An underactuated multi-link foldable inspection robot arm

Abstract

The present invention discloses an under-actuated multi-link foldable inspection robot arm, comprising: a robot arm, the robot arm comprising a motor-driven module assembly, a rod assembly and a loading platform, the rod assembly being arranged on the motor-driven module assembly, the loading platform being arranged on the rod assembly; the motor-driven module assembly comprising a module fixing frame and a driving motor, the driving motor being arranged on the module fixing frame; the rod assembly comprising at least two rod groups and a gear connection box: wherein two adjacent rod groups are connected by one of the gear connection boxes; the loading platform is arranged on the free end of the uppermost rod group in the rod assembly; the driving motor can drive the rod assembly to expand and contract to meet the use requirements. The whole machine of the present invention is light in weight, simple in control mode, large in arm span, small in folding size, capable of internal threading, high in stability, low in manufacturing and use cost, and low in maintenance cost.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and more specifically to an under-actuated multi-link foldable inspection robot arm. Background Art

[0002] Inspection robots are special robots used to patrol and inspect in a specific environment and collect relevant information. They are generally composed of a mobile platform and a lifting structure. At present, the lifting structures that are widely used in practice are mainly hydraulically driven and motor-driven. The hydraulically driven lifting structure is generally used in heavy-load and low-speed situations, while the motor-driven lifting structure is generally used in light-load and medium-speed situations. The lifting devices currently used in the inspection field are generally powered by batteries due to the requirements of the use environment and application occasions, and the end load is relatively light, so it is more common to use motor drive. Currently, there are two most common forms of inspection lifting arms. The first form is a lifting arm similar to an ordinary collaborative robot arm, that is, a motor drive module is placed at each degree of freedom position, and the target object at the end of the robot arm is sent to the designated position through the collaborative operation of the motor drive modules at each degree of freedom position; the second form is an under-actuated multi-link lifting arm. The so-called under-actuation means that the number of driving motors of the robot arm is less than the number of degrees of freedom of the robot arm. Through the coordination of the driving motor and one or more groups of multi-link structures, a fixed hinge or a sliding hinge is adopted. The entire robot arm structure can be extended and retracted when the number of driving motors is less than the degree of freedom of the mechanism, thereby achieving the goal of sending the end of the robot arm to the designated position. The lifting arm similar to the ordinary collaborative robot arm is essentially a collaborative robot arm, but the number of degrees of freedom and the setting method of the degrees of freedom are different from those of the ordinary collaborative robot arm. Therefore, it has the advantages of high precision, flexible movement space, and fast speed. However, for most inspection fields, it has the disadvantages of high cost, heavy weight, and difficult control. Compared with the lifting arm similar to the ordinary collaborative robot arm, the underactuated multi-link lifting arm can be made of lighter high-strength materials because the number of motor drive modules is less than the number of degrees of freedom, and the multi-link structure is simple, which can effectively reduce the weight of the whole machine, effectively reduce production costs, and effectively simplify the control method, thereby effectively reducing the training cost and training time for operators and improving labor efficiency. However, the multi-link robot arm based on the fixed hinge or sliding hinge structure cannot be fully unfolded or folded, and cannot adapt to places with large inspection arm span requirements and small inspection space, which significantly reduces the applicable places. It is also unable to achieve the maximum arm span and minimum folded size of ordinary collaborative robot arms. In addition, it is generally not easy to realize internal wiring of multi-link robot arms based on fixed-joint or sliding-joint structures, and cannot meet the use requirements in some places.

[0003] Both of the above-mentioned lifting devices cannot well solve the current inspection field's needs for an under-actuated multi-link foldable inspection robotic arm with light weight, simple control method, large arm span, small folded size, internal threading, high stability, low manufacturing and use cost, and low maintenance cost. Summary of the invention

[0004] In order to overcome the above defects, the present invention provides an underactuated multi-link foldable inspection robot arm, which specifically adopts the following technical solutions:

[0005] An under-actuated multi-link foldable inspection robot arm comprises: a robot arm, wherein the robot arm comprises a motor drive module assembly, a rod assembly and a loading platform, wherein the rod assembly is arranged on the motor drive module assembly, and the loading platform is arranged on the rod assembly; the motor drive module assembly comprises a module fixing frame and a drive motor, and the drive motor is arranged on the module fixing frame.

