Reconfigurable modular miniature mechanical arm for narrow and deep hole cavity structure global maintenance

Abstract

The invention provides a reconfigurable modular miniature mechanical arm for narrow and deep hole cavity structure global maintenance, which is characterized in that a mechanical arm which is telescopic and rotatable and can be spliced by a plurality of modules to extend the total length and the degree of freedom is designed, and the mechanical arm comprises a posture adjusting arm, a telescopic joint, a rotary joint and a plurality of swing joints which are detachably connected in sequence; and finally, a tail end executor used for repairing is connected to a tail end swing joint of the mechanical arm. And the number of the swing joints is selected according to the depth of the space needing to be repaired, so that the mechanical arm can reach the needed depth. The whole mechanical arm is driven by the telescopic joint to stretch out and draw back, the whole mechanical arm is driven by the rotary joint to rotate, the tail end executor is driven by the multiple swing joints to adjust the posture, and the tail end executor is aligned to all position points in the narrow space without dead corners so that repairing can be completed.

Description

Technical Field

[0001] The present invention generally relates to the technical field of robotic arms, and particularly to a reconfigurable modular micro-robotic arm for global maintenance of narrow and deep cavity structures. Background Art

[0002] Aircraft serve in complex and changeable atmospheric environments, facing harsh corrosion environments such as high temperature, high humidity, and high salt fog. Frequent corrosion and fatigue damage of the airframe structure lead to an increase in the frequency of aircraft maintenance and repair. However, the maintenance manpower is limited, so there are problems such as excessive work intensity and low inspection efficiency for ground crew.

[0003] At the same time, due to the requirements of special functions, the number of wing maintenance access covers has been significantly reduced, making it difficult to perform manual maintenance on the narrow and deep cavity space inside the wing. If the method of disassembling, maintaining, and assembling the whole aircraft is adopted, problems such as high work intensity, low maintenance efficiency, and too long maintenance cycle will occur, which will inevitably cause great waste of manpower and material resources.

[0004] Existing robotic arms all have a fixed length and limited telescopic amount; moreover, due to few degrees of freedom, during the maintenance of the inside of the wing, movement dead angles are likely to occur, making it difficult to repair the dead angle positions inside the wing. Summary of the Invention

[0005] In view of the above defects or deficiencies in the prior art, it is desirable to provide a reconfigurable modular micro-robotic arm for global maintenance of narrow and deep cavity structures.

[0006] The present invention provides a reconfigurable modular micro-robotic arm for global maintenance of narrow and deep cavity structures, including: An attitude adjustment arm; A telescopic joint, one end of which is installed on the attitude adjustment arm; A rotary joint, which is connected to the other end of the telescopic joint; A plurality of swing joints, which are detachably connected in sequence; one of the swing joints is connected to the rotary joint; An end effector, which is detachably connected to the swing joint far from the attitude adjustment arm and is used for surface contact in a narrow space to complete repair; The telescopic joint is used to drive the rotary joint, a plurality of swing joints, and the end effector to telescopic along a first direction; The rotary joint is used to drive a plurality of swing joints and the end effector to rotate around an axis parallel to the first direction; The swing joint is used to drive another swing joint or the end effector connected to its end far from the rotary joint to rotate around a second direction; the second direction is perpendicular to the first direction.

[0007] According to the technical solution provided by the present invention, the attitude adjustment arm includes: A first mounting seat; A second mounting seat, which is rotatably connected to the first mounting seat with the third direction as the axis; A first driving device, which is installed in the first mounting seat and connected to the second mounting seat; the rotation axis of the first driving device is parallel to the third direction, and is used to drive the second mounting seat to rotate relative to the first mounting seat with the third direction as the axis; A third mounting seat, which is rotatably connected to the second mounting seat with the fourth direction as the axis; the telescopic joint is fixedly connected to the third mounting seat; A second driving device, which is installed in the second mounting seat and connected to the third mounting seat; the rotation axis of the second driving device is parallel to the fourth direction, and is used to drive the third mounting seat to rotate relative to the second mounting seat with the fourth direction as the axis.

[0008] According to the technical solution provided by the present invention, the telescopic joint includes: A first telescopic tube, which is fixedly connected to the attitude adjustment arm; A third driving device, which is installed in the first telescopic tube; A second telescopic tube, which is arranged in the first telescopic tube, and a first through hole is opened at the end close to the third driving device; A third telescopic tube, which is arranged in the second telescopic tube, and a second through hole is opened at the end close to the third driving device; A first transmission mechanism, which is respectively connected to the first telescopic tube, the second telescopic tube and the third telescopic tube, and passes through the first through hole and the second through hole to be connected to the driving shaft of the third driving device; the first transmission mechanism is used to drive the second telescopic tube to move relative to the first telescopic tube along the first direction and drive the third telescopic tube to move relative to the second telescopic tube along the first direction under the action of the third driving device.

