Intelligent mechanical arm suitable for narrow tunnel space

Abstract

The invention discloses an intelligent mechanical arm suitable for a narrow tunnel space, and relates to the technical field of mechanical arms. Comprising a moving frame, a mechanical arm device is installed on the moving frame, a moving assembly is installed on the mechanical arm device, and a supporting assembly is installed on the mechanical arm device. Through the layer-by-layer nesting design of the moving part, the mechanical arm device, the moving assembly and the moving device, the mechanical arm can achieve multi-dimensional flexible movement in the narrow tunnel space, and especially through the combination of the moving frame and the rotating cylinder and the sliding design of the second moving frame on the rotating cylinder, the mechanical arm can achieve multi-dimensional flexible movement in the narrow tunnel space. According to the mechanical arm assembly, the executing unit can move on the position of the mechanical arm assembly, the mechanical arm can easily deal with the complex and limited working environment, the executing unit can be moved to the target position under the condition that the mechanical arm assembly is inconvenient to stretch, the situation that the stretching and operation process of the mechanical arm consumes too much time is avoided, and the working efficiency is improved. And the working efficiency of the mechanical arm can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to an intelligent mechanical arm suitable for narrow tunnel spaces. Background Art

[0002] The space inside the tunnel is often limited and the working environment is complex, which places high demands on the flexibility and intelligence of construction equipment. Traditional construction equipment often finds it difficult to operate efficiently in a small space, which not only affects the construction progress, but also increases the construction difficulty and safety risks. Therefore, a robotic arm is set up to assist in operations inside the tunnel.

[0003] For example, the patent publication number "CN118322232A" is named "An intelligent inspection robot for power tunnels". This invention can blow away the dust accumulated on the inner wall of the I-beam, prevent the dust accumulation from affecting the smooth rolling of the roller, and effectively improve the smoothness of travel; the present invention can be adapted to I-beams of different heights for use; the present invention can ensure that the distance from the inner wall of the I-beam during travel is appropriate, and scratches will not occur, making it more flexible to use with I-beams.

[0004] In the above device, the execution unit of the robotic arm device will be installed at the end position of the robotic arm, so as to realize the controlled movement of the execution unit by moving the internal structure of the robotic arm device. However, due to the inconvenience of extending the robotic arm inside the narrow tunnel, even if the execution unit can be moved to the target position, the extension and operation process of the robotic arm is cumbersome and time-consuming, the operation time is too long, and it is difficult to respond quickly to construction needs, especially when comprehensive operations are required on the tunnel. This inefficiency is particularly prominent, which seriously affects the operating efficiency of the execution unit and the overall construction progress. For this reason, an intelligent robotic arm suitable for narrow tunnel space is invented. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent robotic arm suitable for narrow tunnel spaces to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: an intelligent mechanical arm suitable for narrow tunnel space, comprising a mobile frame, a mechanical arm device is installed on the mobile frame, a mobile component is installed on the mechanical arm device, and a support component is installed on the mechanical arm device;

[0007] The moving assembly includes a moving frame, the interior of the moving frame is slidably connected to the outer wall of the mechanical arm device, a power device for controlling the moving frame to move on the outer wall of the mechanical arm device is installed inside the moving frame, the outer wall of the moving frame is rotatably connected to a rotating drum, a rotating assembly for controlling the rotation of the rotating drum is installed between the moving frame and the rotating drum, the outer wall of the rotating drum is slidably connected to a moving device, the top of the moving device is fixedly connected to an auxiliary device, and the moving end of the auxiliary device is installed with an execution unit;

[0008] The moving device comprises a moving body, the bottom end of which is slidably connected to the outer wall of the rotating drum, and a second moving group for controlling the movement of the moving body on the moving frame is installed inside the moving body;

[0009] The No. 2 moving group includes a No. 1 moving member, which is fixed to the inside of the moving body, and a No. 1 limiting component used for cooperating with the outer wall of the rotating drum to realize the movement of the moving body on the moving frame is fixedly connected to the moving end of the No. 1 moving member, and a No. 2 limiting component used for cooperating with the outer wall of the rotating drum to realize the position restriction of the moving body on the moving frame is installed inside the moving body, and the outer wall of the rotating drum is provided with a plurality of limiting grooves which can be used to cooperate with the No. 1 limiting component and the No. 2 limiting component respectively;

[0010] The No. 1 limiting component includes a fixed frame, the bottom end of the fixed frame is slidably connected to the top end of the No. 1 moving member, the bottom end of the fixed frame and the top end of the No. 1 moving member are fixedly connected with a No. 2 spring shock-absorbing damper, the interior of the fixed frame is slidably connected to a No. 1 limiting member, a No. 1 spring shock-absorbing damper is fixedly connected between the No. 1 limiting member and the fixed frame, the interior of the fixed frame is fixedly connected with a No. 3 motor, the output end of the No. 3 motor is fixedly connected with a turntable member, and one end of the turntable member is fixedly connected with a cylinder for contacting the No. 1 limiting member to realize the movement of the No. 1 limiting member;

