A reconfigurable modular micro-manipulator for global maintenance of narrow and deep cavity structure

Abstract

The utility model provides a reconfigurable modular micro -mechanical arm to the whole domain maintenance of facing narrow deep hole cavity structure, include: design a telescopic rotation and can multiple module splicing lengthening total length and degree of freedom's mechanical arm, include: posture adjusting arm, telescopic joint, rotary joint, a plurality of swing joint of detachable connection in proper order; finally in the end swing joint of mechanical arm place is connected for the end effector of repair. According to the depth of the space of need repair, the number of swing joint is selected, so that the mechanical arm can reach the required depth. Further through telescopic joint drive whole mechanical arm produces telescopic, through rotary joint drive whole mechanical arm rotates, through a plurality of swing joint drive end effector adjustment posture, no dead anglely aligns each position point in narrow space, so as to complete repair.

Description

Technical Field

[0001] This utility model generally relates to the field of robotic arm technology, and specifically to a reconfigurable modular micro robotic arm for full-domain inspection of narrow and deep cavity structures. Background Technology

[0002] Aircraft operate in complex and ever-changing atmospheric environments, facing harsh corrosive conditions such as high temperature, high humidity, and high salt spray. Frequent corrosion and fatigue damage to the airframe structure lead to an increase in the frequency of aircraft maintenance and repair. However, maintenance manpower is limited, resulting in problems such as excessive workload for ground staff and low inspection efficiency.

[0003] Meanwhile, due to the requirements of special functions, the number of wing maintenance access panels has been greatly reduced, making it difficult to perform manual maintenance in the narrow and deep cavities inside the wings. If the method of disassembling, inspecting, and assembling the entire aircraft is adopted, problems such as high workload, low maintenance efficiency, and excessively long maintenance cycles will occur, which will inevitably lead to a great waste of human and material resources.

[0004] Existing robotic arms all have a fixed length and limited extension range; moreover, due to the limited degrees of freedom, blind spots are easily created during the maintenance of the wing interior, making it difficult to repair the blind spots inside the wing. Utility Model Content

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a reconfigurable modular micro-manipulator for full-domain inspection of narrow and deep cavity structures.

[0006] This utility model provides a reconfigurable modular micro-robotic arm for full-domain inspection of narrow and deep cavity structures, comprising:

[0007] Posture adjustment arm;

[0008] A telescopic joint, one end of which is mounted on the attitude adjustment arm;

[0009] A rotary joint, which is connected to the other end of the telescopic joint;

[0010] Multiple swing joints are detachably connected in sequence; one of the swing joints is connected to the rotary joint.

[0011] An end effector, detachably connected to the swing joint located away from the attitude adjustment arm, is used to abut against a surface in a confined space to complete repairs;

[0012] The telescopic joint is used to drive the rotary joint, multiple swing joints and the end effector to extend and retract along a first direction;

[0013] The rotary joint is used to drive multiple swing joints and end effectors to rotate about a line parallel to the first direction as an axis;

[0014] The swing joint is used to drive another swing joint or end effector connected to it at the end away from the rotary joint to rotate about a second direction as an axis; the second direction is perpendicular to the first direction.

[0015] According to the technical solution provided by this utility model, the attitude adjustment arm includes:

[0016] First mounting base;

[0017] A second mounting base is rotatably connected to the first mounting base about a third direction as an axis.

[0018] A first driving device is installed inside the first mounting base and connected to the second mounting base; the rotation axis of the first driving device is parallel to a third direction and is used to drive the second mounting base to rotate relative to the first mounting base about the third direction as an axis.

[0019] The third mounting base is rotatably connected to the second mounting base about a fourth direction; the telescopic joint is fixedly connected to the third mounting base.

[0020] The second driving device is installed in the second mounting base and connected to the third mounting base; the rotation axis of the second driving device is parallel to the fourth direction, and is used to drive the third mounting base to rotate relative to the second mounting base with the fourth direction as the axis.

