Multi-degree-of-freedom mechanical arm structure for pipe robot
By designing a multi-degree-of-freedom robotic arm structure and an electric push rod-driven gripper, the problem of insufficient flexibility in operation of existing pipeline robot arms in complex pipeline environments is solved, achieving highly efficient automation of multi-angle adjustment and blockage removal.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANDONG KAIFENG INTELLIGENT EQUIP CO LTD
- Filing Date
- 2025-07-09
- Publication Date
- 2026-06-23
AI Technical Summary
Existing pipeline robot arms lack multi-degree-of-freedom motion capabilities, making it impossible to achieve flexible multi-angle adjustments in complex pipeline environments. This results in poor operational freedom and adaptability, limiting their application scope and operational applicability.
Employing a multi-degree-of-freedom robotic arm structure, the robotic arm achieves multi-angle adjustment through gear transmission and motor drive. Combined with electric push rods to drive the gripper to converge and open, it enables the clamping and cleaning of garbage in complex pipes.
This improves the operational applicability and automation efficiency of pipeline robots, enabling multi-angle adjustment and effective clearing of blockages in complex pipeline environments, and enhancing the versatility and adaptability of the robotic arm.
Smart Images
Figure CN224397450U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm structure technology, and in particular to a multi-degree-of-freedom robotic arm structure for pipeline robots. Background Technology
[0002] In modern industry, pipeline robots are widely used in pipeline inspection, maintenance, and cleaning. Their performance directly affects the safety and maintenance efficiency of pipeline systems. Multi-degree-of-freedom robotic arms, as key actuators in pipeline robots, enable the robots to operate flexibly in complex pipeline environments, achieving precise operations.
[0003] In existing technologies, some pipeline robots employ single-joint or limited-joint robotic arm structures, typically relying on simple gear transmissions or linkage mechanisms to achieve arm movement. The technical principle involves driving a key component of the robotic arm with a single power source, then transmitting power to other parts via rigid connections, enabling the robotic arm to perform limited extension or retraction movements. This mechanical structure design is simple, with relatively low manufacturing and maintenance costs, and can meet basic operational requirements in scenarios with relatively regular pipeline environments and simple task requirements.
[0004] However, the aforementioned robotic arm structure lacks multi-degree-of-freedom motion capabilities, making it unable to achieve flexible adjustment at multiple angles. When faced with complex bends, pipes with varying diameters, or pipes with special structures, the robot struggles to adjust the robotic arm to the appropriate working position and posture. This results in poor degrees of freedom and adaptability during operation, hindering the efficient completion of diverse tasks and significantly limiting the application scope and operational applicability of pipeline robots. Therefore, a multi-degree-of-freedom robotic arm structure for pipeline robots is proposed to address these issues. Utility Model Content
[0005] To overcome the above shortcomings, this utility model provides a multi-degree-of-freedom robotic arm structure for pipeline robots, aiming to improve the problem that the existing technology cannot adjust the orientation from multiple angles, resulting in poor degrees of freedom and adaptability of the robot when performing operations.
[0006] To achieve the above objectives, the present invention adopts the following technical solution:
[0007] A multi-degree-of-freedom robotic arm structure for a pipeline robot includes a support frame, a bolt fixedly connected inside the support frame, a first motor fixedly connected inside the bolt, a first gear fixedly connected to the output end of the first motor, a support frame fixedly connected to the inner wall of the support frame, a synchronous shaft rotatably connected inside the support frame, a second gear fixedly connected to the outer wall of the synchronous shaft, the first gear meshing with the second gear, and a connecting component provided on the top of the second gear;
[0008] The connection includes a rotating column, the bottom of which is fixedly connected to the top of a second gear. A dual-head motor is fixedly connected inside the rotating column. A first connecting arm is fixedly connected to the output end of the dual-head motor. A second motor is fixedly connected to the side wall of the first connecting arm. A second connecting arm is fixedly connected to the output end of the second motor. A support component is provided inside the second connecting arm.
