An intelligent robotic arm applicable to narrow tunnel spaces

Abstract

The present invention discloses an intelligent robotic arm applicable to narrow tunnel spaces, relating to the technical field of robotic arms. It includes a mobile frame, on which a robotic arm device is installed, and on the robotic arm device, a moving component and a supporting component are installed. Through the nested design of the moving member, the robotic arm device, the moving component and the moving device, the robotic arm can achieve multi-dimensional flexible movement in narrow tunnel spaces. In particular, the combination of the moving frame and the rotating cylinder, and the sliding design of the second moving frame on the rotating cylinder enable the execution unit to move on the robotic arm assembly, allowing the robotic arm to 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 of excessive time consumption in the extension and operation process of the robotic arm, and ensuring the operation efficiency of the robotic arm.

Description

Technical Field

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

[0002] The space inside a tunnel is often limited and the working environment is complex, which poses high requirements for the flexibility and intelligence of construction equipment. Traditional construction equipment often has difficulty operating efficiently in narrow spaces, not only affecting the construction progress, but also increasing the construction difficulty and safety risks. Therefore, a robotic arm is provided to assist in operating inside the tunnel.

[0003] For example, in the patent with the publication number "CN118322232A" and the name "An intelligent inspection robot for power tunnels", the invention can blow away the dust accumulated on the inner wall of the I-beam, prevent the accumulation of dust from affecting the smooth rolling of the rollers, and effectively improve the smoothness of travel; the invention can be adapted to I-beams of different heights for use; the invention can ensure an appropriate distance from the inner wall of the I-beam during travel, without causing scratching problems, and is more flexible when used in conjunction with the I-beam.

[0004] In the above device, the execution unit of the robotic arm device is installed at the end of the robotic arm, and the control movement of the execution unit is achieved through the movement of the internal structure of the robotic arm device. However, due to the inconvenience of the robotic arm extension 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 are cumbersome and time-consuming, with too much operation time and difficulty in quickly responding to construction requirements. Especially when comprehensive operation of the tunnel is required, this inefficiency is particularly prominent, seriously affecting the operation efficiency of the execution unit and the overall construction progress. Therefore, an intelligent robotic arm suitable for narrow tunnel spaces 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 background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An intelligent robotic arm suitable for narrow tunnel spaces, including a moving frame, a robotic arm device is installed on the moving frame, a moving component is installed on the robotic arm device, and a supporting component is installed on the robotic arm device;

[0007] The moving component includes a moving frame, the interior of which is slidably connected to the outer wall of the robotic arm device. A power device for controlling the movement of the moving frame on the outer wall of the robotic arm device is installed inside the moving frame. A rotating cylinder is rotatably connected to the outer wall of the moving frame. A rotating component for controlling the rotation of the rotating cylinder is installed between the moving frame and the rotating cylinder. A moving device is slidably connected to the outer wall of the rotating cylinder. The top end of the moving device is fixedly connected to an auxiliary device, and an execution unit is installed at the moving end of the auxiliary device;

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

[0009] The second moving group includes a first moving member, which is fixed inside the moving body. A first limiting component for cooperating with the outer wall of the rotating cylinder to enable the moving body to move on the moving frame is fixedly connected to the moving end of the first moving member. A second limiting component for cooperating with the outer wall of the rotating cylinder to limit the position of the moving body on the moving frame is installed inside the moving body. A number of limiting grooves for respectively cooperating with the first limiting component and the second limiting component are formed on the outer wall of the rotating cylinder;

[0010] The first limiting component includes a fixed frame, the bottom end of which is slidably connected to the top end of the first moving member. A second spring shock absorber and damper is fixedly connected between the bottom end of the fixed frame and the top end of the first moving member. A first limiting member is slidably connected inside the fixed frame. A first spring shock absorber and damper is fixedly connected between the first limiting member and the fixed frame. A third motor is fixedly connected inside the fixed frame. The output end of the third motor is fixedly connected to a turntable member, and a cylinder for contacting the first limiting member to cause the movement of the first limiting member is fixedly connected to one end of the turntable member;

[0011] The second limiting component includes a sliding frame, the top end of which is slidably connected to the top end inside the moving body. A second limiting member is slidably connected inside the sliding frame. A reset damper is fixedly connected between the sliding frame and the moving body;

[0012] An associated device for switching the limiting relationship between the first limiting member and the rotating cylinder and the limiting relationship between the second limiting member and the rotating cylinder is installed between the first limiting component and the second limiting component.