[0021] According to the technical solution provided by this utility model, the telescopic joint includes:

[0022] A first telescopic tube is fixedly connected to the attitude adjustment arm;

[0023] A third driving device is installed inside the first telescopic tube;

[0024] The second telescopic tube is disposed inside the first telescopic tube, and a first through hole is provided at the end near the third driving device;

[0025] The third telescopic tube is disposed inside the second telescopic tube, and a second through hole is provided at the end near the third driving device;

[0026] A first transmission mechanism is connected to a first telescopic tube, a second telescopic tube, and a third telescopic tube, and passes through the first through hole and the second through hole to be connected to the drive 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 in a first direction and drive the third telescopic tube to move relative to the second telescopic tube in the first direction under the action of the third driving device.

[0027] According to the technical solution provided by this utility model, the second telescopic tube has a first gap on its side wall and a first threaded hole near the end of the third driving device; the third telescopic tube has a second threaded hole near the end of the third driving device.

[0028] The first transmission mechanism includes:

[0029] A drive shaft passes through the first through hole and the second through hole and is connected to the drive shaft of the third drive device; the outer side wall of the drive shaft has a limiting protrusion along the extension direction of the drive shaft;

[0030] A first drive gear has a first connecting hole, and the drive shaft is disposed in the first connecting hole; a first limiting groove is provided on the side wall of the first connecting hole.

[0031] The second drive gear has a second connecting hole, and the drive shaft is slidably disposed in the second connecting hole; a second limiting groove is provided on the side wall of the second connecting hole;

[0032] The limiting protrusion is disposed in the first limiting groove and the second limiting groove, and is used to abut against the first limiting groove and the second limiting groove to drive the first driving gear and the second driving gear to rotate;

[0033] The first mounting component is fixedly connected to the inner wall of the first telescopic tube and passes through the first gap;

[0034] The second mounting component is fixedly connected to the inner wall of the second telescopic tube;

[0035] The first lead screw is disposed inside the second telescopic tube, one end of which is rotatably connected to the portion of the first mounting component located inside the second telescopic tube, and the other end is threadedly connected to the first threaded hole.

[0036] The first driven gear is fixedly mounted on the first lead screw and meshes with the first driving gear;

[0037] The second lead screw is threadedly connected to the first threaded hole, with one end located inside the third telescopic tube and the other end rotatably connected to the second mounting component.

[0038] The second driven gear is fixedly installed at one end of the second lead screw and the second mounting member that is rotatably connected, and meshes with the second driving gear.

[0039] According to the technical solution provided by this utility model, the telescopic joint further includes:

[0040] The fifth housing is fixedly connected to the third telescopic tube;

[0041] The third male connector is mounted on the fifth housing and is used for detachable connection with the rotary joint.

[0042] According to the technical solution provided by this utility model, the rotary joint includes:

[0043] A first housing and a second housing; the first housing and the second housing are rotatably connected;

[0044] A first connecting female head is installed at one end of the first housing near the telescopic joint and is used for detachable connection with the telescopic joint.

[0045] The fourth drive device is installed inside the first housing, and the rotation shaft of the fourth drive device is fixedly connected to the second housing, for driving the plurality of the swing joints and the end effector to rotate about a parallel line in the first direction as an axis;

[0046] A first male connector is mounted on the second housing for detachable connection with the swing joint.

[0047] According to the technical solution provided by this utility model, the swing joint includes:

[0048] A third housing and a fourth housing; the third housing and the fourth housing are rotatably connected about a parallel line in a second direction as an axis;

[0049] The second connecting female head is installed at one end of the third housing near the rotary joint and is used for detachable connection with the rotary joint or another swing joint on the side near the rotary joint.

[0050] The fifth drive device is installed inside the third housing;

[0051] The second transmission mechanism is installed inside the third housing; the second transmission mechanism is connected to the rotation shaft of the fifth drive device and the fourth housing, and is used to drive the fourth housing to rotate relative to the third housing under the action of the fifth drive device;

[0052] A second male connector, mounted on the second housing, is used for detachable connection to another swing joint or end effector on the side away from the rotary joint.

