Mechanical arm of inspection robot

Abstract

The utility model discloses a mechanical arm of an inspection robot, and relates to the technical field of inspection robots. The mechanical arm of the inspection robot comprises a driving motor, the driving motor is fixedly connected to a supporting plate, the output end of the driving motor is fixedly connected with a driving assembly in a penetrating mode, the driving assembly is in meshed connection with a toothed belt, the toothed belt is in meshed connection with a driven gear, and the middle of the driven gear is fixedly connected with a rotating assembly in a penetrating mode; the end, away from the supporting plate, of the rotating assembly is fixedly connected with a shell, and a telescopic component is fixedly connected into the shell. The mechanical arm of the inspection robot is high in adaptability and flexibility, high in load bearing and stability and capable of freely stretching out and drawing back within a certain range, and the stretching-out and drawing-back angle can be adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a mechanical arm of an inspection robot. Background Art

[0002] For track-mounted inspection robots used in applications such as bulk material handling and underground pipeline corridors, inspection tasks are crucial, directly impacting the safe operation of equipment, fault prevention, and the efficiency of emergency response. However, traditional inspection robots are often limited in their design by their range and flexibility, making them particularly inadequate when required to enter narrow spaces, navigate obstacles, or operate over long distances.

[0003] To address these issues, telescopic arm technology has been introduced into the design of inspection robots. Through mechanical design, telescopic arms can freely extend and retract within a certain range, thereby increasing the robot's working radius and flexibility. However, most current inspection robot telescopic arms suffer from insufficient adaptability and flexibility, as well as issues with load-bearing capacity and stability. Utility Model Content

[0004] The purpose of the utility model is to provide a mechanical arm of an inspection robot to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides a robotic arm of an inspection robot, the robotic arm comprising: a driving motor, the driving motor being fixed on a support plate, the output end of the driving motor being penetrated and fixedly connected with a driving component, the driving component being meshed with a toothed belt, the toothed belt being meshed with a driven gear, the middle part of the driven gear being penetrated and fixedly connected with a rotating component, the end of the rotating component away from the support plate being fixedly connected to a shell, and the inside of the shell being fixedly connected with a telescopic component.

[0006] Optionally, the drive assembly includes: a first fixing ring, the first fixing ring is fixedly connected to a driving gear, the end of the driving gear away from the first fixing ring is fixedly connected to a second fixing ring, and the output end of the drive motor passes through the first fixing ring, the driving gear and the second fixing ring respectively.

[0007] Optionally, the rotating assembly includes: a rotating disk, the rotating disk passes through and is fixedly connected to the driven gear, the rotating disk is fixedly connected to the housing, and one end of the rotating disk away from the housing is fixedly connected to the driven disk.

[0008] Optionally, a plurality of heat dissipation holes are provided at the bottom of the shell.

[0009] Optionally, the robotic arm also includes: a limiting assembly; the limiting assembly includes: a rotating member and a fixed disk; the rotating member is fixedly connected to the driven disk, the fixed disk is fixedly connected to the support plate, a fixing member is fixedly connected to the side of the bottom end of the fixed disk away from the support plate, the fixing member is fixed to the support plate, and a limiting member is fixedly connected to the fixing member.

[0010] Optionally, the robotic arm further includes: a protective member, wherein the protective member is fixedly connected to a side of the support plate away from the shell.

[0011] Optionally, the telescopic component includes: a fixed plate and a telescopic rod, the fixed plate and the telescopic rod are respectively fixed to the inside of the shell, the output end of the telescopic rod is fixed with a telescopic component, and the telescopic component is slidably connected to the fixed plate.