[0011] The second limiting assembly comprises a sliding frame, the top of the sliding frame is slidably connected to the top of the inner part of the moving body, the inner part of the sliding frame is slidably connected to the second limiting member, and a reset damping member is fixedly connected between the sliding frame and the moving body;

[0012] An associative device is installed between the No. 1 limiting component and the No. 2 limiting component to realize switching of the limiting relationship between the No. 1 limiting component and the rotating drum and the limiting relationship between the No. 2 limiting component and the rotating drum.

[0013] Furthermore, the association device includes an association plate No. 1, the two ends of the association plate No. 1 are slidably connected to the two sides inside the moving body, the interior of the moving body is slidably connected to the association plate No. 2, the bottom end inside the association device is rotatably connected to a rotating shaft, the outer wall of the rotating shaft is fixedly connected to a rotating rod, one side of the rotating rod is movably connected to one side of the association plate No. 1, the other side of the rotating rod is movably connected to one side of the association plate No. 2, one side of the association plate No. 2 is slidably connected to one side of the limiting member No. 2, and one side of the association plate No. 1 cooperates with one side of the limiting member No. 1.

[0014] Furthermore, the mechanical arm device includes a mechanical arm rotating device, a mechanical arm telescopic device and a mechanical arm bending device;

[0015] The mechanical arm rotating device comprises a turntable, which is fixedly mounted on the top of the mobile frame, the output end of the turntable is fixedly connected to the second base arm, and the top of the second base arm is fixedly connected to the mechanical arm bending device;

[0016] The mechanical arm bending device comprises a No. 4 basic arm, the bottom end of the No. 4 basic arm is fixed to the top end of the No. 2 basic arm, one side of the No. 4 basic arm is rotatably connected to the No. 5 basic arm, and the other side of the No. 4 basic arm is fixedly connected to a No. 4 motor for controlling the rotation of the No. 5 basic arm;

[0017] The robotic arm telescopic device includes a No. 1 base arm, one end of which is fixed to one end of a No. 5 base arm, the outer wall of the No. 1 base arm is slidably connected to the No. 1 telescopic arm, and a telescopic device for controlling the movement of the No. 1 telescopic arm is installed between the No. 1 base arm and the No. 1 telescopic arm.

[0018] Furthermore, the rotating assembly includes a No. 2 motor, which is fixedly installed inside the mobile frame. The inside of the rotating drum is fixedly connected to a gear ring, and the output end of the No. 2 motor is fixedly connected to a No. 2 gear, and the outer wall of the No. 2 gear is meshed with the inner wall of the gear ring.

[0019] Furthermore, the support assembly includes a rotating frame, one side of the rotating frame is rotatably connected to one side of the robotic arm device, one end of the rotating frame is fixedly connected to a spatial rotating device, and a movable end of the spatial rotating device is fixedly connected to a negative pressure adsorption device.

[0020] Furthermore, the power device includes a No. 1 motor, which is fixedly installed inside the mobile frame, the output end of the No. 1 motor is fixedly connected to a No. 1 gear, the outer wall of the No. 1 base arm is fixedly connected to a No. 1 rack rod, and the outer wall of the No. 1 telescopic arm is fixedly connected to a No. 2 rack rod.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] This intelligent robotic arm suitable for narrow tunnel space can realize multi-dimensional flexible movement in a narrow tunnel space through the nested design of moving parts, robotic arm devices, mobile components and mobile devices. In particular, the combination of the mobile frame and the rotating drum, and the sliding design of the second mobile frame on the rotating drum enable the execution unit to move its position on the robotic arm assembly, so that the robotic arm can easily cope with complex and restricted working environments. When the robotic arm assembly is inconvenient to extend, the execution unit can also be moved to the target position, avoiding the situation where the extension and operation process of the robotic arm takes too much time, thereby ensuring the operating efficiency of the robotic arm.

[0023] At the same time, through the coordinated use of the moving component and the moving device, the robotic arm can move accurately along the outer wall of the robotic arm device, and through the No. 1 limiting component and the No. 2 limiting component cooperating with the limiting holes on the rotating drum, the position can be accurately locked or the moving device can be moved on the rotating drum. This design ensures that the robotic arm can accurately reach the predetermined position when performing tasks, thereby improving the operating accuracy.