[0053] According to the technical solution provided by this utility model, the second transmission mechanism includes:

[0054] The first bevel gear is rotatably mounted in the third housing with an axis perpendicular to the second direction, and is fixedly connected to the rotation shaft of the fifth drive device.

[0055] The second bevel gear is rotatably mounted in the third housing about a second direction as an axis, and is fixedly connected to the fourth housing;

[0056] The first bevel gear meshes with the second bevel gear. The first bevel gear is used to drive the second bevel gear and the fourth housing to rotate relative to the third housing about the second direction as an axis under the action of the fifth drive device.

[0057] According to the technical solution provided by this utility model, 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.

[0058] A second gas-liquid delivery pipe is installed inside the rotary 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.

[0059] 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 to the third gas-liquid delivery pipe inside the swing joint near the side of the rotary joint. The other end is detachably connected to the third gas-liquid delivery pipe inside the swing joint away from the side of the rotary joint or to the end effector.

[0060] The end effector is equipped with a fourth gas-liquid delivery pipe for detachable connection with the third gas-liquid delivery pipe.

[0061] The gas-liquid source is used to supply the gas and liquid required for repair to the end effector through a first gas-liquid delivery pipe, a second gas-liquid delivery pipe, multiple third gas-liquid delivery pipes, and a fourth gas-liquid delivery pipe.

[0062] According to the technical solution provided by this utility model, the end effector is equipped with a third connecting female head for detachable connection with the swing joint.

[0063] The beneficial effects of this utility model are as follows:

[0064] Design a telescopic, rotatable robotic arm that can be extended in length and degrees of freedom by splicing multiple modules. The arm includes: a posture adjustment arm, a telescopic joint, a rotary joint, and multiple detachably connected swing joints connected sequentially. Finally, an end effector for repair is connected to the swing joint at the end of the robotic arm. The number of swing joints is selected based on the depth of the space to be repaired, allowing the robotic arm to reach the required depth. The telescopic joints extend the entire robotic arm, the rotary joints rotate the entire robotic arm, and the multiple swing joints adjust the end effector's posture, enabling precise alignment with various points within the confined space to complete the repair. Attached Figure Description

[0065] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0066] Figure 1 A schematic diagram of the structure when multiple swing joints are in the extended state;

[0067] Figure 2 A schematic diagram of the structure when multiple swing joints are in a bent state;

[0068] Figure 3 This is a schematic diagram of the attitude adjustment arm;

[0069] Figure 4 This is a cross-sectional view of the attitude adjustment arm;

[0070] Figure 5 This is a schematic diagram of a telescopic joint;

[0071] Figure 6 This is a cross-sectional view of the telescopic joint;

[0072] Figure 7 This is a schematic diagram of the first transmission mechanism;

[0073] Figure 8 This is a schematic diagram of a rotary joint;

[0074] Figure 9 This is a schematic diagram of the first female connector;

[0075] Figure 10 This is a schematic diagram of the first male connector;

[0076] Figure 11 This is a cross-sectional view of the rotary joint;

[0077] Figure 12 This is a schematic diagram of a swing joint in the extended position.

[0078] Figure 13 A schematic diagram of a swing joint in a bent state;

[0079] Figure 14 This is a schematic diagram of the second female connector;

[0080] Figure 15 This is a schematic diagram of the second male connector;

[0081] Figure 16 This is a cross-sectional view of the swing joint;

[0082] Figure 17 This is a schematic diagram of the third female connector;

[0083] Figure 18 This is a cross-sectional view of the device to be repaired;

[0084] Figure 19 A schematic diagram showing multiple swing joints in the first bending state;

[0085] Figure 20 A schematic diagram showing multiple swing joints in the second bending state;

[0086] Figure 21 A schematic diagram showing multiple swing joints in the third bending state;

[0087] Figure 22 This is a schematic diagram of the first driving gear;

[0088] Figure 23 This is a schematic diagram of the second driving gear;