[0009] As a further description of the above technical solution:
[0010] The support assembly includes a fixing block, the sidewall of which is fixedly connected to the inside of the second connecting arm, and a fixing ring is fixedly connected to the sidewall of the fixing block.
[0011] As a further description of the above technical solution:
[0012] An electric push rod is fixedly connected inside the fixed ring, and a first connecting block is fixedly connected to the output end of the electric push rod.
[0013] As a further description of the above technical solution:
[0014] The first connecting block has a first rotating plate rotatably connected to its side wall, and the first rotating plate has a second rotating plate rotatably connected to its side wall.
[0015] As a further description of the above technical solution:
[0016] The second rotating plate has a second connecting block rotatably connected to its side wall, and the side wall of the second connecting block is fixedly connected to the side wall of the electric push rod.
[0017] As a further description of the above technical solution:
[0018] The second rotating plate sidewall is rotatably connected to the first connecting block sidewall, and a gripper assembly is provided on one side of the second rotating plate.
[0019] As a further description of the above technical solution:
[0020] The gripper assembly includes a gripper, the sidewall of which is fixedly connected to the sidewall of the second rotating plate, and the sidewall of the gripper is provided with multiple anti-slip grooves.
[0021] As a further description of the above technical solution:
[0022] The side wall of the first rotating plate is rotatably connected to the bottom of the electric push rod, and the side wall of the second rotating plate is rotatably connected to the bottom of the electric push rod.
[0023] This utility model has the following beneficial effects:
[0024] 1. In this utility model, the rotating column is driven to rotate by the second gear, the first connecting arm is driven to rotate by the dual-head motor, and then the second connecting arm is driven to rotate by the second motor, thus achieving the effect of multi-degree-of-freedom rotation. This solves the problem that the robot cannot adjust its orientation at multiple angles, resulting in poor freedom and adaptability when the robot is working, and improves the operational applicability of the multi-degree-of-freedom robotic arm structure used in pipeline robots.
[0025] 2. In this utility model, the first connecting block is moved by an electric push rod, then the first connecting block drives the first rotating plate to rotate, and then the first rotating plate drives the second rotating plate to rotate on the side wall of the second connecting block. Subsequently, the gripper is driven to gather, achieving the effect of clamping pipe debris. This solves the problem that the robot cannot grab or remove blockages in the pipe, which means that the robot can only perform detection tasks and requires manual intervention when encountering debris, thus reducing automation efficiency. This improves the versatility of the multi-degree-of-freedom robotic arm structure used in pipe robots. Attached Figure Description
[0026] Figure 1 This is a three-dimensional schematic diagram of a multi-degree-of-freedom robotic arm structure for a pipeline robot proposed in this utility model.
[0027] Figure 2 This utility model proposes a support frame for a multi-degree-of-freedom robotic arm structure used in pipeline robots;
[0028] Figure 3 This is a schematic diagram of the rotating column structure of a multi-degree-of-freedom robotic arm for a pipeline robot proposed in this utility model.
[0029] Figure 4 This is a schematic cross-sectional view of the second connecting arm of a multi-degree-of-freedom robotic arm structure for a pipeline robot proposed in this utility model.
[0030] Figure 5 for Figure 4 Enlarged view of point A in the middle.