[0013] Further, the association device includes a first association plate, both ends of the first association plate are slidably connected to both sides inside the moving body, a second association plate is slidably connected inside the moving body, a rotating shaft is rotatably connected to the bottom end inside the association device, a rotating rod is fixedly connected to the outer wall of the rotating shaft, one side of the rotating rod is movably connected to one side of the first association plate, the other side of the rotating rod is movably connected to one side of the second association plate, one side of the second association plate is slidably connected to one side of the second limiting member, and one side of the first association plate cooperates with one side of the first limiting member.

[0014] Further, the robotic arm device includes a robotic arm rotating device, a robotic arm telescoping device, and a robotic arm bending device;

[0015] The robotic arm rotating device includes a turntable, the turntable is fixedly installed at the top end of the moving frame, the output end of the turntable is fixedly connected to a second base arm, and the top end of the second base arm is fixedly connected to a robotic arm bending device;

[0016] The robotic arm bending device includes a fourth base arm, the bottom end of the fourth base arm is fixed to the top end of the second base arm, a fifth base arm is rotatably connected to one side of the fourth base arm, and a fourth motor for controlling the rotation of the fifth base arm is fixedly connected to the other side of the fourth base arm;

[0017] The robotic arm telescoping device includes a first base arm, one end of the first base arm is fixed to one end of the fifth base arm, a first telescoping arm is slidably connected to the inner wall of the first base arm, and a telescoping device for controlling the movement of the first telescoping arm is installed between the first base arm and the first telescoping arm.

[0018] Further, the rotating assembly includes a second motor, the second motor is fixedly installed inside the moving frame, a gear ring is fixedly connected inside the rotating cylinder, the output end of the second motor is fixedly connected to a second gear, and the outer wall of the second gear meshes with the outer wall of the gear ring.

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

[0020] Further, the power device includes a first motor, the first motor is fixedly installed inside the moving frame, the output end of the first motor is fixedly connected to a first gear, a first rack bar is fixedly connected to the outer wall of the first base arm, and a second rack bar is fixedly connected to the outer wall of the first telescoping arm.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] The intelligent robotic arm applicable to narrow tunnel spaces can achieve multi-dimensional flexible movement in narrow tunnel spaces through the nested design of the moving member, robotic arm device, moving assembly, and moving device. In particular, the combination of the moving frame and the rotating cylinder, as well as the sliding design of the second moving frame on the rotating cylinder, enables the execution unit to move on the robotic arm assembly, allowing the robotic arm to easily handle 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 of the robotic arm take too much time and ensuring the operation efficiency of the robotic arm.

[0023] Meanwhile, through the coordinated use of the moving assembly and the moving device, the robotic arm can move precisely along the outer wall of the robotic arm device, and through the cooperation of the first limiting component and the second limiting component with the limiting holes on the rotating cylinder, precise position locking can be achieved or the moving device can be moved on the rotating cylinder. This design ensures that the robotic arm can accurately reach the predetermined position when performing tasks, improving the operation accuracy.

[0024] Through the design of the associated device, through the linkage of the first associated plate and the second associated plate, a rapid switching of the limiting relationship between the first limiting member and the second limiting member on the rotating cylinder is achieved, thereby realizing the movement and position fixation of the moving device on the rotating cylinder. Through the correlation between the rapid switching of the limiting relationship between the first limiting member and the second limiting member on the rotating cylinder and the switching of the movement and position fixation of the moving device on the rotating cylinder, the feasibility and practicality of the associated device are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Isometric view of the present invention;

[0026] Figure 2 Isometric view of the robotic arm device of the present invention;

[0027] Figure 3 Isometric view of the moving assembly of the present invention;

[0028] Figure 4 Internal view of the moving assembly of the present invention;

[0029] Figure 5 Isometric view of the power device and the rotating device of the present invention;

[0030] Figure 6 Isometric view of the execution unit of the present invention;

[0031] Figure 7 Isometric view of the support assembly of the present invention;

[0032] Figure 8 Internal view of the moving device of the present invention;

[0033] Figure 9 Isometric view of the interior of the mobile device of the present invention;

[0034] Figure 10 Isometric view of the first limiting component of the present invention;

[0035] Figure 11 Side view of the first limiting component of the present invention;

[0036] Figure 12 Side view of the second limiting component of the present invention;

[0037] Figure 13 Isometric view of the associated device of the present invention.