[0089] The components include: 1. Posture adjustment arm; 2. Telescopic joint; 3. Rotary joint; 4. Swing joint; 5. End effector; 6. First mounting base; 7. Second mounting base; 8. First drive device; 9. Third mounting base; 10. Second drive device; 11. First telescopic tube; 12. Third drive 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. Drive shaft; 21. Limiting protrusion; 22. First drive gear; 23. First limiting groove; 24. Second drive gear; 25. Second limiting groove; 26. First mounting component; 27. Second mounting component; 28. First lead screw. 29. First driven gear; 30. Second lead screw; 31. Second driven gear; 32. First housing; 33. Second housing; 34. First female connector; 35. Fourth drive device; 36. First male connector; 37. Third housing; 38. Fourth housing; 39. Second female connector; 40. Fifth drive device; 41. Second male connector; 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 male connector; 49. Third female connector; 50. Fourth gas-liquid delivery pipe; 51. Device to be repaired; 52. First connecting hole; 53. Second connecting hole. Detailed Implementation

[0090] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0091] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0092] refer to Figure 1 The robotic arm is equipped with two sets of swing joints 4, and both sets of swing joints 4 are in the extended state.

[0093] refer to Figure 2 The robotic arm is equipped with two sets of four swing joints 4, and the four sets of swing joints 4 are in a bent state.

[0094] refer to Figure 18 The device to be repaired 51 (in this embodiment, it is an airfoil) includes three narrow spaces, A, B, and C, which are connected only by a narrower circular hole.

[0095] Existing robotic arms are relatively wide due to the misalignment of their joints, making them difficult to extend into similar applications. Figure 18 The round hole in the middle.

[0096] This utility model provides a reconfigurable modular micro-robotic arm for full-domain inspection of narrow and deep cavity structures, comprising:

[0097] Posture adjustment arm 1;

[0098] Telescopic joint 2, one end of which is mounted on the attitude adjustment arm 1;

[0099] Rotary joint 3, which is connected to the other end of telescopic joint 2;

[0100] Multiple swing joints 4 are detachably connected in sequence; one of the swing joints 4 is connected to the rotary joint 3.

[0101] End effector 5, which is detachably connected to the swing joint 4 located away from the attitude adjustment arm 1, is used to abut against a surface in a narrow space to complete the repair;

[0102] The telescopic joint 2 is used to drive the rotary joint 3, multiple swing joints 4 and end effector 5 to extend and retract along the first direction;

[0103] The rotary joint 3 is used to drive multiple swing joints 4 and end effector 5 to rotate about a parallel line in the first direction as an axis.

[0104] The swing joint 4 is used to drive another swing joint 4 or end effector 5 connected to it at the end away from the rotary joint 3 to rotate about a second direction as an axis; the second direction is perpendicular to the first direction.

[0105] It should be noted that the first direction is the extension direction when the multiple swing joints 4 are in the extended state;

[0106] The second direction changes as the rotary joint rotates, and is always perpendicular to the first direction.

[0107] The attitude adjustment arm 1 is used to drive the telescopic joint 2, the rotary joint 3, multiple swing joints 4 and the end effector 5 to rotate about a third direction or about a 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.

[0108] The third direction is Figure 4 The top and bottom directions, and the fourth direction is... Figure 4 The left and right directions in the middle.

[0109] refer to Figure 1-2The multiple swing joints 4 have extended states and various bent states;

[0110] The telescopic joint 2 is used to drive the rotary joint 3, the multiple swing joints 4 and the end effector 5 into a narrow space when the multiple swing joints 4 are in the extended state.

[0111] refer to Figure 19-21 When the multiple swing joints 4 are in different bending states, the rotary joint 3 rotates, and the multiple swing joints 4 change the bending shape to drive the end effector 5 to abut against each surface in the narrow space to complete the repair; thus, the repair can be carried out without blind spots at each position point in the narrow space.

[0112] Furthermore, the attitude adjustment arm 1 includes:

[0113] First mounting base 6;

[0114] The second mounting base 7 is rotatably connected to the first mounting base 6 about a third direction as an axis;

[0115] A first driving device 8 is installed inside the first mounting base 6 and connected to the second mounting base 7; the rotation axis of the first driving device is parallel to a 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 as an axis.