[0012] Optionally, the telescopic component includes: an outer shell, a telescopic part is fixed to the inside of the outer shell; the telescopic part includes: a special-shaped plate, the special-shaped plate is fixed to the inside of the outer shell, a fixing plate is fixed to the special-shaped plate, and the fixing plate is slidably connected to the sliding plate; the telescopic component also includes: a rotating motor, the rotating motor passes through the sliding plate, the output end of the rotating motor is fixed to a first sprocket, the first sprocket is meshed with a second chain, the second chain is meshed with a second sprocket, the first sprocket and the second sprocket are symmetrically arranged at both ends of the sliding plate, the second chain is fixed with a telescopic special-shaped part, and the telescopic special-shaped part is slidably connected to the sliding plate.

[0013] Optionally, the telescopic assembly further comprises: a plurality of limit blocks and sliding members; the limit blocks are fixedly connected to the end portions at both ends of the fixing plate; and the sliding plate is slidably connected to the fixing plate via the sliding members.

[0014] Optionally, a camera is fixedly connected to the interior of the shell, and the output end of the camera passes through the shell.

[0015] The utility model discloses the following technical effects:

[0016] The utility model drives the driving component to move through the driving motor, and the toothed belt moves accordingly, thereby driving the driven gear. The rotating component can rotate the shell and adjust its angle under the drive of the driven gear; free expansion and contraction within a certain range is achieved through the telescopic component inside the shell; the utility model has strong adaptability and flexibility, high load-bearing capacity and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0018] Figure 1 This is a schematic diagram of the overall structure of the robotic arm of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the drive assembly of the utility model;

[0020] Figure 3 This is a partial structural diagram of the rotating assembly of the utility model;

[0021] Figure 4 This is a schematic diagram of the heat dissipation hole of the utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the limit assembly of the utility model;

[0023] Figure 6 This is a schematic diagram of the telescopic component structure of the utility model;

[0024] Figure 7 This is a schematic diagram of the external structure of the telescopic component of the utility model;

[0025] Figure 8 This is the first schematic diagram of the structure of the telescopic member of the utility model;

[0026] Figure 9 This is the second schematic diagram of the partial structure of the telescopic member of the utility model.

[0027] Figure: 1, driving motor; 2, driving assembly; 3, toothed belt; 4, driven gear; 5, rotating assembly; 6, housing; 7, telescopic component; 8, support plate; 9, limit assembly; 10, protective element; 11, heat dissipation hole; 12, camera; 201, first fixing ring; 202, driving gear; 203, second fixing ring; 501, rotating disk; 502, driven disk; 701, telescopic rod; 702, fixing plate; 703, telescopic Retraction assembly; 7031, housing; 7032, telescopic part; 7033, special-shaped plate; 7034, fixing plate; 7035, sliding plate; 7036, first sprocket; 7037, second chain; 7038, second sprocket; 7039, telescopic special-shaped part; 7040, limit block; 7041, rotating motor; 7042, sliding part; 901, rotating part; 902, fixed disk; 903, fixing part; 904, limit part. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0030] like Figure 1 As shown, a robotic arm of an inspection robot comprises: a drive motor 1, the drive motor 1 is fixed on a support plate 8, the output end of the drive motor 1 is penetrated and fixedly connected with a drive component 2, the drive component 2 is meshedly connected with a toothed belt 3, the toothed belt 3 is meshedly connected with a driven gear 4, the middle part of the driven gear 4 is penetrated and fixedly connected with a rotating component 5, the end of the rotating component 5 away from the support plate 8 is fixedly connected to a shell 6, and the inside of the shell 6 is fixedly connected with a telescopic component 7.

[0031] The present invention directly drives the drive assembly 2 via the drive motor 1, thereby driving the meshing transmission of the toothed belt 3 and the driven gear 4, thereby realizing the rotational movement of the housing 6; the overall structure is compact, which reduces energy loss during the transmission process and improves the flexibility and response speed of the robotic arm. Combining the rotating assembly 5 with the telescopic component 7 built into the housing 6, the robotic arm can achieve multi-degree-of-freedom adjustment in the horizontal and vertical directions, greatly expanding the inspection robot's operating capabilities in complex environments and enabling it to accurately reach and inspect hard-to-reach areas. At the same time, the present invention adopts a sturdy support plate 8 and a stable transmission mechanism to ensure that the robotic arm can maintain a stable operating state when bearing a certain load, making it suitable for carrying various detection instruments and equipment and performing a variety of inspection tasks.

