A high performance robotic arm

Abstract

The present invention relates to a high-performance mechanical arm, which adopts a multi-stage sleeve hydraulic cylinder structure, and drives the telescopic and rotating movements respectively by high-pressure water flow. The system has high integration and flexible movement. The water pressure sealing ring utilizes pressure adaptive compensation gap, and the floating design improves reliability. A thermal control overflow device is designed for high-temperature environment, and thermal expansion graphite is utilized to open the overflow channel. Water evaporates and takes away heat, which significantly improves the ability to prevent thermal damage. The controller coordinates the solenoid valve to achieve precise control, and a multi-sensor feedback optimization strategy is used to improve the intelligence level. The modular design facilitates maintenance and function expansion. The mechanical arm has good movement performance, strong environmental adaptability, and high survivability. It is particularly suitable for extreme environments such as fire fighting, and can improve the operating efficiency and safety of special robots. It has certain practicality in the fields of emergency rescue, industrial inspection and maintenance, etc.

Description

Technical Field

[0001] The present invention relates to a high-performance robotic arm, and in particular to a high-performance robotic arm applied in the technical field of robotic arms. Background Art

[0002] With the rapid development of social economy, the number of high-rise buildings is increasing. Once a fire occurs, rescue is difficult, which puts higher requirements on fire-fighting equipment. Robotic arms are increasingly used in firefighting and rescue due to their flexible movement and wide range of applications.

[0003] Chinese invention patent CN116036528 discloses a multi-task robotic arm for firefighting and rescue, which is connected to a helicopter via a magnetic base and uses a multi-link folding arm and a shower nozzle to achieve aerial firefighting and personnel rescue. However, the patent uses low-pressure water mist for firefighting, which has a limited range, and the folding arm has insufficient strength and rigidity, and its carrying capacity is limited.

[0004] Chinese invention patent CN115351769 discloses a firefighting robot arm, which uses a rotating arm and a protective device to avoid wear caused by tilting and improve control sensitivity. However, the patent has a relatively complex structure, the bearing is prone to jamming, the reliability is not high, and there is a lack of effective high temperature protection design, which is prone to failure in a fire environment. The above design meets the needs of firefighting and rescue to a certain extent, but there are still certain limitations, such as unsatisfactory motion performance, environmental adaptability needs to be improved, and insufficient survivability to extreme temperatures. In view of the stringent requirements of firefighting and rescue, it is necessary to further optimize the design of the robot arm and comprehensively improve its comprehensive performance. Summary of the invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a high-performance robotic arm to improve the movement performance, environmental adaptability and survivability of the robotic arm to meet the operational requirements in a complex fire environment.

[0006] To solve the above problems, the present invention provides a high-performance mechanical arm, including a lower rotating shaft joint, a lower telescopic arm is fixedly connected to the top of the lower rotating shaft joint, an end of the lower telescopic arm away from the lower rotating shaft joint is fixedly connected to the middle rotating shaft joint, an end of the middle rotating shaft joint away from the lower telescopic arm is fixedly connected to the middle telescopic arm, an end of the middle telescopic arm away from the middle rotating shaft joint is fixedly connected to an upper rotating shaft joint, an end of the upper rotating shaft joint away from the middle telescopic arm is fixedly connected to the upper telescopic arm, and an end of the upper telescopic arm away from the upper rotating shaft joint is fixedly connected to the execution unit, the lower rotating shaft joint, the lower telescopic arm, the middle rotating shaft joint, the middle telescopic arm, the upper rotating shaft joint, and the upper telescopic arm are connected to each other in pairs through a high-pressure telescopic pipe, and the tops of the lower rotating shaft joint, the middle rotating shaft joint and the upper rotating shaft joint are all connected to the lower telescopic arm, the middle telescopic arm and the upper telescopic arm. The first sleeve of the telescopic arm is fixedly connected, the second sleeve is slidably connected to the inner wall of the first sleeve, the third sleeve is slidably connected to the inner wall of the second sleeve, the fourth sleeve is slidably connected to the inner wall of the third sleeve, the fourth sleeve is fixedly connected to the bottom ends of the lower telescopic arm, the middle telescopic arm and the upper telescopic arm at one end away from the third sleeve, the top ends of multiple high-pressure telescopic tubes are internally connected to the adjacent first sleeve, the outer walls of multiple second sleeves, third sleeves and one end of the fourth sleeve are fixedly connected to the overflow sealing device, the first sleeve, the second sleeve, the third sleeve and the fourth sleeve are internally connected to each other, the ends of multiple fourth sleeves away from the first sleeve are respectively connected to the bottom ends of the middle rotating shaft joint and the upper rotating shaft joint, multiple high-pressure telescopic tubes are fixedly connected with solenoid valves, and the multiple solenoid valves are electrically connected to the same controller.

