CN113977562A - Compact snakelike arm for adverse circumstances - Google Patents
Compact snakelike arm for adverse circumstances Download PDFInfo
- Publication number
- CN113977562A CN113977562A CN202111246660.4A CN202111246660A CN113977562A CN 113977562 A CN113977562 A CN 113977562A CN 202111246660 A CN202111246660 A CN 202111246660A CN 113977562 A CN113977562 A CN 113977562A
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- Prior art keywords
- wire rope
- steel wire
- mechanical arm
- panel
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a compact snake-shaped mechanical arm for a severe environment. The base is slidably embedded on the horizontal sliding table, the root end of the middle mechanical arm is connected to the base, and the tail end of the middle mechanical arm is coaxially provided with a tail end connecting rod assembly; the motor of base drives the lead screw and rotates around self rotation axis, drives wire rope drive block and moves on lead screw and guide rail, drives and adjusts wire rope's position, and then control middle arm and terminal link assembly rotate to the assigned position. The steel wire rope driving assemblies are symmetrically arranged left and right, the stress condition can be optimized, the structure of the base can be compact, the structure adopted by the middle mechanical arm is simple, the assembly is convenient, the central hollow part can pass through more circuits and pipelines, the advantages of high movement precision, stability, reliability and high integration degree are achieved, the tail end connecting rod assembly monitoring equipment is complete, the protection is tight, and the integration degree is high; the invention has light and compact structure and high environmental adaptability, and meets the operation requirement of severe environment in high-temperature, high-pressure, high-humidity and narrow space.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a compact snake-shaped mechanical arm for severe environment.
Background
The arm body of the snake-shaped mechanical arm has a snake-shaped structure, is a type of mechanical arm with super-redundancy freedom, and has multiple mechanisms for research in related fields at home and abroad at present, such as a II-X125 type snake-shaped arm mechanical arm developed by OC Robotics, an electric automobile automatic charging snake-shaped arm developed by Tesla, a double closed-loop control super-redundancy rope drive robot developed by New Song corporation and a rope drive high-redundancy flexible mechanical arm capable of detecting joint gestures developed by Zhejiang university. The mechanical arm is flexible in movement and very suitable for replacing human beings to enter a narrow unstructured operation environment for detection tasks, but the current mechanical arm structure has the following defects:
1) the structure is not compact enough, and the pedestal and the arm body part of the mechanical arm have further compact space.
2) The protection requirements are not considered enough, and the protection measures for a small number of electronic components on the arm body part are not available. The snake-shaped mechanical arm generally adopts a mode of arranging a driving element at the rear, so that the arm body of the mechanical arm only has a small number of electronic components, which is a natural advantage of adapting to severe environment, but a small number of electronic components still need to be protected.
In fact, many applications are further challenging at the limit of the compactness of the serpentine manipulator, and the narrow space is often accompanied by a severe working environment, such as a shield cutter head sealed cabin, an aircraft fuel tank, a space station cabin section, a nuclear power station and the like.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to overcome the defects in the prior art and provide the compact snake-shaped mechanical arm for the severe environment.
