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Under-actuated multi-link type foldable routing inspection mechanical arm

A multi-link, robotic arm technology, applied in the field of inspection robots, can solve the problem of not being able to reach the maximum arm extension and minimum folding size of the robot arm, unable to adapt to the narrow inspection space of the inspection arm extension, and the inability of the multi-link robotic arm Completely expand and other issues to achieve the effect of reducing training time and training costs, improving battery life and work efficiency, and improving operational convenience

Pending Publication Date: 2020-08-11
江苏开璇智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current multi-link manipulator based on fixed hinge or sliding hinge structure cannot be fully unfolded or fully folded, and cannot adapt to places with large inspection arm span requirements and small inspection space, which significantly reduces the applicable places.
And it is impossible to achieve the maximum arm span and minimum folding size of the ordinary collaborative robot arm, and the current multi-link robotic arm based on the fixed hinge or sliding hinge structure is generally not easy to achieve internal wiring, which cannot meet the use requirements of some places
[0003] Neither of the above two lifting devices can well solve the needs of the current inspection field. Underactuated multi-link foldable inspection robot arm with low maintenance cost

Method used

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  • Under-actuated multi-link type foldable routing inspection mechanical arm
  • Under-actuated multi-link type foldable routing inspection mechanical arm
  • Under-actuated multi-link type foldable routing inspection mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] according to Figure 1-Figure 9 As shown, an underactuated multi-link foldable inspection robot arm includes a mobile installation platform, a robot arm, a two-degree-of-freedom platform 1 and a terminal device 2, and the robot arm is arranged on the mobile installation platform. Above, the two-degree-of-freedom pan-tilt 1 is set on the robotic arm, and the terminal device 2 is set on the two-degree-of-freedom pan-tilt 1 . The mobile installation platform part includes an installation platform 3, a walking part, a mobile power supply and a road condition video monitoring part, and the walking parts, the mobile power supply and the road condition video monitoring part are all arranged on the installation platform 3, and the The mobile power supply is electrically connected to the walking part, the road condition video monitoring part, the mechanical arm and the end respectively.

[0035] The installation platform 3 is used to install the mechanical arm, the walking part...

Embodiment 2

[0046] The similarities between this embodiment and Embodiment 1 will not be repeated, and the difference lies in:

[0047] The rod assembly is provided with at least three rod groups and two gear connection boxes 21, the rod assembly includes a first rod group, a second rod group and a third rod group, and the gear connection boxes 21 are connected to the first gear respectively. The box 21 and the second gear are connected to the box 21, the structure of the first rod group is the same as that of the first rod group in Embodiment 1, and the structure of the second rod group is the same as that of the second rod group in Embodiment 1, The third rod group includes a third connecting rod on the left side, a third connecting rod on the right side, and a third shaft connecting member, and the third rotating shaft connecting member is arranged on the third connecting rod on the left side and the third connecting rod on the right side. On the three connecting rods, both the first g...

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Abstract

The invention discloses an under-actuated multi-link type foldable routing inspection mechanical arm which comprises a mechanical arm body. The mechanical arm body comprises a motor drive module piece, a rod assembly and a carrying table. The rod assembly is arranged on the motor drive module piece. The carrying table is arranged on the rod assembly. The motor drive module piece comprises a modulefixing frame and a driving motor. The driving motor is arranged on the module fixing frame. The rod assembly at least comprises two rod groups and a gear connecting box, wherein the two adjacent rodgroups are connected through the gear connecting box. The carrying table is arranged at the free end of the rod group on the uppermost side in the rod groups. The driving motor can drive the rod assembly to stretch out and draw back, so that use requirements are met. The whole mechanical arm is light in weight, easy to control, large in arm span, small in folding size, capable of realizing internal wiring, high in stability, low in manufacturing and use cost and low in maintaining cost.

Description

technical field [0001] The invention relates to the technical field of inspection robots, and more specifically, the invention relates to an underactuated multi-link foldable inspection robot arm. Background technique [0002] An inspection robot is a special robot used to conduct patrol inspections in a specific environment and collect relevant information. It is generally composed of a mobile platform and a lifting structure. At present, the lifting structures that are widely used in practice mainly include two types: hydraulically driven lifting and motor-driven lifting. The lifting structure driven by hydraulic pressure is generally used The lifting structure is generally used in light load, medium and high speed occasions. The lifting devices currently used in the field of inspection are generally powered by batteries due to the requirements of the use environment and application occasions, and the terminal load is relatively light, so it is more common to use motor dr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J19/02
CPCB25J5/007B25J19/023
Inventor 鄢旋储建华李健杨丽君
Owner 江苏开璇智能科技有限公司
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