Auxiliary mechanical arm for industrial endoscope

Abstract

The auxiliary mechanical arm for the industrial endoscope relates to the technical field of auxiliary mechanical arms and comprises a handle, a first fixing rod is fixedly connected to the top of the handle, connecting rings are movably connected to a first protruding block and a second protruding block respectively, a clamping structure is arranged in the first fixing block, and a second fixing block is arranged in the second fixing block. And through holes are formed in the first fixing rod, the second fixing rod and the auxiliary rod. According to the auxiliary mechanical arm, the through hole and the clamping structure are matched with each other, when an endoscope probe is flush with the end of the auxiliary rod, the probe is clamped through the clamping structure, then the whole auxiliary mechanical arm is inserted into a pipeline, and after the probe completely extends out of the auxiliary rod, the probe is clamped and fixed again through the clamping structure; according to the auxiliary mechanical arm for the industrial endoscope, the endoscope probe can be well protected, then the auxiliary mechanical arm can be flexibly used in cooperation with the endoscope to detect the situation in a pipeline, and the practicability and flexibility of the whole auxiliary mechanical arm for the industrial endoscope can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of auxiliary robotic arms, in particular to an auxiliary robotic arm for an industrial endoscope. Background Technique

[0002] An industrial endoscope is a special non-destructive testing instrument, mainly used for detecting equipment, pipelines, internal structures, etc. in the fields of machining, manufacturing, maintenance engineering, etc. It can observe the internal condition in a visual way without disassembling the machine equipment, ensure the normal operation of the equipment, reduce damage and faults, and improve work efficiency and production benefits.

[0003] An auxiliary robotic arm for an industrial endoscope is a specially designed robotic arm system, designed to be used in combination with an industrial endoscope to achieve precise detection and observation of the internal structure of equipment that is difficult to directly reach or observe. The robotic arm can send the endoscope probe into the equipment interior, and through its flexible joints and precise control capabilities, position the probe at the target position to be detected. Through the extension and bending capabilities of the robotic arm, the detection range of the endoscope can be expanded, enabling it to reach farther areas or more inaccessible corners.

[0004] The patent with the publication number of CN207249239U discloses an industrial endoscope auxiliary robotic arm, which fixes the industrial endoscope probe on a catheter, and realizes the rigid bending and deflection of the endoscope probe through the rotation of a handle and the sliding of a slider on a guide rail. The utility model has strong versatility, a simple structure, light weight, is convenient to carry, easy to operate, and can cope with the complex working conditions of industrial endoscopes.

[0005] However, in the comparative document, only a set of sliders and a traction rod cooperate with each other to guide the catheter, with poor flexibility, and it cannot well adapt to pipelines with relatively complex environments. Moreover, no clamping structure for the detection head is provided inside the catheter. When the auxiliary robotic arm is inserted into the pipeline during use, the detection head contacts the pipeline first, which may cause wear to the detection head and affect the detection effect of the detection head. Content of the Utility Model

[0006] Based on this, the purpose of the present utility model is to provide an auxiliary robotic arm for an industrial endoscope to solve the technical problems in the comparative document that only a set of sliders and a traction rod cooperate with each other to guide the catheter, with poor flexibility, and it cannot well adapt to pipelines with relatively complex environments. Moreover, no clamping structure for the detection head is provided inside the catheter. When the auxiliary robotic arm is inserted into the pipeline during use, the detection head contacts the pipeline first, which may cause wear to the detection head and affect the detection effect of the detection head.

[0007] To achieve the above object, the present utility model provides the following technical solutions: An auxiliary robotic arm for an industrial endoscope, including a handle, a first fixing rod is fixedly connected to the top of the handle, one end of the first fixing rod is fixedly connected to a second fixing rod, an auxiliary rod is fixedly connected to one side of the second fixing rod, a first fixing block is fixedly connected to the outer side of the end of the auxiliary rod, a plurality of sliders are slidably connected to the outer side of the second fixing rod, a first convex block is fixedly connected to the outer side of each slider, a plurality of second convex blocks are arranged on the outer side of the first fixing block, connecting rings are movably connected to the first convex blocks and the second convex blocks, a traction rope is fixedly connected between the connecting rings, the auxiliary rod is made of multiple sections of corrugated pipes, a clamping structure is arranged in the first fixing block, and through holes are opened in the first fixing rod, the second fixing rod and the auxiliary rod.

