Nuclear island pool foreign matter-oriented underwater salvage robot with series-parallel mechanical arm and series-parallel mechanical arm

Abstract

The invention relates to a nuclear island pool foreign matter-oriented underwater salvage robot with a series-parallel mechanical arm and the series-parallel mechanical arm, and solves the problems that a mechanical arm of an existing nuclear power underwater salvage robot is relatively simple in structure, relatively single in carried salvage tool, relatively high in salvage efficiency and the like. The fishing success rate is low when the fishing tool is used for fishing foreign matters in pool corner areas and in various forms. The system comprises an underwater robot and a series-parallel mechanical arm, the series-parallel mechanical arm comprises a Delta parallel mechanical arm, a series mechanical arm and a fishing tool, the Delta parallel mechanical arm is provided with a static platform and a movable platform, and the static platform is connected with the underwater robot; the series mechanical arm comprises a connecting plate, a rotating platform, a first joint motor module, a second joint motor module fixing plate, a supporting plate, a second joint motor module, a right arm connecting plate, a left arm, a right arm, a tail end platform, a third joint motor module, a driving gear, a driven gear and a quick change device. The device is widely applied to salvage of foreign matters in nuclear island pools.

Description

Technical Field

[0001] This invention relates to the field of foreign object retrieval technology for nuclear island pools, and more specifically, to an underwater retrieval robot with a hybrid robotic arm for retrieval of foreign objects in nuclear island pools, as well as the hybrid robotic arm. Background Technology

[0002] In the field of nuclear power plant technology, nuclear power facilities require regular troubleshooting and maintenance. This includes the nuclear reactor pressure vessel and its surrounding nuclear island pool. During operation and maintenance, there are numerous sources of foreign matter that could enter the nuclear island pool and pressure vessel. During reactor operation, equipment near or inside the pool may experience wear and tear due to prolonged exposure to high temperatures and high-speed fluids, causing parts to loosen and fall off, forming foreign objects. During major outages, frequent cross-operations, large numbers of personnel, heavy tool loads, and inadequate anti-fall-off measures can lead to parts used for maintenance or personal belongings falling into the pool, generating foreign objects. Once foreign objects fall into and remain in the nuclear island pool, they can cause minor damage to equipment and components, leading to malfunctions; or, more seriously, they can enter the reactor core with the water flow, causing damage to fuel assembly cladding, increased radiation levels, and the spread of radioactive contamination, severely threatening the safe operation of the nuclear power plant. Therefore, it is essential to promptly recover and dispose of foreign objects in the nuclear island pool.

[0003] Currently, foreign object retrieval operations are still primarily manual, which exposes workers to high doses of radiation. Even with radiation protection equipment, it's impossible to completely prevent accidents that could expose personnel to radiation. In contrast, using intelligent underwater robots equipped with cameras and robotic arms to replace traditional manual labor offers advantages such as high efficiency, ease of operation, high flexibility, and enhanced personnel safety, significantly improving the safety and cost-effectiveness of foreign object retrieval at nuclear power plants.

[0004] However, the existing underwater salvage robots for nuclear power plants have relatively simple robotic arm configurations and limited salvage tools, resulting in a low success rate when facing the corners of the pool and various types of foreign objects. Summary of the Invention

[0005] This invention aims to address the technical problems of existing nuclear power plant underwater salvage robots, which have relatively simple robotic arm configurations and limited salvage tools, resulting in low salvage success rates when facing foreign objects in the corners and edges of the pool and objects of various shapes. The invention provides an underwater salvage robot with a hybrid robotic arm designed to improve the salvage success rate for foreign objects in nuclear island pools, as well as the hybrid robotic arm itself.

[0006] In a first aspect, the present invention provides an underwater salvage robot with a hybrid robotic arm for handling foreign objects in a nuclear island pool. The robot includes an underwater robot and a hybrid robotic arm. The hybrid robotic arm comprises a Delta parallel robotic arm, a series robotic arm, and a salvage tool. The Delta parallel robotic arm has a static platform and a moving platform. The static platform is connected to the underwater robot. The series robotic arm includes a connecting plate, a rotating platform, a first joint motor module, a second joint motor module fixing plate, a support plate, a second joint motor module, a right arm connecting plate, a left arm, a right arm, an end effector platform, a third joint motor module, a drive gear, a driven gear, and a quick-change device. The connecting plate is fixedly connected to the housing of the first joint motor module, and the rotating platform is fixedly connected to the output shaft of the first joint motor module. The second joint motor module... The fixed plate is fixedly connected to the rotating platform; the support plate is fixedly connected to the fixed plate of the second joint motor module; the outer shell of the second joint motor module is fixedly connected to the support plate; the output shaft of the second joint motor module passes through the fixed plate of the second joint motor module; the right arm connecting plate is fixedly connected to the rotating platform; the rear end of the left arm is fixedly connected to the output shaft of the second joint motor module; the rear end of the left arm is rotatably connected to the fixed plate of the second joint motor module via a bearing; the rear end of the right arm is connected to the right arm connecting plate via a hinge; the front end of the left arm is connected to the end platform via a hinge; the front end of the right arm is connected to the end platform via a hinge; the third joint motor module is connected to the end platform; the driving gear is connected to the output shaft of the third joint motor module; the driven gear meshes with the driving gear; the connecting plate is fixedly connected to the moving platform.