[0006] The rod assembly includes at least two rod groups and a gear connection box: wherein two adjacent rod groups are connected by a gear connection box; the loading platform is arranged on the free end of the uppermost rod group in the rod assembly; the driving motor can drive the rod assembly to expand and retract to meet the use requirements.

[0007] Preferably, it also includes a mobile mounting platform component, which is used to fix the robotic arm. The mobile mounting platform component includes a mounting platform, a walking component, a mobile power supply and a road condition video monitoring component. The walking component, the mobile power supply and the road condition video monitoring component are all arranged on the mounting platform, and the mobile power supply is electrically connected to the walking component, the road condition video monitoring component, the robotic arm and the end respectively.

[0008] Preferably, the mounting platform is used to install the robotic arm, the walking part, the mobile power supply and the road condition video monitoring part. The mounting platform can meet the requirements of the under-actuated multi-link foldable inspection robotic arm to travel on a plane, and can also meet the requirements of being hung on a track for suspension travel; the walking part includes a walking motor, a transmission part, a walking wheel and an electronic control unit, and the walking motor, the transmission part and the electronic control unit are all arranged on the mounting platform, and the walking wheel is arranged on the transmission part; the walking part can provide walking power for the under-actuated multi-link foldable inspection robotic arm; the mobile power supply can provide power for the walking part, the road condition video monitoring part and the robotic arm; the road condition video monitoring part includes a camera, an image acquisition card and a computer, and the camera and the image acquisition card are both arranged on the mounting platform, and the computer is independently arranged.

[0009] Preferably, the module fixing frame includes a module support rod and a module fixing seat, the module support rod is arranged on the mounting platform, and the module fixing seat is arranged on the module support rod; the module support rod is tubular, and a first threading through hole is arranged on the side wall of one end of the module support rod, and a second threading through hole, a motor fixing through hole and a first connecting rod fixing through hole are arranged on the module fixing seat, and the module fixing seat is sleeved on the other end of the module support rod through the second threading through hole; the center height of the motor fixing through hole is greater than the center height of the first connecting rod fixing through hole, and the drive motor is sleeved in the motor fixing through hole; the first connecting rod fixing through hole is embedded with a first connecting rod bearing.

[0010] Preferably, the rod assembly includes two rod groups and a gear connection box, wherein: the rod assembly includes a first rod group, a second rod group and a gear connection box, the first rod group is arranged on the motor drive module assembly, the gear connection box is arranged on the first rod group, and the second rod group is arranged on the gear connection box; the first rod group includes a left first connecting rod, a right first connecting rod and a first rotating shaft connecting piece, and the first rotating shaft connecting piece is arranged on the left first connecting rod and the right first connecting rod.

[0011] Preferably, the left first connecting rod and the right first connecting rod have the same structure, the left first connecting rod is tubular, specifically, the left first connecting rod is a carbon fiber tube with high strength and light weight; the first rotating shaft connecting member includes a first rotating shaft connecting seat and a first rotating shaft, and the first rotating shaft is arranged on the first rotating shaft connecting seat; the first rotating shaft connecting seat is provided with a second connecting rod fixing through hole and a first rotating shaft fixing through hole, the first rotating shaft is tubular, and one end of the first rotating shaft is embedded in the first rotating shaft fixing through hole; four first rotating shaft connecting members are provided, and the four first rotating shaft connecting members are fixedly mounted on the two ends of the left first connecting rod and the right first connecting rod one by one through the second connecting rod fixing through holes; the first rotating shaft fixing member on one end of the left first connecting rod is embedded in the rotating shaft of the driving motor through the first rotating shaft, and the first rotating shaft fixing member on one end of the right first connecting rod is embedded in the first connecting rod bearing through the first rotating shaft.

[0012] Preferably, the gear connection box is provided with a third connecting rod fixing through hole and a gear transmission through hole, and a plurality of the third connecting rod fixing through holes are provided, and the plurality of the third connecting rod fixing through holes are distributed at both ends of the gear connection box, and second connecting rod bearings are embedded in the third connecting rod fixing through holes; a plurality of the gear transmission through holes are provided, and the plurality of the gear transmission through holes are evenly distributed, and gear transmission shafts are embedded in the gear transmission through holes, and the gear transmission shafts are tubular; gears are fixedly sleeved on the two gear transmission shafts, the two gears are meshed with each other, and the gears are located in the gear connection box; the gear connection box is fixedly sleeved on the first rotating shaft at the other end of the left first connecting rod through a gear transmission shaft, so that the gear can rotate with the rotation of the first rotating shaft, and the gear connection box is sleeved on the first rotating shaft at the other end of the right first connecting rod through a second connecting rod bearing, so that the left first connecting rod and the right first connecting rod are parallel to each other.