[0024] Through the design of the associating device and the linkage of the No. 1 associating plate and the No. 2 associating plate, rapid switching of the restricting relationship between the No. 1 restricting member and the No. 2 restricting member on the rotating drum is realized, thereby realizing the movement and position fixation of the mobile device on the rotating drum. The feasibility and practicality of the associating device are guaranteed by the association between the rapid switching of the restricting relationship between the No. 1 restricting member and the No. 2 restricting member on the rotating drum and the switching of the movement and position fixation of the mobile device on the rotating drum. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is an isometric view of the present invention;

[0026] Figure 2 is an isometric view of the mechanical arm device of the present invention;

[0027] Figure 3 is an isometric view of the mobile assembly of the present invention;

[0028] Figure 4 is an internal view of the mobile assembly of the present invention;

[0029] Figure 5 It is an isometric view of the power device and the rotating device of the present invention;

[0030] Figure 6 is an isometric view of an execution unit of the present invention;

[0031] Figure 7 is an isometric view of the support assembly of the present invention;

[0032] Figure 8 is an internal view of the mobile device of the present invention;

[0033] Fig. 9 is an isometric view of the interior of the mobile device of the present invention;

[0034] Fig.10 It is an isometric view of the first restriction assembly of the present invention;

[0035] Fig.11 It is a side view of the first restriction assembly of the present invention;

[0036] Fig.12 It is a side view of the second limiting assembly of the present invention;

[0037] Fig.13 It is an isometric view of the associated device of the present invention.

[0038] In the figure: 1. Mobile frame; 2. Robotic arm device; 201. No. 1 basic arm; 202. No. 1 telescopic arm; 203. No. 2 basic arm; 204. Turntable; 205. No. 4 basic arm; 206. No. 5 basic arm; 207. No. 4 motor; 3. Mobile assembly; 301. Mobile frame; 302. Rotating drum; 4. Mobile device; 401. Mobile body; 402. No. 1 mobile part; 403. Fixed frame; 404. No. 1 limiting part; 405. No. 1 spring shock absorber; 406. No. 3 motor; 407. Turntable member; 408. Sliding frame; 409. No. 2 limiting member; 410, reset damping member; 411, No. 2 spring shock-absorbing damper; 5, execution unit; 6, power device; 601, No. 1 motor; 602, No. 1 gear; 603, No. 1 rack rod; 604, No. 2 rack rod; 7, rotating assembly; 701, No. 2 motor; 702, gear ring; 703, No. 2 gear; 8, associated device; 801, No. 1 associated plate; 802, No. 2 associated plate; 803, rotating shaft; 804, rotating rod; 9, supporting assembly; 901, rotating frame; 902, spatial rotating device; 903, negative pressure adsorption device. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] like Figure 1 - Fig.13 As shown, the present invention provides a technical solution: an intelligent mechanical arm suitable for narrow tunnel space, comprising a mobile frame 1, a mechanical arm device 2 is installed on the mobile frame 1, a mobile component 3 is installed on the mechanical arm device 2, and a support component 9 is installed on the mechanical arm device 2;

[0041] The moving assembly 3 includes a moving frame 301, the interior of the moving frame 301 is slidably connected to the outer wall of the robot arm device 2, a power device 6 for controlling the moving frame 301 to move on the outer wall of the robot arm device 2 is installed inside the moving frame 301, the outer wall of the moving frame 301 is rotatably connected to a rotating drum 302, a rotating assembly 7 for controlling the rotation of the rotating drum 302 is installed between the moving frame 301 and the rotating drum 302, the outer wall of the rotating drum 302 is slidably connected to a moving device 4, the top of the moving device 4 is fixedly connected to an auxiliary device, and an execution unit 5 is installed on the moving end of the auxiliary device;

[0042] The moving device 4 includes a moving body 401, the bottom end of the moving body 401 is slidably connected to the outer wall of the rotating drum 302, and a second moving group for controlling the moving body 401 to move on the moving frame 301 is installed inside the moving body 401;

[0043] The No. 2 moving group includes a No. 1 moving member 402, which is fixed to the inside of the moving body 401, and a No. 1 limiting component used for cooperating with the outer wall of the rotating drum 302 to realize the movement of the moving body 401 on the moving frame 301 is fixedly connected to the moving end of the No. 1 moving member 402, and a No. 2 limiting component used for cooperating with the outer wall of the rotating drum 302 to realize the position restriction of the moving body 401 on the moving frame 301 is installed inside the moving body 401, and the outer wall of the rotating drum 302 is provided with a plurality of limiting grooves which can be used to cooperate with the No. 1 limiting component and the No. 2 limiting component respectively;