The technical scheme adopted by the invention is as follows:
the mechanical arm comprises a horizontal sliding table, a base, a middle mechanical arm and a tail end connecting rod assembly, wherein the base is embedded on the horizontal sliding table in a sliding mode, the root end of the middle mechanical arm is connected to the base, and the tail end of the middle mechanical arm is coaxially provided with the tail end connecting rod assembly;
the base comprises a plurality of driving components, a motor mounting plate, a rear panel and a front panel, the motor mounting plate, the rear panel and the front panel are sequentially arranged along the direction from the root end to the tail end, the plurality of driving components are arranged among the motor mounting plate, the rear panel and the front panel in a penetrating mode, and the plurality of driving components are circumferentially arranged along the circumference;
the driving assembly comprises a motor, a coupler, a steel wire rope driving block, a screw rod and a guide rail, the motor is installed on one side face of the motor installation plate far away from the rear panel, the coupler is installed between the motor installation plate and the rear panel, a motor output shaft penetrates through the motor installation plate and then is coaxially connected with one end of the screw rod through the coupler, the screw rod is installed between the rear panel and the front panel, the screw rod is sleeved with the steel wire rope driving block through threads, the guide rail parallel to the screw rod is fixedly installed between the rear panel and the front panel, which are close to the radial inner side of the steel wire rope driving block, of the steel wire rope driving block through a guide rail installation seat, the steel wire rope driving block is slidably embedded on the guide rail and moves along the guide rail, the radial inner end of the steel wire rope driving block is a steel wire rope buckle, and the steel wire rope buckle is used for connecting one end of a steel wire rope on a middle mechanical arm;
the middle mechanical arm comprises a plurality of steel wire ropes, a plurality of steel wire rope seat discs, a plurality of supporting cylinders and a plurality of universal joint hollow rings, wherein the steel wire ropes are circumferentially distributed on the outer side wall of the middle mechanical arm, and each steel wire rope is axially arranged along the middle mechanical arm in an extending manner; all the supporting cylinders are sequentially connected in series along the arm length direction of the mechanical arm, except one supporting cylinder at the root end of the middle mechanical arm is directly connected with the base, the end parts of other supporting cylinders are fixedly provided with steel wire rope seat discs, the steel wire rope seat discs at the end parts of two adjacent supporting cylinders are hinged through a universal joint hollow ring, the root end of the tail end connecting rod assembly is provided with the steel wire rope seat disc, and the steel wire rope seat disc of the tail end connecting rod assembly is hinged with the steel wire rope seat disc of one supporting cylinder at the tail end of the middle mechanical arm through a universal joint hollow ring; a plurality of tin bronze sleeves are uniformly arranged on the outer side surface of each steel wire rope seat disc at intervals along the circumferential direction, and a steel wire rope is inserted or fixed in each tin bronze sleeve;
two symmetrical sides of each steel wire rope seat disk are respectively provided with a bearing bush seat, the two symmetrical bearing bush seats are coaxially arranged in the axial direction, the centers of four outer side surfaces of each universal joint hollow ring are respectively provided with a shaft, each shaft is sleeved with a tin bronze bearing bush, two bearing bush seats of the steel wire rope seat disk at the end part of one supporting cylinder are movably sleeved on two symmetrically arranged tin bronze bearing bushes of the universal joint hollow ring, and two bearing bush seats of the steel wire rope seat disk at the end part of the other supporting cylinder are movably sleeved on the other two symmetrically arranged tin bronze bearing bushes of the universal joint hollow ring, so that the coaxial directions of the two bearing bush seats of the steel wire rope seat disks of the two adjacent supporting cylinders are perpendicular;
the motor drives the lead screw to rotate around a rotating shaft of the motor, the steel wire rope driving block is driven to move on the lead screw and the guide rail, the position of the steel wire rope is driven and adjusted, and the middle mechanical arm and the tail end connecting rod assembly are controlled to rotate to the designated position.
The tail end connecting rod assembly comprises an outer barrel, a tail end connecting rod panel, lens glass, an automatic zooming camera and a laser, the root end of the outer barrel is connected with the tail end of the middle mechanical arm, the tail end connecting rod panel is installed at the tail end of the outer barrel, the laser and the automatic zooming camera are installed inside the outer barrel, and the automatic zooming camera observes an object to be detected outside through the lens glass on the tail end connecting rod panel.
The base still include motor guard shield, shaft coupling guard shield, main guard shield and base bottom plate, motor mounting panel, rear panel and front panel are installed on the base bottom plate, the motor guard shield is installed on the motor mounting panel and is covered the motor, the shaft coupling guard shield is installed between motor mounting panel and rear panel and covers all shaft couplings, main guard shield is installed between rear panel and front panel and is covered inside rear panel and the front panel.
The quantity of drive assembly is unanimous with wire rope's quantity, and is the triple of a support section of thick bamboo quantity, every support section of thick bamboo all connect through three wire rope and the three drive assembly that corresponds separately on the base, terminal link assembly also connects through three wire rope and the three drive assembly that corresponds on the base, three wire rope's the other end all is connected to simultaneously on this support section of thick bamboo root end's the wire rope seat dish, wherein three wire rope are connected to simultaneously on the wire rope seat dish of terminal link assembly root end.
The middle mechanical arm further comprises a plurality of angle sensors, each angle sensor is installed on a corresponding steel wire rope seat disc, joints of the device are arranged between two adjacent supporting cylinders of the middle mechanical arm and between the root end of the middle mechanical arm and the tail end connecting rod assembly, and the two adjacent angle sensors respectively detect the angle postures of two degrees of freedom at the positions of the joints.