[0009] According to the technical solution provided by the present invention, a first slit is opened on the side wall of the second telescopic tube, and a first threaded hole is opened at the end close to the third driving device; a second threaded hole is opened at the end of the third telescopic tube close to the third driving device; The first transmission mechanism includes: A transmission shaft, which passes through the first through hole and the second through hole to be connected to the driving shaft of the third driving device; a limiting protrusion along the extending direction of the transmission shaft is provided on the outer side wall of the transmission shaft; The first driving gear, a first connection hole is formed on the first driving gear, and the transmission shaft is arranged in the first connection hole; a first limiting groove is formed on the side wall of the first connection hole; The second driving gear, a second connection hole is formed on the second driving gear, and the transmission shaft is slidably arranged in the second connection hole; a second limiting groove is formed on the side wall of the second connection hole; The limiting protrusion is arranged in the first limiting groove and the second limiting groove, and is used for abutting against the first limiting groove and the second limiting groove to drive the first driving gear and the second driving gear to rotate; The first mounting member, the first mounting member is fixedly connected to the inner side wall of the first telescopic tube and passes through the first gap; The second mounting member, the second mounting member is fixedly connected to the inner side wall of the second telescopic tube; The first lead screw, the first lead screw is arranged inside the second telescopic tube, one end is rotatably connected to the part of the first mounting member located inside the second telescopic tube, and the other end is threadedly connected to the first threaded hole; The first driven gear, the first driven gear is fixedly installed on the first lead screw and meshes with the first driving gear; The second lead screw, the second lead screw is threadedly connected to the first threaded hole, and one end is located inside the third telescopic tube, and the other end is rotatably connected to the second mounting member; The second driven gear, the second driven gear is fixedly installed at one end of the second lead screw rotatably connected to the second mounting member and meshes with the second driving gear.

[0010] According to the technical solution provided by the present invention, the telescopic joint further includes: The fifth housing, the fifth housing is fixedly connected to the third telescopic tube; The third connecting male head, the third connecting male head is installed on the fifth housing and is used for detachably connecting with the rotary joint.

[0011] According to the technical solution provided by the present invention, the rotary joint includes: The first housing and the second housing; the first housing is rotatably connected to the second housing; The first connecting female head, the first connecting female head is installed at one end of the first housing close to the telescopic joint and is used for detachably connecting with the telescopic joint; The fourth driving device, the fourth driving device is installed inside the first housing, and the rotating shaft of the fourth driving device is fixedly connected to the second housing, and is used for driving a plurality of the swing joints and the end effector to rotate around an axis parallel to the first direction; The first male connecting head is mounted on the second housing and is used for detachably connecting with the swing joint.

[0012] According to the technical solution provided by the present invention, the swing joint includes: A third housing and a fourth housing; the third housing and the fourth housing are rotatably connected about an axis parallel to the second direction; A second female connecting head is mounted at one end of the third housing close to the slewing joint and is used for detachably connecting with the slewing joint or another swing joint on one side close to the slewing joint; A fifth driving device is mounted inside the third housing; A second transmission mechanism is mounted inside the third housing; the second transmission mechanism is connected to the rotating shaft of the fifth driving device and the fourth housing and is used for driving the fourth housing to rotate relative to the third housing under the action of the fifth driving device; A second male connecting head is mounted on the second housing and is used for detachably connecting with another swing joint on the side away from the slewing joint or the end effector.

[0013] According to the technical solution provided by the present invention, the second transmission mechanism includes: A first bevel gear is rotatably mounted inside the third housing about an axis perpendicular to the second direction and is fixedly connected to the rotating shaft of the fifth driving device; A second bevel gear is rotatably mounted inside the third housing about the second direction and is fixedly connected to the fourth housing; The first bevel gear and the second bevel gear are meshed with each other, and the first bevel gear is used for driving the second bevel gear and the fourth housing to rotate relative to the third housing about the second direction under the action of the fifth driving device.

[0014] According to the technical solution provided by the present invention, a first gas-liquid delivery pipe is installed inside the telescopic joint, and one end of the first gas-liquid delivery pipe is connected to a gas-liquid source; A second gas-liquid delivery pipe is installed inside the slewing joint, and one end of the second gas-liquid delivery pipe is detachably connected to the other end of the first gas-liquid delivery pipe; A third gas-liquid delivery pipe is installed inside the swing joint. One end of the third gas-liquid delivery pipe is detachably connected to the other end of the second gas-liquid delivery pipe or the third gas-liquid delivery pipe inside the swing joint near the rotary joint side, and the other end is detachably connected to the third gas-liquid delivery pipe inside the swing joint on the side away from the rotary joint or the end effector. A fourth gas-liquid delivery pipe is installed inside the end effector for detachably connecting to the third gas-liquid delivery pipe. The gas-liquid source is used to deliver the gas-liquid required for repair to the end effector through the first gas-liquid delivery pipe, the second gas-liquid delivery pipe, multiple third gas-liquid delivery pipes, and the fourth gas-liquid delivery pipe.