[0008] By adopting the above technical solutions, during use, through the mutual cooperation between the through holes and the clamping structure, the probe of the endoscope is inserted into the auxiliary robotic arm. When the endoscope probe is flush with the end of the auxiliary rod, the probe is clamped by the clamping structure. Then the entire auxiliary robotic arm is inserted into the pipeline. At the same time, the position of the slider can be adjusted according to the actual situation. Since the auxiliary rod is made of multiple sections of corrugated pipes, it has a certain degree of flexibility, and then the angle of the auxiliary rod can be changed to better adapt to the shape of the pipeline. When the auxiliary robotic arm moves to a suitable position, the clamping of the endoscope probe is released by the clamping structure, and then the detection rope is inserted downward through the through hole so that the endoscope probe can completely extend out of the auxiliary rod. When the probe completely extends out of the auxiliary rod, the probe is clamped and fixed again by the clamping structure, which can provide a good protection effect on the endoscope probe. Then the auxiliary robotic arm can be flexibly used in cooperation with the endoscope to detect the situation inside the pipeline. With this structure, the practicability and flexibility of the entire auxiliary robotic arm for an industrial endoscope can be improved.

[0009] The present utility model is further configured such that the clamping structure includes multiple clamping blocks, multiple movable rods, multiple air storage pipes, and a gas guiding ring. Multiple air storage pipes are fixedly installed in the first fixing block. Multiple movable rods are located inside the air storage pipes, and one end of each movable rod penetrates through the air storage pipe. Multiple clamping blocks are fixedly connected to one end of the multiple movable rods. The gas guiding ring is fixed inside the first fixing block and is located at the bottom of the multiple air storage pipes. Air holes for cooperating with the gas guiding ring are opened at the bottom of the air storage pipes, and cavities are opened inside the air storage pipes.

[0010] By adopting the above technical solution, the movable rod is located inside the gas storage pipe, one end penetrates through the gas storage pipe and is fixedly connected to the clamping block. When the gas pressure inside the gas storage pipe changes, the movable rod will move accordingly, thereby driving the clamping block to open and close. The cavity opened inside the gas storage pipe is used to store and transfer gas. By controlling the pressure and flow rate of the gas inside the gas storage pipe, precise control of the clamping force can be achieved, which is beneficial to flexibly clamping and fixing the endoscope probe. The air guide ring is fixed inside the first fixing block and is located at the bottom of multiple gas storage pipes. It is connected to the gas storage pipes through air holes, enabling the gas to enter each gas storage pipe evenly, thus ensuring the uniformity and stability of the clamping force.

[0011] The present utility model is further configured such that a second fixing block is fixedly connected to the outside of the first fixing rod, a third fixing block is fixedly connected to the outside of the first fixing block, the third fixing block is fixedly connected to the air guide ring, a gas guide pipe is connected between the second fixing block and the third fixing block, and an air inlet for cooperating with the gas guide pipe is opened at the top of the second fixing block.

[0012] By adopting the above technical solution, the mutual cooperation between the second fixing block and the third fixing block is beneficial for connecting and using the gas guide pipe and the air guide ring, thereby enabling the entire airway to be connected. Then, inflation and air extraction can be carried out through the air inlet, further ensuring the smoothness of gas transmission.

[0013] The present utility model is further configured such that limiting blocks are fixedly connected to the inner sides of the sliders, and multiple sliding grooves for cooperating with the limiting blocks are opened on the outside of the second fixing rod.

[0014] By adopting the above technical solution, the mutual cooperation between the limiting blocks and the sliding grooves is beneficial for enabling the sliders to slide flexibly on the second fixing rod.

[0015] The present utility model is further configured such that the gas guide pipe is made of a telescopic pipe, and an installation groove for cooperating with the gas storage pipe is opened inside the first fixing block.