[0038] In the figure: 1, mobile frame; 2, robotic arm device; 201, first base arm; 202, first telescopic arm; 203, second base arm; 204, turntable; 205, fourth base arm; 206, fifth base arm; 207, fourth motor; 3, mobile component; 301, mobile rack; 302, rotating cylinder; 4, mobile device; 401, mobile body; 402, first moving part; 403, fixing frame; 404, first limiting part; 405, first spring shock damping device; 406, third motor; 407, turntable part; 408, sliding rack; 409, second limiting part; 410, reset damping device; 411, second spring shock damping device; 5, execution unit; 6, power device; 601, first motor; 602, first gear; 603, first rack bar; 604, second rack bar; 7, rotating component; 701, second motor; 702, gear ring; 703, second gear; 8, associated device; 801, first associated plate; 802, second associated plate; 803, rotating shaft; 804, rotating rod; 9, support component; 901, rotating frame; 902, spatial rotating device; 903, negative pressure adsorption device. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] As Figure 1 - Figure 13 shown, the present invention provides a technical solution: an intelligent robotic arm applicable to a narrow tunnel space, including a mobile frame 1, a robotic arm device 2 installed on the mobile frame 1, a mobile component 3 installed on the robotic arm device 2, and a support component 9 installed on the robotic arm device 2;

[0041] The moving component 3 includes a moving frame 301. The interior of the moving frame 301 is slidably connected to the outer wall of the robotic arm device 2. A power device 6 for controlling the movement of the moving frame 301 on the outer wall of the robotic arm device 2 is installed inside the moving frame 301. A rotating cylinder 302 is rotatably connected to the outer wall of the moving frame 301. A rotating component 7 for controlling the rotation of the rotating cylinder 302 is installed between the moving frame 301 and the rotating cylinder 302. A moving device 4 is slidably connected to the outer wall of the rotating cylinder 302. An auxiliary device is fixedly connected to the top end of the moving device 4. An execution unit 5 is installed at 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 cylinder 302. 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;

[0043] The second moving group includes a first moving member 402. The first moving member 402 is fixed inside the moving body 401. A first limiting component for cooperating with the outer wall of the rotating cylinder 302 to enable the moving body 401 to move on the moving frame 301 is fixedly connected to the moving end of the first moving member 402. A second limiting component for cooperating with the outer wall of the rotating cylinder 302 to limit the position of the moving body 401 on the moving frame 301 is installed inside the moving body 401. A number of limiting grooves for respectively cooperating with the first limiting component and the second limiting component are formed on the outer wall of the rotating cylinder 302;

[0044] The first limiting component includes a fixed frame 403. The bottom end of the fixed frame 403 is slidably connected to the top end of the first moving member 402. A second spring shock damping damper 411 is fixedly connected between the bottom end of the fixed frame 403 and the top end of the first moving member 402. A first limiting member 404 is slidably connected inside the fixed frame 403. A first spring shock damping damper 405 is fixedly connected between the first limiting member 404 and the fixed frame 403. A third motor 406 is fixedly connected inside the fixed frame 403. The output end of the third motor 406 is fixedly connected to a turntable member 407. One end of the turntable member 407 is fixedly connected to a cylinder for contacting the first limiting member 404 to cause the movement of the first limiting member 404;

[0045] The second limiting component includes a sliding frame 408. The top end of the sliding frame 408 is slidably connected to the top end inside the moving body 401. A second limiting member 409 is slidably connected inside the sliding frame 408. A reset damper 410 is fixedly connected between the sliding frame 408 and the moving body 401;

[0046] An associated device 8 for switching the limiting relationship between the first limiting member 404 and the rotating cylinder 302 and the limiting relationship between the second limiting member 409 and the rotating cylinder 302 is installed between the first limiting component and the second limiting component.

[0047] The associated device 8 includes a first associated plate 801. Both ends of the first associated plate 801 are slidably connected to both sides inside the moving body 401. A second associated plate 802 is slidably connected inside the moving body 401. A rotating shaft 803 is rotatably connected to the bottom end inside the associated device 8. A rotating rod 804 is fixedly connected to the outer wall of the rotating shaft 803. One side of the rotating rod 804 is movably connected to one side of the first associated plate 801. The other side of the rotating rod 804 is movably connected to one side of the second associated plate 802. One side of the second associated plate 802 is slidably connected to one side of the second limiting member 409. One side of the first associated plate 801 cooperates with one side of the first limiting member 404.