And protective corrugated pipes are sleeved on the outer side walls of the middle mechanical arm and the tail end connecting rod assembly.
The terminal connecting rod assembly further comprises an air knife, two light supplementing lamps and a high-pressure nozzle connector, the two light supplementing lamps are located on the left side and the right side of the lens glass, and the air knife and the high-pressure nozzle connector are located on the upper side and the lower side of the lens glass respectively and are installed on the outer side face of the terminal connecting rod panel.
The jet orifice of the air knife faces to the lens glass, the air knife is connected with a high-pressure air pipe, and the air knife sprays high-pressure air to the stained lens glass; the high-pressure nozzle joint is perpendicular to the end connecting rod panel and faces outwards, the inner end of the high-pressure nozzle joint is connected with the high-pressure water pipe, the outer end of the high-pressure nozzle joint is connected with the high-pressure nozzle, and the high-pressure nozzle sprays high-pressure water towards the surface of an object to be detected outside the object with stains.
The tail end joint component also comprises a sealing aviation plug, a sealing barrel support, a sealing barrel, a camera retainer and a laser seat, wherein the sealing barrel is positioned in the outer barrel, one end of the sealing barrel is connected with the inner side surface of the tail end connecting rod panel, the camera retainer and the laser seat are arranged in the sealing barrel, the automatic zooming camera is arranged in the camera retainer, and the laser is arranged in the laser seat; the other end of the sealing cylinder is connected with one side surface of the sealing cylinder support, a sealing aviation plug is arranged on the other side surface of the sealing cylinder support, and the automatic zooming camera and the laser are electrically connected with an external power supply through the sealing aviation plug.
An outer barrel flange gap I and an outer barrel flange gap III are formed in the edge of the outer barrel, the two light supplementing lamps are respectively exposed out of the outer barrel flange gap I and the outer barrel flange gap III, an outer barrel flange gap II is formed in the edge of the outer barrel, and the sealing barrel is exposed out of the outer barrel flange gap II; the light filling lamp flange gap is formed in the edge, close to the sealing barrel, of each of the two light filling lamps, and the sealing barrel flange gap is formed in the edge, close to the high-pressure nozzle joint, of the sealing barrel.
The invention has the beneficial effects that:
1) the environment adaptability is high, and the device can still work normally in a non-structured operation environment in a narrow high-temperature, high-pressure, high-humidity and narrow space.
2) The structure is light and compact, the weight of each part in the mechanical arm is reduced, the whole weight of the mechanical arm exceeds 40kg (the mechanical arm does not comprise a horizontal sliding table), the mechanical arm is of a hollow structure, the hollow part still has sufficient space, and the mechanical arm can carry enough detection tools through cables, water pipes and air pipes in sufficient number.
3) The detection device is complete and tight in protection.
Drawings
FIG. 1 is an isometric view of the assembly of the present invention;
FIG. 2 is an isometric view of the base of the present invention;
FIG. 3 is a side view of the base of the present invention;
FIG. 4 is a cross-sectional projection view taken at A-A of FIG. 3;
FIG. 5 is an enlarged partial view of the joint shown at I in FIG. 1;
FIG. 6 is an exploded view of the joint of the present invention;
FIG. 7 is a cross-sectional view of the joint of the present invention;
FIG. 8 is an isometric view of an end joint of the present invention;
FIG. 9 is an exploded view of the end joint of the present invention;
FIG. 10 is an exploded view of the interior of the end joint of the present invention;
FIG. 11 is an elevational view of the arrangement of the major components of the end link of the present invention;
FIG. 12 is an isometric view of the final assembly of the present invention with a protective bellows on the sleeve;
in the figure: 1. a horizontal sliding table, 2, a base, 201, a motor shield, 202, a motor, 203, a coupling shield, 204, a main shield, 205, a steel wire rope driving block, 206, a screw rod, 207, a base bottom plate, 208, a motor mounting plate, 209, a rear panel, 210, a front panel, 211, a guide rail, 212, a guide rail mounting seat, 3, an intermediate mechanical arm, 301, a steel wire rope, 302, a supporting cylinder, 303, a steel wire rope seat disk, 304, an angle sensor, 305, a universal joint hollow ring, 306, a tin bronze sleeve, 307, a tin bronze bearing bush, 4, a tail end, 401, an outer cylinder, 402, an air knife, 403, a light supplement lamp, 404, a high-pressure nozzle joint, 405, a sealing aviation plug, 406, a sealing cylinder support, 407, a sealing cylinder, 408, a camera holder, 409, a laser seat, 410, a tail end connecting rod panel, 411, lens glass, 4001, an outer cylinder flange gap 1, 4002, an outer cylinder flange gap 2, 4003. outer cylinder flange breach 3, 4004, light filling lamp flange breach, 4005, sealed section of thick bamboo flange breach, 5, protection bellows.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, the robot arm assembly comprises a horizontal sliding table 1, a base 2, an intermediate mechanical arm 3 and a tail end connecting rod assembly 4, wherein the base 2 is embedded on the horizontal sliding table 1 in a sliding mode, the root end of the intermediate mechanical arm 3 is connected to the base 2, and the tail end connecting rod assembly 4 is coaxially installed at the tail end of the intermediate mechanical arm 3.