[0013] Preferably, the second rod group includes a left second connecting rod, a right second connecting rod and a second rotating shaft connecting piece, and the second rotating shaft connecting piece is arranged on the left second connecting rod and the right second connecting rod; the left second connecting rod and the right second connecting rod have the same structure, and the left second connecting rod is tubular. Specifically, the left second connecting rod is a carbon fiber tube with high strength and light weight; the second rotating shaft connecting piece includes a second rotating shaft connecting seat and a second rotating shaft, and the second rotating shaft is arranged on the second rotating shaft connecting seat; the second rotating shaft connecting seat is provided with a fourth connecting rod fixing through hole and a second rotating shaft fixing through hole; the first The two rotating shafts are tubular, and one end of the second rotating shaft is embedded in the second rotating shaft fixing through hole; four second rotating shaft connecting parts are provided, and the four second rotating shaft connecting parts are fixedly mounted on the two ends of the left second connecting rod and the right second connecting rod one by one through the fourth connecting rod fixing through hole; the second rotating shaft fixing part on one end of the left second connecting rod is fixedly embedded in the other gear transmission shaft on the gear connecting box through the second rotating shaft, and the second rotating shaft fixing part on one end of the right second connecting rod is embedded in the other second connecting rod bearing on the gear connecting box through the second rotating shaft.

[0014] Preferably, the worktable is in the shape of a rectangular groove, and a fifth connecting rod fixing through hole is provided on one side wall of the worktable, and two fifth connecting rod fixing through holes are provided, and third connecting rod bearings are embedded in the two fifth connecting rod fixing through holes; the worktable is respectively mounted on the second rotating shaft on the other end of the second connecting rod on the left and the second rotating shaft on the other end of the second connecting rod on the right through the two third connecting rod bearings; a fixing plate is provided in the worktable groove.

[0015] Preferably, the rod assembly is provided with three rod groups and two gear connection boxes; wherein: the rod assembly includes a first rod group, a second rod group, a third rod group, a first gear connection box and a second gear connection box, one end of the first rod group is arranged on the motor drive module assembly, one end of the first gear connection box is arranged on the other end of the first rod group, one end of the second rod group is arranged on the other end of the first gear connection box, one end of the second gear connection box is arranged on the other end of the second rod group, one end of the third rod group is arranged on the other end of the second gear connection box, and the other end of the third rod group is connected to the worktable.

[0016] The present invention has at least the following beneficial effects:

[0017] 1) The underactuated multi-link foldable inspection robot arm of the present invention has light weight, simple control method, large arm span, small folded size, internal threading, high stability, low manufacturing and use costs, and low maintenance costs;

[0018] 2) The under-actuated multi-link foldable inspection robot arm of the present invention is provided with a driving motor and a rod assembly, and the rod assembly includes a first rod group, a second rod group, a third rod group, a first gear connection box and a second gear connection box. The left first connection rod and the right first connection rod in the first rod group are designed as a parallelogram, the left second connection rod and the right second connection rod in the second rod group are designed as a parallelogram, and the left third connection rod and the right third connection rod in the third rod group are designed as a parallelogram. The first rod group and the second rod group are connected and transmitted through the first gear connection box, and the second rod group and the third rod group are connected and transmitted through the second gear connection box, so that the driving motor can realize the full unfolding and full folding of the first rod group, the second rod group and the third rod group by driving the first rod group to rotate; the weight of the whole machine is reduced, the endurance time and work efficiency are increased; the convenience of operation is improved, and the training time and training cost of operators are reduced; the arm span can be significantly increased and the folding size can be reduced to improve the adaptability to the workplace;

[0019] 3) The left first connecting rod, the right first connecting rod, the left second connecting rod, the right second connecting rod, the left third connecting rod and the right third connecting rod in the under-actuated multi-link foldable inspection robot arm of the present invention are all high-strength and light-weight carbon fiber tubes, which can significantly reduce the weight of the whole machine, improve the whole machine endurance time and work efficiency, and the carbon fiber tubes can facilitate internal threading, reduce the failure rate of the under-actuated multi-link foldable inspection robot arm, and reduce maintenance costs.