[0044] The No. 1 limiting component includes a fixed frame 403, the bottom end of the fixed frame 403 and the top end of the No. 1 moving member 402 are slidably connected, the bottom end of the fixed frame 403 and the top end of the No. 1 moving member 402 are fixedly connected with a No. 2 spring shock-absorbing damper 411, the interior of the fixed frame 403 is slidably connected with a No. 1 limiting member 404, a No. 1 spring shock-absorbing damper 405 is fixedly connected between the No. 1 limiting member 404 and the fixed frame 403, the interior of the fixed frame 403 is fixedly connected with a No. 3 motor 406, the output end of the No. 3 motor 406 is fixedly connected with a turntable member 407, and one end of the turntable member 407 is fixedly connected with a cylinder for contacting the No. 1 limiting member 404 to realize the movement of the No. 1 limiting member 404;

[0045] The second limiting assembly includes a sliding frame 408, the top of the sliding frame 408 is slidably connected to the top of the inside of the moving body 401, the inside of the sliding frame 408 is slidably connected to the second limiting member 409, and a reset damping member 410 is fixedly connected between the sliding frame 408 and the moving body 401;

[0046] An associating device 8 is installed between the No. 1 limiting component and the No. 2 limiting component to realize switching between the limiting relationship between the No. 1 limiting member 404 and the rotating drum 302 and the limiting relationship between the No. 2 limiting member 409 and the rotating drum 302.

[0047] The association device 8 includes an association plate No. 1 801, the two ends of the association plate No. 1 801 are slidably connected to the two sides inside the moving body 401, the inside of the moving body 401 is slidably connected to the association plate No. 2 802, the bottom end inside the association device 8 is rotatably connected to the rotating shaft 803, the outer wall of the rotating shaft 803 is fixedly connected to the rotating rod 804, one side of the rotating rod 804 is movably connected to one side of the association plate No. 1 801, the other side of the rotating rod 804 is movably connected to one side of the association plate No. 2 802, one side of the association plate No. 2 802 is slidably connected to one side of the limiting member No. 409, and one side of the association plate No. 1 801 cooperates with one side of the limiting member No. 1 404.

[0048] The mechanical arm device 2 includes a mechanical arm rotating device, a mechanical arm telescopic device and a mechanical arm bending device;

[0049] The mechanical arm rotating device includes a turntable 204, which is fixedly mounted on the top of the mobile frame 1, and the output end of the turntable 204 is fixedly connected to the second base arm 203, and the top of the second base arm 203 is fixedly connected to the mechanical arm bending device;

[0050] The mechanical arm bending device includes a No. 4 basic arm 205, the bottom end of the No. 4 basic arm 205 is fixed to the top end of the No. 2 basic arm 203, one side of the No. 4 basic arm 205 is rotatably connected to the No. 5 basic arm 206, and the other side of the No. 4 basic arm 205 is fixedly connected to the No. 4 motor 207 for controlling the rotation of the No. 5 basic arm 206;

[0051] The robotic arm telescopic device includes a No. 1 base arm 201, one end of the No. 1 base arm 201 is fixed to one end of the No. 5 base arm 206, the outer wall of the No. 1 base arm 201 is slidably connected to the No. 1 telescopic arm 202, and a telescopic device for controlling the movement of the No. 1 telescopic arm 202 is installed between the No. 1 base arm 201 and the No. 1 telescopic arm 202.

[0052] The rotating assembly 7 includes a No. 2 motor 701, which is fixedly installed inside the moving frame 301. A gear ring 702 is fixedly connected to the inside of the rotating drum 302. A No. 2 gear 703 is fixedly connected to the output end of the No. 2 motor 701. The outer wall of the No. 2 gear 703 is meshed with the inner wall of the gear ring 702.

[0053] The support assembly 9 includes a rotating frame 901 , one side of the rotating frame 901 is rotatably connected to one side of the robot arm device 2 , one end of the rotating frame 901 is fixedly connected to a space rotating device 902 , and the moving end of the space rotating device 902 is fixedly connected to a negative pressure adsorption device 903 .

[0054] The power device 6 includes a No. 1 motor 601, which is fixedly installed inside the mobile frame 301. The output end of the No. 1 motor 601 is fixedly connected to a No. 1 gear 602. The outer wall of the No. 1 base arm 201 is fixedly connected to a No. 1 rack rod 603. The outer wall of the No. 1 telescopic arm 202 is fixedly connected to a No. 2 rack rod 604.

