Mechanical arm structure and inspection robot
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SEVNCE ROBOTICS CO LTD
- Filing Date
- 2024-11-28
- Publication Date
- 2026-07-14
Smart Images
Figure CN119282998B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotic arm structure technology, specifically to a robotic arm structure and an inspection robot. Background Technology
[0002] Inspection robots are typically equipped with robotic arms to perform various inspection tasks. The high precision and multi-input multi-output capabilities of these robotic arms enable them to flexibly complete a variety of complex operations. By using robotic arms, inspection robots can easily handle challenging tasks such as opening tightly closed cabinet doors, thoroughly inspecting the condition of components inside, and precisely opening and closing various switches.
[0003] In the prior art, a utility model patent with authorization announcement number CN220313350U discloses a robotic arm and an inspection robot including the robotic arm. The robotic arm includes a multi-stage robotic arm and a rotating tray. The bottom of the multi-stage robotic arm is connected to the rotating tray. The rotating tray includes a driving gear, a driven gear, and a tray shell. The driving gear and the driven gear are disposed inside the tray shell and mesh with each other, causing the driven gear to roll along the inner wall of the tray shell. The driven gear is provided with a connecting rod. A fan-shaped track opening is provided on the upper surface of the tray shell. The connecting rod protrudes from the fan-shaped track opening. When the driven gear rolls along the inner wall of the tray shell, the connecting rod moves along the fan-shaped track opening. The bottom of the multi-stage robotic arm cooperates with the connecting rod. When the connecting rod moves along the fan-shaped track, the multi-stage robotic arm moves along the fan-shaped track. A data acquisition device is provided at the end of the multi-stage robotic arm.
[0004] Although the robotic arm in the aforementioned patent can further move the root of the robotic arm and increase its range of motion, the robotic arm has a relatively simple function when in use, lacks sufficient diversity and flexibility, and is difficult to meet the various needs of the inspection robot during operation. Summary of the Invention
[0005] To address the shortcomings of existing technologies, this invention provides a robotic arm structure and an inspection robot to solve the problems mentioned in the background art, enabling the robotic arm to have multiple functions.
[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm structure, comprising a robotic arm body, a rotating block fixedly connected to the top end of the robotic arm body, a rotary motor fixedly connected inside the rotating block, a fixed block fixedly connected to the output end of the rotary motor, a connecting block fixedly connected to the side of the fixed block away from the rotary motor, the connecting block having a triangular cross-section, a clamping component, a cleaning component and a pressing component connected to the outer wall of the connecting block, and a driving component connected inside the connecting block.
[0007] Furthermore, the clamping assembly includes a moving rod, a moving block, a rotating rod, and a clamping plate. A clamping groove is formed on one side of the outer wall of the connecting block, and a moving groove is formed on the inner side of the clamping groove. A moving rod is rotatably connected in the moving groove. Two symmetrically arranged moving blocks are threadedly connected to the outer wall of the moving rod. The moving blocks are slidably connected to the clamping groove. A rotating rod is fixedly connected to one side of the moving block. A clamping plate is rotatably connected to the outer wall of the rotating rod. One end of the moving rod is connected to the driving assembly.
[0008] Furthermore, the cleaning assembly includes a take-up roller, a cleaning belt, and a coil spring. Two symmetrically arranged take-up grooves are opened on one side of the outer wall of the connecting block. A take-up roller is rotatably connected in the take-up groove. Both ends of the cleaning belt are wrapped around the outer wall of the take-up roller and are in contact with the outer wall of the connecting block. One end of one take-up roller is fixedly connected to a coil spring, which is fixedly connected to the inside of the connecting block. One end of the other take-up roller is connected to the drive assembly.
[0009] Furthermore, the pressing assembly includes a pressing rod and a drive wheel. A telescopic groove is provided on one side of the connecting block, and the pressing rod is slidably connected in the telescopic groove. The drive wheel is threadedly connected to the middle of the pressing rod, and the drive wheel is rotatably connected to the connecting block. The outer wall of the drive wheel is connected to the drive assembly.