As shown in fig. 2, 3 and 4, the base 2 includes a plurality of driving assemblies, a motor mounting plate 208, a rear plate 209 and a front plate 210, the motor mounting plate 208, the rear plate 209 and the front plate 210 are sequentially arranged in a root end to tip direction, the plurality of driving assemblies are penetratingly mounted between the motor mounting plate 208, the rear plate 209 and the front plate 210, and the plurality of driving assemblies are circumferentially arranged along a circumference.
The driving assembly comprises a motor 202, a coupler, a steel wire rope driving block 205, a screw rod 206 and guide rails 211, the motor 202 is installed on one side surface of a motor installation plate 208 far away from a back panel 209, the coupler is installed between the motor installation plate 208 and the back panel 209, an output shaft of the motor 202 passes through the motor installation plate 208 and then is coaxially connected with one end of the screw rod 206 through the coupler, the screw rod 206 is installed between the back panel 209 and the front panel 210, the screw rod 206 is sleeved with the steel wire rope driving block 205 through threads, the guide rails 211 parallel to the screw rod 206 are fixedly installed between the back panel 209 and the front panel 210 of the steel wire rope driving block 205 near the radial inner side through guide rail installation seats 212, the steel wire rope driving block 205 is slidably embedded on the guide rails 211 and moves along the guide rails 211, the guide rails 206, the steel wire rope driving block 205 and the motor 202 are symmetrically arranged on two sides of each guide rail installation seat 212, compared with a common asymmetric mechanical arm installation structure, the unilateral unbalance loading force can be weakened, the stress condition is optimized, and the structure of the base 2 is compact; the radial inner end of the steel wire rope driving block 205 is provided with a steel wire rope buckle which is used for connecting one end of a steel wire rope 301 on the middle mechanical arm 3;
the base 2 further comprises a motor shield 201, a coupling shield 203, a main shield 204 and a base bottom plate 207, a motor mounting plate 208, a rear panel 209 and a front panel 210 are mounted on the base bottom plate 207, the motor shield 201 is mounted on the motor mounting plate 208 and covers the motor 202, the coupling shield 203 is mounted between the motor mounting plate 208 and the rear panel 209 and covers all couplings, the main shield 204 is mounted between the rear panel 209 and the front panel 210 and covers the insides of the rear panel 209 and the front panel 210, and the coupling shield 203 and the main shield 204 can strengthen the base structure besides the protection function and assist in positioning the relative positions of the motor mounting plate 208, the rear panel 209 and the front panel 210.