[0031] Legend:
[0032] 1. Support frame; 2. Bolt; 3. First gear; 4. First motor; 5. Rotating column; 6. Support frame; 7. Synchronous shaft; 8. Second gear; 9. First connecting arm; 10. Second motor; 11. Second connecting arm; 12. Fixing ring; 13. Electric push rod; 14. First connecting block; 15. First rotating plate; 16. Second connecting block; 17. Second rotating plate; 18. Gripper; 19. Dual-head motor; 20. Fixing block; 21. Anti-slip groove. Detailed Implementation
[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0034] Reference Figures 1-3 An embodiment of this utility model provides a multi-degree-of-freedom robotic arm structure for a pipeline robot, including a support frame 1, a bolt 2 fixedly connected inside the support frame 1, a first motor 4 fixedly connected inside the bolt 2, a first gear 3 fixedly connected to the output end of the first motor 4, a support frame 6 fixedly connected to the inner wall of the support frame 1, a synchronous shaft 7 rotatably connected inside the support frame 6, a second gear 8 fixedly connected to the outer wall of the synchronous shaft 7, the first gear 3 meshing with the second gear 8, and a connecting component provided on the top of the second gear 8;
[0035] The connecting assembly includes a rotating column 5. A dual-head motor 19 drives the first connecting arm 9 to rotate axially around the rotating column 5 by ±180°, expanding the horizontal working range of the robotic arm. Subsequently, the second motor 10 drives the second connecting arm 11 to perform pitch motion. The spherical motion envelope effect formed by the rotation of the rotating column 5 is better than that of a single circular motion. The bottom of the rotating column 5 is fixedly connected to the top of the second gear 8. The dual-head motor 19 is fixedly connected inside the rotating column 5. The model of the dual-head motor 19 can be the Changzhou Sujun Electromechanical SM80-D-30 dual-output shaft servo motor with a rated torque of 30 N·m, which is existing technology and will not be described in detail here. The output end of the dual-head motor 19 is fixedly connected to the first connecting arm 9. The side wall of the first connecting arm 9 is fixedly connected to the second motor 10. The output end of the second motor 10 is fixedly connected to the second connecting arm 11. The second connecting arm 11 is equipped with a support assembly inside.
[0036] Reference Figure 1 , Figure 4 and Figure 5The support component includes a fixing block 20, the side wall of which is fixedly connected to the inside of the second connecting arm 11. A fixing ring 12 is fixedly connected to the side wall of the fixing block 20. An electric push rod 13 is fixedly connected inside the fixing ring 12. The electric push rod 13 is used to drive the first connecting block 14 to move, thereby driving the first rotating plate 15 and the second rotating plate 17 to rotate, ultimately realizing the gathering or opening action of the gripper 18, achieving the effect of clamping or releasing pipeline waste. The telescopic movement of the electric push rod 13 can precisely control the opening and closing degree of the gripper 18, thereby achieving the clamping of pipe debris of different sizes and shapes, improving the adaptability and operational efficiency of the robotic arm. A first connecting block 14 is fixedly connected to the output end of the electric push rod 13. A first rotating plate 15 is rotatably connected to the side wall of the first connecting block 14. A second rotating plate 17 is rotatably connected to the side wall of the first rotating plate 15. A second connecting block 16 is rotatably connected to the side wall of the second rotating plate 17. The side wall of the second connecting block 16 is fixedly connected to the side wall of the electric push rod 13. The side wall of the second rotating plate 17 is rotatably connected to the side wall of the first connecting block 14. A gripper assembly is provided on one side of the moving plate 17. The gripper assembly includes a gripper 18. The side wall of the gripper 18 is provided with multiple anti-slip grooves 21. The function of the anti-slip grooves 21 is to increase the friction between the gripper 18 and the pipe debris, prevent the pipe debris from slipping off during the gripping process, thereby improving the stability and reliability of the gripping and ensuring that the robotic arm can effectively clean the debris in the pipe. The side wall of the gripper 18 is fixedly connected to the side wall of the second rotating plate 17. The side wall of the gripper 18 is provided with multiple anti-slip grooves 21. The side wall of the first rotating plate 15 is rotatably connected to the bottom of the electric push rod 13, and the side wall of the second rotating plate 17 is rotatably connected to the bottom of the electric push rod 13.