[0016] By adopting the above technical solution, when the gas guide pipe is made of a telescopic rod, it can adapt to the requirements of different lengths and angles, making the entire auxiliary robotic arm for industrial endoscopes more flexible and variable. The telescopic pipe can adaptively adjust according to the state of the auxiliary rod, thereby maintaining the tightness and stability of the air guide structure connection. Secondly, opening the installation groove inside the first fixing block is beneficial for flexibly installing and disassembling the gas storage pipe.

[0017] The present utility model is further configured such that a protective sleeve is provided on the outside of the handle, and the protective sleeve is made of silica gel material.

[0018] By adopting the above technical solution, when the protective sleeve is made of silica gel material, it can resist wear and scratches during daily use, thereby extending the service life of the handle. Moreover, the silica gel material has a soft and skin-friendly touch, bringing a comfortable gripping experience when contacting the human skin.

[0019] The present utility model is further configured such that a rubber pad is provided on the inner surface of the clamping block.

[0020] By adopting the above technical solution, the rubber pad provided on the inner surface of the clamping block has good elasticity, which can play a buffering effect when the clamping block clamps the endoscope probe, preventing the endoscope probe from being deformed or damaged due to the impact force generated by direct clamping. Moreover, the rubber pad can cover the entire contact surface between the clamping block and the endoscope probe, thereby effectively increasing the clamping area and playing a more stable clamping role on the endoscope probe.

[0021] In summary, the present utility model mainly has the following beneficial effects:

[0022] 1. Through the mutual cooperation between the through hole and the clamping structure of the present utility model, the probe of the endoscope is inserted into the auxiliary robotic arm. When the endoscope probe is flush with the end of the auxiliary rod, the probe is clamped by the clamping structure, and then the entire auxiliary robotic arm is inserted into the pipeline. At the same time, the position of the slider can be adjusted according to the actual situation. The auxiliary rod is made of multiple sections of corrugated pipes and has a certain flexibility. Then, the angle of the auxiliary rod can be changed to better adapt to the shape of the pipeline. When the auxiliary robotic arm moves to a suitable position, the clamping of the endoscope probe by the clamping structure is released, and then the detection rope is inserted downward through the through hole so that the endoscope probe can completely extend out of the auxiliary rod. When the probe completely extends out of the auxiliary rod, the probe is clamped and fixed again by the clamping structure, which can play a good protective effect on the endoscope probe. Then, the auxiliary robotic arm can be flexibly used in cooperation with the endoscope to detect the situation inside the pipeline. With this structure, the practicability and flexibility of the entire auxiliary robotic arm for industrial endoscopes can be improved;

[0023] 2. In the present utility model, the movable rod is located inside the air storage pipe, with one end passing through the air storage pipe and being fixedly connected to the clamping block. When the gas pressure inside the air storage pipe changes, the movable rod will move accordingly, thereby driving the clamping block to open and close. The cavity provided inside the air storage pipe is used to store and transmit gas. By controlling the pressure and flow rate of the gas inside the air storage pipe, precise control of the clamping force can be achieved, which is beneficial for flexibly clamping and fixing the endoscope probe. The air guiding ring is fixed inside the first fixing block and is located at the bottom of multiple air storage pipes. It is connected to the air storage pipes through air holes, enabling the gas to enter each air storage pipe evenly, thereby ensuring the uniformity and stability of the clamping force. Description of the Drawings

[0024] Figure 1Schematic diagram of the overall structure of the present utility model;

[0025] Figure 2 First perspective schematic diagram of the disassembled structure of the present utility model;

[0026] Figure 3 Second perspective schematic diagram of the disassembled structure of the present utility model;

[0027] Figure 4 Schematic diagram of the main structure of the present utility model.

[0028] In the figure: 1, handle; 2, first fixing rod; 3, second fixing rod; 4, auxiliary rod; 5, first fixing block; 6, through hole; 7, second fixing block; 8, air inlet; 9, air duct; 10, sliding groove; 11, slider; 12, first convex block; 13, towing rope; 14, second convex block; 15, protective sleeve; 16, limiting block; 17, clamping block; 18, air storage pipe; 19, movable rod; 20, installation groove; 21, air guide ring; 22, connecting ring; 23, cavity; 24, third fixing block. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present utility model, and should not be construed as a limitation to the present utility model.