[0007] In the above-mentioned high-performance robotic arm, a multi-stage sleeve hydraulic cylinder structure is adopted, and high-pressure water flow is used to drive extension and rotation respectively, thereby achieving a significant improvement in motion performance and environmental adaptability. Water pressure sealing and thermal control overflow technology improve the survivability and reliability in high temperature environments.

[0008] As a further improvement of the present application, the middle rotating shaft joint and the upper rotating shaft joint both include a base fixedly connected to an end of the fourth sleeve away from the first sleeve, a through hole matching the inner wall of the fourth sleeve is opened at an end of the base close to the fourth sleeve, and the through hole is connected to the interior of the fourth sleeve, and a bottom plate is fixedly connected to the top of the base.

[0009] As a further improvement of the present application, a shell is fixedly connected to the top of the base plate, a rotor is arranged in the shell, and a plurality of blades are slidably connected to the outer end of the rotor, and the plurality of blades are evenly distributed around the axis of the rotor.

[0010] As a further improvement of the present application, the base is connected to the inner wall of the shell through a pipe, and a solenoid valve is fixedly connected to the pipe, the solenoid valve is electrically connected to the controller, a drain outlet is fixedly connected to the outer end of the shell, the drain outlet is connected to the inner wall of the shell, and the angle between the axis of the drain outlet and the axis of the pipe is between 60 degrees and 135 degrees.

[0011] As another improvement of the present application, the ends of the multiple blades that are away from each other are slidably connected to the inner wall of the shell, a top plate is fixedly connected to the top of the shell, a rotating shaft is fixedly connected to the rotor, and both ends of the rotating shaft pass through the bottom plate and the top plate respectively, and the rotor is eccentrically installed in the shell.

[0012] As another improved supplement of the present application, the rotor shaft passes through the top plate portion and is fixedly connected to a reduction box, and the reduction box is a worm gear reduction mechanism, and the reduction box output shaft is fixedly connected to one end of the first sleeve.

[0013] As another improvement supplement of the present application, the lower rotating shaft joint is fixedly connected to a rotating base at one end away from the lower telescopic arm. The rotating base is a turntable structure, and the turntable structure is fixedly connected to an external device at one end away from the lower rotating shaft joint. The rotating base is connected to a high-pressure water pump through a pipeline, and the high-pressure water pump is electrically connected to a controller.

[0014] As another improvement of the present application, the overflow sealing device includes an overflow ring and a plurality of water pressure sealing rings fixedly connected to the outer ends of the second sleeve, the third sleeve and the fourth sleeve. The overflow ring is a double-layer structure, and a thermal expansion ring is provided between the double-layer structure. The thermal expansion ring is made of a thermal expansion graphite composite material. The second sleeve, the third sleeve and the fourth sleeve are provided with a plurality of through holes at positions corresponding to the thermal expansion rings. The overflow ring is fixedly connected with retaining rings at both ends along the axis direction of the first sleeve, and through holes are also provided at positions corresponding to the through holes of the retaining rings and the second sleeve, the third sleeve and the fourth sleeve.

[0015] The steps include:

[0016] S1, high pressure water supply;

[0017] S2, hydraulic drive to expand;

[0018] S3, water pressure driven elongation;

[0019] S4, high pressure seal;

[0020] S5. High temperature overflow protection.

[0021] In summary, this application has the following beneficial effects:

[0022] 1. Improve the motion performance and flexibility of the robot arm; adopt a multi-stage sleeve hydraulic cylinder structure, and realize the extension and expansion movement of the telescopic arm through high-pressure water drive, which increases the working space and operation range of the robot arm. The rotating shaft and the reduction box are integrated at the joint, and the high-pressure water flow is used for direct drive, which simplifies the transmission mechanism, outputs large torque, and realizes smooth and efficient rotation. Different telescopic arms and joints can be controlled independently, and the movement is more flexible and changeable to meet the needs of different working conditions.

[0023] 2. Improve the integration and reliability of the system; integrate the design of water supply, control, execution and other components to achieve a compact layout of the system, reduce pipe connections, reduce the risk of leakage, use the same high-pressure water source to drive different actuators, and make the water supply system simpler and more reliable. The solenoid valve and controller realize the intelligent control of the system, and allocate the liquid flow in real time according to work requirements to ensure coordinated actions.

[0024] 3. Improve sealing performance and environmental adaptability; the water pressure sealing ring structure uses high-pressure water to push the sealing ring to generate pre-tightening force, fill the wear gap, and compensate for the instantaneous deformation caused by vibration impact. It can be adaptively adjusted under complex working conditions to ensure long-term stable and reliable sealing effect and reduce leakage losses. The floating sealing ring also improves tolerance to foreign matter and reduces the risk of sealing failure.

[0025] 4. Improve survivability in extreme environments; the thermal control overflow sealing protection device designed for high-temperature environments uses thermal expansion graphite to push open the overflow ring, opens the overflow channel when overheated, and allows high-pressure water to slowly discharge. It uses the water's phase change latent heat and convection heat transfer to effectively cool the sleeve and avoid thermal damage. Compared with passive protection, the thermal control overflow device has higher reliability and better cooling effect, allowing the robotic arm to adapt to more stringent temperature conditions, greatly improving the survivability in extreme environments such as firefighting.

