy.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. An automatic aerial working robot-based mechanical arm comprises a frame (1), wherein a telescopic arm (3) capable of adjusting the height and the angle is arranged on the frame (1), and the automatic aerial working robot-based mechanical arm is characterized in that the mechanical arm (4) is arranged at the free end of the telescopic arm (3);
the mechanical arm (4) comprises at least one rotary joint and at least one mobile joint;
a first locking mechanism is arranged at the rotary joint, and the first locking mechanism can unlock the rotary joint before the rotary joint starts rotating and lock the rotary joint after the rotary joint finishes rotating;
a second locking mechanism is arranged at the movable joint; the second locking mechanism can unlock the movable joint before the movable joint starts to stretch and lock the rotary joint after the movable joint finishes stretching;
the rotary joint comprises a first rotary piece (411) and a second rotary piece (412), and the first rotary piece (411) and the second rotary piece (412) can rotate relatively around a preset rotating shaft;
the first locking mechanism includes:
A first lock pin (421), the first lock pin (421) being at least one and being disposed in the second rotating member (412);
the first telescopic units are arranged in the second rotating piece (412) in one-to-one correspondence with the first lock pins (421);
the first locking parts are a plurality of first grooves (423), and the first grooves (423) are uniformly distributed on the surface of the first rotating piece (411) attached to the second rotating piece (412) around the circumference of the preset rotating shaft;
after the rotation of the rotary joint is finished, the first telescopic unit drives the first lock pin (421) to move towards the direction close to the first rotating piece (411) and is inserted into a first groove (423); and before the rotation of the rotary joint starts, the first telescopic unit drives the first lock pin (421) to move away from the first rotary piece (411) and is pulled out from the first groove (423);
a motor is fixedly arranged in the first rotating piece (411), and an output shaft (425) of the motor extends into the second rotating piece (412);
The first telescopic unit includes:
a cam portion (426), the cam portion (426) being disposed on the output shaft (425) and within the second rotational member (412);
a flapper (427), the flapper (427) disposed within the second rotational member (412), the flapper (427) being capable of stopping the cam portion (426) during rotation of the output shaft (425);
the ejector pin (428) is inserted into the baffle plate (427) and is in sliding connection with the baffle plate (427), the first lock pin (421) is positioned on one side of the baffle plate (427) away from the output shaft (425), and the sliding direction of the ejector pin (428) is overlapped with the connecting line of the first lock pin (421) and the output shaft (425); one end of the ejector pin (428) close to the output shaft (425) is abutted against the working surface of the cam part (426), one end of the ejector pin (428) far away from the output shaft (425) is provided with a bevel (4281), and one side of the bevel (4281) close to the output shaft (425) is higher than one side of the bevel (4281) far away from the output shaft (425); a pushing part (4211) is arranged on the first lock pin (421), and the pushing part (4211) is abutted on the inclined plane (4281);
-a return spring (429), said return spring (429) being arranged on said first locking pin (421), said return spring (429) causing said first locking pin (421) to bear a return force towards said first rotating member (411).
2. The mechanical arm based on the automatic aerial working robot according to claim 1, wherein the first locking part is a first friction part (424), and the first friction part (424) is continuously distributed on the surface of the first rotating member (411) attached to the second rotating member (412) around the preset rotating shaft;
after the rotation of the rotary joint is finished, the first telescopic unit drives the first lock pin (421) to move towards the direction approaching the first rotating piece (411) and is abutted to the first friction part (424); and before the rotation of the rotary joint starts, the first telescopic unit drives the first lock pin (421) to move away from the first rotary piece (411) and is out of contact with the first friction part (424).
3. The robotic arm of claim 1, wherein the mobile joint comprises a first mobile member (431) and a second mobile member (432), the first mobile member (431) and the second mobile member (432) being capable of moving relative to each other along a predetermined direction;
The second locking mechanism includes:
a second lock pin (441), the second lock pin (441) being at least one and being disposed within the second moving member (432);
the second telescopic units are arranged in the second moving parts (432) in a one-to-one correspondence with the second lock pins (441);
the second locking parts are a plurality of second grooves (443), and each second groove (443) is linearly arrayed on the surface of the first moving piece (431) attached to the second moving piece (432) along the preset direction;
after the movable joint finishes moving, the second telescopic unit drives the second lock pin (441) to move towards the direction close to the first movable piece (431) and is inserted into a second groove (443); and before the movable joint starts to move, the second telescopic unit drives the second lock pin (441) to move away from the first movable member (431) and is pulled out of the second groove (443).
4. A robot arm based on an automated aerial working robot according to claim 3, wherein the second locking portion is a second friction portion, and the second friction portion is linearly and continuously distributed on a face of the first moving member (431) attached to the second moving member (432) along the preset direction;
After the movable joint finishes moving, the second telescopic unit drives the second lock pin (441) to move towards the direction approaching the first movable piece (431) and is abutted to the second friction part; and before the movable joint starts to move, the second telescopic unit drives the second lock pin (441) to move away from the first moving part (431) and is out of contact with the second friction part.
5. An automated aerial work robot based robotic arm of claim 3 or 4, further comprising a hydraulic pump (451), wherein the first displacement member (431) is a double acting hydraulic cylinder (452), and wherein the second displacement member (432) is connected to a movable end of the double acting hydraulic cylinder (452);
the second telescopic unit is a single-acting hydraulic cylinder (453), and a compression spring is arranged on the rodless side of the single-acting hydraulic cylinder (453);
the hydraulic pump (451) is connected to the P end of a two-position four-way valve I (454), the A end of the two-position four-way valve I (454) is connected to the rod side of the single-acting hydraulic cylinder (453) through a first oil pipe (455), and the first oil pipe (455) is connected to the P end of a two-position four-way valve II (457) through a second oil pipe (456);
A first overflow valve (458) is further arranged on the second oil pipe (456), and when the oil pressure in the first oil pipe (455) exceeds a preset threshold value, the first overflow valve (458) overflows so that the second oil pipe (456) becomes a passage;
the end A and the end B of the two-position four-way valve II (457) are respectively connected to the rod side and the rod-free side of the double-acting hydraulic cylinder (452); the O end of the two-position four-way valve II (457) is connected to the B end of the two-position four-way valve I (454); the O end of the two-position four-way valve I (454) is connected to an oil tank.
6. An automated aerial work robot based robotic arm according to claim 3 or 4, wherein the automated aerial work robot's work module (5) is a sand blasting gun (469), the sand blasting gun (469) being mounted at the end (406) of the robotic arm (4), the automated aerial work robot further comprising an air compressor (461);
the first moving member (431) is a double-acting cylinder (462), and the second moving member (432) is connected to the movable end of the double-acting cylinder (462);
the second telescopic unit is a single-acting cylinder (463), and a compression spring is arranged on the rodless side of the single-acting cylinder (463);
The air compressor (461) is connected to the P end of a two-position four-way valve III (464), the A end of the two-position four-way valve III (464) is connected to the rod side of the single-acting cylinder (463) through a first air pipe (465), and the B end of the two-position four-way valve III (464) is connected to the sand blasting gun (469); the first air pipe (465) is connected to the P end of the two-position four-way valve IV (467) through a second air pipe (466);
a second overflow valve (468) is further arranged on the second air pipe (466), and when the air pressure in the first air pipe (465) exceeds a preset threshold value, the second overflow valve (468) overflows, so that the second air pipe (466) becomes a passage;
the end A and the end B of the two-position four-way valve IV (467) are respectively connected to the rod side and the rod-free side of the double-acting cylinder (462); the O end of the two-position four-way valve IV (467) is connected to the atmosphere.
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