[0030] Next, the embodiments of the present utility model will be described according to the overall structure of the present utility model.

[0031] An auxiliary robotic arm for an industrial endoscope, as Figures 1-4 shown, includes a handle 1. The top of the handle 1 is fixedly connected to a first fixing rod 2. One end of the first fixing rod 2 is fixedly connected to a second fixing rod 3. One side of the second fixing rod 3 is fixedly connected to an auxiliary rod 4. The outer side of the end of the auxiliary rod 4 is fixedly connected to a first fixing block 5. A plurality of sliders 11 are slidably connected to the outer side of the second fixing rod 3. First convex blocks 12 are fixedly connected to the outer sides of the sliders 11. A plurality of second convex blocks 14 are arranged on the outer side of the first fixing block 5. Connecting rings 22 are movably connected to both the first convex block 12 and the second convex block 14. A towing rope 13 is fixedly connected between the connecting rings 22. The auxiliary rod 4 is made of a multi-joint corrugated pipe. A clamping structure is arranged in the first fixing block 5. Through holes 6 are opened in the first fixing rod 2, the second fixing rod 3, and the auxiliary rod 4.

[0032] During use, through the mutual cooperation between the through hole 6 and the clamping structure, the probe of the endoscope is inserted into the auxiliary robotic arm. When the endoscope probe is flush with the end of the auxiliary rod 4, the probe is clamped by the clamping structure. Then, the entire auxiliary robotic arm is inserted into the pipeline. At the same time, the position of the slider 11 can be adjusted according to the actual situation. The auxiliary rod 4 is made of multiple sections of bellows and has a certain degree of flexibility. Then, the angle of the auxiliary rod 4 can be changed to better adapt to the shape of the pipeline. When the auxiliary robotic arm moves to the appropriate position, the clamping of the endoscope probe is released by the clamping structure. Then, the detection rope is inserted downward through the through hole 6 so that the endoscope probe can completely extend out of the auxiliary rod 4. When the probe completely extends out of the auxiliary rod 4, the probe is clamped and fixed again by the clamping structure, which can provide good protection for the endoscope probe. Then, the auxiliary robotic arm can be flexibly used in cooperation with the endoscope to detect the situation inside the pipeline. With this structure, the practicability and flexibility of the entire auxiliary robotic arm for industrial endoscopes can be improved.

[0033] Furthermore, the movable rod 19 is located inside the gas storage pipe 18, and one end penetrates through the gas storage pipe 18 and is fixedly connected to the clamping block 17. When the gas pressure in the gas storage pipe 18 changes, the movable rod 19 will move accordingly, thereby driving the clamping block 17 to perform an opening and closing movement. The cavity 23 opened in the gas storage pipe 18 is used to store and transfer gas. By controlling the pressure and flow rate of the gas in the gas storage pipe 18, precise control of the clamping force can be achieved, which is beneficial for flexibly clamping and fixing the endoscope probe. The air guide ring 21 is fixed inside the first fixing block 5 and is located at the bottom of multiple gas storage pipes 18. It is connected to the gas storage pipe 18 through air holes, which can enable the gas to enter each gas storage pipe 18 evenly, thus ensuring the uniformity and stability of the clamping force. The mutual cooperation between the second fixing block 7 and the third fixing block 24 is beneficial for connecting and using the air guide pipe 9 and the air guide ring 21, thereby connecting the entire air passage. Then, inflation and deflation can be carried out through the air inlet 8, further ensuring the smoothness of gas transmission.

[0034] In this embodiment, the mutual cooperation between the limit block 16 and the sliding groove 10 is beneficial to enabling the slider 11 to slide flexibly on the second fixed rod 3. When the air guide tube 9 is made of a telescopic rod, it can adapt to the requirements of different lengths and angles, making the entire auxiliary robotic arm for industrial endoscopes more flexible and variable. The telescopic tube can adaptively adjust according to the state of the auxiliary rod 4, so as to maintain the tightness and stability of the air guide structure connection. Secondly, the installation groove 20 provided in the first fixed block 5 is beneficial to the flexible installation and disassembly of the air storage tube 18. When the protective sleeve 15 is made of silica gel material, it can resist wear and scratches during daily use, thereby prolonging the service life of the handle 1. Moreover, the silica gel material has a soft and skin-friendly touch, which can bring a comfortable holding experience when contacting the human skin. The rubber pad provided on the inner surface of the clamping block 17 has good elasticity, which can play a buffering effect when the clamping block 17 clamps the endoscope probe, preventing the endoscope probe from being deformed or damaged due to the impact force generated by direct clamping. And the rubber pad can cover all the contact surfaces between the clamping block 17 and the endoscope probe, thereby effectively increasing the clamping area and playing a more stable clamping role on the endoscope probe.