[0020] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front view of the underactuated multi-link foldable inspection robot arm of the present invention after folding;

[0022] Figure 2 It is a schematic diagram of the rear side of the underactuated multi-link foldable inspection robot arm of the present invention after folding;

[0023] Figure 3 It is a schematic diagram of the right side of the underactuated multi-link foldable inspection robot arm of the present invention after folding;

[0024] Figure 4 This is a front view of the underactuated multi-link foldable inspection robot arm of the present invention after it is fully extended;

[0025] Figure 5 It is a three-dimensional structural diagram of the mechanical arm in the under-actuated multi-link foldable inspection mechanical arm of the present invention;

[0026] Figure 6 It is a front view of the gear connection box in the under-actuated multi-link foldable inspection robot arm of the present invention;

[0027] Figure 7 It is a side view of the gear connection box in the under-actuated multi-link foldable inspection robot arm of the present invention;

[0028] Figure 8 The under-actuated multi-link foldable inspection robot arm of the present invention Figure 7 Cross-sectional view in the FF direction;

[0029] Fig. 9 It is a three-dimensional structural diagram of the first rod group in the under-actuated multi-link foldable inspection robot arm of the present invention.

[0030] Among them: 1-two-degree-of-freedom pan / tilt, 2-terminal device, 3-installation platform, 4-camera, 5-travel wheel, 6-drive motor, 9-first connecting rod on the left, 10-first connecting rod on the right, 11-first rotating shaft connecting seat, 13-gear transmission shaft, 14-gear, 15-second connecting rod on the left, 16-second connecting rod on the right, 18-third connecting rod bearing, 20-stage, 21-gear connection box, 22-second connecting rod bearing. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0032] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0033] Embodiment 1

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

[0035] The installation platform 3 is used to install the mechanical arm, the walking part, the mobile power supply and the road condition video monitoring part. The installation platform 3 can meet the needs of the under-actuated multi-link foldable inspection mechanical arm to travel on a plane, and can also meet the needs of being hung on a track for suspension travel. The walking part includes a walking motor, a transmission part, a walking wheel 5 and an electronic control unit. The walking motor, the transmission part and the electronic control unit are all arranged on the installation platform 3, and the walking wheel 5 is arranged on the transmission part. The walking part can provide walking power for the under-actuated multi-link foldable inspection mechanical arm. The mobile power supply can provide power for the walking part, the road condition video monitoring part and the mechanical arm. The road condition video monitoring part includes a camera 4, an image acquisition card and a computer. The camera 4 and the image acquisition card are both arranged on the installation platform 3, and the computer is independently arranged. The camera 4 can collect driving road condition information in real time and transmit it to the image acquisition card, and remotely transmit it to the computer display via the image acquisition card, providing visual information for the operator to remotely control the under-actuated multi-link foldable inspection robot arm to travel on the ground or suspended on the track.

[0036] The robotic arm includes a motor drive module assembly, a rod assembly and a stage 20, wherein the motor drive module assembly is arranged on the mobile mounting platform, the rod assembly is arranged on the motor drive module assembly, and the stage 20 is arranged on the rod assembly. The motor drive module assembly includes a module fixing frame and a drive motor 6, wherein the module fixing frame is arranged on the mounting platform 3, and the drive motor 6 is arranged on the module fixing frame. The module fixing frame includes a module support rod and a module fixing seat, wherein the module support rod is arranged on the mounting platform 3, and the module fixing seat is arranged on the module support rod. The module support rod is tubular, and a first threading through hole is arranged on the side wall at one end of the module support rod, wherein the first threading through hole can facilitate the passage of the power transmission line, so that the mobile power supply can supply power to the drive motor 6, the two-degree-of-freedom gimbal 1 and the terminal device 2 through the power transmission line. The module fixing seat is in the shape of a right-angle fixing sheet, and a second threading through hole is provided on a right-angle surface of the module fixing seat, and a motor fixing through hole and a first connecting rod fixing through hole are provided on another right-angle surface of the module fixing seat. The module fixing seat is sleeved on the other end of the module support rod through the second threading through hole. The center height of the motor fixing through hole is greater than the center height of the first connecting rod fixing through hole, and the drive motor 6 is horizontally sleeved in the motor fixing through hole, and the drive motor 6 is a stepping motor or a power device composed of a motor and a reducer. The first connecting rod fixing through hole is embedded with a first connecting rod bearing.