[0055] The movement of the robot arm device 2 can be controlled by the mobile frame 1. The mobile frame 1 includes a mobile trolley or a mobile rail car that can move on a track. A radar is installed on the robot arm. The radar can be used to detect objects inside the tunnel. The information collected by the radar can be used to control the robot arm to avoid contact or collision between the robot arm and objects inside the tunnel. This application only shows the structure of a robot arm. The actual robot arm can be regarded as composed of a number of robot arm rotating devices, robot arm telescopic devices and robot arm bending devices arranged according to settings and then combined with each other. The telescopic end of the telescopic device is telescopic to control the movement between the No. 1 base arm 201 and the No. 1 telescopic arm 202. The distance changes, and there is prior art for the telescopic device. The output end of the turntable 204 rotates, so that the angle between the No. 2 basic arm 203 and the No. 3 basic arm changes, and the output end of the No. 4 motor 207 rotates, and the No. 5 basic arm 206 rotates, and the angle between the No. 5 basic arm 206 and the No. 4 basic arm 205 changes. The basic operation of the robot arm is realized through the transmission inside the above-mentioned robot arm, and the collision between the robot arm and the device is avoided by controlling the robot arm. The present application only discloses a basic structure, and the specific structure can be based on actual needs. A number of robot arm rotation devices, robot arm telescopic devices or robot arm bending devices can be installed on the basic structure to realize actual needs.

[0056] The execution unit 5 includes an inspection device and a clamp device. The use of the inspection device can realize the detection of the inside of the tunnel and can reduce manual inspections. When the clamp device is used, it can realize the clamping of objects. In addition to the above-mentioned devices, there will be other devices, and other functions can be realized through other devices. By controlling the changes in the internal structure of the robotic arm device 2, the position of the execution unit 5 is controlled to reach the execution area, which facilitates the work of the execution unit 5. A small-sized robotic arm can be installed between the mobile end of the additional mobile device 4 and the execution unit 5 to facilitate the movement and execution of the execution unit 5.

[0057] The outer wall of the rotating drum 302 is provided with a slide rail for facilitating the movement of the moving body 401. The bottom end of the moving body 401 is slidably connected to the outer wall of the rotating drum 302 through the slide rail. At the same time, when the moving body 401 is moved between two adjacent and contacting rotating drums 302, when the movement on the two rotating drums 302 is realized by the moving device 4, the existence of the slide rail can effectively provide effective assistance to the moving device 4, and the slide rails are aligned between the two adjacent rotating drums 302. A moving component 3 is provided on each base arm. The moving device 4 can be used to move on the moving component 3, and the movement of the moving component 3 on the base arm can be controlled to adjust the position of the execution unit 5 on the base arm. Or when it is necessary to realize the execution unit 5 on different base arms, the movement between the two adjacent moving components 3 is realized by the moving device 4, so that the two adjacent moving components 3 are aligned in position, and then the slide rails on the two rotating drums 302 are aligned, and the movement of the moving device 4 on the moving component 3 is realized, so as to control the position of the moving device 4 and the execution unit 5 on the mechanical arm.

[0058] The rotating assembly 7 is started to realize the rotation of the rotating drum 302 and the execution unit 5, the output end of the No. 2 motor 701 rotates, the No. 2 gear 703 rotates, the gear ring 702 and the No. 2 gear 703 are meshed, and the No. 2 gear 703 rotates, thereby causing the rotating drum 302 to move on the moving frame 301.

[0059] The No. 1 limiting component can be coordinated with the outer wall of the rotating drum 302, and the moving end of the No. 1 moving part 402 can move back and forth. There is existing technology for the moving end of the No. 1 moving part 402, and the specific structure of the No. 1 moving part 402 is not explained here. When the No. 1 moving part 402 is moving, the position between the No. 1 limiting component and the rotating drum 302 is restricted. The moving end of the No. 1 moving part 402 moves, thereby realizing the movement of the moving body 401 through the reaction force. After the moving body 401 moves, the No. 2 limiting component realizes the position restriction between the rotating drum 302. At this time, the moving end of the No. 1 moving part 402 moves in the opposite direction, so that the moving end of the No. 1 moving part 402 returns to its original position. At this time, the No. 1 limiting component can be coordinated with the outer wall of the rotating drum 302, and the coordination and separation between the No. 2 limiting component and the outer wall of the rotating drum 302 are realized through the associated component.

[0060] The mobile end of the No. 1 moving member 402 moves, but at this time, due to the position restriction between the No. 2 restriction component and the rotating drum 302, and the existence of the associated device 8, there is no restriction between the No. 1 restriction component and the rotating drum 302, so the mobile end of the No. 1 moving member 402 can move smoothly, and then the switching of the restriction relationship between the No. 1 restriction component and the No. 2 restriction component is realized through the associated device 8. The movement of the moving body 401 on the rotating drum 302 can be realized through the above process.