[0116] The third mounting base 9 is rotatably connected to the second mounting base 7 about a fourth direction as an axis; the telescopic joint 2 is fixedly connected to the third mounting base 9;

[0117] The second driving device 10 is installed in the second mounting base 7 and 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 with the fourth direction as the axis.

[0118] Specifically, in this embodiment, both the first driving device 8 and the second driving device 9 are servo motors, and the rotating shaft is connected to a reducer to increase torque.

[0119] Based on the above design of the attitude adjustment arm, the telescopic joint, rotary joint, multiple swing joints and end effector can be driven to any direction, so as to repair various parts of the device 51 under various attitudes.

[0120] Further, refer to Figure 5-6 The telescopic joint 2 includes:

[0121] The first telescopic tube 11 is fixedly connected to the third mounting base 9 of the attitude adjustment arm 1.

[0122] The third drive device 12 (small servo motor) is installed inside the first telescopic tube 11;

[0123] The second telescopic tube 13 is disposed inside the first telescopic tube 11, and a first through hole 14 is provided at the end near the third driving device 12.

[0124] The third telescopic tube 15 is disposed inside the second telescopic tube 13, and a second through hole 16 is provided at the end near the third driving device 12.

[0125] 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 a first direction under the action of the third driving device 12, and drive the third telescopic tube 15 to move relative to the second telescopic tube 13 in a first direction.

[0126] Further, refer to Figure 7 The second telescopic tube 13 has a first gap 17 on its side wall and a first threaded hole 18 near the end of the third driving device 12; the third telescopic tube 15 has a second threaded hole 19 near the end of the third driving device 12.

[0127] The first transmission mechanism includes:

[0128] A drive shaft 20 passes through the first through hole 14 and the second through hole 16 and is connected to the drive shaft of the third drive device 12; the outer side wall of the drive shaft has a limiting protrusion 21 along the extending direction of the drive shaft 20.

[0129] refer to Figure 22 A first drive gear 22 is provided with a first connecting hole 52, and the drive shaft 20 is disposed in the first connecting hole; a first limiting groove 23 is provided on the side wall of the first connecting hole.

[0130] refer to Figure 23 The second drive gear 24 has a second connecting hole 53, and the drive shaft 20 is slidably disposed in the second connecting hole; a second limiting groove 25 is provided on the side wall of the second connecting hole.

[0131] The limiting protrusion 21 is disposed 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.

[0132] The first mounting component 26 is fixedly connected to the inner side wall of the first telescopic tube 11 and passes through the first gap 17.

[0133] The second mounting component 27 is fixedly connected to the inner wall of the second telescopic tube 13;

[0134] The first lead screw 28 is disposed inside the second telescopic tube 13. One end is rotatably connected to the portion of the first mounting part 26 located inside the second telescopic tube 13, and the other end is threadedly connected to the first threaded hole 18.

[0135] The first driven gear 29 is fixedly mounted on the first lead screw 28 and meshes with the first driving gear 22;

[0136] 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 part 27.

[0137] The second driven gear 31 is fixedly installed at one end of the second lead screw 30 and the second mounting member 27 that are rotatably connected, and meshes with the second driving gear 24.

[0138] It should be noted that the entire transmission process of the telescopic joint 2 includes the extension process and the retraction process.

[0139] The following describes the transmission method during the extension process:

[0140] The third drive device 12 drives the first drive gear 22 and the second drive gear 24 to rotate in the forward direction via the transmission shaft 20;

[0141] The first driven gear 29 and the first lead screw 28, the second driven gear 31 and the second lead screw 30 all rotate in opposite directions;

[0142] During this process, since the first mounting part 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, causing the second telescopic tube 13 to extend out of the first telescopic tube 11; the part of the first lead screw 28 that was originally inside the second telescopic tube 13 gradually moves relative to each other into the space between the first telescopic tube 11 and the second telescopic tube 13.

[0143] Since the second mounting part 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, causing the third telescopic tube 15 to extend out of the second telescopic tube 13; the part of the second lead screw 30 that was originally inside the third telescopic tube 15 gradually moves relative to the space between the third telescopic tube 15 and the second telescopic tube 13.