[0037] The rod assembly includes a first rod group, a second rod group and a gear connection box 21, wherein the first rod group is arranged on the motor drive module assembly, the gear connection box 21 is arranged on the first rod group, and the second rod group is arranged on the gear connection box 21. The first rod group includes a left first connecting rod 9, a right first connecting rod 10 and a first rotating shaft connecting member, wherein the first rotating shaft connecting member is arranged on the left first connecting rod 9 and the right first connecting rod 10.

[0038] The left first connecting rod 9 and the right first connecting rod 10 have the same structure. The left first connecting rod 9 is tubular. Specifically, the left first connecting rod 9 is a carbon fiber tube with high strength and light weight. The first rotating shaft connecting member includes a first rotating shaft connecting seat 11 and a first rotating shaft, and the first rotating shaft is arranged on the first rotating shaft connecting seat 11. The first rotating shaft connecting seat 11 is in the shape of a right-angle fixed sheet, and a second connecting rod fixing through hole is arranged on a right-angle surface of the first rotating shaft connecting seat 11, and a first rotating shaft fixing through hole is arranged on another right-angle surface of the first rotating shaft connecting seat 11. The first rotating shaft is tubular, and one end of the first rotating shaft is embedded in the first rotating shaft fixing through hole. There are four first rotating shaft connecting members, and the four first rotating shaft connecting members are fixedly mounted on the two ends of the left first connecting rod 9 and the right first connecting rod 10 one by one through the second connecting rod fixing through holes. The first rotating shaft fixing part on one end of the left first connecting rod 9 is embedded in the rotating shaft of the driving motor 6 through the first rotating shaft, and the first rotating shaft fixing part on one end of the right first connecting rod 10 is embedded in the first connecting rod bearing through the first rotating shaft.

[0039] The gear connection box 21 is in a rectangular box shape. The gear connection box 21 is provided with a third connecting rod fixing through hole and a gear transmission through hole. The third connecting rod fixing through hole is provided with two. The two third connecting rod fixing through holes are symmetrically distributed at both ends of the gear connection box 21, and the second connecting rod bearing 22 is embedded in each of the third connecting rod fixing through holes. There are two gear transmission through holes, which are symmetrically distributed. The gear transmission shaft 13 is embedded in each of the gear transmission through holes. The gear transmission shaft 13 is tubular. Gears 14 are fixedly mounted on the two gear transmission shafts 13. The two gears 14 are meshed with each other, and the gears 14 are located in the gear connection box 21. The gear connecting box 21 is fixedly mounted on the first rotating shaft at the other end of the left first connecting rod 9 through the gear transmission shaft 13, so that the gear 14 can rotate with the rotation of the first rotating shaft, and the gear connecting box 21 is mounted on the first rotating shaft at the other end of the right first connecting rod 10 through the second connecting rod bearing 22, so that the left first connecting rod 9 and the right first connecting rod 10 are parallel to each other.

[0040] The second rod group includes a left second connecting rod 15 , a right second connecting rod 16 and a second rotating shaft connecting member, and the second rotating shaft connecting member is arranged on the left second connecting rod 15 and the right second connecting rod 16 .

[0041] The second left connecting rod 15 and the second right connecting rod 16 have the same structure. The second left connecting rod 15 is tubular. Specifically, the second left connecting rod 15 is a carbon fiber tube with high strength and light weight. The second rotating shaft connecting member includes a second rotating shaft connecting seat and a second rotating shaft, and the second rotating shaft is arranged on the second rotating shaft connecting seat. The second rotating shaft connecting seat is in the shape of a right-angle fixed sheet, and a fourth connecting rod fixing through hole is arranged on a right-angle surface of the second rotating shaft connecting seat, and a second rotating shaft fixing through hole is arranged on another right-angle surface of the second rotating shaft connecting seat. The second rotating shaft is tubular, and one end of the second rotating shaft is embedded in the second rotating shaft fixing through hole. There are four second rotating shaft connecting members, and the four second rotating shaft connecting members are fixedly mounted on both ends of the second left connecting rod 15 and the second right connecting rod 16 one by one through the fourth connecting rod fixing through hole. The second rotating shaft fixing part on one end of the left second connecting rod 15 is fixedly embedded in the other gear transmission shaft 13 on the gear connecting box 21 through the second rotating shaft, and the second rotating shaft fixing part on one end of the right second connecting rod 16 is embedded in the other second connecting rod bearing 22 on the gear connecting box 21 through the second rotating shaft.