[0061] After limiting component No. 1 realizes the cooperation and restriction with the outer wall of the rotating drum 302, the moving end of the moving part 402 moves at this time, and the moving end of the moving part 402 is temporarily fixed with the outer wall of the rotating drum 302 through limiting component No. 1. Therefore, the movement trend of the moving end of the moving part 402 realizes the movement of the moving device 4 on the rotating drum 302 through the reaction force, and the limiting component No. 2 is transmitted through the associated components, so that the limiting component No. 2 is temporarily fixed with the outer wall of the rotating drum 302. At this time, limiting component No. 1 will cancel the temporary fixation with the outer wall of the rotating drum 302, and the moving end of the moving part 402 moves in the opposite direction to the limiting groove position. The position of the limiting groove is set to facilitate the movement of the moving device 4 and the fixation of the moving device 4.

[0062] Since the above can only realize unidirectional movement, the internal structure of the first limiting component is designed to control the bidirectional movement of the moving device 4, such as Fig.11 As shown, the output end of the No. 3 motor 406 rotates, the turntable 407 and the cylinder rotate, the cylinder contacts the No. 1 limiting member 404 and causes the No. 1 limiting member 404 to move, and the No. 1 spring shock-absorbing damper 405 is compressed, one of the No. 1 limiting members 404 is used, and the other is not used temporarily. When reverse movement is required, the output end of the No. 3 motor 406 rotates in the opposite direction, thereby causing the other No. 1 limiting member 404 to be pushed out for use.

[0063] like Fig.10 and Fig.11 As shown, the moving end of the No. 1 moving member 402 moves, and the No. 2 spring shock absorber 411 will always apply force to the fixed frame 403, thereby causing the No. 1 limiting member 404 to generate a force, so that when the No. 1 limiting member 404 moves to the limiting groove position, under the action of the No. 2 spring shock absorber 411, the No. 1 limiting member 404 and the inside of the limiting groove are in contact, and the fixed frame 403 moves downward. In the process of the fixing frame 403 moving downward, the No. 2 limiting member is driven by the associated device 8. The movable member 409 moves upward, and the reverse moving end of the movable member 402 moves. Through transmission and reaction force, the movable device 4 moves, and the moving end of the movable member 402 moves. Due to the inclined surface of the limiting member 404, the limiting member 404 moves out of the limiting groove, and the fixed frame 403 moves upward. Through the transmission of the associated device 8, the limiting member 409 moves downward, and the limiting member 409 contacts the inside of the limiting groove, thereby fixing the position of the movable device 4.

[0064] like Fig.13As shown, when the fixed frame 403 moves up, the No. 1 associated plate 801 moves up, thereby causing the rotating shaft 803 and the rotating rod 804 to rotate, causing the No. 2 associated plate 802 to move down, thereby causing the No. 2 limiting member 409 to move down. The above-mentioned upward and downward movements are only for the direction in the figure. Through the design of the associated device 8 and the linkage of the No. 1 associated plate 801 and the No. 2 associated plate 802, the rapid switching of the limiting relationship between the No. 1 limiting member 404 and the No. 2 limiting member 409 on the rotating drum 302 is realized, thereby realizing the movement and position fixation of the mobile device 4 on the rotating drum 302. The association between the rapid switching of the limiting relationship between the No. 1 limiting member 404 and the No. 2 limiting member 409 on the rotating drum 302 and the switching of the movement and position fixation of the mobile device 4 on the rotating drum 302 ensures the feasibility and practicality of the associated device 8.

[0065] The reset damping member 410 is internally provided with a spring and a damper. After the position of the sliding frame 408 changes, the reset damping member 410 can move the sliding frame 408 to its original position through the internal spring. The existence of the damper can prevent the internal spring from vibrating.

[0066] An auxiliary device is installed between the execution unit 5 and the mobile body 401, and the auxiliary device is used to assist the execution unit 5 in short-distance movement and small-angle change. There is existing technology for the auxiliary device, including a three-axis servo mobile platform control device, so as to realize the short-distance movement and small-angle change of the execution unit 5. The auxiliary device further helps the execution unit 5 to reach the target area more smoothly on the basis of the robotic arm, so as to realize the fine-tuning of the execution unit 5 in the target area. Through the coordinated use of the moving component 3 and the moving device 4, the robotic arm can move precisely along the outer wall of the robotic arm device 2, and through the No. 1 limiting component and the No. 2 limiting component and the limiting hole on the rotating drum 302, the position is accurately locked or the moving device 4 is moved on the rotating drum 302. This design ensures that the robotic arm can accurately reach the predetermined position when performing a task, thereby improving the operation accuracy.

[0067] A self-locking structure is arranged inside the No. 1 motor 601, and the self-locking structure can limit the rotation of the output end of the No. 1 motor 601. The No. 1 motor 601 adopts a stepping motor. When the self-locking structure cancels the restriction on the output end of the No. 1 motor 601, the No. 1 gear 602 can be rotated by powering the No. 1 motor 601. At the same time, when the No. 1 motor 601 is not powered, the No. 1 gear 602 can also rotate when it is driven by the external environment.