[0035] Although the embodiments of the present invention have been shown and described, the specific embodiments are only explanations of the present invention and not limitations thereof. The specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can make modifications, substitutions and variations that do not make creative contributions to the embodiments according to needs, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An auxiliary robotic arm for an industrial endoscope, comprising a handle (1), characterized in that: A first fixing rod (2) is fixedly connected to the top of the handle (1). One end of the first fixing rod (2) is fixedly connected to a second fixing rod (3). An auxiliary rod (4) is fixedly connected to one side of the second fixing rod (3). A first fixing block (5) is fixedly connected to the outer side of the end of the auxiliary rod (4). A plurality of sliding blocks (11) are slidably connected to the outer side of the second fixing rod (3). First convex blocks (12) are fixedly connected to the outer sides of the sliding blocks (11). A plurality of second convex blocks (14) are arranged on the outer side of the first fixing block (5). Connecting rings (22) are movably connected to the first convex blocks (12) and the second convex blocks (14). A traction rope (13) is fixedly connected between the connecting rings (22). The auxiliary rod (4) is made of a multi-section corrugated pipe. A clamping structure is arranged in the first fixing block (5). Through holes (6) are opened in the first fixing rod (2), the second fixing rod (3), and the auxiliary rod (4).

2. The auxiliary robotic arm for an industrial endoscope according to claim 1, characterized in that: The clamping structure includes a plurality of clamping blocks (17), a plurality of movable rods (19), a plurality of air storage pipes (18), and a gas guiding ring (21). A plurality of the air storage pipes (18) are fixedly installed in the first fixing block (5). The plurality of movable rods (19) are located inside the air storage pipes (18), and one end of the movable rod (19) penetrates through the air storage pipe (18). A plurality of clamping blocks (17) are fixedly connected to one end of the plurality of movable rods (19). The gas guiding ring (21) is fixed inside the first fixing block (5), and the gas guiding ring (21) is located at the bottom of the plurality of air storage pipes (18). Air holes for cooperating with the gas guiding ring (21) are opened at the bottom of the air storage pipes (18). A cavity (23) is opened in the air storage pipes (18).

3. The auxiliary robotic arm for an industrial endoscope according to claim 2, characterized in that: A second fixing block (7) is fixedly connected to the outer side of the first fixing rod (2). A third fixing block (24) is fixedly connected to the outer side of the first fixing block (5). The third fixing block (24) is fixedly connected to the gas guiding ring (21). A gas guiding pipe (9) is connected between the second fixing block (7) and the third fixing block (24). An air inlet (8) for cooperating with the gas guiding pipe (9) is opened at the top of the second fixing block (7).

4. The auxiliary robotic arm for an industrial endoscope according to claim 1, characterized in that: Limit blocks (16) are fixedly connected to the inner sides of the sliding blocks (11). A plurality of sliding grooves (10) for cooperating with the limit blocks (16) are opened on the outer side of the second fixing rod (3).

5. The auxiliary robotic arm for industrial endoscopes according to claim 3, wherein: The gas guiding pipe (9) is made of a telescopic pipe. An installation groove (20) for cooperating with the air storage pipes (18) is opened in the first fixing block (5).

6. The auxiliary robotic arm for an industrial endoscope according to claim 1, wherein: A protective sleeve (15) is arranged on the outer side of the handle (1). The protective sleeve (15) is made of a silicone material.

7. The auxiliary robotic arm for an industrial endoscope according to claim 2, characterized in that: A rubber pad is arranged on the inner surface of the clamping block (17).

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