[0026] 5. Improve the modularity and maintainability of the system; the joints and telescopic arms adopt a modular design, which can be quickly assembled and replaced, shorten maintenance time, and improve equipment availability. The joint module integrates the high-pressure water power source with the actuator, with a simple interface and easy replacement. The thermal control overflow device and the hydraulic sealing ring form an independent protection module that can be disassembled for maintenance. The modular design is also conducive to flexible combination according to different needs, realizing rapid expansion of the product spectrum.

[0027] 6. Improve the intelligence level of the robot; the servo solenoid valve realizes precise control of the hydraulic system according to the controller instructions. The pressure, flow and direction can be adjusted independently to realize synchronous or differential motion. The controller can integrate multiple sensors to realize real-time monitoring of the state of the robot arm, and optimize the control strategy according to the feedback information to improve adaptability. The controller can also communicate with the host computer to realize human-computer interaction and remote control, giving the robot more autonomy and flexibility.

[0028] 7. Expand the application scenarios of special robots; firefighting robots have high requirements for the motion performance, environmental adaptability, and reliability of the robot arm. The design of the robot arm in terms of motion control, sealing protection, thermal control overflow, etc. has greatly improved the performance and adaptability of the robot arm, and can meet the stringent requirements of special applications such as firefighting, promote the practical application of firefighting robots, and play a greater role in tasks such as firefighting, emergency rescue, and rescue, to ensure the life safety of firefighters and improve rescue efficiency. 8. Have certain economic and social benefits; high-performance firefighting robot arms can partially replace firefighters to perform dangerous operations, such as in-depth fire scene investigation, high-altitude firefighting, collapsed ruins search and rescue, etc., while improving rescue efficiency, maximizing the life safety of front-line personnel; in addition, this technology can also be applied to other fields, such as industrial inspection and maintenance, hazardous materials disposal, deep-sea operations, etc., and has broad market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is the overall structure diagram of this application;

[0030] Figure 2 A side view of the present application;

[0031] Figure 3 It is the AA cross-sectional view of this application;

[0032] Figure 4 This is an enlarged view of point B of this application;

[0033] Figure 5 This is an enlarged view of point C of this application;

[0034] Figure 6 This is an overall exploded view of this application;

[0035] Figure 7 Partial explosion for this application Figure 1 ;

[0036] Figure 8 Partial explosion for this application Figure 2 ;

[0037] Fig. 9 Partial explosion for this application Figure 3 ;

[0038] Fig.10 This is a structural diagram of the overflow sealing device of the present application;

[0039] Fig.11 The appearance structure of this application Figure 1 ;

[0040] Fig.12 The appearance structure of this application Figure 2 .

[0041] Explanation of the numbers in the figure: 1. Lower rotating shaft joint; 2. Lower telescopic arm; 3. Middle rotating shaft joint; 4. Middle telescopic arm; 5. Upper rotating shaft joint; 6. Upper telescopic arm; 7. Actuator unit; 8. High-pressure telescopic tube; 9. First sleeve; 10. Second sleeve; 11. Third sleeve; 12. Fourth sleeve; 13. Overflow sealing device; 14. Base; 15. Bottom plate; 16. Shell; 17. Rotor; 18. Blades; 19. Top plate; 20. Reducer; 21. Rotating base; 22. Overflow ring; 23. Water pressure sealing ring; 24. Thermal expansion ring. DETAILED DESCRIPTION

[0042] Three implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0043] The first implementation method:

[0044] Figure 1-12 Shown.

[0045] A high-performance mechanical arm comprises a lower rotating shaft joint 1, wherein the top end of the lower rotating shaft joint 1 is fixedly connected to a lower telescopic arm 2, the end of the lower telescopic arm 2 away from the lower rotating shaft joint 1 is fixedly connected to a middle rotating shaft joint 3, the end of the middle rotating shaft joint 3 away from the lower telescopic arm 2 is fixedly connected to a middle telescopic arm 4, the end of the middle telescopic arm 4 away from the middle rotating shaft joint 3 is fixedly connected to an upper rotating shaft joint 5, the end of the upper rotating shaft joint 5 away from the middle telescopic arm 4 is fixedly connected to an upper telescopic arm 6, the end of the upper telescopic arm 6 away from the upper rotating shaft joint 5 is fixedly connected to an execution unit 7, the lower rotating shaft joint 1, the lower telescopic arm 2, the middle rotating shaft joint 3, the middle telescopic arm 4, the upper rotating shaft joint 5, and the upper telescopic arm 6 are connected to each other through a high-pressure telescopic pipe 8, and the top ends of the lower rotating shaft joint 1, the middle rotating shaft joint 3 and the upper rotating shaft joint 5 are fixedly connected to the first sleeve 9 of the lower telescopic arm 2, the middle telescopic arm 4 and the upper telescopic arm 6 The inner wall of the first sleeve 9 is slidably connected to the second sleeve 10, the inner wall of the second sleeve 10 is slidably connected to the third sleeve 11, the inner wall of the third sleeve 11 is slidably connected to the fourth sleeve 12, the fourth sleeve 12 is fixedly connected to the bottom ends of the lower telescopic arm 2, the middle telescopic arm 4 and the upper telescopic arm 6 at one end away from the third sleeve 11, the top ends of the multiple high-pressure telescopic tubes 8 are all connected to the interior of the adjacent first sleeve 9, the outer walls of the multiple second sleeves 10, the third sleeves 11 and the fourth sleeves 12 are fixedly connected to the overflow sealing device 13, the first sleeve 9, the second sleeve 10, the third sleeve 11 and the fourth sleeve 12 are internally connected to each other, the multiple fourth sleeves 12 are respectively connected to the bottom ends of the middle rotating shaft joint 3 and the upper rotating shaft joint 5 at one end away from the first sleeve 9, the multiple high-pressure telescopic tubes 8 are fixedly connected with solenoid valves, and the multiple solenoid valves are electrically connected to the same controller.