[0015] According to the technical solution provided by the present invention, a third connecting female head is installed on the end effector for detachably connecting to the swing joint.

[0016] The beneficial effects of the present invention are as follows: Design a robotic arm that can be telescoped, rotated, and multiple modules can be spliced to extend the total length and degrees of freedom, including: a posture adjustment arm, a telescopic joint, a rotary joint, and multiple swing joints that are sequentially detachably connected; finally, an end effector for repair is connected at the end swing joint of the robotic arm. According to the depth of the space to be repaired, the number of swing joints is selected so that the robotic arm can reach the required depth. Furthermore, the entire robotic arm is driven to telescope by the telescopic joint, rotated by the rotary joint, and the end effector is driven to adjust its posture by multiple swing joints to align with various position points in the narrow space without dead angles for repair. Description of the Drawings

[0017] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more apparent: Figure 1 It is a schematic structural diagram when multiple swing joints are in a straight state; Figure 2 It is a schematic structural diagram when multiple swing joints are in a bent state; Figure 3 It is a schematic diagram of the posture adjustment arm; Figure 4 It is a cross-sectional view of the posture adjustment arm; Figure 5 It is a schematic diagram of the telescopic joint; Figure 6 It is a cross-sectional view of the telescopic joint; Figure 7 It is a schematic diagram of the first transmission mechanism; Figure 8 It is a schematic diagram of the rotary joint; Figure 9 Schematic diagram of the first connecting female head; Figure 10 Schematic diagram of the first connecting male head; Figure 11 Cross-sectional view of the slewing joint; Figure 12 Schematic diagram when a swinging joint is in the straight state; Figure 13 Schematic diagram when a swinging joint is in the bent state; Figure 14 Schematic diagram of the second connecting female head; Figure 15 Schematic diagram of the second connecting male head; Figure 16 Cross-sectional view of the swinging joint; Figure 17 Schematic diagram of the third connecting female head; Figure 18 Cross-sectional view of the device to be repaired; Figure 19 Schematic diagram when multiple swinging joints are in the first bent state; Figure 20 Schematic diagram when multiple swinging joints are in the second bent state; Figure 21 Schematic diagram when multiple swinging joints are in the third bent state; Figure 22 Schematic diagram of the first driving gear; Figure 23 Schematic diagram of the second driving gear; Wherein: 1. Posture adjustment arm; 2. Telescopic joint; 3. Rotary joint; 4. Swing joint; 5. End effector; 6. First mounting seat; 7. Second mounting seat; 8. First driving device; 9. Third mounting seat; 10. Second driving device; 11. First telescopic tube; 12. Third driving device; 13. Second telescopic tube; 14. First through hole; 15. Third telescopic tube; 16. Second through hole; 17. First gap; 18. First threaded hole; 19. Second threaded hole; 20. Transmission shaft; 21. Limit projection; 22. First driving gear; 23. First limit groove; 24. Second driving gear; 25. Second limit groove; 26. First mounting member; 27. Second mounting member; 28. First lead screw; 29. First driven gear; 30. Second lead screw; 31. Second driven gear; 32. First housing; 33. Second housing; 34. First connecting female head; 35. Fourth driving device; 36. First connecting male head; 37. Third housing; 38. Fourth housing; 39. Second connecting female head; 40. Fifth driving device; 41. Second connecting male head; 42. First bevel gear; 43. Second bevel gear; 44. First gas-liquid delivery pipe; 45. Second gas-liquid delivery pipe; 46. Third gas-liquid delivery pipe; 47. Fifth housing; 48. Third connecting male head; 49. Third connecting female head; 50. Fourth gas-liquid delivery pipe; 51. Device to be repaired; 52. First connecting hole; 53. Second connecting hole. Detailed implementation manners

[0018] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that for ease of description, only the parts related to the invention are shown in the drawings.

[0019] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and embodiments.

[0020] Refer to Figure 1 , two sets of swing joints 4 are installed on the robotic arm, and the two sets of swing joints 4 are in a straight state.

[0021] Refer to Figure 2 , four sets of swing joints 4 are installed on the robotic arm, and the four sets of swing joints 4 are in a bent state.

[0022] Refer to Figure 18 , the device to be repaired 51 (a wing in this embodiment) includes three narrow spaces A, B, and C, which are only connected through even narrower round holes.

[0023] Existing robotic arms are misaligned and installed at different joints, making the overall structure wider and difficult to insert into circular holes similar to those in Figure 18 .