[0068] When the distance between the No. 1 base arm 201 and the No. 1 telescopic wall changes, the distance between the No. 1 rack rod 603 fixed on the No. 1 base wall and the No. 2 rack rod 604 fixed on the No. 1 telescopic wall changes. The power device 6 needs to fix the position of the moving device 4 and the No. 1 base arm 201 at this time, or move with the movement of the No. 1 telescopic arm 202. Therefore, the distance between the No. 1 base arm 201 and the No. 1 telescopic arm 202 changes, and its self-locking structure will cancel the restriction according to the selection. When the moving device 4 and the No. 1 base arm 201 are fixed in position, the No. 1 gear 602 meshing with the No. 2 rack rod 604, its corresponding self-locking structure will cancel the restriction, so the No. 2 rack rod 604 When moving with the No. 1 telescopic arm 202, the No. 1 gear 602 will not affect the position change between the No. 1 base arm 201 and the No. 1 telescopic arm 202, and the No. 1 gear 602 meshed with the No. 1 rack rod 603, its corresponding self-locking structure will maintain the restriction, so the mobile device 4 and the No. 1 base arm 201 are fixed in position. Similarly, the mobile device 4 moves with the movement of the No. 1 telescopic arm 202, and the No. 1 gear 602 meshed with the No. 2 rack rod 604, its corresponding self-locking structure will maintain the restriction relationship, and the No. 1 gear 602 meshed with the No. 1 rack rod 603, its corresponding self-locking structure will cancel the restriction relationship, so that the mobile device 4 moves with the movement of the No. 1 telescopic arm 202.

[0069] The robot arm device 2 controls the movement of the support assembly 9. During use, the negative pressure adsorption device 903 is started, and the rotating frame 901 and the space rotation device 902 fine-tune the position of the negative pressure adsorption device 903, thereby ensuring that the negative pressure adsorption device 903 can achieve adsorption of the arm in the tunnel, so as to share the stress on the head end of the robot arm assembly and ensure the service life of the robot arm assembly. Through the nested design of the moving parts, the robot arm device 2, the moving assembly 3 and the moving device 4, the robot arm can achieve multi-dimensional flexible movement in a narrow tunnel space, especially the combination of the moving frame 301 and the rotating drum 302, and the sliding design of the second moving frame 301 on the rotating drum 302, so that the execution unit 5 can be moved on the position of the robot arm assembly, so that the robot arm can easily cope with complex and restricted working environments. When the robot arm assembly is inconvenient to extend, the execution unit 5 can also be moved to the target position to avoid the extension and operation of the robot arm taking too much time, thereby ensuring the operating efficiency of the robot arm.

[0070] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. An intelligent robotic arm suitable for use in narrow tunnel spaces, comprising a mobile frame (1), characterized in that: The mobile frame (1) is provided with a mechanical arm device (2), the mechanical arm device (2) is provided with a mobile component (3), and the mechanical arm device (2) is provided with a support component (9); The moving assembly (3) comprises a moving frame (301), the interior of the moving frame (301) is slidably connected to the outer wall of the mechanical arm device (2), a power device (6) for controlling the moving frame (301) to move on the outer wall of the mechanical arm device (2) is installed inside the moving frame (301), the outer wall of the moving frame (301) is rotatably connected to a rotating drum (302), a rotating assembly (7) for controlling the rotation of the rotating drum (302) is installed between the moving frame (301) and the rotating drum (302), the outer wall of the rotating drum (302) is slidably connected to a moving device (4), the top end of the moving device (4) is fixedly connected to an auxiliary device, and the moving end of the auxiliary device is installed with an execution unit (5); The moving device (4) comprises a moving body (401), the bottom end of the moving body (401) is slidably connected to the outer wall of the rotating drum (302), and a second moving group for controlling the movement of the moving body (401) on the moving frame (301) is installed inside the moving body (401); The second moving group comprises a first moving member (402), the first moving member (402) and the interior of the moving body (401) being fixed to each other, a moving end of the first moving member (402) being fixedly connected to a first limiting component for cooperating with the outer wall of the rotating drum (302) to realize the movement of the moving body (401) on the moving frame (301), a second limiting component for cooperating with the outer wall of the rotating drum (302) to realize the position restriction of the moving body (401) on the moving frame (301) being installed inside the moving body (401), and a plurality of limiting grooves for cooperating with the first limiting component and the second limiting component respectively being provided on the outer wall of the rotating drum (302); An associating device (8) is installed between the first limiting component and the second limiting component to realize switching between the limiting relationship between the first limiting member (404) and the rotating drum (302) and the limiting relationship between the second limiting member (409) and the rotating drum (302).