As shown in fig. 5, 6 and 7, the intermediate mechanical arm 3 includes a plurality of wire ropes 301, a plurality of wire rope trays 303, a plurality of support cylinders 302 and a plurality of universal joint hollow rings 305, a plurality of wire ropes 301 are circumferentially distributed on the outer side wall of the intermediate mechanical arm 3, and each wire rope 301 extends axially along the intermediate mechanical arm 3; all the supporting cylinders 302 are sequentially connected in series along the arm length direction of the mechanical arm, except that one supporting cylinder 302 at the root end of the middle mechanical arm 3 is directly connected with the base 2, the end parts of other supporting cylinders 302 are fixedly provided with steel wire rope seat discs 303, the steel wire rope seat discs 303 at the end parts of two adjacent supporting cylinders 302 are hinged through a universal joint hollow ring 305, the root end of the tail end connecting rod assembly 4 is provided with the steel wire rope seat disc 303, and the steel wire rope seat disc 303 of the tail end connecting rod assembly 4 is hinged with the steel wire rope seat disc 303 of one supporting cylinder 302 at the tail end of the middle mechanical arm 3 through a universal joint hollow ring 305; a plurality of tin bronze sleeves 306 are uniformly arranged on the outer side surface of each steel wire rope seat disc 303 at intervals along the circumferential direction, and a steel wire rope 301 is inserted or fixed in each tin bronze sleeve 306;
two symmetrical sides of each steel wire rope seat disk 303 are respectively provided with a bearing bush seat, the two symmetrical bearing bush seats are coaxially arranged in the axial direction, the center of four outer side surfaces of each universal joint hollow ring 305 is provided with a shaft, each shaft is sleeved with a tin bronze bearing bush 307, two bearing bush seats of the steel wire rope seat disk 303 at the end part of one support cylinder 302 are movably sleeved on two symmetrically arranged tin bronze bearing bushes 307 of the universal joint hollow ring 305, and two bearing bush seats of the steel wire rope seat disk 303 at the end part of the other support cylinder 302 are movably sleeved on the other two symmetrically arranged tin bronze bearing bushes 307 of the universal joint hollow ring 305, so that the coaxial directions of the two bearing bush seats of the steel wire rope seat disks 303 of the two adjacent support cylinders 302 are perpendicular, and further the two adjacent support cylinders 302 form a universal hinge joint relationship through the universal joint hollow ring 305; each supporting cylinder 302 is connected with three corresponding driving assemblies on the base 2 through three steel wire ropes 301, the tail end connecting rod assembly 4 is also connected with three corresponding driving assemblies on the base 2 through three steel wire ropes 301, the other ends of the three steel wire ropes 301 are connected to a tin bronze sleeve 306 at the position of a steel wire rope seat disc 303 at the root end of the supporting cylinder 302, and the three steel wire ropes 301 are connected to the tin bronze sleeve 306 at the position of the steel wire rope seat disc 303 at the root end of the tail end connecting rod assembly 4; the number of the motors 202, the number of the steel wire rope driving blocks 205, the number of the screw rods 206, the number of the guide rails 211, the number of the steel wire ropes 301 and the number of the tin bronze sleeves 306 on each steel wire rope seat disc 303 are the same;
the intermediate mechanical arm 3 further comprises a plurality of angle sensors 304, each angle sensor 304 is mounted on a corresponding steel wire rope seat disc 303, joints of the device are formed between two adjacent supporting cylinders 302 of the intermediate mechanical arm 3 and between the root end of the intermediate mechanical arm 3 and the tail end connecting rod assembly 4, and the two adjacent angle sensors 304 respectively detect the angle postures of two degrees of freedom at the positions of the joints.
As shown in fig. 8, 9, 10 and 11, the terminal link assembly 4 includes an outer cylinder 401, a terminal link panel 410, a lens glass 411, an automatic zoom camera and a laser, a root end of the outer cylinder 401 is connected to a terminal end of the middle robot arm 3, the terminal end of the outer cylinder 401 is provided with the terminal link panel 410, the laser and the automatic zoom camera are installed inside the outer cylinder 401, and the automatic zoom camera observes an external object to be detected through the lens glass 411 on the terminal link panel 410;
the tail end connecting rod assembly 4 further comprises an air knife 402, two light supplement lamps 403 and a high-pressure nozzle joint 404, the two light supplement lamps 403 are located on the left side and the right side of the lens glass 411, under the condition of weak lighting, the light supplement lamps 403 irradiate an external object to be detected for supplementing light, and the air knife 402 and the high-pressure nozzle joint 404 are located on the upper side and the lower side of the lens glass 411 and are installed on the outer side face of the tail end connecting rod panel 410; the jet orifice of the air knife 402 faces the lens glass 411, the air knife 402 is connected with a high-pressure air pipe, and the air knife 402 jets high-pressure air to the stained lens glass 411 to remove the stains on the lens glass 411; the high-pressure nozzle joint 404 is perpendicular to the tail end connecting rod panel 410 and faces outwards, the inner end of the high-pressure nozzle joint 404 is connected with a high-pressure water pipe, the outer end of the high-pressure nozzle joint is connected with a high-pressure nozzle, the high-pressure nozzle sprays high-pressure water towards the surface of an external object to be detected with stains, the stains on the surface of the external object to be detected are cleaned, and the effect of detecting the surface of a real object to be detected is achieved;