[0042] The stage 20 is in the shape of a rectangular groove, and a fifth connecting rod fixing through hole is provided on one side wall of the stage 20. There are two fifth connecting rod fixing through holes, and the third connecting rod bearings 18 are embedded in the two fifth connecting rod fixing through holes. The stage 20 is respectively mounted on the second rotating shaft at the other end of the left second connecting rod 15 and the second rotating shaft at the other end of the right second connecting rod 16 through the two third connecting rod bearings 18. A fixing plate is provided in the groove of the stage 20, and the fixing plate is perpendicular to the bottom of the groove of the stage 20.

[0043] When the driving motor 6 rotates in the reverse direction, the driving motor 6 can drive the left first connecting rod 9 to rotate in the reverse direction around the driving motor 6, and the left first connecting rod 9 pulls the other end of the right first connecting rod 10 to rotate in the reverse direction through the gear connecting box 21, thereby changing the first rod group from a horizontal state to a vertical state. When the left first connecting rod 9 rotates in the reverse direction, the first rotating shaft on the other end of the left first connecting rod 9 will rotate relative to the gear connecting box 21, and at the same time, the first rotating shaft on the other end of the left first connecting rod 9 will be driven by the gear transmission shaft 13 to rotate one of the gears 14 on the gear connecting box 21 in the reverse direction, and one of the gears 14 on the gear connecting box 21 will cause another of the gears 14 on the gear connecting box 21 to rotate forward. The other gear 14 on the gear connecting box 21 will drive the second rotating shaft on one end of the left second connecting rod 15 to rotate forward through the gear transmission shaft 13, and the second rotating shaft will drive the left second connecting rod 15 to rotate forward, thereby changing the second rod group from a horizontal state to a vertical state.

[0044] Since the left first connecting rod 9, the right first connecting rod 10, the gear connection box 21 and the motor drive module assembly form a parallelogram structure, the left second connecting rod 15, the right second connecting rod 16, the gear connection box 21 and the worktable 20 form a parallelogram structure, the robotic arm can be lifted and lowered smoothly and keep the worktable 20 stable.

[0045] Embodiment 2

[0046] The similarities between this embodiment and the first embodiment are not described in detail, and the difference lies in that:

[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, the gear connection boxes 21 are respectively a first gear connection box 21 and a second gear connection box 21, the first rod group has the same structure as the first rod group in Example 1, the second rod group has the same mechanism as the second rod group in Example 1, the third rod group includes a left third connecting rod, a right third connecting rod and a third rotating shaft connecting member, the third rotating shaft connecting member is arranged on the left third connecting rod and the right third connecting rod, the first gear connection box 21 and the second gear connection box 21 have the same structure as the gear connection box 21 in Example 1.

[0048] The connection relationship between the first rod group and the first gear connection box 21 is the same as the connection relationship between the first connecting rod and the gear connection box 21 in the first embodiment, and the connection relationship between the second rod group and the first gear connection box 21 is the same as the connection relationship between the second rod group and the gear connection box 21 in the first embodiment. One of the second connecting rod bearings 22 on the second gear connection box 21 is sleeved on the second rotating shaft on the other end of the left second connecting rod 15, and one of the gear transmission shafts 13 on the second gear connection box 21 is sleeved on the second rotating shaft on the other end of the right second connecting rod 16.