[0046] In the above-mentioned high-performance robotic arm, a multi-stage sleeve hydraulic cylinder structure is adopted, and high-pressure water flow is used to drive extension and rotation respectively, thereby achieving a significant improvement in motion performance and environmental adaptability. Water pressure sealing and thermal control overflow technology improve the survivability and reliability in high temperature environments.

[0047] The lower shaft joint 1 plays a supporting and connecting role and is the basic component of the robot arm. It realizes the rotation of the robot arm by rotating to expand the working range.

[0048] The lower telescopic arm 2 is connected to the lower rotating shaft joint 1, and the working radius and height of the robot arm can be changed through telescopic movement to increase flexibility.

[0049] The central rotating shaft joint 3 connects the lower telescopic arm 2 and the middle telescopic arm 4, and the relative angle between the two arms is adjusted by rotation, thereby improving the freedom of movement of the robot arm.

[0050] The middle telescopic arm 4 is connected to the middle rotating shaft joint 3, and the working radius and height of the robot arm are further adjusted through telescopic movement, thereby enhancing the spatial coverage capability of the robot arm.

[0051] The upper rotating shaft joint 5 connects the middle telescopic arm 4 and the upper telescopic arm 6, and the posture adjustment of the end effector is achieved through rotation, thereby improving the flexibility and adaptability of the operation.

[0052] The upper telescopic arm 6 is connected to the upper rotating shaft joint 5, and the actuator can reach a higher or farther working position through telescopic movement, thereby expanding the working space of the robot arm.

[0053] The execution unit 7 is installed at the end of the robot arm and is a key component for executing specific work tasks. Different tools or devices can be replaced as needed.

[0054] The high-pressure telescopic tube 8 connects the adjacent joints and arms, transmits high-pressure liquid, provides power for the telescopic movement, and adopts a flexible pipeline to adapt to the movement of the robot arm without generating excessive additional force.

[0055] The first sleeve 9 is fixedly connected to the top of the telescopic arm to provide hydraulic support and guidance for the telescopic movement.

[0056] The second sleeve 10 can slide in the first sleeve 9 and achieve telescoping through relative movement with the first sleeve 9 .

[0057] The third sleeve 11 can slide in the second sleeve 10, and realize multi-stage telescopic movement through relative movement with the second sleeve 10, thereby further increasing the telescopic stroke.

[0058] The fourth sleeve 12 can slide in the third sleeve 11, is the piston rod of the hydraulic cylinder, is connected to the bottom end of the telescopic arm, and forms a telescopic movement through hydraulic push.

[0059] The overflow sealing device 13 is installed on the outer wall of each level of sleeve, and uses special materials to generate overflow leakage at high temperature, and takes away heat through liquid evaporation, which plays an active cooling protection role and improves the high temperature resistance of the robot arm.

[0060] The solenoid valve is installed on the high-pressure telescopic pipe 8, and controls the direction and flow of the liquid flow by controlling the switch, thereby controlling the telescopic action of each hydraulic cylinder.

[0061] The controller controls the on and off of each solenoid valve through electrical connections, coordinates the movement of each component of the robotic arm, and realizes overall motion control and logic control.

[0062] The second implementation method:

[0063] Figure 1-12 Shown.

[0064] The middle rotating shaft joint 3 and the upper rotating shaft joint 5 both include a base 14 fixedly connected to the end of the fourth sleeve 12 away from the first sleeve 9, and a through hole matching the inner wall of the fourth sleeve 12 is opened at the end of the base 14 close to the fourth sleeve 12, and the through hole is connected to the interior of the fourth sleeve 12, and a bottom plate 15 is fixedly connected to the top of the base 14.

[0065] A shell 16 is fixedly connected to the top of the bottom plate 15 , a rotor 17 is arranged in the shell 16 , and a plurality of blades 18 are slidably connected to the outer end of the rotor 17 , and the plurality of blades 18 are evenly distributed around the axis of the rotor 17 .