[0010] Furthermore, the drive assembly includes a main motor, a threaded rod, a main gear, a connecting pipe, a limiting gear, a first gear, a second gear, a third gear, a transmission wheel, a transmission belt, and a driven wheel. The main motor is fixedly connected within the fixed block, and the threaded rod is fixedly connected to the output end of the main motor. A rotating groove corresponding to the position of the threaded rod is formed within the connecting block. The end of the threaded rod furthest from the main motor is threadedly connected to the main gear. A connecting pipe is fixedly connected to one side of the main gear, and a limiting gear is fixedly connected to the side of the connecting pipe furthest from the main gear. Both the connecting pipe and the limiting gear are connected to… The threaded rod is connected by a threaded connection, and a limit component is connected to the inner wall of the rotating groove. Gear No. 1, Gear No. 2, and Gear No. 3 are rotatably connected inside the connecting block. Gear No. 1, Gear No. 2, and Gear No. 3 are rotated and staggered along the threaded rod. Gear No. 1, Gear No. 2, and Gear No. 3 are all positioned corresponding to the outer wall of the main gear. A driven wheel is rotatably connected to one end of the moving rod. The driven wheel meshes with Gear No. 1. Gear No. 2 meshes with the outer wall of the drive wheel. A transmission wheel is fixedly connected to one end of the shaft of the take-up roller. The two transmission wheels are connected by a transmission belt.
[0011] Furthermore, the limiting component includes a sliding plate, a snap-fit plate, and a miniature electric push rod. A sliding groove is provided on the inner wall of the rotating groove. A sliding plate is slidably connected in the sliding groove. A miniature electric push rod is fixedly connected in the sliding groove. The output end of the miniature electric push rod is fixedly connected to one side of the sliding plate. A snap-fit plate is fixedly connected to the other side of the sliding plate. The snap-fit plate corresponds to the position of the limiting gear.
[0012] Furthermore, a torsion spring is sleeved on the outer wall of the rotating rod, and the torsion spring is fixedly connected to the clamping plate. Two symmetrically arranged baffles are fixedly connected to the side of the connecting block near the clamping groove, and the side of the baffles near the clamping plate is arc-shaped.
[0013] Furthermore, a wear-resistant layer is fixedly connected to one side of the clamping plate.
[0014] The present invention also provides an inspection robot, including a robot body, wherein the robot body includes any of the above-described robotic arm structures, and the lower end of the robotic arm body is fixedly connected to the robot body.
[0015] Compared with the prior art, the present invention has the following beneficial effects:
[0016] This robotic arm structure and inspection robot, by integrating gripping, cleaning, and pressing components, and combining them with a rotary motor and drive system, achieves diversified functions and operational flexibility of the robotic arm. It can perform a variety of complex inspection tasks according to environmental needs, allowing the inspection robot to easily expand or adjust its functions when facing different environments and tasks, thereby better adapting to various complex inspection scenarios. This not only improves the work efficiency and accuracy of the inspection robot, but also significantly enhances its environmental adaptability and task execution capabilities. Attached Figure Description
[0017] Figure 1 This is a three-dimensional structural diagram of the entire invention;
[0018] Figure 2 This is a three-dimensional split cross-sectional view of the connecting block, rotating block, and rotary motor of the present invention;
[0019] Figure 3 This is a three-dimensional disassembled structural diagram of the connecting block and clamping assembly of the present invention;
[0020] Figure 4 This is a three-dimensional disassembled structural diagram of the clamping plate, moving block, and wear-resistant layer of the present invention;
[0021] Figure 5 This is a three-dimensional cross-sectional structural diagram of the connecting block, driving component, and cleaning component of the present invention;
[0022] Figure 6 This is a three-dimensional structural diagram of the driving component of the present invention;
[0023] Figure 7 This is a three-dimensional disassembled structural diagram of the main motor, threaded rod, and main gear of the present invention;
[0024] Figure 8 This is a three-dimensional structural diagram of the limiting component of the present invention;
[0025] Figure 9 This is a three-dimensional disassembled structural diagram of the pressing rod, drive wheel, and gear number two of the present invention;
[0026] Figure 10 This is a three-dimensional structural diagram of the cleaning component of the present invention;
[0027] Figure 11 This is a three-dimensional cross-sectional structural diagram of the connecting block of the present invention;
[0028] Figure 12 This is a three-dimensional structural diagram of the baffle of the present invention;
[0029] Figure 13 This is a three-dimensional structural diagram of the limiting gear, main gear, second gear, and transmission belt of the present invention.