[0049] The third connecting rod on the left side has the same structure as the third connecting rod on the right side. The third connecting rod on the left side is tubular. Specifically, the third connecting rod on the left side is a carbon fiber tube with high strength and light weight. The third rotating shaft connecting member includes a third rotating shaft connecting seat and a third rotating shaft, and the third rotating shaft is arranged on the third rotating shaft connecting seat. The third rotating shaft connecting seat is in the shape of a right-angle fixed sheet, and a sixth connecting rod fixing through hole is arranged on a right-angle surface of the third rotating shaft connecting seat, and a third rotating shaft fixing through hole is arranged on another right-angle surface of the third rotating shaft connecting seat. The third rotating shaft is tubular, and one end of the third rotating shaft is embedded in the third rotating shaft fixing through hole. There are four third rotating shaft connecting members, and the four third rotating shaft connecting members are fixedly mounted on both ends of the third connecting rod on the left side and the third connecting rod on the right side through the sixth connecting rod fixing through hole. The third shaft fixing part on one end of the left third connecting rod is embedded in another second connecting rod bearing 22 on the second gear connecting box 21 through the third shaft, and the third shaft fixing part on one end of the right third connecting rod is embedded in another gear transmission shaft 13 on the second gear connecting box 21 through the third shaft. The connection relationship between the third rod group and the loading platform 20 is the same as the connection relationship between the second rod group and the loading platform 20.

[0050] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An underactuated multi-link foldable inspection robot arm, characterized in that: include: A mechanical arm, the mechanical arm comprising a motor drive module assembly, a rod assembly and a stage, the rod assembly is arranged on the motor drive module assembly, and the stage is arranged on the rod assembly; The motor drive module assembly comprises a module fixing frame and a drive motor, and the drive motor is arranged on the module fixing frame; The rod assembly comprises at least two rod groups and a gear connection box: wherein two adjacent rod groups are connected through one gear connection box; The loading platform is arranged on the free end of the uppermost rod group in the rod assembly; the driving motor can drive the rod assembly to expand and retract to meet the use requirements; The rod assembly includes two rod groups and a gear connection box, wherein: the rod assembly includes a first rod group, a second rod group and a gear connection box, the first rod group is arranged on the motor drive module assembly, the gear connection box is arranged on the first rod group, and the second rod group is arranged on the gear connection box; the first rod group includes a left first connecting rod, a right first connecting rod and a first rotating shaft connecting member, and the first rotating shaft connecting member is arranged on the left first connecting rod and the right first connecting rod; The left first connecting rod and the right first connecting rod have the same structure, the left first connecting rod is tubular, specifically, the left first connecting rod is a carbon fiber tube with high strength and light weight; the first rotating shaft connecting member includes a first rotating shaft connecting seat and a first rotating shaft, and the first rotating shaft is arranged on the first rotating shaft connecting seat; the first rotating shaft connecting seat is provided with a second connecting rod fixing through hole and a first rotating shaft fixing through hole, the first rotating shaft is tubular, and one end of the first rotating shaft is embedded in the first rotating shaft fixing through hole; four first rotating shaft connecting members are provided, and the four first rotating shaft connecting members are fixedly mounted on the two ends of the left first connecting rod and the right first connecting rod one by one through the second connecting rod fixing through holes; the first rotating shaft fixing member on one end of the left first connecting rod is embedded in the rotating shaft of the driving motor through the first rotating shaft, and the first rotating shaft fixing member on one end of the right first connecting rod is embedded in the first connecting rod bearing through the first rotating shaft; The gear connection box is provided with a third connecting rod fixing through hole and a gear transmission through hole, and the third connecting rod fixing through hole is provided with a plurality of the third connecting rod fixing through holes, and the plurality of the third connecting rod fixing through holes are distributed at both ends of the gear connection box, and the third connecting rod fixing through holes are all embedded with second connecting rod bearings; the gear transmission through holes are provided with a plurality of the plurality of the gear transmission through holes, and the plurality of the gear transmission through holes are evenly distributed, and the gear transmission through holes are all embedded with gear transmission shafts, and the gear transmission shafts are tubular; gears are fixedly sleeved on the two gear transmission shafts, the two gears are meshed with each other, and the gears are located in the gear connection box; the gear connection box is fixedly sleeved on the first rotating shaft at the other end of the left first connecting rod through a gear transmission shaft, so that the gear can rotate with the rotation of the first rotating shaft, and the gear connection box is sleeved on the first rotating shaft at the other end of the right first connecting rod through a second connecting rod bearing, so that the left first connecting rod and the right first connecting rod are parallel to each other; The second rod group includes a left second connecting rod, a right second connecting rod and a second rotating shaft connecting piece, and the second rotating shaft connecting piece is arranged on the left second connecting rod and the right second connecting rod; the left second connecting rod and the right second connecting rod have the same structure, and the left second connecting rod is tubular. Specifically, the left second connecting rod is a carbon fiber tube with high strength and light weight; the second rotating shaft connecting piece includes a second rotating shaft connecting seat and a second rotating shaft, and the second rotating shaft is arranged on the second rotating shaft connecting seat; the second rotating shaft connecting seat is provided with a fourth connecting rod fixing through hole and a second rotating shaft fixing through hole; the second rotating shaft The shaft is tubular, and one end of the second shaft is embedded in the second shaft fixing through hole; four second shaft connecting members are provided, and the four second shaft connecting members are fixedly sleeved on both ends of the left second connecting rod and the right second connecting rod one by one through the fourth connecting rod fixing through hole; the second shaft fixing member on one end of the left second connecting rod is fixedly embedded in another gear transmission shaft on the gear connection box through the second shaft, and the second shaft fixing member on one end of the right second connecting rod is embedded in another second connecting rod bearing on the gear connection box through the second shaft; The rod assembly is provided with three rod groups and two gear connection boxes; wherein: the rod assembly includes a first rod group, a second rod group, a third rod group, a first gear connection box and a second gear connection box, one end of the first rod group is arranged on the motor drive module assembly, one end of the first gear connection box is arranged on the other end of the first rod group, one end of the second rod group is arranged on the other end of the first gear connection box, one end of the second gear connection box is arranged on the other end of the second rod group, one end of the third rod group is arranged on the other end of the second gear connection box, and the other end of the third rod group is connected to the worktable.