the tail end joint component 4 further comprises a sealing aviation plug 405, a sealing barrel support 406, a sealing barrel 407, a camera holder 408 and a laser seat 409, the sealing barrel 407 is located in the outer barrel 401, one end of the sealing barrel 407 is connected with the inner side surface of the tail end connecting rod panel 410, the camera holder 408 and the laser seat 409 are installed in the sealing barrel 407, an automatic zooming camera is installed in the camera holder 408, a laser is installed in the laser seat 409, and the sealing barrel 407 still has a good sealing effect under the environment of 10 atmospheric pressures, so that the automatic zooming camera and the laser in the sealing barrel 407 can still work normally under the environment of high temperature, high pressure and high humidity; the other end of the sealing cylinder 407 is connected with one side surface of the sealing cylinder support 406, a sealing aviation plug 405 is arranged on the other side surface of the sealing cylinder support 406, and the automatic zoom camera and the laser are electrically connected with an external power supply through the sealing aviation plug 405; cables, air pipes and water pipes externally connected with the tail end joint component 4 penetrate through the hollow interior of the middle mechanical arm 3; the middle mechanical arm 3 has the advantages of few types of structural parts, simple structure and convenient assembly, thereby having high motion precision, stability and reliability; the ratio of the cross-sectional area of the hollow part in the center of the snake-shaped mechanical arm to the cross-sectional area of the arm body is larger than that of the hollow part in the center of the common mechanical arm, so that the center of the snake-shaped mechanical arm with the same diameter as that of the cross section of the common mechanical arm can pass through more circuits and pipelines such as cables, air pipes, water pipes and the like, and the integration degree is high;
an outer cylinder flange gap I4001 and an outer cylinder flange gap III 4003 are formed in the edge of the outer cylinder 401, the two light supplementing lamps 403 are respectively exposed out of the outer cylinder flange gap I4001 and the outer cylinder flange gap III 4003, an outer cylinder flange gap II 4002 is formed in the edge of the outer cylinder 401, and the sealing cylinder 407 is exposed out of the outer cylinder flange gap II 4002; the edges of the two light supplement lamps 403 close to the sealing cylinder 407 are provided with light supplement lamp flange notches 4004, so that the two light supplement lamps 403 are closer to the sealing cylinder 407, and the edges of the sealing cylinder 407 close to the high-pressure nozzle joint 404 are provided with sealing cylinder flange notches 4005, so that the sealing cylinder 407 is closer to the high-pressure nozzle joint 404; the gap makes the layout of the components on the end link panel 410 more compact.
As shown in fig. 12, the outer side walls of the intermediate mechanical arm 3 and the tail end connecting rod assembly 4 are sleeved with protective bellows 5.
The motor 202 of the device drives the screw rod 206 to rotate around a self rotating shaft, drives the steel wire rope driving block 205 to move on the screw rod 206 and the guide rail 211, drives and adjusts the position of the steel wire rope 301, and further controls the middle mechanical arm 3 and the tail end connecting rod assembly 4 to rotate to the designated position.
Claims (10)
1. The utility model provides a snakelike arm of compact for adverse circumstances which characterized in that:
the mechanical arm comprises a horizontal sliding table (1), a base (2), an intermediate mechanical arm (3) and a tail end connecting rod assembly (4), wherein the base (2) is embedded on the horizontal sliding table (1) in a sliding mode, the root end of the intermediate mechanical arm (3) is connected to the base (2), and the tail end connecting rod assembly (4) is coaxially installed at the tail end of the intermediate mechanical arm (3);
the base (2) comprises a plurality of driving components, a motor mounting plate (208), a rear panel (209) and a front panel (210), the motor mounting plate (208), the rear panel (209) and the front panel (210) are sequentially arranged along the direction from the root end to the tail end, the plurality of driving components penetrate through the motor mounting plate (208), the rear panel (209) and the front panel (210), and the plurality of driving components are circumferentially arranged along the circumference;