[0024] The present invention provides a reconfigurable modular micro-robotic arm for comprehensive maintenance of narrow and deep hole cavity structures, comprising: An attitude adjustment arm 1; A telescopic joint 2, one end of the telescopic joint 2 is installed on the attitude adjustment arm 1; A rotary joint 3, the rotary joint 3 is connected to the other end of the telescopic joint 2; Multiple swing joints 4, the multiple swing joints 4 are detachably connected in sequence; one of the swing joints 4 is connected to the rotary joint 3; An end effector 5, the end effector is detachably connected to the swing joint 4 far from the attitude adjustment arm 1, and is used for surface contact in a narrow space to complete repair; The telescopic joint 2 is used to drive the rotary joint 3, multiple swing joints 4 and the end effector 5 to expand and contract along the first direction; The rotary joint 3 is used to drive the multiple swing joints 4 and the end effector 5 to rotate around an axis parallel to the first direction; The swing joint 4 is used to drive another swing joint 4 or the end effector 5 connected to the end far from the rotary joint 3 to rotate around an axis in the second direction; the second direction is perpendicular to the first direction.

[0025] It should be noted that: the first direction is the extension direction when the multiple swing joints 4 are in a straight state; The second direction changes with the rotation of the rotary joint and is always perpendicular to the first direction.

[0026] The attitude adjustment arm 1 is used to drive the telescopic joint 2, the rotary joint 3, the multiple swing joints 4 and the end effector 5 to rotate around an axis in the third direction or around an axis in the fourth direction; the third direction and the fourth direction are perpendicular to each other, and both the third direction and the fourth direction are perpendicular to the first direction; The third direction is Figure 4 the up and down direction in Figure 4 , and the fourth direction is

[0027] Refer to Figure 1-2 , the multiple swing joints 4 have a straight state and multiple bending states; The telescopic joint 2 is used to drive the rotary joint 3, the multiple swing joints 4 and the end effector 5 to extend into a narrow space when the multiple swing joints 4 are in a straight state; Refer to Figures 19-21When multiple swing joints 4 are in different bending states, the slewing joint 3 rotates, and the multiple swing joints 4 change their bending shapes to drive the end effector 5 to abut against each surface in the narrow space, so as to complete the repair; thus, it is possible to align the position points in the narrow space without dead angles for repair.

[0028] Further, the attitude adjustment arm 1 includes: A first mounting seat 6; A second mounting seat 7, which is rotatably connected to the first mounting seat 6 with the third direction as the axis; A first driving device 8, which is installed in the first mounting seat 6 and is connected to the second mounting seat 7; the rotating shaft of the first driving device is parallel to the third direction and is used to drive the second mounting seat 7 to rotate relative to the first mounting seat 6 with the third direction as the axis; A third mounting seat 9, which is rotatably connected to the second mounting seat 7 with the fourth direction as the axis; the telescopic joint 2 is fixedly connected to the third mounting seat 9; A second driving device 10, which is installed in the second mounting seat 7 and is connected to the third mounting seat 9; the rotating shaft of the second driving device is parallel to the fourth direction and is used to drive the third mounting seat 9 to rotate relative to the second mounting seat 7 with the fourth direction as the axis.

[0029] Specifically, in this embodiment, both the first driving device 8 and the second driving device 9 are servo motors, and the rotating shafts are connected with speed reducers to increase the torque.

[0030] Based on the above design of the attitude adjustment arm, it can drive the telescopic joint, the slewing joint, multiple swing joints and the end effector to face any direction, so as to repair various parts of the device 51 to be repaired in various postures.

[0031] Further, referring to Figures 5-6 the telescopic joint 2 includes: A first telescopic tube 11, which is fixedly connected to the third mounting seat 9 of the attitude adjustment arm 1; A third driving device 12 (a small servo motor), which is installed in the first telescopic tube 11; A second telescopic tube 13, which is arranged in the first telescopic tube 11, and a first through hole 14 is opened at the end close to the third driving device 12; A third telescopic tube 15, which is arranged in the second telescopic tube 13, and a second through hole 16 is opened at the end close to the third driving device 12; The first transmission mechanism is connected to the first telescopic tube 11, the second telescopic tube 13, and the third telescopic tube 15 respectively, and passes through the first through hole 14 and the second through hole 16 to be connected to the drive shaft of the third driving device 12; the first transmission mechanism is used to drive the second telescopic tube 13 to move relative to the first telescopic tube 11 in the first direction and drive the third telescopic tube 15 to move relative to the second telescopic tube 13 in the first direction under the action of the third driving device 12.