[0032] Application Example 1:

[0033] In the field of power inspection, inspection robots equipped with the robotic arm of the present invention conduct inspections of high-voltage transmission lines and substation equipment. Inspection equipment such as an inspection camera 12 and an infrared thermometer are mounted at the end of the telescopic component 7 of the housing 6. During the inspection process, the drive motor 1 is activated, and the driven gear 4 and the rotating component 5 rotate via the drive assembly 2 and the toothed belt 3, allowing the robotic arm to flexibly adjust its direction and align with the target inspection area. Simultaneously, the telescopic component 7 extends or retracts as needed, ensuring that the inspection equipment can accurately reach the inspection point, achieving a seamless and efficient power inspection operation.

[0034] Application Example 2:

[0035] To meet the inspection needs of complex pipeline networks in the petrochemical industry, the inspection robot is equipped with the robotic arm of the present invention, working in conjunction with a high-definition camera 12, a gas detector, and other equipment. During the inspection process, the robotic arm first rotates and retracts to the appropriate angle and position. The HD camera 12 captures detailed information about the pipeline's appearance, while the gas detector monitors the concentration of harmful gases in the surrounding environment in real time. If an anomaly is detected, the robotic arm can further adjust its posture and cooperate with other detection tools for a deeper inspection, ensuring the safe operation of the petrochemical pipeline.

[0036] like Figure 2 As shown, the driving assembly 2 includes: a first fixing ring 201, the first fixing ring 201 is fixedly connected to a driving gear 202, the end of the driving gear 202 away from the first fixing ring 201 is fixedly connected to a second fixing ring 203, and the output end of the driving motor 1 passes through the first fixing ring 201, the driving gear 202 and the second fixing ring 203 respectively.

[0037] By securing the driving gear 202 between the first and second fixing rings 201, 203, a stable transmission unit is formed. This enhances the overall rigidity of the drive assembly 2, ensuring smoother and more reliable transmission even at high speeds or under high torque, reducing the risk of failure due to vibration or looseness. The driving gear 202 is securely secured between the first and second fixing rings 201, 203, reducing backlash and error during transmission and improving transmission accuracy and stability.

[0038] like Figure 2 and Figure 3 As shown, the rotating assembly 5 includes a rotating disk 501 , which penetrates and is fixedly connected to the driven gear 4 , and is fixedly connected to the housing 6 . An end of the rotating disk 501 away from the housing 6 is fixedly connected to a driven disk 502 .

[0039] Rotating disc 501 securely connects to driven gear 4 and, through fixed housing 6, maintains a tight connection with the rest of the robotic arm. This enhances the stability of the transmission system, reduces transmission errors and vibrations caused by loose or misaligned components, and improves the overall performance of the robotic arm. The dual connection between rotating disc 501 and driven disc 502 allows rotating assembly 5 to withstand greater loads. During inspections, even when carrying heavy testing equipment, rotating assembly 5 maintains stable operation, ensuring the robotic arm can successfully complete its inspection tasks.

[0040] like Figure 4 As shown, a plurality of heat dissipation holes 11 are provided at the bottom of the housing 6 .

[0041] By providing the heat dissipation holes 11, the heat in the housing 6 can be discharged in time, reducing the operating temperature of the internal components, thereby avoiding performance degradation or damage caused by high temperature, and effectively extending the service life of the inspection robot arm.

[0042] like Figure 5 As shown, the robotic arm also includes: a limiting component 9; the limiting component 9 includes: a rotating member 901 and a fixed disk 902; the rotating member 901 is fixedly connected to the driven disk 502, the fixed disk 902 is fixedly connected to the support plate 8, and a fixing member 903 is fixedly connected to the side of the bottom end of the fixed disk 902 away from the support plate 8, the fixing member 903 is fixedly connected to the support plate 8, and a limiting member 904 is fixedly connected to the fixing member 903.