2. The underactuated multi-link foldable inspection robot arm according to claim 1, characterized in that: It also includes a mobile mounting platform component, which is used to fix the robotic arm. The mobile mounting platform component includes a mounting platform, a walking component, a mobile power supply and a road condition video monitoring component. The walking component, the mobile power supply and the road condition video monitoring component are all arranged on the mounting platform, and the mobile power supply is electrically connected to the walking component, the road condition video monitoring component, the robotic arm and the end respectively.

3. The underactuated multi-link foldable inspection robot arm according to claim 2, characterized in that: The mounting platform is used to mount the robotic arm, the walking part, the mobile power source and the road condition video monitoring part. The mounting platform can satisfy the requirements of the under-actuated multi-link foldable inspection robotic arm traveling on a plane, and can also satisfy the requirements of being hung on a track for suspension traveling; the walking part comprises a walking motor, a transmission part, a walking wheel and an ECU electronic control unit, the walking motor, the transmission part and the ECU electronic control unit are all arranged on the mounting platform, and the walking wheel is arranged on the transmission part; the walking part can provide walking power for the under-actuated multi-link foldable inspection robotic arm; the mobile power source can provide power for the walking part, the road condition video monitoring part and the robotic arm; the road condition video monitoring part comprises a camera, an image acquisition card and a computer, the camera and the image acquisition card are both arranged on the mounting platform, and the computer is independently arranged.

4. The underactuated multi-link foldable inspection robot arm according to claim 2, characterized in that: The module fixing frame includes a module support rod and a module fixing seat, the module support rod is arranged on the mounting platform, and the module fixing seat is arranged on the module support rod; the module support rod is tubular, and a first threading through hole is arranged on the side wall of one end of the module support rod, and a second threading through hole, a motor fixing through hole and a first connecting rod fixing through hole are arranged on the module fixing seat, and the module fixing seat is sleeved on the other end of the module support rod through the second threading through hole; the center height of the motor fixing through hole is greater than the center height of the first connecting rod fixing through hole, and the driving motor is sleeved in the motor fixing through hole; the first connecting rod fixing through hole is embedded with a first connecting rod bearing.

5. The underactuated multi-link foldable inspection robot arm according to claim 4, characterized in that: The loading platform is in the shape of a rectangular groove, and a fifth connecting rod fixing through hole is arranged on one side wall of the loading platform. There are two fifth connecting rod fixing through holes, and third connecting rod bearings are embedded in the two fifth connecting rod fixing through holes. The loading platform is respectively mounted on the second rotating shaft on the other end of the second connecting rod on the left and the second rotating shaft on the other end of the second connecting rod on the right through the two third connecting rod bearings. A fixing plate is arranged in the loading platform groove.

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