[0037] Working principle: When using the multi-degree-of-freedom robotic arm structure for pipeline robots, firstly, the support frame 1 is placed at the reserved point of the robot, and then the bolt 2 is fixed inside the point. After fixing the bolt 2, the output end of the first motor 4 drives the first gear 3 to rotate. During the rotation of the first gear 3, it will drive the second gear 8 that meshes with it to rotate. During the rotation of the second gear 8, it will drive the synchronous shaft 7 to rotate inside the support frame 6, limiting the second gear 8. Then, the dual-head motor 19 inside the rotating column 5 is used to drive the first connecting arm 9 to rotate, and then the second motor 10 drives the second connecting arm 11 to rotate. By rotating the rotating column 5, the first connecting arm 9, and the second connecting arm 11, the robot can be driven to rotate in multiple directions, achieving the effect of multi-degree-of-freedom rotation.
[0038] Subsequently, the first connecting block 14 is moved by the output end of the electric push rod 13. During the movement of the first connecting block 14, the first rotating plate 15 on the side wall will be rotated. When the first rotating plate 15 rotates, it will drive the second rotating plate 17 to rotate. The second rotating plate 17 rotates on the side wall of the second connecting block 16. Then, when the second rotating plate 17 rotates, it will drive the gripper 18 on the side wall to rotate. Then, the two grippers 18 will come together to achieve the effect of clamping the pipe debris.
[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A multi-degree-of-freedom robotic arm structure for a pipeline robot, comprising a support frame (1), characterized in that: The support frame (1) is fixedly connected to a bolt (2), the bolt (2) is fixedly connected to a first motor (4), the output end of the first motor (4) is fixedly connected to a first gear (3), the inner wall of the support frame (1) is fixedly connected to a support frame (6), the support frame (6) is rotatably connected to a synchronous shaft (7), the outer wall of the synchronous shaft (7) is fixedly connected to a second gear (8), the first gear (3) meshes with the second gear (8), and the top of the second gear (8) is provided with a connecting component; The connection includes a rotating column (5), the bottom of which is fixedly connected to the top of the second gear (8). A dual-head motor (19) is fixedly connected inside the rotating column (5). A first connecting arm (9) is fixedly connected to the output end of the dual-head motor (19). A second motor (10) is fixedly connected to the side wall of the first connecting arm (9). A second connecting arm (11) is fixedly connected to the output end of the second motor (10). A support component is provided inside the second connecting arm (11).
2. The multi-degree-of-freedom robotic arm structure for a pipeline robot according to claim 1, characterized in that: The support assembly includes a fixing block (20), the side wall of which is fixedly connected to the inside of the second connecting arm (11), and a fixing ring (12) is fixedly connected to the side wall of the fixing block (20).
3. The multi-degree-of-freedom robotic arm structure for a pipeline robot according to claim 2, characterized in that: An electric push rod (13) is fixedly connected inside the fixed ring (12), and a first connecting block (14) is fixedly connected to the output end of the electric push rod (13).
4. The multi-degree-of-freedom robotic arm structure for a pipeline robot according to claim 3, characterized in that: The first connecting block (14) is rotatably connected to a first rotating plate (15), and the first rotating plate (15) is rotatably connected to a second rotating plate (17).
5. The multi-degree-of-freedom robotic arm structure for a pipeline robot according to claim 4, characterized in that: The second rotating plate (17) has a second connecting block (16) rotatably connected to its side wall, and the side wall of the second connecting block (16) is fixedly connected to the side wall of the electric push rod (13).
6. The multi-degree-of-freedom robotic arm structure for a pipeline robot according to claim 5, characterized in that: The side wall of the second rotating plate (17) is rotatably connected to the side wall of the first connecting block (14), and a gripper assembly is provided on one side of the second rotating plate (17).
7. The multi-degree-of-freedom robotic arm structure for a pipeline robot according to claim 6, characterized in that: The gripper assembly includes a gripper (18), the sidewall of which is fixedly connected to the sidewall of the second rotating plate (17), and the sidewall of the gripper (18) is provided with multiple anti-slip grooves (21).
8. The multi-degree-of-freedom robotic arm structure for a pipeline robot according to claim 7, characterized in that: The side wall of the first rotating plate (15) is rotatably connected to the bottom of the electric push rod (13), and the side wall of the second rotating plate (17) is rotatably connected to the bottom of the electric push rod (13).