[0048] The robotic arm device 2 includes a robotic arm rotating device, a robotic arm telescoping device, and a robotic arm bending device;

[0049] The robotic arm rotating device includes a turntable 204. The turntable 204 is fixedly installed at the top end of the moving frame 1. The output end of the turntable 204 is fixedly connected to a second base arm 203. The top end of the second base arm 203 is fixedly connected to the robotic arm bending device;

[0050] The robotic arm bending device includes a fourth base arm 205. The bottom end of the fourth base arm 205 is fixed to the top end of the second base arm 203. A fifth base arm 206 is rotatably connected to one side of the fourth base arm 205. A fourth motor 207 for controlling the rotation of the fifth base arm 206 is fixedly connected to the other side of the fourth base arm 205;

[0051] The robotic arm telescoping device includes a first base arm 201. One end of the first base arm 201 is fixed to one end of the fifth base arm 206. A first telescoping arm 202 is slidably connected to the inner wall of the first base arm 201. A telescoping device for controlling the movement of the first telescoping arm 202 is installed between the first base arm 201 and the first telescoping arm 202.

[0052] The rotating assembly 7 includes a second motor 701. The second motor 701 is fixedly installed inside the moving frame 301. A gear ring 702 is fixedly connected to the inside of the rotating cylinder 302. The output end of the second motor 701 is fixedly connected to a second gear 703. The outer wall of the second gear 703 meshes with the outer 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 robotic arm device 2. A space rotating device 902 is fixedly connected to one end of the rotating frame 901. A negative pressure adsorption device 903 is fixedly connected to the moving end of the space rotating device 902.

[0054] The power device 6 includes a first motor 601, which is fixedly installed inside the moving frame 301. The output end of the first motor 601 is fixedly connected to a first gear 602. The outer wall of the first base arm 201 is fixedly connected to a first rack bar 603, and the outer wall of the first telescopic arm 202 is fixedly connected to a second rack bar 604.

[0055] The movement of the robotic arm device 2 can be controlled through the moving frame 1. The moving frame 1 includes a moving trolley or a moving rail vehicle that can move on a track. A radar is installed on the robotic arm. Through the radar, the detection of items inside the tunnel can be achieved. Based on the information collected by the radar, the control of the robotic arm can be realized, thereby avoiding contact or collision between the robotic arm and the items inside the tunnel. This application only shows the structure of a robotic arm. The actual robotic arm can be regarded as composed of several robotic arm rotating devices, robotic arm telescopic devices, and robotic arm bending devices arranged and combined according to a set arrangement. The telescopic end of the telescopic device extends and retracts, thereby controlling the change in the distance between the first base arm 201 and the first telescopic arm 202. The telescopic device is a prior art. The output end of the turntable 204 rotates, causing the change in the angle between the second base arm 203 and the third basic arm. The output end of the fourth motor 207 rotates, and the fifth base arm 206 rotates, causing the change in the angle between the fifth base arm 206 and the fourth base arm 205. Through the transmission inside the above-mentioned robotic arm, the basic operation of the robotic arm is realized, and by controlling the robotic arm, the collision between the robotic arm and the device is avoided. This application only discloses a basic structure. The specific structure can be provided with several robotic arm rotating devices, robotic arm telescopic devices, or robotic arm bending devices on this basic structure according to actual needs, so as to achieve actual needs.

[0056] The execution unit 5 includes an inspection device and a fixture device. The use of the inspection device can achieve the detection inside the tunnel and reduce manual inspection. When the fixture device is adopted, the clamping of items can be realized. In addition to the above devices, there will be other devices, and other functions can be achieved through other devices. By controlling the change in the internal structure of the robotic arm device 2, the position of the execution unit 5 is controlled to reach the execution area, facilitating 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 operation of the execution unit 5.

[0057] The outer wall of the rotary 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 rotary drum 302 through the slide rail. At the same time, when the moving body 401 moves between two adjacent and contacting rotary drums 302, when the moving device 4 moves the two rotary drums 302, the existence of the slide rail can effectively provide effective assistance for the moving device 4. The slide rails are aligned between two adjacent rotary drums 302. Moving components 3 are arranged on the base arm. The moving device 4 can be used to move on the moving components 3, control the movement of the moving components 3 on the base arm, so as to adjust the position of the execution unit 5 on the base arm. Or when it is necessary to move the execution unit 5 on different base arms, the moving device 4 is used to move between two adjacent moving components 3, so that the two adjacent moving components 3 are aligned in position, and then the slide rails on the two rotary drums 302 are aligned, so as to realize the movement of the moving device 4 on the moving components 3, and thus control the positions of the moving device 4 and the execution unit 5 on the robotic arm.

