A tower robot mechanical arm system

Abstract

The present invention provides a mechanical arm system of an arch tower robot, comprising a first driving mechanism, a first connecting arm, a second driving mechanism, a second connecting arm and a camera assembly, wherein the first end of the first connecting arm is connected to the first driving mechanism, and the second end is used to connect to the second driving mechanism, and the second connecting arm is rotatably connected to the first connecting arm through the second driving mechanism; the first driving mechanism comprises a power assembly and a buffer assembly, the buffer assembly comprises an inner seat, an outer seat, a piston and an arc rod, the inner seat is rotatably connected in the outer seat, an arc cavity is arranged on the outer seat, the piston is slidably connected in the arc cavity, and the piston divides the arc cavity into a first chamber and a second chamber, and one end of the arc rod is fixedly connected to the inner seat; a connecting channel for connecting the first chamber and the second chamber is also arranged on the outer seat; in the present application, when the inner seat rotates relative to the outer seat, the liquid in the first chamber flows to the second chamber through the connecting channel, consumes energy during the flow process, and plays a buffering role.

Description

Technical Field

[0001] The invention relates to the technical field of bridge detection equipment, and in particular to a tower arch robot mechanical arm system. Background Art

[0002] Arch tower is a kind of special-shaped bridge tower. The arch tower is subjected to complex forces and has large internal slope changes. When inspecting the inside of the arch tower, there are many inspection methods, such as manual inspection, wall climbing robot inspection, and rail trolley inspection. Among them, rail trolley inspection has broad development prospects due to its advantages of stable operation, high inspection efficiency, and saving manpower and material resources.

[0003] When inspecting the inside of the arch by means of a rail trolley, it is necessary to use a camera installed on the rail trolley to photograph and inspect various places inside the arch. During the inspection process, because the space inside the arch is small, the camera is easily blocked by the structure of the arch when photographing the inside of the arch. As a result, the camera cannot smoothly photograph and inspect various places that need to be photographed and inspected. In addition, during the use of the existing robotic arm, the driving mechanism controls the operation and stop of the robotic arm very quickly, so it is easy to generate a large impact when starting and stopping, which can easily cause damage to the robotic arm or damage the camera installed on the robotic arm under a large impact.

[0004] In summary, there is an urgent need for an arch tower robot arm system to solve or at least partially solve the problems existing in the prior art. Summary of the invention

[0005] The present invention aims to provide a tower robot mechanical arm system, which aims to solve the problem that the existing mechanical arm starts and stops very quickly during use, and the mechanical arm is prone to impact, which is easy to cause damage to the mechanical arm itself and the equipment installed on the mechanical arm. The specific technical solution is as follows:

[0006] A mechanical arm system of an arch tower robot comprises a first driving mechanism, a first connecting arm, a second driving mechanism, a second connecting arm and a camera assembly, wherein the first end of the first connecting arm is connected to the first driving mechanism, the second end of the first connecting arm is fixedly connected to the mounting end of the second driving mechanism, the first end of the second connecting arm is connected to the driving end of the second driving mechanism, and the second end of the second connecting arm is provided with a camera assembly; the first connecting arm and the second connecting arm are arranged in a staggered manner in the height direction, the first driving mechanism comprises a power assembly and a buffer assembly, the buffer assembly comprises an inner seat, an outer seat, a piston and an arc rod, the inner seat is rotatably connected to the outer seat, and an arc cavity is arranged in the outer seat The piston is slidably arranged in the arc cavity, and the piston divides the arc cavity into a first chamber and a second chamber. An avoidance chamber is also arranged in the outer seat, and the avoidance chamber is located on the side of the arc cavity. A partition is arranged between the avoidance chamber and the arc cavity. The first end of the arc rod is arranged in the avoidance chamber and is fixedly connected to the inner seat. The second end of the arc rod passes through the partition and is fixedly connected to the piston. When the inner seat rotates relative to the outer seat, the arc rod moves synchronously to drive the piston to move in the arc cavity; the output end of the power assembly is coaxially connected to the inner seat, and the first connecting arm is connected to the outer seat; a connecting channel for connecting the first chamber with the second chamber is also arranged on the outer seat; damping liquid is arranged in the first chamber.

[0007] Furthermore, a valve for controlling the opening of the connecting channel is arranged on the connecting channel.

[0008] Further, the arc-shaped rod is arranged through the arc-shaped cavity.