[0030] In the diagram: 1. Robot body; 2. Robotic arm body; 3. Rotating block; 4. Fixed block; 5. Connecting block; 6. Rotary motor; 7. Clamping slot; 8. Moving slot; 9. Moving rod; 10. Moving block; 11. Rotating rod; 12. Clamping plate; 13. Wear-resistant layer; 14. Rewinding slot; 15. Rewinding roller; 16. Cleaning belt; 17. Coil spring; 18. Telescopic slot; 19. Pressing rod; 20. Drive wheel; 21. Rotating slot; 22. Main motor; 23. Threaded rod; 24. Main gear; 25. Connecting pipe; 26. Limiting gear; 27. Sliding slot; 28. Sliding plate; 29. Snap-fit plate; 30. Miniature electric push rod; 31. Gear No. 1; 32. Gear No. 2; 33. Gear No. 3; 34. Transmission wheel; 35. Transmission belt; 36. Baffle; 37. Driven wheel; 38. Torsion spring. Detailed Implementation
[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.
[0032] Please see Figures 1 to 13 A robotic arm structure includes a robotic arm body 2, a rotating block 3 fixedly connected to the top of the robotic arm body 2, a rotary motor 6 fixedly connected inside the rotating block 3, a fixing block 4 fixedly connected to the output end of the rotary motor 6, a connecting block 5 fixedly connected to the side of the fixing block 4 away from the rotary motor 6, the connecting block 5 having a triangular cross-section, a clamping component, a cleaning component and a pressing component connected to the outer wall of the connecting block 5, and a driving component connected inside the connecting block 5.
[0033] The robotic arm structure in this invention integrates a gripping component, a cleaning component, and a pressing component, and combines a rotary motor 6 and a drive system to achieve diversified functions and operational flexibility. This enables the inspection robot to perform a variety of complex inspection tasks according to environmental needs. The inspection robot can easily expand or adjust its functions when facing different environments and tasks, thereby better adapting to various complex inspection scenarios. This not only improves the work efficiency and accuracy of the inspection robot, but also significantly enhances its environmental adaptability and task execution capabilities.
[0034] As a preferred embodiment of the present invention, the clamping assembly includes a moving rod 9, a moving block 10, a rotating rod 11, and a clamping plate 12. A clamping groove 7 is provided on one side of the outer wall of the connecting block 5, and a moving groove 8 is provided on the inner side of the clamping groove 7. The moving rod 9 is rotatably connected in the moving groove 8. Two symmetrically arranged moving blocks 10 are threadedly connected to the outer wall of the moving rod 9. The moving blocks 10 are slidably connected to the clamping groove 7. A rotating rod 11 is fixedly connected to one side of the moving block 10. The clamping plate 12 is rotatably connected to the outer wall of the rotating rod 11. One end of the moving rod 9 is connected to the driving assembly.
[0035] Specifically, when the inspection robot needs to pick up items from the ground or grasp and rotate handles, the moving rod 9 rotates. Since the moving rod 9 and the moving block 10 are connected by a thread, the rotation of the moving rod 9 can be converted into linear movement of the moving block 10 within the moving groove 8. At this time, the two moving blocks 10 will move closer to each other along the axis of the moving rod 9, causing the two clamping plates 12 to move closer together and clamp the items. When the two clamping plates 12 are close enough, they will clamp the items tightly. At this point, the inspection robot can control the overall movement of the robotic arm body 2 to lift, move, or rotate the items to other positions, thus achieving operations such as picking up items and rotating handles. It should be noted that the moving rod 9 is a bidirectional threaded rod.
[0036] As a preferred embodiment of the present invention, the cleaning assembly includes a take-up roller 15, a cleaning belt 16, and a coil spring 17. Two symmetrically arranged take-up grooves 14 are provided on one side of the outer wall of the connecting block 5. The take-up roller 15 is rotatably connected in the take-up grooves 14. Both ends of the cleaning belt 16 are wound around the outer wall of the take-up roller 15. The cleaning belt 16 is in contact with the outer wall of the connecting block 5. One end of one take-up roller 15 is fixedly connected to the coil spring 17, and the coil spring 17 is fixedly connected to the inside of the connecting block 5. One end of the other take-up roller 15 is connected to the drive assembly.
[0037] Specifically, when cleaning the camera lens and cabinet is required, the drive assembly drives the take-up roller 15 connected to the cleaning belt 16 to rotate. Due to the presence of the coil spring 17, the cleaning belt 16 maintains a certain tension during rotation, ensuring close contact with the surface being cleaned. As the take-up roller 15 rotates, the cleaning belt 16 begins to move on the surface being cleaned. Since the cleaning belt 16 is in contact with the outer wall of the connecting block 5 and has a certain width, it can effectively cover and clean all parts of the surface being cleaned. After the entire surface is cleaned, the take-up roller 15 rotates in the opposite direction, at which time the coil spring 17 will rewind the released cleaning belt 16 for the next cleaning operation. The cleaning belt 16 is made of a cleaning material, such as a microfiber cloth, wet wipes, or a special material with a cleaning agent.