[0032] Further, referring to Figure 7 , a first gap 17 is formed in the side wall of the second telescopic tube 13, and a first threaded hole 18 is formed at the end close to the third driving device 12; a second threaded hole 19 is formed at the end of the third telescopic tube 15 close to the third driving device 12; The first transmission mechanism includes: A transmission shaft 20, the transmission shaft 20 passes through the first through hole 14 and the second through hole 16 to be connected to the drive shaft of the third driving device 12; a limiting protrusion 21 is provided on the outer side wall of the transmission shaft along the extending direction of the transmission shaft 20; Referring to Figure 22 , a first driving gear 22, a first connection hole 52 is formed on the first driving gear 22, and the transmission shaft 20 is arranged in the first connection hole; a first limiting groove 23 is formed on the side wall of the first connection hole; Referring to Figure 23 , a second driving gear 24, a second connection hole 53 is formed on the second driving gear 24, and the transmission shaft 20 is slidably arranged in the second connection hole; a second limiting groove 25 is formed on the side wall of the second connection hole; The limiting protrusion 21 is arranged in the first limiting groove 23 and the second limiting groove 25 for abutting against the first limiting groove 23 and the second limiting groove 25 to drive the first driving gear 22 and the second driving gear 24 to rotate; A first mounting member 26, the first mounting member 26 is fixedly connected to the inner side wall of the first telescopic tube 11 and passes through the first gap 17; A second mounting member 27, the second mounting member 27 is fixedly connected to the inner side wall of the second telescopic tube 13; A first lead screw 28, the first lead screw 28 is arranged inside the second telescopic tube 13, one end is rotatably connected to the part of the first mounting member 26 inside the second telescopic tube 13, and the other end is threadedly connected to the first threaded hole 18; A first driven gear 29, the first driven gear 29 is fixedly installed on the first lead screw 28 and meshes with the first driving gear 22; The second lead screw 30 is threadedly connected to the first threaded hole 18, with one end located inside the third telescopic tube 15 and the other end rotatably connected to the second mounting member 27; The second driven gear 31 is fixedly installed at one end of the second lead screw 30 rotatably connected to the second mounting member 27 and meshes with the second driving gear 24.

[0033] It should be noted that the entire transmission process of the telescopic joint 2 includes the extending process and the contracting process.

[0034] The following is the transmission method during the extending process: The third driving device 12 drives the first driving gear 22 and the second driving gear 24 to rotate forward through the transmission shaft 20; The first driven gear 29 and the first lead screw 28, and the second driven gear 31 and the second lead screw 30 all rotate in the reverse direction; During this process, since the first mounting member 26 is fixedly connected to the inner wall of the first telescopic tube 11, the first lead screw 28 interacts with the first threaded hole 18 to drive the second telescopic tube 13 to extend out of the first telescopic tube 11; the part of the first lead screw 28 originally inside the second telescopic tube 13 gradually moves relatively into the space between the first telescopic tube 11 and the second telescopic tube 13.

[0035] Since the second mounting member 27 is fixedly connected to the inner wall of the second telescopic tube 13, the second lead screw 30 interacts with the second threaded hole 19 to drive the third telescopic tube 15 to extend out of the second telescopic tube 13; the part of the second lead screw 30 originally inside the third telescopic tube 15 gradually moves relatively into the space between the third telescopic tube 15 and the second telescopic tube 13.

[0036] The second driving gear 24 slides along the transmission shaft 20 under the action of the second limiting groove 25 and the limiting protrusion 21 during the relative movement of the second telescopic tube 13 and the third telescopic tube 15. During the extending process, the second driving gear 24 moves closer to the first driving gear 22.

[0037] The transmission method during the contracting process is the same as above.

[0038] Furthermore, referring to Figures 5-6 , the telescopic joint 2 further includes: The fifth housing 47 is fixedly connected to the third telescopic tube 15; The third connecting male head 48 is installed on the fifth housing 47 and is used for detachably connecting to the first connecting female head 34 on the slewing joint 3.

[0039] All the male connectors and female connectors mentioned in the present invention are two parts of an aviation plug to achieve electrical connection between different components and different swing joints.

[0040] To avoid the entanglement of pipelines and cables during rotation, all male connectors and female connectors are rotatably installed on the corresponding housing through bearings.

[0041] Further, referring to Figures 8-11 , the slewing joint 3 includes: A first housing 32 and a second housing 33; the first housing 32 and the second housing 33 are rotatably connected through a bearing; A first female connector 34, which is installed at one end of the first housing 32 close to the telescopic joint 2 and is used for detachably connecting with the telescopic joint 2; A fourth driving device 35 (a small servo motor) is installed in the first housing 32, and the rotating shaft of the fourth driving device is fixedly connected with the second housing 33, and is used to drive a plurality of the swing joints 4 and the end effector 5 to rotate around an axis parallel to the first direction, so as to switch different orientations and repair different surfaces in a non-narrow space; A first male connector 36, which is installed on the second housing 33 and is used for detachably connecting with the second female connector 39 of the swing joint 4.