[0009] Furthermore, the buffer assembly also includes an elastic member, which is arranged in the second chamber, one end of the elastic member abuts against the piston, and the other end of the elastic member abuts against the avoiding surface of the partition.

[0010] Furthermore, the second connecting arm is longer than the first connecting arm.

[0011] Furthermore, the camera assembly includes a third arm, a fourth arm, a horizontal driving member, a pitch driving member and a camera. The horizontal driving member is fixedly connected to an end of the second connecting arm away from the second driving mechanism. The third arm is horizontally and rotationally connected to the second connecting arm via the horizontal driving member. The fourth arm is pitch and rotationally connected to the third arm via the pitch driving member. The camera is detachably connected to the fourth arm.

[0012] Furthermore, the camera assembly also includes a fill light assembly, and the fill light assembly is detachably connected to the fourth arm.

[0013] Furthermore, two fill light components are provided, and the two fill light components are respectively arranged on both sides of the camera.

[0014] Furthermore, weight-reducing holes are arranged on the first connecting arm and the second connecting arm.

[0015] Furthermore, the power assembly includes a driving motor and a reducer, the output end of the driving motor is connected to the input end of the reducer, and the output end of the reducer is connected to the inner seat.

[0016] The application of the technical solution of the present invention has the following beneficial effects:

[0017] When the arch-building robot mechanical arm system is working, the first driving mechanism drives the first connecting arm to rotate horizontally, the second driving mechanism drives the second connecting arm and the camera assembly to rotate horizontally, and the second connecting arm rotates relative to the first connecting arm to bend or fold between the two, so that it can adapt to the narrow working environment inside the arch, and the camera assembly is used to shoot and detect the inside of the arch; the power assembly drives the inner seat to rotate, and the inner seat drives the arc rod and the piston to slide in the arc cavity and compress the volume of the second chamber, so that the liquid in the second chamber flows to the first chamber through the connecting channel. Because the liquid has a certain viscosity, energy will be consumed when the liquid flows from the second chamber to the first chamber through the connecting channel, so that the outer seat starts slowly, so as to achieve the effect of reducing the impact; when the power assembly stops instantly, the inner seat and the piston stop accordingly, but the outer seat will not stop immediately at this time, the outer seat will continue to rotate, and the first chamber will be compressed by the piston, so that the liquid in the first chamber flows to the second chamber through the connecting channel, and energy is consumed during the flow process, so that the outer seat stops slowly, so as to achieve the effect of reducing the impact.

[0018] In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Figure 1-Figure 5 , the present invention is further described in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 It is a schematic diagram of the overall structure of a mechanical arm system of an arch tower robot of the present invention;

[0021] Figure 2 It is a schematic diagram of the internal structure of a buffer component in a mechanical arm system of an arch tower robot of the present invention;

[0022] Figure 3 It is a schematic diagram of the external structure of a buffer component in a mechanical arm system of an arch tower robot of the present invention;

[0023] Figure 4 It is a schematic diagram of the overall structure of another working state of a mechanical arm system of an arch tower robot of the present invention;

[0024] Figure 5This is a demonstration diagram of the working process of an arch tower robot mechanical arm system of the present invention applied to the interior of an arch structure.

[0025] Among them, 1. the first driving mechanism; 11. the power assembly; 111. the driving motor; 112. the reducer; 12. the buffer assembly; 121. the inner seat; 122. the outer seat; 1221. the arc cavity; 1222. the first chamber; 1223. the second chamber; 1224. the connecting channel; 1225. the valve; 1226. the avoidance cavity; 123. the piston; 124. the arc rod; 125. the elastic member; 2. the first connecting arm; 21. the weight reduction hole; 3. the second driving mechanism; 4. the second connecting arm; 5. the camera assembly; 51. the third arm; 52. the fourth arm; 53. the horizontal driving member; 54. the pitch driving member; 55. the camera; 56. the fill light assembly; 6. the track; 7. the trolley. DETAILED DESCRIPTION

[0026] In order to facilitate the understanding of the present invention, the present invention will be described more fully below, and preferred embodiments of the present invention are provided. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0028] Example:

[0029] See also Figure 1-Figure 5The present embodiment provides a mechanical arm system of an arch tower robot, comprising a first driving mechanism 1, a first connecting arm 2, a second driving mechanism 3, a second connecting arm 4 and a camera assembly 5, wherein the first end of the first connecting arm 2 is connected to the first driving mechanism 1, the second end of the first connecting arm 2 is fixedly connected to the mounting end of the second driving mechanism 3, the first end of the second connecting arm 4 is connected to the driving end of the second driving mechanism 3, and the second end of the second connecting arm 4 is provided with a camera assembly 5; the first connecting arm 2 and the second connecting arm 4 are arranged in a staggered manner in the height direction, the first driving mechanism 1 comprises a power assembly 11 and a buffer assembly 12, the buffer assembly 12 comprises an inner seat 121, an outer seat 122, a piston 123 and an arc rod 124, the inner seat 121 is rotatably connected to the outer seat 122, an arc cavity 1221 is arranged on the outer seat 122, the piston 123 is slidably arranged in the arc cavity 1221, and the piston 12 The arc cavity 1221 is divided into a first cavity 1222 and a second cavity 1223. An avoidance cavity 1226 is further arranged in the outer seat 122. The avoidance cavity 1226 is located at the side of the arc cavity 1221. A partition is arranged between the avoidance cavity 1226 and the arc cavity 1221. The first end of the arc rod 124 is arranged in the avoidance cavity 1226 and is fixedly connected to the inner seat 121. The second end of the arc rod 124 passes through the partition and is fixedly connected to the piston 123. When the inner seat 121 rotates relative to the outer seat 122, the arc rod 124 moves synchronously to drive the piston 123 to move in the arc cavity 1221. The output end of the power assembly 11 is coaxially connected to the inner seat 121, and the first connecting arm 2 is connected to the outer seat 122. A connecting channel 1224 for connecting the first cavity 1222 with the second cavity 1223 is further arranged on the outer seat 122. A damping liquid is arranged in the first cavity 1222.

[0030] The arch-building robot arm system is installed on a trolley 7, and the trolley 7 is slidably connected to a track 6. The trolley 7 drives the arch-building robot arm system to move on the track 6 and take photos and inspect the inside of the arch. Specifically, the power assembly 11 is detachably connected to the trolley 7. When the arch-building robot arm system is working, the first drive mechanism 1 drives the first connecting arm 2 to rotate horizontally, and the second drive mechanism 3 drives the second connecting arm 4 and the camera assembly 5 to rotate horizontally. The second connecting arm 4 rotates relative to the first connecting arm 2, so that the two are bent or folded, so that it can adapt to the narrow working environment inside the arch, and the camera assembly 5 takes photos and inspects the inside of the arch; the power assembly 11 drives the inner seat 121 to rotate, and the inner seat 121 drives the arc rod 124 and the piston 123 to slide in the arc cavity 1221 and compress the volume of the second chamber 1223, so that the liquid in the second chamber 1223 passes through the connecting channel 1 224 flows to the first chamber 1222. Because the liquid has a certain viscosity, energy is consumed when the liquid flows from the second chamber 1223 to the first chamber 1222 through the connecting channel 1224, causing the outer seat 122 to start slowly, thereby reducing the impact. When the power assembly 11 stops instantly, the inner seat 121 and the piston 123 stop accordingly, while the outer seat 122 does not stop immediately at this time. The outer seat 122 continues to rotate, and the first chamber 1222 is compressed by the piston 123, causing the liquid in the first chamber 1222 to flow to the second chamber 1223 through the connecting channel 1224, consuming energy during the flow process, causing the outer seat 122 to stop slowly, thereby reducing the impact.

[0031] Furthermore, a valve 1225 for controlling the opening of the connecting channel 1224 is arranged on the connecting channel 1224 .

[0032] It can be understood that when the opening of the valve 1225 is larger, when the piston 123 compresses the liquid, the liquid is more likely to flow from the second chamber 1223 through the flow channel to the first chamber 1222, or from the first chamber 1222 through the flow channel to the second chamber 1223. At this time, the torque exerted by the piston 123 on the outer seat 122 through the liquid is smaller, and the buffering effect is better, but the movement speed of the piston 123 in the arc cavity 1221 is faster and the action time is shorter. After the piston 123 completely compresses the second chamber 1223, it will hit the inner wall of the second chamber 1223 and can no longer play a buffering role. When the valve 1225 is opened smaller, it is not easy for the liquid to flow from the second chamber 1223 to the first chamber 1222 through the flow channel, or from the first chamber 1222 to the second chamber 1223 through the flow channel. At this time, the moment of the piston 123 acting on the outer seat 122 through the liquid is large, and the buffering effect is poor, but the piston 123 moves slowly relative to the arc-shaped cavity 1221, and the action time is long. Therefore, in actual work, it is necessary to adjust the opening of the valve 1225 so that the piston 123 can always play a buffering role.