[0043] The limit component 9 sets a clear limit range for the rotational movement of the robot arm by fixing the rotating part 901 to the driven disk 502, and the fixed disk 902 to the support plate 8, effectively preventing the robot arm from colliding or being damaged due to exceeding the safety range during rotation, thereby improving the safety of the inspection operation. The limit component 9 enables the robot arm to automatically stop or be subject to resistance when it reaches the preset rotation angle, avoiding vibration or instability caused by excessive rotation; this helps to maintain the stable posture of the robot arm during operation and improves the accuracy and reliability of the inspection. By setting the limit component 9, the operator does not need to pay attention to the rotation angle of the robot arm at all times, reducing the risk of human error. The limit component 9 can be adjusted and set according to the needs of the specific inspection task to adapt to the operation requirements under different scenarios and conditions;

[0044] Optionally, the robotic arm further includes a protective member 10 , wherein the protective member 10 is fixedly connected to a side of the support plate 8 away from the shell 6 .

[0045] The protective member 10 is fixed to the side of the support plate 8 away from the shell 6, providing protection for the structure of the limiting component of the robotic arm, helping to prevent damage to the robotic arm due to accidental collision or external impact during the inspection process, thereby improving the safety of the inspection operation.

[0046] like Figure 6 As shown, the telescopic component 7 includes: a fixed plate 702 and a telescopic rod 701, the fixed plate 702 and the telescopic rod 701 are respectively fixed to the inside of the shell 6, and the output end of the telescopic rod 701 is fixed with a telescopic component 703, and the telescopic component 703 is slidably connected to the fixed plate 702.

[0047] The stable connection between the fixed plate 702 and the shell 6 and the sliding connection between the telescopic rod 701 and the telescopic assembly 703 enable the free extension and retraction of the robot arm in the length direction; the robot arm can flexibly adjust its working range according to the specific needs of the inspection task, thereby enhancing the flexibility and adaptability of the robot arm. The telescopic component 7 makes it easier for the robot arm to reach some hard-to-reach areas, such as high places, low-lying areas or narrow spaces. This helps the inspection robot perform tasks more comprehensively, reduces the possibility of missing inspection points due to inaccessibility, and improves work efficiency. The fixed connection between the fixed plate 702 and the shell 6 ensures the stability of the telescopic component 7; the sliding connection between the telescopic assembly 703 and the fixed plate 702 ensures stability and reliability during the extension and retraction process, reducing errors and accidents caused by shaking or instability of the robot arm.

[0048] like Figure 7 、 Figure 8 and Figure 9 As shown, the telescopic assembly 703 includes: a shell 7031, a telescopic member 7032 is fixedly connected to the interior of the shell 7031; the telescopic member 7032 includes: a special-shaped plate 7033, the special-shaped plate 7033 is fixed to the interior of the shell 7031, a fixing plate 7034 is fixed to the special-shaped plate 7033, and the fixing plate 7034 is slidably connected to a sliding plate 7035; the telescopic assembly 703 also includes: a rotating motor 7041, the rotating motor 7041 passes through the sliding plate Plate 7035, the output end of the rotating motor 7041 is fixedly connected to a first sprocket 7036, the first sprocket 7036 is meshedly connected to a second chain 7037, the second chain 7037 is meshedly connected to a second sprocket 7038, the first sprocket 7036 and the second sprocket 7038 are symmetrically arranged at both ends of the sliding plate 7035, the second chain 7037 is fixedly connected to a telescopic special-shaped member 7039, and the telescopic special-shaped member 7039 is slidably connected to the sliding plate 7035.