[0038] As a preferred technical solution of the present invention, the pressing assembly includes a pressing rod 19 and a drive wheel 20. A telescopic groove 18 is provided on one side of the connecting block 5. The pressing rod 19 is slidably connected in the telescopic groove 18. The drive wheel 20 is threadedly connected to the middle of the pressing rod 19. The drive wheel 20 is rotatably connected to the connecting block 5. The outer wall of the drive wheel 20 is connected to the drive assembly.
[0039] Specifically, when an operation requiring the use of a button is encountered, the robotic arm body 2 moves, aligning the pressing rod 19 with the button. Subsequently, the drive assembly drives the drive wheel 20 to rotate. Since the drive wheel 20 and the pressing rod 19 are connected by a thread, the rotation of the drive wheel 20 is converted into linear movement of the pressing rod 19 within the telescopic groove 18, causing the pressing rod 19 to extend out of the connecting block 5 and contact the button, thus realizing the pressing operation. When an operation requiring toggling, such as flipping, is encountered, after the pressing rod 19 is extended, the robotic arm body 2 can make slight movements on the pressing rod 19 to achieve the toggling action. This movement can be in various ways, such as up and down, left and right, or rotation, depending on the needs of the toggling operation.
[0040] As a preferred embodiment of the present invention, the drive assembly includes a main motor 22, a threaded rod 23, a main gear 24, a connecting pipe 25, a limiting gear 26, a first gear 31, a second gear 32, a third gear 33, a transmission wheel 34, a transmission belt 35, and a driven wheel 37. The main motor 22 is fixedly connected to the fixing block 4, and the threaded rod 23 is fixedly connected to the output end of the main motor 22. A rotating groove 21 corresponding to the position of the threaded rod 23 is opened in the connecting block 5. The end of the threaded rod 23 away from the main motor 22 is threadedly connected to the main gear 24. A connecting pipe 25 is fixedly connected to one side of the main gear 24, and a limiting gear 26 is fixedly connected to the side of the connecting pipe 25 away from the main gear 24. The connecting pipe 25 and the limiting gear 26 are connected to the limiting gear 26. All gears 26 are threadedly connected to the threaded rod 23. A limit assembly is connected to the inner wall of the rotating groove 21. Gear 31, gear 32 and gear 33 are rotatably connected in the connecting block 5. Gear 31, gear 32 and gear 33 are rotated and staggered along the threaded rod 23. Gear 31, gear 32 and gear 33 are all positioned corresponding to the outer wall of the main gear 24. One end of the moving rod 9 is rotatably connected to a driven wheel 37. The driven wheel 37 meshes with gear 31. Gear 32 meshes with the outer wall of the drive wheel 20. Gear 33 and one end of the shaft of the take-up roller 15 are fixedly connected to a transmission wheel 34. The two transmission wheels 34 are connected by a transmission belt 35.
[0041] Specifically, when the clamping assembly operates, gear 31 engages with main gear 24, while gears 32 and 33 disengage from main gear 24. At this time, main motor 22 drives main gear 24 to rotate via threaded rod 23, which in turn drives driven wheel 37 and moving rod 9 to rotate, thus achieving the clamping operation of the clamping assembly. When the pressing assembly needs to operate, the limiting assembly engages with limiting gear 26. At this time, main motor 22 drives threaded rod 23 to rotate, and limiting gear 26, connecting pipe 25, and main gear 24 cannot rotate due to the obstruction of the limiting assembly. Therefore, limiting gear 26, connecting pipe 25, and main gear 24 will move along the axis of threaded rod 23. When the main gear 24 is engaged with the first gear 31, it will disengage and mesh with the second gear 32. Subsequently, the limiting component will disengage, and the main motor 22 can drive the second gear 32 to rotate through the threaded rod 23 and the main gear 24, thereby driving the drive wheel 20 to rotate, realizing the extension and retraction operation of the pressing rod 19. When the cleaning component needs to be used, the limiting component will engage with the limiting gear 26, causing the main gear 24 to disengage from the second gear 32 and mesh with the third gear 33. Subsequently, the limiting component will open, and the third gear 33 will rotate, thereby driving the take-up roller 15 to rotate through the transmission wheel 34 and the transmission belt 35, realizing the movement of the cleaning belt 16 to achieve the cleaning function.