[0058] When the rotating component 7 is started, the rotation of the rotary drum 302 and the execution unit 5 can be realized. The output end of the second motor 701 rotates, the second gear 703 rotates, and the gear ring 702 meshes with the second gear 703. During the rotation of the second gear 703, the rotary drum 302 moves on the moving frame 301.

[0059] The first limiting component can cooperate with the outer wall of the rotary drum 302. The moving end of the first moving part 402 can move back and forth. The moving end of the first moving part 402 exists in the prior art, and the specific structure of the first moving part 402 will not be described here. During the movement of the first moving part 402, at this time, the position between the first limiting component and the rotary drum 302 is restricted. The moving end of the first moving part 402 moves, so as to realize the movement of the moving body 401 through the reaction force. After the moving body 401 moves, the second limiting component realizes the position restriction between the second limiting component and the rotary drum 302. At this time, the moving end of the first moving part 402 moves in the reverse direction, so that the moving end of the first moving part 402 returns to its original position. At this time, the first limiting component can cooperate with the outer wall of the rotary drum 302, and the cooperation and separation between the second limiting component and the outer wall of the rotary drum 302 are realized through the associated component.

[0060] The moving end of the first moving part 402 moves. However, at this time, due to the position restriction between the second limiting component and the rotary drum 302 and the existence of the associated device 8, there is no restriction between the first limiting component and the rotary drum 302. Therefore, the moving end of the first moving part 402 can move smoothly. Then, the switching of the restriction relationship between the first limiting component and the second limiting component is realized through the associated device 8. Through the above process, the movement of the moving body 401 on the rotary drum 302 can be realized.

[0061] After the first limiting component is fitted and restricted with the outer wall of the rotating cylinder 302, the movement of the moving end of the first moving member 402 is then restricted. At this time, the moving end of the first moving member 402 is temporarily fixed to the position of the outer wall of the rotating cylinder 302 through the first limiting component. Therefore, the moving tendency of the moving end of the first moving member 402 causes the moving device 4 to move on the rotating cylinder 302 through the reaction force. Through the transmission of the associated components, the second limiting component is temporarily fixed to the position of the outer wall of the rotating cylinder 302. At this time, the first limiting component will cancel the temporary fixation with the position of the outer wall of the rotating cylinder 302, and the moving end of the first moving member 402 moves in the reverse direction and moves to the position of the limiting groove. The position of the limiting groove is set to facilitate the movement and fixation of the moving device 4.

[0062] Since the above can only achieve one-way movement, the internal structure of the first limiting component is designed to control the two-way movement of the moving device 4, such as Figure 11 As shown, the output end of the third motor 406 rotates, the turntable member 407 and the cylinder rotate, the cylinder contacts the first limiting member 404 and causes the first limiting member 404 to move, and the first spring shock absorber damper 405 is compressed. One of the first limiting members 404 is used, and the other is not used temporarily. When reverse movement is required, the output end of the third motor 406 rotates in the reverse direction, so that the other first limiting member 404 is ejected for use.

[0063] As Figure 10 and Figure 11 shown, when the moving end of the first moving member 402 moves, the second spring shock absorber damper 411 will always apply a force to the fixed frame 403, thereby causing the first limiting member 404 to generate a force, so that when the first limiting member 404 moves to the position of the limiting groove, under the action of the second spring shock absorber damper 411, the first limiting member 404 contacts the inside of the limiting groove, and the fixed frame 403 moves downward. During the downward movement of the fixed frame 403, through the transmission of the associated device 8, the second limiting member 409 moves upward. The reverse moving end of the first moving member 402 moves. Through transmission and reaction force, the moving device 4 moves. When the moving end of the first moving member 402 moves, due to the inclined surface of the first limiting member 404, the first limiting member 404 moves out of the limiting groove, thereby causing the fixed frame 403 to move upward. Through the transmission of the associated device 8, the second limiting member 409 moves downward, and the second limiting member 409 contacts the inside of the limiting groove to fix the position of the moving device 4.

[0064] As Figure 13As shown, when the fixing bracket 403 moves upward, the first associated plate 801 moves upward, which in turn causes the rotating shaft 803 and the rotating rod 804 to rotate, causing the second associated plate 802 to move downward, and further causing the second restricting member 409 to move downward. The above upward and downward movements are only in the directions shown in the figure. Through the design of the associated device 8, through the linkage of the first associated plate 801 and the second associated plate 802, a rapid switching of the restricting relationship between the first restricting member 404 and the second restricting member 409 on the rotating cylinder 302 is achieved, thereby realizing the movement and position fixing of the moving device 4 on the rotating cylinder 302. Through the rapid switching of the restricting relationship between the first restricting member 404 and the second restricting member 409 on the rotating cylinder 302 and the correlation between the realization of the movement and position fixing switching of the moving device 4 on the rotating cylinder 302, the feasibility and practicality of the associated device 8 are ensured.