[0144] The second drive gear 24 slides along the drive shaft 20 during the relative movement of the second telescopic tube 13 and the third telescopic tube 15, through the action of the second limiting groove 25 and the limiting protrusion 21. During the extension process, the second drive gear 24 moves closer to the first drive gear 22.

[0145] The transmission method during the contraction process is the same as described above.

[0146] Further, refer to Figure 5-6 The telescopic joint 2 further includes:

[0147] The fifth housing 47 is fixedly connected to the third telescopic tube 15;

[0148] The third male connector 48 is mounted on the fifth housing 47 and is used for detachable connection with the first female connector 34 on the rotary joint 3.

[0149] All male and female connectors mentioned in this invention are two parts of an aviation plug to achieve electrical connection between different components and different swing joints.

[0150] To prevent the conduits and cables from getting tangled during rotation, all male and female connectors are rotatably mounted on their respective housings via bearings.

[0151] Further, refer to Figure 8-11 The rotary joint 3 includes:

[0152] A first housing 32 and a second housing 33; the first housing 32 and the second housing 33 are rotatably connected by bearings;

[0153] The first connecting female head 34 is installed at one end of the first housing 32 near the telescopic joint 2 and is used for detachable connection with the telescopic joint 2.

[0154] The fourth drive device 35 (small servo motor) is installed inside the first housing 32. The rotation shaft of the fourth drive device is fixedly connected to the second housing 33. It is used to drive the multiple swing joints 4 and the end effector 5 to rotate around the axis of the parallel line of the first direction, so as to switch different orientations and perform maintenance on different surfaces in a non-narrow space.

[0155] The first male connector 36 is mounted on the second housing 33 and is used for detachable connection with the second female connector 39 of the swing joint 4.

[0156] Further, refer to Figure 12-16 , Figure 12 This is a schematic diagram of a swing joint in the extended position. Figure 13 This is a schematic diagram of a swing joint in a bent state.

[0157] The swing joint 4 includes:

[0158] The third housing 37 and the fourth housing 38 are rotatably connected by a connecting shaft, which can be rotatably connected about a parallel line in the second direction as an axis, and the rotatable angle is ±90 degrees.

[0159] refer to Figure 14 The second connecting female head 39 is installed on one end of the third housing 37 near the rotary joint 3, and is used to detachably connect to the rotary joint 3 or another swing joint 4 on the side near the rotary joint 3.

[0160] The fifth drive device 40 (small servo motor) is installed inside the third housing 37;

[0161] The second transmission mechanism is installed inside the third housing 37; the second transmission mechanism is connected to the rotation shaft of the fifth drive device and the fourth housing 38, and is used to drive the fourth housing 38 to rotate relative to the third housing 37 under the action of the fifth drive device 40.

[0162] refer to Figure 15 The second male connector 41 is mounted on the second housing 33 and is used for detachable connection with another swing joint 4 or the end effector 5 on the side away from the rotary joint 3.

[0163] Furthermore, the second transmission mechanism includes:

[0164] The first bevel gear 42 is rotatably mounted in the third housing 37 with an axis perpendicular to the second direction, and is fixedly connected to the rotation axis of the fifth drive device 40.

[0165] The second bevel gear 43 is rotatably mounted in the third housing 37 about the second direction as an axis, and is fixedly connected to the fourth housing 38;

[0166] The first bevel gear 42 meshes with the second bevel gear 43. The first bevel gear 42 is used to drive the second bevel gear 43 and the fourth housing 38 to rotate relative to the third housing 37 about the second direction as an axis under the action of the fifth driving device 40.

[0167] Specifically, the fifth drive unit 40 of multiple swing joints rotates at different angles, allowing the multiple swing joints 4 as a whole to bend in different states. (Reference) Figure 19-21 These are schematic diagrams showing multiple swing joints in the first bending state, the first bending state, and the first bending state, respectively; in conjunction with the telescopic joint 2, repairs can be completed at different positions of the device 51 to be repaired without any blind spots.