[0042] Further, referring to Figures 12-16 , Figure 12 is a schematic diagram when a swing joint is in a straight state; Figure 13 is a schematic diagram when a swing joint is in a bent state.

[0043] [[ID=z8]]The swing joint 4 includes: A third housing 37 and a fourth housing 38; the third housing 37 and the fourth housing 38 are rotatably connected through a connecting shaft, and can be rotatably connected around an axis parallel to the second direction, and the rotatable angle is plus or minus 90 degrees; Referring to Figure 14 , a second female connector 39, which is installed at one end of the third housing 37 close to the slewing joint 3 and is used for detachably connecting with the slewing joint 3 or another swing joint 4 on the side close to the slewing joint 3; A fifth driving device 40 (a small servo motor) is installed in the third housing 37; The second transmission mechanism is installed within the third housing 37; the second transmission mechanism is connected to the rotating shaft of the fifth driving device and the fourth housing 38, and is configured to drive the fourth housing 38 to rotate relative to the third housing 37 under the action of the fifth driving device 40. Reference Figure 15 , a second connecting male head 41, which is installed on the second housing 33 and is used for detachably connecting to another one of the swing joints 4 or the end effector 5 that is away from one side of the swing joint 3.

[0044] Furthermore, the second transmission mechanism includes: A first bevel gear 42, which is rotatably installed within the third housing 37 with an axis perpendicular to the second direction and is fixedly connected to the rotating shaft of the fifth driving device 40; A second bevel gear 43, which is rotatably installed within the third housing 37 with the second direction as the axis and is fixedly connected to the fourth housing 38; The first bevel gear 42 meshes with the second bevel gear 43, and the first bevel gear 42 is configured to drive the second bevel gear 43 and the fourth housing 38 to rotate relative to the third housing 37 with the second direction as the axis under the action of the fifth driving device 40.

[0045] Specifically, when the fifth driving devices 40 of multiple swing joints rotate by different angles, the multiple swing joints 4 as a whole can be bent in different states. Reference Figures 19-21 , which are schematic diagrams of the multiple swing joints in the first bending state, the first bending state, and the first bending state respectively; in cooperation with the telescopic joint 2, the repair of different positions of the device to be repaired 51 can be completed without dead angles.

[0046] Furthermore, a first gas-liquid delivery pipe 44 is installed within the telescopic joint 2, and one end of the first gas-liquid delivery pipe is connected to a gas-liquid source; Wherein, the inside of the transmission shaft 20 is hollow, and the first gas-liquid delivery pipe 44 passes through the internal space of the transmission shaft 20; A second gas-liquid delivery pipe 45 is installed within the rotary joint 3, and one end of the second gas-liquid delivery pipe is detachably connected to the other end of the first gas-liquid delivery pipe 44; A third gas-liquid delivery pipe 46 is installed within the swing joint 4, and one end of the third gas-liquid delivery pipe 46 is detachably connected to the other end of the second gas-liquid delivery pipe 45 or the third gas-liquid delivery pipe 46 within the swing joint 4 near the rotary joint 3, and the other end is detachably connected to the third gas-liquid delivery pipe 46 within the swing joint 4 away from the rotary joint 3 or the end effector 5; Further, referring to Figure 17 , a third connecting female head 49 is installed on the end effector 5 for detachably connecting with the swing joint 4.

[0047] A fourth gas-liquid delivery pipe 50 is installed inside the end effector 5 for detachably connecting with the third gas-liquid delivery pipe 46; After the robotic arm is assembled, the first gas-liquid delivery pipe 44, the second gas-liquid delivery pipe 45, multiple third gas-liquid delivery pipes 46 and the fourth gas-liquid delivery pipe 50 are connected in sequence; the gas-liquid source is used to deliver the gas and liquid required for repair to the end effector 5 through the first gas-liquid delivery pipe 44, the second gas-liquid delivery pipe 45, multiple third gas-liquid delivery pipes 46 and the fourth gas-liquid delivery pipe 50; thus, the end effector 5 can complete the repair process.

[0048] The working process of the robotic arm of the present invention includes: Multiple swing joints 4 move to the straight state; The telescopic joint 2 drives the rotary joint 3, multiple swing joints 4 and the end effector 5 to extend into the narrow space; The rotary joint 3 drives multiple swing joints 4 and the end effector 5 to rotate to the required direction; Multiple swing joints 4 bend to the required bent shape so that the end effector 5 abuts against the position to be repaired; The gas-liquid source delivers the gas and liquid required for repair to the end effector 5 through the first gas-liquid delivery pipe 44, the second gas-liquid delivery pipe 45, multiple third gas-liquid delivery pipes 46 and the fourth gas-liquid delivery pipe 50; The end effector 5 completes the repair process.

[0049] The above description is only the preferred embodiment of the present invention and the description of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the present invention.