[0066] The base 14 is connected to the inner wall of the shell 16 through a pipe, and a solenoid valve is fixedly connected to the pipe, and the solenoid valve is electrically connected to the controller. A drain outlet is fixedly connected to the outer end of the shell 16, and the drain outlet is connected to the inner wall of the shell 16, and the angle between the axis of the drain outlet and the axis of the pipe is between 60 degrees and 135 degrees.

[0067] The ends of the multiple blades 18 that are away from each other are slidably connected to the inner wall of the shell 16. A top plate 19 is fixedly connected to the top of the shell 16. A rotating shaft is fixedly connected to the rotor 17, and both ends of the rotating shaft pass through the bottom plate 15 and the top plate 19 respectively. The rotor 17 is eccentrically installed in the shell 16.

[0068] The rotating shaft of the rotor 17 passes through the top plate 19 and is fixedly connected to a reduction box 20 , and the reduction box 20 is a worm gear reduction mechanism, and the output shaft of the reduction box 20 is fixedly connected to one end of the first sleeve 9 .

[0069] The end of the lower rotating shaft joint 1 away from the lower telescopic arm 2 is fixedly connected to a rotating base 21, the rotating base 21 is a turntable structure, and the turntable structure is fixedly connected to an external device at one end away from the lower rotating shaft joint 1, the rotating base 21 is connected to a high-pressure water pump through a pipeline, and the high-pressure water pump is electrically connected to a controller.

[0070] The overflow sealing device 13 includes an overflow ring 22 and a plurality of water pressure sealing rings 23 fixedly connected to the outer ends of the second sleeve 10, the third sleeve 11 and the fourth sleeve 12. The overflow ring 22 is a double-layer structure, and a thermal expansion ring 24 is arranged between the double-layer structure. The thermal expansion ring 24 is made of a thermal expansion graphite composite material. The second sleeve 10, the third sleeve 11 and the fourth sleeve 12 are provided with a plurality of through holes at positions corresponding to the thermal expansion ring 24. The overflow ring 22 is fixedly connected with retaining rings at both ends along the axial direction of the first sleeve 9, and the retaining rings are also provided with through holes at positions corresponding to the through holes of the second sleeve 10, the third sleeve 11 and the fourth sleeve 12.

[0071] The base 14 is fixedly connected to the end of the fourth sleeve 12 away from the first sleeve 9, playing a supporting and connecting role. A through hole matching the inner wall of the fourth sleeve 12 is opened on the base 14, so that high-pressure liquid can enter the base 14 from the inside of the fourth sleeve 12, providing a passage for subsequent hydraulic drive.

[0072] The bottom plate 15 is fixedly connected to the top of the base 14 to play a supporting and fixing role. The shell 16 is fixedly connected to the top of the bottom plate 15 to provide installation and movement space for the rotor 17 and the blades 18. The rotor 17 is arranged inside the shell 16. The rotor 17 is assembled in the shell 16 through a bearing and can rotate under the action of high-pressure liquid to drive the mechanical arm to achieve rotational motion.

[0073] The blades 18 are slidably connected to the outer end of the rotor 17 and are evenly distributed around the axis of the rotor 17. When the high-pressure liquid enters the shell 16, it will push the blades 18 to produce radial displacement, thereby pushing the rotor 17 to rotate, converting the hydraulic energy into mechanical energy. The pipeline connects the inside of the base 14 with the inner wall of the shell 16, and is the passage for the high-pressure liquid to enter. The solenoid valve is fixedly connected to the pipeline, which can control the flow direction and flow rate of the high-pressure liquid, thereby controlling the start and stop and speed of the hydraulic motor. The solenoid valve is electrically connected to the controller to achieve automatic control.

[0074] The drain outlet is fixedly connected to the outer end of the shell 16 and is connected to the inner wall of the shell 16. The drain outlet can discharge the liquid after the blade 18 is driven to rotate to avoid liquid accumulation affecting the performance. The angle between the axis of the drain outlet and the axis of the pipeline is set between 60 degrees and 135 degrees, which can optimize the drainage effect. The top plate 19 is fixedly connected to the top of the shell 16, and together with the bottom plate 15, it plays a sealing and supporting role. The rotating shaft is fixedly connected to the inside of the rotor 17, and its two ends respectively pass through the bottom plate 15 and the top plate 19. It is the support and transmission component of the rotational motion of the rotor 17. The rotor 17 is eccentrically installed in the shell 16, and can generate eccentric torque under the action of high-pressure liquid to improve the output torque of the rotor 17.

[0075] The reduction box 20 is fixedly connected to the part of the rotating shaft that passes through the top plate 19, and adopts a worm gear reduction mechanism. The reduction box 20 can convert the high-speed and low-torque output of the rotor 17 into a low-speed and high-torque output to meet the needs of the rotational movement of the robotic arm. The output shaft of the reduction box 20 is fixedly connected to one end of the first sleeve 9 to transmit the rotational power to the robotic arm.