[0168] Furthermore, a first gas-liquid delivery pipe 44 is installed inside the telescopic joint 2, and one end of the first gas-liquid delivery pipe is connected to a gas-liquid source.

[0169] The drive shaft 20 is hollow inside, and the first gas-liquid conveying pipe 44 passes through the internal space of the drive shaft 20.

[0170] A second gas-liquid delivery pipe 45 is installed inside 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.

[0171] A third gas-liquid delivery pipe 46 is installed inside the swing joint 4. 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 inside the swing joint 4 near the side of the rotary joint 3. The other end is detachably connected to the third gas-liquid delivery pipe 46 inside the swing joint 4 away from the side of the rotary joint 3 or to the end effector 5.

[0172] Further, refer to Figure 17 The end effector 5 is equipped with a third connecting female head 49 for detachable connection with the swing joint 4.

[0173] The end effector 5 is equipped with a fourth gas-liquid delivery pipe 50, which is used to be detachably connected to the third gas-liquid delivery pipe 46.

[0174] After the robotic arm completes the assembly, 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.

[0175] The working process of this utility model robotic arm includes:

[0176] Multiple pivot joints 4 move to the extended position;

[0177] The telescopic joint 2 drives the rotary joint 3, multiple swing joints 4 and the end effector 5 to extend into the narrow space;

[0178] The rotary joint 3 drives multiple swing joints 4 and the end effector 5 to rotate to the desired direction;

[0179] Multiple swing joints 4 are bent to the desired bending shape so that the end effector 5 abuts against the position to be repaired;

[0180] The gas-liquid source supplies 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;

[0181] The end effector 5 completes the repair process.

[0182] The above description is merely a preferred embodiment of this utility model and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this utility model is not limited to the specific combination of the above-described technical features, but should also cover other technical solutions formed by any combination of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this utility model.

Claims

1. A reconfigurable modular micro-manipulator for full-domain inspection of narrow and deep cavity structures, characterized in that, include: Attitude adjustment arm (1); Telescopic joint (2), one end of which is mounted on the attitude adjustment arm (1); Rotary joint (3), which is connected to the other end of telescopic joint (2); 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) is detachably connected to the swing joint (4) located away from the attitude adjustment arm (1) for contacting surfaces in a narrow space to complete repairs; The telescopic joint (2) is used to drive the rotary joint (3), multiple swing joints (4) and end effector (5) to extend and retract along the first direction; The rotary joint (3) is used to drive multiple swing joints (4) and end effector (5) to rotate about a line parallel to the first direction as an axis; The swing joint (4) is used to drive another swing joint (4) or end effector (5) connected to the end away from the rotary joint (3) to rotate about a second direction; the second direction is perpendicular to the first direction.

2. The reconfigurable modular micro-manipulator for full-domain maintenance of narrow and deep cavity structures according to claim 1, characterized in that, The attitude adjustment arm (1) includes: First mounting base (6); The second mounting base (7) is rotatably connected to the first mounting base (6) about a third direction as an axis; The first driving device (8) is installed in the first mounting base (6) and 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) with the third direction as the axis; 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); The second drive device (10) is installed in the second mounting base (7) and connected to the third mounting base (9); the rotation axis of the second drive 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) with the fourth direction as the axis.