Claims

1. A reconfigurable modular micro-manipulator for global maintenance of narrow and deep cavity structures, characterized in that Comprising: An attitude adjustment arm (1); A telescopic joint (2), one end of the telescopic joint (2) is installed on the attitude adjustment arm (1); A slewing joint (3), the slewing joint (3) is connected to the other end of the telescopic joint (2); A plurality of swing joints (4), the plurality of swing joints (4) are detachably connected in sequence; one of the swing joints (4) is connected to the slewing joint (3); An end effector (5), the end effector is detachably connected to the swing joint (4) far from the attitude adjustment arm (1), and is used for surface abutment in a narrow space to complete repair; The telescopic joint (2) is used to drive the slewing joint (3), the plurality of swing joints (4) and the end effector (5) to telescope along a first direction; The slewing joint (3) is used to drive the plurality of swing joints (4) and the end effector (5) to rotate about an axis parallel to the first direction; The swing joint (4) is used to drive another swing joint (4) or the end effector (5) connected to the end far from the slewing joint (3) to rotate about a second direction; the second direction is perpendicular to the first direction.

2. The reconfigurable modular micro manipulator for global maintenance of narrow and deep cavity structures according to claim 1, characterized in that, The attitude adjustment arm (1) includes: A first mounting base (6); A second mounting base (7), the second mounting base (7) is rotatably connected to the first mounting base (6) about a third direction; A first driving device (8), the first driving device (8) is installed in the first mounting base (6) and is connected to the second mounting base (7); the rotation axis of the first driving device is parallel to the third direction, and is used to drive the second mounting base (7) to rotate relative to the first mounting base (6) about the third direction; A third mounting base (9), the third mounting base (9) is rotatably connected to the second mounting base (7) about a fourth direction; the telescopic joint (2) is fixedly connected to the third mounting base (9); A second driving device (10), the second driving device (10) is installed in the second mounting base (7) and is connected to the third mounting base (9); the rotation axis of the second driving device is parallel to the fourth direction, and is used to drive the third mounting base (9) to rotate relative to the second mounting base (7) about the fourth direction.

3. A reconfigurable modular micro manipulator for global maintenance of narrow and deep cavity structures according to claim 1, characterized in that, The telescopic joint (2) includes: A first telescopic tube (11), the first telescopic tube (11) is fixedly connected to the attitude adjustment arm (1); A third driving device (12), the third driving device (12) is installed in the first telescopic tube (11); A second telescopic tube (13), the second telescopic tube (13) is arranged in the first telescopic tube (11), and a first through hole (14) is opened at the end close to the third driving device (12); A third telescopic tube (15), the third telescopic tube (15) is arranged in the second telescopic tube (13), and a second through hole (16) is opened at the end close to the third driving device (12); The first transmission mechanism is respectively connected to the first telescopic tube (11), the second telescopic tube (13) and the third telescopic tube (15), and passes through the first through hole (14) and the second through hole (16) to be connected to the drive shaft of the third driving device (12); the first transmission mechanism is used to drive the second telescopic tube (13) to move relative to the first telescopic tube (11) in the first direction and drive the third telescopic tube (15) to move relative to the second telescopic tube (13) in the first direction under the action of the third driving device (12).

4. The reconfigurable modular micro manipulator for global maintenance of narrow and deep cavity structures according to claim 3, characterized in that, A first slit (17) is formed in the side wall of the second telescopic tube (13), and a first threaded hole (18) is formed at the end close to the third driving device (12); a second threaded hole (19) is formed at the end of the third telescopic tube (15) close to the third driving device (12). The first transmission mechanism includes: A transmission shaft (20), the transmission shaft (20) passes through the first through hole (14) and the second through hole (16) to be connected to the drive shaft of the third driving device (12); a limiting protrusion (21) is provided on the outer side wall of the transmission shaft along the extending direction of the transmission shaft (20). A first driving gear (22), a first connection hole is formed in the first driving gear (22), and the transmission shaft (20) is arranged in the first connection hole; a first limiting groove (23) is formed in the side wall of the first connection hole. A second driving gear (24), a second connection hole is formed in the second driving gear (24), and the transmission shaft (20) is slidably arranged in the second connection hole; a second limiting groove (25) is formed in the side wall of the second connection hole. The limiting protrusion (21) is arranged in the first limiting groove (23) and the second limiting groove (25) and is used to abut against the first limiting groove (23) and the second limiting groove (25) to drive the first driving gear (22) and the second driving gear (24) to rotate. A first mounting member (26), the first mounting member (26) is fixedly connected to the inner side wall of the first telescopic tube (11) and passes through the first slit (17). A second mounting member (27), the second mounting member (27) is fixedly connected to the inner side wall of the second telescopic tube (13). A first lead screw (28), the first lead screw (28) is arranged inside the second telescopic tube (13), one end is rotatably connected to the part of the first mounting member (26) inside the second telescopic tube (13), and the other end is threadedly connected to the first threaded hole (18). A first driven gear (29), the first driven gear (29) is fixedly installed on the first lead screw (28) and meshes with the first driving gear (22). A second lead screw (30), the second lead screw (30) is threadedly connected to the first threaded hole (18), and one end is inside the third telescopic tube (15), and the other end is rotatably connected to the second mounting member (27). The second driven gear (31) is fixedly installed at one end of the second lead screw (30) rotatably connected to the second mounting member (27), and meshes with the second driving gear (24).