[0076] The rotating base 21 is fixedly connected to the end of the lower rotating shaft joint 1 away from the lower telescopic arm 2, and adopts a turntable structure. The rotating base 21 can rotate relative to a fixed external device, driving the entire robotic arm system to achieve steering movement in the horizontal plane and expand the working range.

[0077] The overflow ring 22 is fixedly connected to the outer ends of the second sleeve 10, the third sleeve 11 and the fourth sleeve 12, and adopts a double-layer structure with a thermal expansion ring 24 inside. The overflow ring 22 can use the thermal expansion principle to produce overflow leakage in a high temperature environment to protect the sealing structure from high temperature damage.

[0078] The water pressure sealing ring 23 cooperates with the overflow ring 22 and is arranged between the sleeves of each stage, and utilizes the pressure of the high pressure liquid to produce a sealing effect to prevent leakage.

[0079] The thermal expansion ring 24 is arranged between the double-layer structure of the overflow ring 22 and is made of a thermal expansion graphite composite material. In a high temperature environment, the thermal expansion ring 24 will expand in volume, push the inner layer of the overflow ring 22 to deform, open the overflow leakage channel, and play an over-temperature protection role. Through holes are respectively opened in the second sleeve 10, the third sleeve 11, the fourth sleeve 12 and the corresponding positions of the thermal expansion ring 24, as well as on the retaining rings at both ends of the overflow ring 22. The through holes can provide a liquid leakage path when the overflow ring 22 is opened, thereby realizing the thermal control overflow protection function. The thermal control overflow sealing design and the direct hydraulic drive design improve the working ability of the robot arm in special environments.

[0080] The third implementation method:

[0081] Figure 1-12 Shown.

[0082] The steps include:

[0083] S1, high pressure water supply;

[0084] When it is needed, the high-pressure water pump is started by the controller to supply water to the rotating base 21 .

[0085] S2, hydraulic drive to expand;

[0086] When it is necessary to control the deployment of the lower telescopic arm 2, the middle telescopic arm 4 and the upper telescopic arm 6, multiple solenoid valves are controlled by the controller as needed. When high-pressure water enters the lower rotating shaft joint 1, the middle rotating shaft joint 3 and the upper rotating shaft joint 5 through the pipeline, the water flow drives multiple blades 18 to drive the rotor 17 to rotate in the shell 16. When the rotor 17 rotates, it drives the reduction gear box 20 connected thereto to rotate. When the reduction gear box 20 rotates, it drives the first sleeve 9 connected thereto to rotate, thereby realizing the deployment of the lower telescopic arm 2, the middle telescopic arm 4 and the upper telescopic arm 6.

[0087] S3, water pressure driven elongation;

[0088] When it is necessary to control the extension of the lower rotating shaft joint 1, the middle rotating shaft joint 3 and the upper rotating shaft joint 5, multiple solenoid valves are controlled by the controller as needed, and high-pressure water enters the first sleeve 9 through the high-pressure telescopic tube 8. The high-pressure water pushes the fourth sleeve 12, the third sleeve 11, and the second sleeve 10 in the first sleeve 9 to extend section by section.

[0089] S4, high pressure seal;

[0090] When high-pressure water enters the first sleeve 9, the high-pressure water pushes multiple water pressure sealing rings 23 to expand outward through the through holes. After the water pressure sealing rings 23 expand outward, a better sealing effect can be formed, and the water pressure sealing rings 23 can float within a certain range under the pressure of high-pressure water. When the first sleeve 9, the second sleeve 10, the third sleeve 11 and the fourth sleeve 12 are deformed to a small extent due to external force, the floating water pressure sealing rings 23 can maintain a good sealing effect.

[0091] S5, high temperature overflow protection;

[0092] When the robot arm enters a high-temperature environment to work, the external high temperature causes the volume of the thermal expansion ring 24 to expand. After the volume of the thermal expansion ring 24 expands, the gap between the double-layer structure of the overflow ring 22 forms a space for water to flow. At this time, the high-pressure water flows out through the through hole through the overflow ring 22, and the outflowing water continues to flow out through the gaps between the first sleeve 9, the second sleeve 10, the third sleeve 11 and the fourth sleeve 12. The outflowing water covers the outer walls of the first sleeve 9, the second sleeve 10, the third sleeve 11 and the fourth sleeve 12 and cools the first sleeve 9, the second sleeve 10, the third sleeve 11 and the fourth sleeve 12 through evaporation, so that the first sleeve 9, the second sleeve 10, the third sleeve 11 and the fourth sleeve 12 are not easily damaged by high temperature. At the same time, the water flowing through the first sleeve 9, the second sleeve 10, the third sleeve 11 and the fourth sleeve 12 can also cool them down to keep them in a suitable temperature range.