[0042] As a preferred embodiment of the present invention, the limiting component includes a sliding plate 28, a snap-fit plate 29, and a miniature electric push rod 30. A sliding groove 27 is provided on the inner wall of the rotating groove 21. The sliding plate 28 is slidably connected in the sliding groove 27. The miniature electric push rod 30 is fixedly connected in the sliding groove 27. The output end of the miniature electric push rod 30 is fixedly connected to one side of the sliding plate 28. The snap-fit plate 29 is fixedly connected to the other side of the sliding plate 28. The snap-fit plate 29 corresponds to the position of the limiting gear 26.
[0043] Specifically, when the main gear 24 needs to change position to achieve function switching, the micro electric push rod 30 will push the sliding plate 28 to move, so that the locking plate 29 engages with the limiting gear 26, thereby preventing the limiting gear 26, the connecting pipe 25 and the main gear 24 from rotating, and thus realizing the movement of the main gear 24 on the threaded rod 23 to achieve the switching of the robotic arm's function.
[0044] It should be noted that a short-stroke telescopic rod can be set between the miniature electric push rod 30 and the sliding plate 28 to avoid a small probability of the locking plate 29 and the limiting gear 26 failing to lock together.
[0045] As a preferred technical solution of the present invention, a torsion spring 38 is sleeved on the outer wall of the rotating rod 11. The torsion spring 38 is fixedly connected to the clamping plate 12. Two symmetrically arranged baffles 36 are fixedly connected to the side of the connecting block 5 near the clamping groove 7. The side of the baffles 36 near the clamping plate 12 is arc-shaped.
[0046] Specifically, when the clamping assembly is not needed, the moving rod 9 rotates in the opposite direction, causing the two clamping plates 12 to separate. As the moving block 10 moves, the arc surface of the baffle 36 will squeeze the clamping plates 12, causing the two clamping plates 12 to rotate toward the center until the two clamping plates 12 enter the clamping groove 7, thereby realizing the storage of the clamping plates 12 and preventing foreign objects from entering the moving groove 8 when the clamping assembly is not in use. When the clamping plates 12 need to be used, as the moving block 10 moves, the torsion spring 38 will pop out the clamping plates 12, ensuring that the clamping plates 12 stably clamp the items.
[0047] As a preferred embodiment of the present invention, a wear-resistant layer 13 is fixedly connected to one side of the clamping plate 12.
[0048] Specifically, the presence of the wear-resistant layer 13 enhances the wear resistance and durability of the clamping plate 12. During the clamping process, the wear-resistant layer 13 can directly contact the clamped item, reducing the wear of the clamping plate 12 and extending its service life. At the same time, the wear-resistant layer 13 can also provide better clamping stability and reliability, ensuring that the clamping plate 12 can stably clamp the item without easily slipping or being damaged.
[0049] The present invention also provides an inspection robot, including a robot body 1, the robot body 1 including any of the above-mentioned robotic arm structures, and the lower end of the robotic arm body 2 being fixedly connected to the robot body 1.
[0050] Specifically, since the robotic arm structure according to the embodiments of the present invention has the above-mentioned technical effects, the robot body 1 according to the embodiments of the present invention should also have the corresponding technical effects. That is, by adopting the robotic arm structure, the robot body 1 of the present invention enables the inspection robot to have multiple functions. In the face of different inspection scenarios, it can easily expand or adjust its functions and perform a variety of complex inspection tasks, thereby realizing the diversification of robotic arm functions and the flexibility of operation.
[0051] Of course, other structures and working principles of the robot body 1 are understandable and achievable by those skilled in the art, and will not be described in detail in this invention.