[0049] The sliding connection structure of the profiled plate 7033, the fixed plate 7034, and the sliding plate 7035, as well as the precision transmission system comprising the rotating motor 7041, the first sprocket 7036, the second chain 7037, and the second sprocket 7038, achieves high-precision telescopic control of the telescopic assembly 703. This improves smoothness and stability during the telescopic process, ensures precise control of the telescopic length, and satisfies the high-precision inspection requirements. The structural design of the profiled plate 7033, the fixed plate 7034, and the sliding plate 7035 within the telescopic assembly 703 enables the robot to withstand heavy loads, allowing it to maintain stable operation even when carrying heavy inspection equipment, thereby improving its overall load-bearing capacity and operational efficiency. The gear and chain transmission system is simpler and more compact than traditional hydraulic or pneumatic transmission methods, reducing failure points and maintenance costs. Furthermore, the symmetrical arrangement of the first and second sprockets 7036 and 7038, along with the stable chain transmission, ensures the reliability and durability of the transmission system.

[0050] Preferably, the telescopic assembly 703 further includes: a plurality of limit blocks 7040 and sliding members 7042 ; the limit blocks 7040 are fixedly connected to the ends of both ends of the fixing plate 7034 ; the sliding plate 7035 is slidably connected to the fixing plate 7034 via the sliding members 7042 .

[0051] The fixed connection between the stopper 7040 and the end of the fixed plate 7034 provides a stable boundary for the sliding movement of the sliding plate 7035 on the fixed plate 7034, effectively preventing the sliding plate 7035 from shifting during the extension and retraction process, thereby enhancing the structural stability and operational reliability of the entire telescopic assembly 703. The sliding member 7042, serving as the connecting medium between the sliding plate 7035 and the fixed plate 7034, is selected to be a high-precision, low-friction sliding member 7042, ensuring the smoothness and accuracy of the sliding plate 7035 during the extension and retraction process.

[0052] In addition, the utility model can also provide two groups of vertically symmetrical telescopic components (7) inside the housing (6).

[0053] Optionally, a camera 12 is further fixedly connected to the interior of the housing 6 , and an output end of the camera 12 passes through the housing 6 .

[0054] The camera 12 captures and transmits image information of the surrounding work area in real time, which increases the function of visual monitoring and provides more comprehensive and intuitive data support for inspection, testing and other tasks.

[0055] Application Example 3:

[0056] The inspection robot's robotic arm plays a vital role in patrolling complex environments, such as high-risk areas like chemical plants and nuclear power plants. The precise coordination of the drive motor 1 and the transmission components allows the robotic arm to maneuver flexibly within narrow and winding spaces. Furthermore, the telescopic function of the telescopic component 7 enables the robotic arm to reach higher or further afield. The camera 12 captures and transmits real-time image information of the patrol area for remote monitoring and analysis. This improves inspection efficiency and accuracy while reducing the risk of personnel entering high-risk areas.

[0057] Overall operation process:

[0058] The utility model drives the driving component 2 to rotate by the driving motor 1, and the driving component 2 drives the toothed belt 3 to move the driven gear 4, and the rotating component 5 moves accordingly, while the limit component 9 prevents excessive rotation; the shell 6 rotates with the rotating component 5, and the telescopic component 7 inside the shell 6 can be telescoped according to actual work. In areas where the distance is too far or too narrow, the telescopic part 7032 of the telescopic assembly 703 in the telescopic component 7 is telescoped to achieve the expected working purpose; the rotating motor 7041 in the telescopic part 7032 drives the first sprocket 7036, the first sprocket 7036 drives the second chain 7037, and the second chain 7037 drives the telescopic special-shaped part 7039 to achieve telescoping.

[0059] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0060] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements to the technical solutions of the present invention made by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A robotic arm of an inspection robot, characterized in that: The robotic arm comprises: a driving motor (1), the driving motor (1) is fixedly connected to a support plate (8), an output end of the driving motor (1) is fixedly connected to a driving component (2), the driving component (2) is meshedly connected to a toothed belt (3), the toothed belt (3) is meshedly connected to a driven gear (4), a rotating component (5) is fixedly connected to the middle of the driven gear (4), an end of the rotating component (5) away from the support plate (8) is fixedly connected to a shell (6), and a telescopic component (7) is fixedly connected inside the shell (6).