2. The intelligent robot arm suitable for narrow tunnel space according to claim 1, characterized in that: The No. 1 limiting component comprises a fixed frame (403), the bottom end of the fixed frame (403) and the top end of the No. 1 moving member (402) are slidably connected, a No. 2 spring shock-absorbing damper (411) is fixedly connected between the bottom end of the fixed frame (403) and the top end of the No. 1 moving member (402), a No. 1 limiting member (404) is slidably connected inside the fixed frame (403), a No. 1 spring shock-absorbing damper (405) is fixedly connected between the No. 1 limiting member (404) and the fixed frame (403), a No. 3 motor (406) is fixedly connected inside the fixed frame (403), an output end of the No. 3 motor (406) is fixedly connected to a turntable member (407), and one end of the turntable member (407) is fixedly connected to a cylinder for contacting the No. 1 limiting member (404) to realize movement of the No. 1 limiting member (404).

3. The intelligent robot arm suitable for narrow tunnel space according to claim 1, characterized in that: The second limiting component comprises a sliding frame (408), the top end of the sliding frame (408) is slidably connected to the top end inside the moving body (401), the interior of the sliding frame (408) is slidably connected to a second limiting member (409), and a reset damping member (410) is fixedly connected between the sliding frame (408) and the moving body (401).

4. The intelligent mechanical arm suitable for narrow tunnel space according to claim 1, characterized in that: The association device (8) comprises an association plate (801), two ends of the association plate (801) are slidably connected to two sides inside the moving body (401), a second association plate (802) is slidably connected inside the moving body (401), a bottom end inside the association device (8) is rotatably connected to a rotating shaft (803), an outer wall of the rotating shaft (803) is fixedly connected to a rotating rod (804), one side of the rotating rod (804) is movably connected to one side of the association plate (801), the other side of the rotating rod (804) is movably connected to one side of the association plate (802), one side of the association plate (802) is slidably connected to one side of the second limiting member (409), and one side of the association plate (801) is matched with one side of the limiting member (404).

5. The intelligent mechanical arm suitable for narrow tunnel space according to claim 1, characterized in that: The mechanical arm device (2) comprises a mechanical arm rotating device, a mechanical arm telescopic device and a mechanical arm bending device; The mechanical arm rotating device comprises a turntable (204), the turntable (204) is fixedly mounted on the top of the mobile frame (1), the output end of the turntable (204) is fixedly connected to the second base arm (203), and the top of the second base arm (203) is fixedly connected to the mechanical arm bending device; The mechanical arm bending device comprises a fourth basic arm (205), the bottom end of the fourth basic arm (205) and the top end of the second basic arm (203) are fixed to each other, one side of the fourth basic arm (205) is rotatably connected to a fifth basic arm (206), and the other side of the fourth basic arm (205) is fixedly connected to a fourth motor (207) for controlling the rotation of the fifth basic arm (206); The mechanical arm telescopic device comprises a No. 1 base arm (201), one end of the No. 1 base arm (201) and one end of a No. 5 base arm (206) being fixed to each other, an outer wall of the No. 1 base arm (201) being slidably connected to the No. 1 telescopic arm (202), and a telescopic device for controlling the movement of the No. 1 telescopic arm (202) being installed between the No. 1 base arm (201) and the No. 1 telescopic arm (202).

6. The intelligent mechanical arm suitable for narrow tunnel space according to claim 1, characterized in that: The rotating assembly (7) comprises a No. 2 motor (701), the No. 2 motor (701) being fixedly mounted inside the moving frame (301), the interior of the rotating drum (302) being fixedly connected to a gear ring (702), the output end of the No. 2 motor (701) being fixedly connected to a No. 2 gear (703), the outer wall of the No. 2 gear (703) being meshed with the inner wall of the gear ring (702).

7. The intelligent mechanical arm suitable for narrow tunnel space according to claim 1, characterized in that: The support assembly (9) comprises a rotating frame (901), one side of the rotating frame (901) being rotatably connected to one side of the mechanical arm device (2), one end of the rotating frame (901) being fixedly connected to a spatial rotating device (902), and a moving end of the spatial rotating device (902) being fixedly connected to a negative pressure adsorption device (903).

8. The intelligent mechanical arm suitable for narrow tunnel space according to claim 5, characterized in that: The power device (6) comprises a No. 1 motor (601), the No. 1 motor (601) being fixedly mounted inside the mobile frame (301), the No. 1 motor (601) having an output end fixedly connected to a No. 1 gear (602), the No. 1 base arm (201) having an outer wall fixedly connected to a No. 1 rack rod (603), and the No. 2 rack rod (604) having an outer wall fixedly connected to the No. 1 telescopic arm (202).

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