[0052] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A robotic arm structure, comprising a robotic arm body (2), characterized in that, The top of the robotic arm body (2) is fixedly connected to a rotating block (3), a rotary motor (6) is fixedly connected inside the rotating block (3), a fixed block (4) is fixedly connected to the output end of the rotary motor (6), a connecting block (5) is fixedly connected to the side of the fixed block (4) away from the rotary motor (6), the connecting block (5) has a triangular cross-section, a clamping component, a cleaning component and a pressing component are connected to the outer wall of the connecting block (5), and a driving component is connected inside the connecting block (5); The pressing assembly includes a pressing rod (19) and a drive wheel (20). A telescopic groove (18) is provided on one side of the connecting block (5). The pressing rod (19) is slidably connected in the telescopic groove (18). The drive wheel (20) is threadedly connected to the middle of the pressing rod (19). The drive wheel (20) is rotatably connected to the connecting block (5). The outer wall of the drive wheel (20) is connected to the drive assembly. The drive assembly includes a main motor (22), a threaded rod (23), a main gear (24), a connecting pipe (25), a limiting gear (26), a first gear (31), a second gear (32), a third gear (33), a transmission wheel (34), a transmission belt (35), and a driven wheel (37). The main motor (22) is fixedly connected inside the fixed block (4). The output end of the main motor (22) is fixedly connected to the threaded rod (23). A rotating groove (21) corresponding to the position of the threaded rod (23) is opened inside the connecting block (5). The end of the threaded rod (23) away from the main motor (22) is threadedly connected to the main gear (24). The connecting pipe (25) is fixedly connected to one side of the main gear (24). The limiting gear (26) is fixedly connected to the side of the connecting pipe (25) away from the main gear (24). The connecting pipe (25) and the limiting gear (26) are connected to each other. All are threaded to the threaded rod (23). The inner wall of the rotating groove (21) is connected to a limit assembly. The connecting block (5) is rotatably connected to the first gear (31), the second gear (32) and the third gear (33). The first gear (31), the second gear (32) and the third gear (33) are rotated and misaligned along the threaded rod (23). The first gear (31), the second gear (32) and the third gear (33) are all corresponding to the outer wall of the main gear (24). One end of the moving rod (9) is rotatably connected to the driven wheel (37). The driven wheel (37) meshes with the first gear (31). The second gear (32) meshes with the outer wall of the drive wheel (20). The third gear (33) is fixedly connected to the shaft of the take-up roller (15) with a transmission wheel (34). The two transmission wheels (34) are connected by a transmission belt (35). The clamping assembly includes a moving rod (9), a moving block (10), a rotating rod (11), and a clamping plate (12). A clamping groove (7) is provided on one side of the outer wall of the connecting block (5), and a moving groove (8) is provided on the inner side of the clamping groove (7). The moving rod (9) is rotatably connected in the moving groove (8). Two symmetrically arranged moving blocks (10) are threadedly connected to the outer wall of the moving rod (9). The moving blocks (10) are slidably connected to the clamping groove (7). A rotating rod (11) is fixedly connected to one side of the moving block (10). A clamping plate (12) is rotatably connected to the outer wall of the rotating rod (11). One end of the moving rod (9) is connected to the driving assembly. The cleaning assembly includes a take-up roller (15), a cleaning belt (16), and a coil spring (17). Two symmetrically arranged take-up grooves (14) are opened on one side of the outer wall of the connecting block (5). The take-up roller (15) is rotatably connected in the take-up groove (14). Both ends of the cleaning belt (16) are wrapped around the outer wall of the take-up roller (15). The cleaning belt (16) is in contact with the outer wall of the connecting block (5). One end of one take-up roller (15) is fixedly connected to the coil spring (17). The coil spring (17) is fixedly connected to the inside of the connecting block (5). One end of the other take-up roller (15) is connected to the drive assembly.
2. The robotic arm structure according to claim 1, characterized in that, The limiting component includes a sliding plate (28), a snap-fit plate (29), and a miniature electric push rod (30). A sliding groove (27) is provided on the inner wall of the rotating groove (21). The sliding plate (28) is slidably connected in the sliding groove (27). The miniature electric push rod (30) is fixedly connected in the sliding groove (27). The output end of the miniature electric push rod (30) is fixedly connected to one side of the sliding plate (28). The snap-fit plate (29) is fixedly connected to the other side of the sliding plate (28). The snap-fit plate (29) corresponds to the position of the limiting gear (26).
3. A robotic arm structure according to claim 1 or 2, characterized in that, The outer wall of the rotating rod (11) is fitted with a torsion spring (38), which is fixedly connected to the clamping plate (12). The connecting block (5) is fixedly connected to two symmetrically arranged baffles (36) on the side near the clamping groove (7). The side of the baffles (36) near the clamping plate (12) is arc-shaped.
4. A robotic arm structure according to claim 1 or 2, characterized in that, A wear-resistant layer (13) is fixedly connected to one side of the clamping plate (12).
5. An inspection robot, comprising a robot body (1), characterized in that, The robot body (1) includes the robotic arm structure as described in any one of claims 1-4, and the lower end of the robotic arm body (2) is fixedly connected to the robot body (1).