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

[0066] An auxiliary device is installed between the execution unit 5 and the moving body 401. The auxiliary device is used to assist the execution unit 5 in short-distance movement and small-angle change. The auxiliary device exists in the prior art and includes a three-axis servo moving platform control device, thereby realizing the short-distance movement and small-angle change of the execution unit 5. Based on the robotic arm, the auxiliary device further helps the execution unit 5 to reach the target area more smoothly, so as to realize the fine adjustment of the execution unit 5 in the target area. Through the combined 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 cooperation of the first restricting component and the second restricting component with the restricting holes on the rotating cylinder 302, accurate position locking is achieved or the moving device 4 is moved on the rotating cylinder 302. This design ensures that the robotic arm can accurately reach the predetermined position during task execution and improves the operation accuracy.

[0067] The first motor 601 is internally provided with a self-locking structure, which can restrict the rotation of the output end of the first motor 601. The first motor 601 is a stepping motor. When the self-locking structure cancels the restriction on the output end of the first motor 601, power supply to the first motor 601 at this time can cause the first gear 602 to rotate. At the same time, when the first motor 601 is not powered, when the first gear 602 is driven by the outside, the output end of the first motor 601 will also rotate.

[0068] When there is a change in the distance between the first base arm 201 and the first telescopic arm, at this time, there is a change between the first rack bar 603 fixed on the first base arm and the second rack bar 604 fixed on the first telescopic arm. The power device 6 needs to fix the position of the moving device 4 and the first base arm 201 at this time, or move along with the movement of the first telescopic arm 202. Therefore, when there is a change in the distance between the first base arm 201 and the first telescopic arm 202, its self-locking structure will cancel the restriction according to different selections. When the moving device 4 and the first base arm 201 are fixed in position, the self-locking structure corresponding to the first gear 602 meshing with the second rack bar 604 will cancel the restriction. Therefore, when the second rack bar 604 moves along with the first telescopic arm 202, the first gear 602 will not affect the change in the position between the first base arm 201 and the first telescopic arm 202. And for the first gear 602 meshing with the first rack bar 603, the corresponding self-locking structure will maintain the restriction. Therefore, the moving device 4 and the first base arm 201 are fixed in position. Similarly, when the moving device 4 moves along with the movement of the first telescopic arm 202, the self-locking structure corresponding to the first gear 602 meshing with the second rack bar 604 will maintain the restricted relationship, while the self-locking structure corresponding to the first gear 602 meshing with the first rack bar 603 will cancel the restricted relationship, realizing the movement of the moving device 4 along with the movement of the first telescopic arm 202.

[0069] The robotic arm device 2 moves by controlling the support assembly 9. During use, the negative pressure adsorption device 903 is activated, and the turntable 901 and the spatial rotation device 902 fine-tune the position of the negative pressure adsorption device 903, so as to ensure that the negative pressure adsorption device 903 can adsorb the inner arm of the tunnel, so as to share the force on the head end of the robotic arm assembly and ensure the service life of the robotic arm assembly. Through the nested design of the moving member, the robotic arm device 2, the moving assembly 3 and the moving device 4, this robotic arm can achieve multi-dimensional flexible movement in a narrow tunnel space. Especially the combination of the moving frame 301 and the rotating cylinder 302, and the sliding design of the second moving frame 301 on the rotating cylinder 302 enable the execution unit 5 to move on the robotic arm assembly, enabling the robotic arm to easily handle complex and restricted working environments. When the robotic arm assembly is inconvenient to extend, the execution unit 5 can also be moved to the target position, avoiding the situation that the extension and operation process of the robotic arm take too much time and ensuring the operation efficiency of the robotic arm.

[0070] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended 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 switch 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); 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 absorber (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 absorber (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); The second limiting component comprises 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 a second limiting member (409), and a reset damping member (410) is fixedly connected between the sliding frame (408) and the moving body (401); 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); 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 inner 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).

2. The intelligent robot 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 outer wall of the gear ring (702).

3. The intelligent robot 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).

4. The intelligent robot arm suitable for narrow tunnel space according to claim 1, 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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