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

4. The reconfigurable modular micro-manipulator for full-domain maintenance of narrow and deep cavity structures according to claim 3, characterized in that, The second telescopic tube (13) has a first slit (17) on its side wall and a first threaded hole (18) near the end of the third driving device (12); the third telescopic tube (15) has a second threaded hole (19) near the end of the third driving device (12). The first transmission mechanism includes: A drive shaft (20) passes through the first through hole (14) and the second through hole (16) and is connected to the drive shaft of the third drive device (12); the outer side wall of the drive shaft has a limiting protrusion (21) extending along the direction of the drive shaft (20). A first drive gear (22) is provided with a first connecting hole, and the drive shaft (20) is disposed in the first connecting hole; a first limiting groove (23) is provided on the side wall of the first connecting hole. The second drive gear (24) has a second connecting hole, and the drive shaft (20) is slidably disposed in the second connecting hole; a second limiting groove (25) is provided on the side wall of the second connecting hole. The limiting protrusion (21) is disposed 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; The first mounting component (26) is fixedly connected to the inner wall of the first telescopic tube (11) and passes through the first gap (17). The second mounting component (27) is fixedly connected to the inner wall of the second telescopic tube (13); The first lead screw (28) is located inside the second telescopic tube (13). One end is rotatably connected to the part of the first mounting part (26) located inside the second telescopic tube (13), and the other end is threadedly connected to the first threaded hole (18). The first driven gear (29) is fixedly mounted 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), and one end is located inside the third telescopic tube (15), while the other end is rotatably connected to the second mounting part (27). The second driven gear (31) is fixedly installed on one end of the second lead screw (30) and the second mounting part (27) which are rotatably connected, and meshes with the second driving gear (24).

5. A reconfigurable modular micro-manipulator for full-domain maintenance of narrow and deep cavity structures according to claim 3, characterized in that, The telescopic joint (2) also includes: The fifth housing (47) is fixedly connected to the third telescopic tube (15); The third male connector (48) is mounted on the fifth housing (47) and is used for detachable connection with the rotary joint (3).

6. A reconfigurable modular micro-manipulator for full-domain maintenance of narrow and deep cavity structures according to claim 1, characterized in that, The rotary joint (3) includes: A first housing (32) and a second housing (33); the first housing (32) and the second housing (33) are rotatably connected; The first connecting female head (34) is installed on one end of the first housing (32) near the telescopic joint (2) for detachable connection with the telescopic joint (2); The fourth drive device (35) is installed inside the first housing (32). The rotation shaft of the fourth drive device is fixedly connected to the second housing (33) and is used to drive the multiple swing joints (4) and the end effector (5) to rotate around a parallel line in the first direction. A first male connector (36) is mounted on the second housing (33) for detachable connection with the swing joint (4).

7. A reconfigurable modular micro-manipulator for full-domain 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) are rotatably connected about a parallel line in a second direction. The second connecting female (39) is installed on one end of the third housing (37) near the rotary joint (3) for detachable connection with the rotary joint (3) or another swing joint (4) on the side near the rotary joint (3). A fifth drive unit (40) is installed inside the third housing (37); The second transmission mechanism is installed inside the third housing (37); the second transmission mechanism is connected to the rotating shaft of the fifth drive device and the fourth housing (38), and is used to drive the fourth housing (38) to rotate relative to the third housing (37) under the action of the fifth drive device (40); The second male connector (41) is mounted on the second housing (33) for detachable connection to another swing joint (4) or the end effector (5) on the side away from the rotary joint (3).

8. A reconfigurable modular micro-manipulator for full-domain 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 mounted in the third housing (37) with an axis perpendicular to the second direction, and is fixedly connected to the rotation axis of the fifth drive device (40). The second bevel gear (43) is rotatably mounted in 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). The first bevel gear (42) is used 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 drive device (40).

9. A reconfigurable modular micro-manipulator for full-domain maintenance of narrow and deep cavity structures according to claim 1, characterized in that, The telescopic joint (2) is equipped with a first gas-liquid delivery pipe (44), one end of which is connected to a gas-liquid source. A second gas-liquid delivery pipe (45) is installed inside 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 inside the swing joint (4). 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) inside the swing joint (4) near the side of the rotary joint (3). The other end is detachably connected to the third gas-liquid delivery pipe (46) inside the swing joint (4) away from the side of the rotary joint (3) or to the end effector (5). The end effector (5) is equipped with a fourth gas-liquid delivery pipe (50) for detachable connection with the third gas-liquid delivery pipe (46); 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), a plurality of third gas-liquid delivery pipes (46) and the fourth gas-liquid delivery pipe (50).

10. A reconfigurable modular micro-manipulator for full-domain maintenance of narrow and deep cavity structures according to claim 1, characterized in that, The end effector (5) is equipped with a third connecting head (49) for detachable connection with the swing joint (4).

Images