5. The reconfigurable modular micro manipulator for global maintenance of narrow and deep cavity structures according to claim 3, wherein, The telescopic joint (2) further includes: The fifth housing (47) is fixedly connected to the third telescopic tube (15); The third connecting male head (48) is installed on the fifth housing (47) for detachably connecting to the rotary joint (3).

6. The reconfigurable modular micro manipulator for global maintenance of narrow and deep cavity structures according to claim 1, characterized in that, The rotary joint (3) includes: The first housing (32) and the second housing (33); the first housing (32) is rotatably connected to the second housing (33); The first connecting female head (34) is installed at one end of the first housing (32) close to the telescopic joint (2) for detachably connecting to the telescopic joint (2); The fourth driving device (35) is installed in the first housing (32), and the rotating shaft of the fourth driving device is fixedly connected to the second housing (33) for driving the plurality of swing joints (4) and the end effector (5) to rotate about an axis parallel to the first direction; The first connecting male head (36) is installed on the second housing (33) for detachably connecting to the swing joint (4).

7. A reconfigurable modular micro manipulator for global maintenance of narrow and deep cavity structures according to claim 1, characterized in that, The swing joint (4) includes: The third housing (37) and the fourth housing (38); the third housing (37) is rotatably connected to the fourth housing (38) about an axis parallel to the second direction; The second connecting female head (39) is installed at one end of the third housing (37) close to the rotary joint (3) for detachably connecting to the rotary joint (3) or another swing joint (4) on the side close to the rotary joint (3); The fifth driving device (40) is installed in the third housing (37); The second transmission mechanism is installed in the third housing (37); the second transmission mechanism is connected to the rotating shaft of the fifth driving device and the fourth housing (38) for driving the fourth housing (38) to rotate relative to the third housing (37) under the action of the fifth driving device (40); The second connecting male head (41) is installed on the second housing (33) for detachably connecting to another swing joint (4) on the side away from the rotary joint (3) or the end effector (5).

8. The reconfigurable modular micro manipulator for global maintenance of narrow and deep cavity structures according to claim 7, characterized in that The second transmission mechanism includes: The first bevel gear (42) is rotatably installed in the third housing (37) about an axis perpendicular to the second direction and is fixedly connected to the rotating shaft of the fifth driving device (40); A second bevel gear (43) is rotatably mounted about a second direction axis within the third housing (37) and is fixedly connected to the fourth housing (38); The first bevel gear (42) meshes with the second bevel gear (43), and the first bevel gear (42) is configured to drive the second bevel gear (43) and the fourth housing (38) to rotate relative to the third housing (37) about a second direction axis under the action of the fifth drive device (40).

9. The reconfigurable modular micro manipulator for global maintenance of narrow and deep cavity structures according to claim 1, characterized in that, A first gas-liquid delivery pipe (44) is installed within the telescopic joint (2), and one end of the first gas-liquid delivery pipe is connected to a gas-liquid source; A second gas-liquid delivery pipe (45) is installed within the rotary joint (3), and one end of the second gas-liquid delivery pipe is detachably connected to the other end of the first gas-liquid delivery pipe (44); A third gas-liquid delivery pipe (46) is installed within the swing joint (4), and one end of the third gas-liquid delivery pipe (46) is detachably connected to the other end of the second gas-liquid delivery pipe (45) or to the third gas-liquid delivery pipe (46) within the swing joint (4) on the side close to the rotary joint (3), and the other end is detachably connected to the third gas-liquid delivery pipe (46) within the swing joint (4) on the side away from the rotary joint (3) or to the end effector (5); A fourth gas-liquid delivery pipe (50) is installed within the end effector (5) for detachably connecting to the third gas-liquid delivery pipe (46); The gas-liquid source is configured to deliver the gas-liquid required for repair to the end effector (5) through the first gas-liquid delivery pipe (44), the second gas-liquid delivery pipe (45), a plurality of third gas-liquid delivery pipes (46), and the fourth gas-liquid delivery pipe (50).

10. A reconfigurable modular micro-manipulator for global maintenance of narrow and deep cavity structures according to claim 1, characterized in that, A third connecting female head (49) is installed on the end effector (5) for detachably connecting to the swing joint (4).

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