the driving assembly comprises a motor (202), a coupler, a steel wire rope driving block (205), a screw rod (206) and a guide rail (211), the motor (202) is installed on one side surface of a motor installation plate (208) far away from a rear panel (209), the coupler is installed between the motor installation plate (208) and the rear panel (209), an output shaft of the motor (202) penetrates through the motor installation plate (208) and then is coaxially connected with one end of the screw rod (206) through the coupler, the screw rod (206) is installed between the rear panel (209) and a front panel (210), the screw rod (206) is sleeved with the steel wire rope driving block (205) through threads, the guide rail (211) parallel to the screw rod (206) is fixedly installed between the rear panel (209) and the front panel (210) close to the radial inner side of the steel wire rope driving block (205) through a guide rail installation seat (212), the steel wire rope driving block (205) is slidably embedded on the guide rail (211) and moves along the guide rail (211), the radial inner end of the steel wire rope driving block (205) is provided with a steel wire rope buckle which is used for connecting one end of a steel wire rope (301) on the middle mechanical arm (3);
the middle mechanical arm (3) comprises a plurality of steel wire ropes (301), a plurality of steel wire rope seat discs (303), a plurality of supporting cylinders (302) and a plurality of universal joint hollow rings (305), wherein the plurality of steel wire ropes (301) are circumferentially distributed on the outer side wall of the middle mechanical arm (3), and each steel wire rope (301) is axially extended and arranged along the middle mechanical arm (3); all the supporting cylinders (302) are sequentially connected in series along the length direction of the arm of the mechanical arm, except for the fact that one supporting cylinder (302) at the root end of the middle mechanical arm (3) is directly connected with the base (2), the end parts of other supporting cylinders (302) are fixedly provided with steel wire rope seat discs (303), the steel wire rope seat discs (303) at the end parts of two adjacent supporting cylinders (302) are hinged through a universal joint hollow ring (305), the root end of the tail end connecting rod assembly (4) is provided with the steel wire rope seat disc (303), and the steel wire rope seat disc (303) of the tail end connecting rod assembly (4) and the steel wire rope seat disc (303) of one supporting cylinder (302) at the tail end of the middle mechanical arm (3) are hinged through the universal joint hollow ring (305); a plurality of tin bronze sleeves (306) are uniformly arranged on the outer side surface of each steel wire rope seat disc (303) at intervals along the circumferential direction, and a steel wire rope (301) is inserted or fixed in each tin bronze sleeve (306);
two symmetrical sides of each steel wire rope seat disk (303) are respectively provided with a bearing bush seat, the two symmetrical bearing bush seats are axially and coaxially arranged, the center of four outer side surfaces of each universal joint hollow ring (305) is provided with a shaft, each shaft is sleeved with a tin bronze bearing bush (307), two bearing bush seats of the steel wire rope seat disk (303) at the end part of one supporting cylinder (302) are movably sleeved on two tin bronze bearing bushes (307) which are symmetrically arranged in the universal joint hollow ring (305), and two bearing bush seats of the steel wire rope seat disk (303) at the end part of the other supporting cylinder (302) are movably sleeved on the other two tin bronze bearing bushes (307) which are symmetrically arranged in the universal joint hollow ring (305), so that the coaxial directions of the two bearing bush seats of the steel wire rope seat disk (303) of the two adjacent supporting cylinders (302) are perpendicular;
the motor (202) drives the lead screw (206) to rotate around a self rotating shaft, the steel wire rope driving block (205) is driven to move on the lead screw (206) and the guide rail (211), the position of the steel wire rope (301) is driven and adjusted, and the middle mechanical arm (3) and the tail end connecting rod assembly (4) are controlled to rotate to the designated position.
2. The serpentine manipulator of claim 1, wherein:
terminal link assembly (4) including urceolus (401), terminal connecting rod panel (410), lens glass (411), auto zoom camera and laser instrument, the end of middle arm (3) is connected to the root end of urceolus (401), terminal connecting rod panel (410) are installed to the end of urceolus (401), the internally mounted of urceolus (401) has laser instrument and auto zoom camera, the auto zoom camera passes through lens glass (411) on terminal connecting rod panel (410) and observes the outside object that waits to detect.
3. The serpentine manipulator of claim 1, wherein:
base (2) still include motor guard shield (201), shaft coupling guard shield (203), main guard shield (204) and base bottom plate (207), motor mounting panel (208), back panel (209) and front panel (210) are installed on base bottom plate (207), motor guard shield (201) are installed on motor mounting panel (208) and are covered motor (202), shaft coupling guard shield (203) are installed between motor mounting panel (208) and back panel (209) and are covered all shaft couplings, main guard shield (204) are installed between back panel (209) and front panel (210) and are covered inside back panel (209) and front panel (210).