[0093] High-pressure water supply, through the controller to start the high-pressure water pump, supply high-pressure water to the rotating base 21, providing a hydraulic power source for the entire system. High-pressure water supply is the basis for the normal operation of the entire robotic arm hydraulic system, ensuring that each actuator obtains sufficient pressure and flow, and is a prerequisite for realizing various action controls. Centralized water supply also simplifies the layout of the hydraulic system and improves reliability.

[0094] The deployment is driven by water pressure. The solenoid valve is controlled by a controller to introduce high-pressure water into the lower shaft joint 1, the middle shaft joint 3 and the upper shaft joint 5. The water flow drives the blades 18 to push the rotor 17 to rotate, and the first sleeve 9 is driven to rotate through the reduction box 20 to realize the deployment movement of the telescopic arm. The telescopic arm is directly driven to deploy by high-pressure water, which simplifies the transmission mechanism and reduces the number of components. The combination of water pressure drive and reduction box 20 can output a larger torque to meet the torque requirement of the deployment action. The solenoid valve controls the distribution of water flow to realize the independent deployment of different telescopic arms and improve the flexibility of movement.

[0095] The extension is driven by water pressure. The solenoid valve is controlled by a controller to introduce high-pressure water into the high-pressure telescopic tube 8 and then into the first sleeve 9, pushing the fourth sleeve 12, the third sleeve 11, and the second sleeve 10 to extend outward section by section relative to the first sleeve 9, thereby realizing the radial extension movement of the telescopic arm. The same high-pressure water source is used to drive the telescopic movement at the joint. The system has high integration and simple control. The telescopic structure of the multi-stage sleeve can achieve a larger telescopic stroke, thereby increasing the operating range of the robotic arm. The independent control of the solenoid valve enables differential extension and retraction between different sections, making the movement more flexible and varied.

[0096] High-pressure sealing. When high-pressure water enters the first sleeve 9, it acts on the water pressure sealing ring 23 through the through hole, causing the water pressure sealing ring 23 to expand outward and fit tightly against the inner wall of the sleeve to improve the sealing performance. The water pressure sealing ring 23 can float to a certain extent under pressure to adapt to the deformation of the sleeve and maintain a stable sealing effect. The hydraulic telescopic movement driven by high-pressure water has very high requirements on dynamic sealing performance. Any slight leakage will significantly reduce the efficiency. The water pressure sealing ring 23 uses the pressure of high-pressure water to actively compensate for the wear gap. It can be adaptively adjusted under complex working conditions to ensure long-term and reliable sealing effect, reduce leakage losses, and improve system efficiency. The floating design of the water pressure sealing ring 23 improves the adaptability to vibration and shock and reduces the risk of sealing failure.

[0097] High temperature overflow protection, when the robot arm enters a high temperature environment, the heat expansion ring 24 expands due to the heat, pushes open the double-layer structure of the overflow ring 22, and forms an overflow channel. High temperature and high pressure water flows into the overflow cavity through the through hole, flows out along the sleeve gap, absorbs heat and vaporizes, and cools the sleeve. The internal water flow also takes away the friction heat and the heat introduced from the outside, maintaining the sleeve at a suitable working temperature. High temperature overflow protection is an important active protection function of the robot arm. It uses the latent heat of fluid phase change and flow convection heat transfer to timely cool the overheated sleeve to a safe temperature, avoid thermal deformation, strength degradation and even failure, and significantly improve the survivability of the robot arm in high temperature scenarios. The adaptive characteristics of the thermal control overflow can automatically adjust the cooling effect according to the temperature state, which is reliable and energy-saving. Compared with traditional passive insulation, the active thermal control overflow can withstand higher temperatures and has a wider range of applications. Combined with current actual needs, the above-mentioned implementation method adopted in this application is not limited to this. Within the knowledge of those skilled in the art, various changes made without departing from the concept of this application still fall within the protection scope of the present invention.