[0033] Furthermore, the arc rod 124 is arranged to pass through the arc cavity 1221, the avoidance cavity 1226 is located at the connection between the arc rod 124 and the inner seat 121, and is located at one end of the arc cavity 1221, and a guide groove is arranged at the other end of the arc cavity 1221, and the arc rod 124 is slidably connected in the guide groove, and the end of the guide groove away from the arc rod 124 is connected to the outside world, and the guide groove plays a guiding and supporting role for the arc rod 124, and the outer wall of the guide groove is sealed with the inner wall of the arc rod 124 to prevent the damping liquid in the first chamber 1222 from flowing out.

[0034] It can be understood that by arranging the arc rod 124 through the arc cavity 1221, the arc rod 124 and the piston 123 can play a guiding role during the movement; secondly, the arc rod 124 at both ends of the piston 123 has the same rod diameter, so that the volume of the second chamber 1223 decreases during the movement of the piston 123 and the arc rod 124 is equal to the volume of the first chamber 1222, or the volume of the second chamber 1223 increases during the movement of the piston 123 and the arc rod 124 is equal to the volume of the first chamber 1222, that is, the piston 123 and the arc rod 124 can move smoothly in the arc cavity 1221. By setting the avoidance cavity 1226, the arc rod 124 can move smoothly relative to the outer seat 122, and the setting of the guide groove can guide the arc rod 124 on the one hand, and on the other hand, the guide groove is connected to the outside to prevent the arc rod 124 from generating a vacuum when moving in the guide groove and hindering the movement of the arc rod 124, so that the arc rod 124 can move smoothly in the guide groove.

[0035] Furthermore, the buffer assembly 12 also includes an elastic member 125 , which is arranged in the second chamber 1223 , with one end of the elastic member 125 abutting against the piston 123 , and the other end of the elastic member 125 abutting against the inner wall of the second chamber 1223 .

[0036] It is understandable that when the device is stationary, the piston 123 is limited by the elastic member 125 to prevent the piston 123 from moving under the interference of external forces. Specifically, the elastic member 125 is a spring. In other embodiments, the elastic member 125 can also be a structure or component such as an elastic sheet that can provide elastic potential energy.

[0037] Furthermore, the length of the second connecting arm 4 is longer than that of the first connecting arm 2 .

[0038] It can be understood that by setting the length of the second connecting arm 4 to be longer than the length of the first connecting arm 2, the second connecting arm 4 and the first connecting arm 2 can be arranged in a folded state. At this time, the volume occupied by the device is minimized, thereby enabling the device to be suitable for working in a small space.

[0039] Furthermore, the camera assembly 5 includes a third arm 51, a fourth arm 52, a horizontal driving member 53, a pitch driving member 54 and a camera 55. The horizontal driving member 53 is detachably connected to an end of the second connecting arm 4 away from the second driving mechanism 3. The third arm 51 is horizontally and rotationally connected to the second connecting arm 4 through the horizontal driving member 53. The fourth arm 52 is pitch and rotationally connected to the third arm 51 through the pitch driving member 54. The camera 55 is detachably connected to the fourth arm 52.

[0040] It can be understood that the third arm 51, the fourth arm 52 and the camera 55 are driven to rotate horizontally by the horizontal driving member 53, and the fourth arm 52 and the camera 55 are driven to rotate in pitch by the pitch driving member 54. Specifically, the horizontal driving member 53 includes a motor and a reducer, the reducer is detachably connected to the second connecting arm 4, the output end of the motor is connected to the input end of the reducer, the output end of the reducer is connected to the third arm 51, and the motor drives the reducer to rotate to drive the third arm 51 to rotate horizontally; the pitch driving member 54 also includes a motor and a reducer, the reducer is detachably connected to the third arm, the output end of the motor is connected to the input end of the reducer, the output end of the reducer is connected to the fourth arm 52, and the motor drives the reducer to rotate to drive the fourth arm 52 and the camera 55 installed on the fourth arm 52 to rotate in pitch; thereby realizing the horizontal rotation adjustment and pitch rotation adjustment of the camera 55.