4. The serpentine manipulator of claim 1, wherein:
the quantity of drive assembly and wire rope (301) is unanimous, and is the triple of a support section of thick bamboo (302) quantity, every support section of thick bamboo (302) all connect through three wire rope (301) and base (2) on three drive assembly that correspond respectively, terminal link assembly (4) also connect through three wire rope (301) and base (2) on the three drive assembly that corresponds, the other end of three wire rope (301) all is connected to simultaneously on this support section of thick bamboo (302) root end's wire rope seat dish (303), wherein three wire rope (301) are connected to simultaneously on the wire rope seat dish (303) of terminal link assembly (4) root end.
5. The serpentine manipulator of claim 1, wherein:
the middle mechanical arm (3) further comprises a plurality of angle sensors (304), each angle sensor (304) is installed on a corresponding steel wire rope seat disc (303), joints of the device are arranged between two adjacent supporting cylinders (302) of the middle mechanical arm (3) and between the root end of the middle mechanical arm (3) and the tail end connecting rod assembly (4), and the two adjacent angle sensors (304) respectively detect the angle postures of two degrees of freedom at the positions of the joints.
6. The serpentine manipulator of claim 1, wherein:
the outer side walls of the middle mechanical arm (3) and the tail end connecting rod assembly (4) are sleeved with protective corrugated pipes (5).
7. The serpentine manipulator of claim 2, wherein:
the terminal connecting rod assembly (4) further comprises an air knife (402), two light supplement lamps (403) and a high-pressure nozzle joint (404), the two light supplement lamps (403) are located on the left side and the right side of the lens glass (411), and the air knife (402) and the high-pressure nozzle joint (404) are located on the upper side and the lower side of the lens glass (411) respectively and are installed on the outer side face of the terminal connecting rod panel (410).
8. The serpentine manipulator of claim 7, wherein:
the jet orifice of the air knife (402) faces to the lens glass (411), the air knife (402) is connected with a high-pressure air pipe, and the air knife (402) jets high-pressure air to the stained lens glass (411); the high-pressure nozzle joint (404) is perpendicular to the tail end connecting rod panel (410) and faces outwards, the inner end of the high-pressure nozzle joint (404) is connected with a high-pressure water pipe, the outer end of the high-pressure nozzle joint is connected with a high-pressure nozzle, and the high-pressure nozzle sprays high-pressure water towards the surface of an external object to be detected with stains.
9. The serpentine manipulator of claim 7, wherein:
the tail end joint assembly (4) further comprises a sealing aviation plug (405), a sealing barrel support (406), a sealing barrel (407), a camera retainer (408) and a laser seat (409), wherein the sealing barrel (407) is positioned in the outer barrel (401), one end of the sealing barrel (407) is connected with the inner side surface of the tail end connecting rod panel (410), the camera retainer (408) and the laser seat (409) are installed in the sealing barrel (407), an automatic zooming camera is installed in the camera retainer (408), and a laser is installed in the laser seat (409); the other end of the sealing cylinder (407) is connected with one side surface of the sealing cylinder support (406), a sealing aviation plug (405) is arranged on the other side surface of the sealing cylinder support (406), and the automatic zooming camera and the laser are electrically connected with an external power supply through the sealing aviation plug (405).
10. The serpentine manipulator of claim 9, wherein:
an outer cylinder flange gap I (4001) and an outer cylinder flange gap III (4003) are formed in the edge of the outer cylinder (401), the two light supplementing lamps (403) are respectively exposed out of the outer cylinder flange gap I (4001) and the outer cylinder flange gap III (4003), an outer cylinder flange gap II (4002) is formed in the edge of the outer cylinder (401), and the sealing cylinder (407) is exposed out of the outer cylinder flange gap II (4002); light filling lamp flange gaps (4004) are formed in the edges, close to the sealing barrel (407), of the two light filling lamps (403), and sealing barrel flange gaps (4005) are formed in the edges, close to the high-pressure nozzle joint (404), of the sealing barrel (407).
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| CN202111246660.4A CN113977562B (en) | 2021-10-26 | 2021-10-26 | Compact snake-shaped mechanical arm for severe environment |
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| CN202111246660.4A CN113977562B (en) | 2021-10-26 | 2021-10-26 | Compact snake-shaped mechanical arm for severe environment |
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| CN113977562B CN113977562B (en) | 2023-08-15 |
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| CN113977562B (en) | 2023-08-15 |
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