Claims

1. A high-performance robotic arm, characterized in that: The invention comprises a lower rotating shaft joint (1), the top end of the lower rotating shaft joint (1) is fixedly connected to a lower telescopic arm (2), the end of the lower telescopic arm (2) away from the lower rotating shaft joint (1) is fixedly connected to a middle rotating shaft joint (3), the end of the middle rotating shaft joint (3) away from the lower telescopic arm (2) is fixedly connected to a middle telescopic arm (4), the end of the middle telescopic arm (4) away from the middle rotating shaft joint (3) is fixedly connected to an upper rotating shaft joint (5), and the end of the upper rotating shaft joint (5) away from the middle telescopic arm (4) is fixedly connected to an upper telescopic arm (6). The upper telescopic arm (6) is fixedly connected to an execution unit (7) at one end away from the upper rotating shaft joint (5); the lower rotating shaft joint (1), the lower telescopic arm (2), the middle rotating shaft joint (3), the middle telescopic arm (4), the upper rotating shaft joint (5), and the upper telescopic arm (6) are connected to each other through a high-pressure telescopic pipe (8); the top ends of the lower rotating shaft joint (1), the middle rotating shaft joint (3), and the upper rotating shaft joint (5) are fixed to the first sleeve (9) of the lower telescopic arm (2), the middle telescopic arm (4), and the upper telescopic arm (6). The first sleeve (9) is slidably connected to the inner wall of the second sleeve (10), the second sleeve (10) is slidably connected to the inner wall of the third sleeve (11), the third sleeve (11) is slidably connected to the inner wall of the third sleeve (12), the fourth sleeve (12) is fixedly connected to the bottom ends of the middle rotating shaft joint (3) and the upper rotating shaft joint (5) at one end away from the third sleeve (11), the top ends of the plurality of high-pressure telescopic tubes (8) are all connected to the inside of one end of the adjacent first sleeve (9), and the plurality of second sleeves (1 0), the third sleeve (11) and the fourth sleeve (12) are all fixedly connected to the outer walls at one end thereof with an overflow sealing device (13); the first sleeve (9), the second sleeve (10), the third sleeve (11) and the fourth sleeve (12) are internally connected to each other; the ends of the plurality of fourth sleeves (12) away from the first sleeve (9) are respectively connected to the bottom ends of the middle rotating shaft joint (3) and the upper rotating shaft joint (5); the plurality of high-pressure telescopic tubes (8) are all fixedly connected to electromagnetic valves, and the plurality of electromagnetic valves are electrically connected to the same controller.

2. A high-performance robotic arm according to claim 1, characterized in that: The middle rotating shaft joint (3) and the upper rotating shaft joint (5) both comprise a base (14) fixedly connected to an end of the fourth sleeve (12) away from the first sleeve (9); an end of the base (14) close to the fourth sleeve (12) is provided with a through hole that matches the inner wall of the fourth sleeve (12), and the through hole is connected to the interior of the fourth sleeve (12); and a bottom plate (15) is fixedly connected to the top of the base (14).

3. A high-performance robotic arm according to claim 2, characterized in that: The top end of the bottom plate (15) is fixedly connected to a housing (16), a rotor (17) is arranged inside the housing (16), and a plurality of blades (18) are slidably connected to the outer end of the rotor (17), the plurality of blades (18) being evenly distributed around the axis of the rotor (17).

4. A high-performance robotic arm according to claim 3, characterized in that: The base (14) is connected to the inner wall of the shell (16) via a pipeline, and a solenoid valve is fixedly connected to the pipeline. The solenoid valve is electrically connected to a controller. The outer end of the shell (16) is fixedly connected to a drain port, and the drain port is connected to the inner wall of the shell (16). The angle between the axis of the drain port and the axis of the pipeline is between 60 degrees and 135 degrees.

5. A high-performance robotic arm according to claim 3, characterized in that: The ends of the plurality of blades (18) that are away from each other are all slidably connected to the inner wall of the shell (16); a top plate (19) is fixedly connected to the top of the shell (16); a rotating shaft is fixedly connected inside the rotor (17); and both ends of the rotating shaft respectively penetrate the bottom plate (15) and the top plate (19); the rotor (17) is eccentrically mounted inside the shell (16).

6. A high-performance robotic arm according to claim 5, characterized in that: The rotating shaft of the rotor (17) passes through the top plate (19) and is fixedly connected to a reduction box (20), wherein the reduction box (20) is a worm gear reduction mechanism, and the output shaft of the reduction box (20) is fixedly connected to one end of the first sleeve (9).

7. A high-performance robotic arm according to claim 1, characterized in that: The end of the lower rotating shaft joint (1) away from the lower telescopic arm (2) is fixedly connected to a rotating base (21), the rotating base (21) is a turntable structure, and the end of the turntable structure away from the lower rotating shaft joint (1) is fixedly connected to an external device, the rotating base (21) is connected to a high-pressure water pump through a pipeline, and the high-pressure water pump is electrically connected to a controller.

8. A high-performance robotic arm according to claim 1, characterized in that: The overflow sealing device (13) comprises an overflow ring (22) fixedly connected to the outer ends of the second sleeve (10), the third sleeve (11) and the fourth sleeve (12) and a plurality of water pressure sealing rings (23); the overflow ring (22) is a double-layer structure, and a heat expansion ring (24) is arranged between the double-layer structure; the heat expansion ring (24) is made of a heat expansion graphite composite material; the second sleeve (10), the third sleeve (11) and the fourth sleeve (12) are provided with a plurality of through holes at positions corresponding to the heat expansion ring (24); the overflow ring (22) is fixedly connected to retaining rings at both ends along the axis direction of the first sleeve (9); and the retaining rings are also provided with through holes at positions corresponding to the through holes of the second sleeve (10), the third sleeve (11) and the fourth sleeve (12).

9. A high-performance robotic arm according to any one of claims 1 to 8, characterized in that: The steps include: S1, high pressure water supply; S2, hydraulic drive to expand; S3, water pressure driven elongation; S4, high pressure seal; S5, high temperature overflow protection.

Images