[0041] Furthermore, the camera assembly 5 also includes a fill light assembly 56 , and the fill light assembly 56 is detachably connected to the fourth arm 52 .

[0042] It is understandable that the light inside the arch is often not very good. Filling the light inside the arch with the fill light component 56 can make the camera take clearer inspection photos, which is conducive to the inspection of the inside of the arch. Specifically, the fill light component 56 is an LED fill light, and the direction of the LED fill light is consistent with the direction of the camera 55.

[0043] Furthermore, two fill light components 56 are provided, and the two fill light components 56 are arranged on both sides of the camera 55 respectively.

[0044] It can be understood that by arranging fill light components 56 on both sides of the camera 55, the fill light components 56 emit light from both sides of the camera 55 at the same time, which on the one hand enhances the light intensity and makes the shooting and detection clearer; on the other hand, the two fill light components 56 illuminate from different positions, thereby reducing the impact of the shadow of obstacles on the shooting and detection.

[0045] Furthermore, weight-reducing holes 21 are arranged on the first connecting arm 2 and the second connecting arm 4 .

[0046] It can be understood that by setting the weight-reducing hole 21, the overall weight of the first connecting arm 2 and the second connecting arm 4 is reduced under the premise of satisfying the rigidity of the first connecting arm 2 and the second connecting arm 4, making the device more flexible during operation; on the other hand, it also reduces the use of materials and saves resources.

[0047] Furthermore, the power assembly 11 includes a driving motor 111 and a reducer 112 , the output end of the driving motor 111 is connected to the input end of the reducer 112 , and the output end of the reducer 112 is connected to the inner seat 121 .

[0048] It can be understood that the first connecting arm 2 is driven to rotate horizontally by driving the reducer 112 through the driving motor 111. Specifically, the driving motor 111 is a stepping motor, and the reducer is a planetary gear reducer. In other embodiments of the present application, the reducer can also be a cycloid reducer, a harmonic reducer, etc. In addition, in some embodiments, the power component 11 can also be a harmonic reduction motor, which drives the first connecting arm 2 to rotate through the buffer component 12.

[0049] It should be noted that the second driving mechanism 3 has a substantially identical structure to the first driving mechanism 1 . The second driving mechanism 3 has a buffer assembly 12 having the same structure as the first driving mechanism 1 . The second driving mechanism 3 drives the second connecting arm 4 to rotate horizontally relative to the first connecting arm 2 .

[0050] The working principle of the invention is as follows:

[0051] Combination Figure 5The track 6 is arranged in the middle of the interior of the arch, the trolley 7 is installed on the track 6 and moves along the track 6, the arch tower robot mechanical arm system is installed on the trolley 7, and the movement of the trolley 7 drives the arch tower robot mechanical arm system to move along the track 6, and the camera 55 in the arch tower robot mechanical arm system is used to shoot and detect the interior of the arch. When the arch tower robot mechanical arm system shoots and detects the interior of the arch, the trolley 7 moves intermittently from position 1 to position 2. When the trolley 7 works in position 1, the arch tower robot mechanical arm system can work in position A, position B and position C under the drive of the first driving mechanism 1, the first connecting arm 2, the second driving mechanism 3 and the second connecting arm 4. Of course, it needs to be explained that the position B can be any position from the transition from position A to position C. When the arch tower robot arm system works in position B, there is an angle between the first connecting arm 2 and the second connecting arm 4. The larger the angle, the longer the distance that the camera assembly 5 deviates from the trolley 7, which is suitable for working in a spacious position; the smaller the angle, the shorter the distance that the camera assembly 5 deviates from the trolley 7, which is suitable for working in a narrow space. When the first connecting arm 2 rotates relative to the trolley 7, the buffer assembly 12 has a buffering effect on the first connecting arm 2 and other structures connected to the first connecting arm 2, preventing the first connecting arm 2 and other structures connected to the first connecting arm 2 from being damaged by a large impact.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tower robot arm system, characterized in that: The invention comprises a first driving mechanism (1), a first connecting arm (2), a second driving mechanism (3), a second connecting arm (4) and a camera assembly (5), wherein the first end of the first connecting arm (2) is connected to the first driving mechanism (1), the second end of the first connecting arm (2) is fixedly connected to the mounting end of the second driving mechanism (3), the first end of the second connecting arm (4) is connected to the driving end of the second driving mechanism (3), and the second end of the second connecting arm (4) is provided with the camera assembly (5); the first connecting arm (2) and the second connecting arm (4) are arranged in a staggered manner in the height direction; The first driving mechanism (1) comprises a power assembly (11) and a buffer assembly (12); the buffer assembly (12) comprises an inner seat (121), an outer seat (122), a piston (123) and an arc-shaped rod (124); the inner seat (121) is rotatably connected to the outer seat (122); an arc-shaped cavity (1221) is arranged in the outer seat (122); the piston (123) is slidably arranged in the arc-shaped cavity (1221), and the piston (123) divides the arc-shaped cavity (1221) into a first chamber (1222) and a second chamber (1223); A avoidance chamber (1226) is also arranged in the outer seat (122), and the avoidance chamber (1226) is located on the side of the arc-shaped chamber (1221). A partition is arranged between the avoidance chamber (1226) and the arc-shaped chamber (1221). The first end of the arc-shaped rod (124) is arranged in the avoidance chamber (1226) and is fixedly connected to the inner seat (121). The second end of the arc-shaped rod (124) passes through the partition and is fixedly connected to the piston (123). When the inner seat (121) rotates relative to the outer seat (122), the arc-shaped rod (124) moves synchronously to drive the piston (123) to move in the arc-shaped chamber (1221); The output end of the power assembly (11) is coaxially connected to the inner seat (121), and the first connecting arm (2) is connected to the outer seat (122); The outer seat (122) is also provided with a connecting passage (1224) for connecting the first chamber (1222) with the second chamber (1223); A damping liquid is arranged in the first chamber (1222); The arc-shaped rod (124) is arranged to penetrate the arc-shaped cavity (1221); The avoidance cavity (1226) is located at the connection between the arc-shaped rod (124) and the inner seat (121), and is located at one end of the arc-shaped cavity (1221). A guide groove is arranged at the other end of the arc-shaped cavity (1221). The arc-shaped rod (124) is slidably connected in the guide groove. An end of the guide groove away from the arc-shaped rod (124) is connected to the outside, and an outer wall of the guide groove is sealed to an inner wall of the arc-shaped rod (124). Secondly, the diameters of the arc rod (124) at both ends of the piston (123) are equal, so that during the movement of the piston (123) and the arc rod (124), the volume of the second chamber (1223) decreases by the same amount as the volume of the first chamber (1222), or the volume of the second chamber (1223) increases by the same amount as the volume of the first chamber (1222).

2. The arch tower robot arm system according to claim 1, characterized in that: The connecting channel (1224) is provided with a valve (1225) for controlling the opening of the connecting channel (1224).

3. The arch tower robot arm system according to claim 1, characterized in that: The buffer assembly (12) further comprises an elastic member (125), wherein the elastic member (125) is arranged in the second chamber (1223), one end of the elastic member (125) abuts against the piston (123), and the other end of the elastic member (125) abuts against the side wall surface of the partition.

4. The arch tower robot arm system according to claim 1, characterized in that: The second connecting arm (4) is longer than the first connecting arm (2).

5. A tower robot mechanical arm system according to any one of claims 1 to 4, characterized in that: The camera assembly (5) comprises a third arm (51), a fourth arm (52), a horizontal driving member (53), a pitch driving member (54) and a camera (55); the horizontal driving member (53) is detachably connected to an end of the second connecting arm (4) away from the second driving mechanism (3); the third arm (51) is horizontally rotatably connected to the second connecting arm (4) via the horizontal driving member (53); the fourth arm (52) is pitch-rotatably connected to the third arm (51) via the pitch driving member (54); and the camera (55) is detachably connected to the fourth arm (52).

6. The arch tower robot arm system according to claim 5, characterized in that: The camera assembly (5) further comprises a fill light assembly (56), and the fill light assembly (56) is detachably connected to the fourth arm (52).

7. The arch tower robot arm system according to claim 6, characterized in that: Two fill light components (56) are provided, and the two fill light components (56) are arranged on both sides of the camera (55) respectively.

8. A tower robot mechanical arm system according to any one of claims 1 to 4, characterized in that: The first connecting arm (2) and the second connecting arm (4) are both provided with weight-reducing holes (21).

9. A tower robot mechanical arm system according to any one of claims 1 to 4, characterized in that: The power assembly (11) comprises a driving motor (111) and a reducer (112); the output end of the driving motor (111) is connected to the input end of the reducer (112); and the output end of the reducer (112) is connected to the inner seat (121).

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