2. The mechanical arm of the inspection robot according to claim 1, characterized in that: The driving assembly (2) comprises a first fixing ring (201), the first fixing ring (201) being fixedly connected to a driving gear (202), an end of the driving gear (202) away from the first fixing ring (201) being fixedly connected to a second fixing ring (203), and an output end of the driving motor (1) passing through the first fixing ring (201), the driving gear (202) and the second fixing ring (203) respectively.

3. The mechanical arm of the inspection robot according to claim 1, characterized in that: The rotating assembly (5) comprises a rotating disk (501), the rotating disk (501) passes through and is fixedly connected to the driven gear (4), the rotating disk (501) is fixedly connected to the housing (6), and one end of the rotating disk (501) away from the housing (6) is fixedly connected to a driven disk (502).

4. The mechanical arm of the inspection robot according to claim 1, characterized in that: A plurality of heat dissipation holes (11) are provided at the bottom of the housing (6).

5. The mechanical arm of the inspection robot according to claim 3, characterized in that: The robotic arm further comprises: a limiting assembly (9); the limiting assembly (9) comprises: a rotating member (901) and a fixed disk (902); the rotating member (901) is fixedly connected to the driven disk (502), the fixed disk (902) is fixedly connected to the support plate (8), a fixing member (903) is fixedly connected to the side of the bottom end of the fixed disk (902) away from the support plate (8), the fixing member (903) is fixedly connected to the support plate (8), and a limiting member (904) is fixedly connected to the fixing member (903).

6. The mechanical arm of the inspection robot according to claim 5, characterized in that: The robotic arm further comprises a protective member (10), wherein the protective member (10) is fixedly connected to a side of the support plate (8) away from the housing (6).

7. The mechanical arm of the inspection robot according to claim 1, characterized in that: The telescopic component (7) comprises: a fixed plate (702) and a telescopic rod (701); the fixed plate (702) and the telescopic rod (701) are respectively fixedly connected to the interior of the housing (6); a telescopic assembly (703) is fixedly connected to the output end of the telescopic rod (701); and the telescopic assembly (703) is slidably connected to the fixed plate (702).

8. The mechanical arm of the inspection robot according to claim 7, characterized in that: The telescopic assembly (703) comprises: a housing (7031), wherein a telescopic member (7032) is fixedly connected to the interior of the housing (7031); the telescopic member (7032) comprises: a special-shaped plate (7033), wherein the special-shaped plate (7033) is fixedly connected to the interior of the housing (7031), wherein a fixing plate (7034) is fixedly connected to the special-shaped plate (7033), and wherein the fixing plate (7034) is slidably connected to a sliding plate (7035); the telescopic assembly (703) further comprises: a rotating motor (7041), wherein the rotating motor (7041) passes through the sliding plate (7035); The sliding plate (7035) is provided with a first sprocket (7036) fixedly connected to the output end of the rotating motor (7041), the first sprocket (7036) is meshedly connected to a second chain (7037), the second chain (7037) is meshedly connected to a second sprocket (7038), the first sprocket (7036) and the second sprocket (7038) are symmetrically arranged at both ends of the sliding plate (7035), a telescopic special-shaped member (7039) is fixedly connected to the second chain (7037), and the telescopic special-shaped member (7039) is slidably connected to the sliding plate (7035).

9. The mechanical arm of the inspection robot according to claim 8, characterized in that: The telescopic assembly (703) further comprises: a plurality of limit blocks (7040) and sliding members (7042); the limit blocks (7040) are fixedly connected to the ends of both ends of the fixing plate (7034); and the sliding plate (7035) is slidably connected to the fixing plate (7034) via the sliding members (7042).

10. The mechanical arm of the inspection robot according to claim 7, characterized in that: A camera (12) is also fixedly connected inside the housing (6), and an output end of the camera (12) passes through the housing (6).

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