[0007] The quick-change device includes a housing, end cap, waterproof connector, power output motor, power output shaft, hexagonal sleeve, spring, guide seat, gasket, and retaining ring. The end cap is connected to the housing, and the waterproof connector is connected to the end cap. The power output motor is fixedly installed inside the housing. The bottom of the housing has an opening, and the power output motor has an output end. The power output shaft is fixedly connected to the output end of the power output motor and extends outward from the opening at the bottom of the housing. The upper end of the guide seat is fixedly connected to the bottom of the housing. The upper part of the guide seat has a bearing chamber containing two bearings. The upper part of the power output shaft... The guide seat is rotatably connected to two bearings in the bearing chamber. The retaining ring is connected to the upper part of the power output shaft. A skeleton oil seal is connected between the power output shaft and the inner wall of the guide seat. The lower part of the guide seat is provided with a sleeve receiving chamber. The lower end of the power output shaft is located in the sleeve receiving chamber. The gasket is fixedly connected to the lower end of the power output shaft. The spring is sleeved on the lower end of the power output shaft. The upper end of the spring abuts against the gasket. The hexagonal sleeve is sleeved on the lower end of the power output shaft. The hexagonal sleeve and the spring are both located in the sleeve receiving chamber. The lower end of the spring is fixedly connected to the top of the hexagonal sleeve. The lower end of the guide seat is provided with an annular groove.

[0008] The guide seat is rotatably connected to the end platform via two bearings, and the driven gear is fixedly connected to the lower part of the guide seat;

[0009] The salvage tool is connected to the quick-change device.

[0010] Preferably, the retrieval tool is a three-finger gripper type retrieval tool. The three-finger gripper type retrieval tool includes a passive end interface, an input shaft, a base, finger support rods, a limiting baffle, a moving plate, finger connecting rods, and fingers. The input shaft has a hexagonal head and a threaded tail. The middle part of the input shaft is rotatably connected to the passive end interface via two bearings. The upper part of the passive end interface has a chamber, and the hexagonal head of the input shaft is located in the chamber. The base is fixedly connected to the bottom of the passive end interface. The finger support rod is fixedly connected to the base. The limiting baffle is fixedly connected to the threaded tail of the input shaft. The threaded tail of the input shaft passes through the base. The moving plate has a threaded hole, which connects and engages with the threaded tail of the input shaft. One end of the finger connecting rod is hinged to the moving plate, and the other end is hinged to a finger. The end of the finger support rod is hinged to a finger. There are three finger support rods, three finger connecting rods, and three fingers, with the three fingers evenly distributed along the circumference. The hexagonal head of the input shaft can mate with a hexagonal sleeve.

[0011] The passive end interface includes a body, a ball screw, and a set screw. The body has multiple threaded holes that communicate with the upper chamber of the body. The ball screw is connected to the threaded holes. The front end of the ball screw has a ball. The set screw is connected to the threaded hole and presses against the rear end of the ball screw.

[0012] When assembling the three-finger gripper-type retrieval tool with the quick-change device, the lower end of the guide seat is located in the upper cavity of the body, the hexagonal head of the input shaft is inserted into the hexagonal sleeve, the spring is compressed, and the steel ball of the steel ball screw is embedded in the annular groove of the guide seat.

[0013] Preferably, the fingers are flexible or rigid.

[0014] Preferably, the upper chamber of the passive end interface has a tapered guide surface at its entrance, and the lower end of the guide seat has a tapered guide surface.

[0015] Preferably, the salvage tool is an irregularly shaped two-finger gripper type salvage tool. This tool includes a passive end interface, a base, an input shaft, an active connecting rod, a first finger connecting rod, a second finger connecting rod, a plate-shaped finger, and a shovel-shaped finger. The passive end interface includes a body, a ball screw, and a set screw. The body has multiple threaded holes and a chamber. The threaded holes communicate with the upper chamber of the body. The ball screw connects to the threaded holes, with a ball at its front end. The set screw connects to the threaded hole and presses against the rear end of the ball screw. The input shaft has a hexagonal head, and its middle section is rotatably connected to the passive end interface via a bearing. The hexagonal head of the input shaft is located in the passive end interface. The passive end interface is located in the upper chamber of the main body. A base is fixedly connected to the passive end interface. The base has a first and a second sliding groove. The upper end of the plate-shaped finger is connected to the first sliding groove, and the upper end of the shovel-shaped finger is connected to the second sliding groove. The tail of the input shaft passes through the base. The middle part of the active connecting rod is fixedly connected to the tail of the input shaft. One end of the first finger connecting rod is rotatably connected to the plate-shaped finger, and the other end of the first finger connecting rod is rotatably connected to one end of the active connecting rod. One end of the second finger connecting rod is rotatably connected to the shovel-shaped finger, and the other end of the second finger connecting rod is rotatably connected to the other end of the active connecting rod. The plate-shaped finger has a wedge-shaped cross-section that tapers towards the end, and the bottom cross-section of the shovel-shaped finger also has a wedge-shaped cross-section that tapers towards the end.

[0016] When the irregular two-finger gripper-type retrieval tool is assembled with the quick-change device, the lower end of the guide seat is located in the chamber on the upper part of the passive end interface body, the hexagonal head of the input shaft is inserted into the hexagonal sleeve, the spring is compressed, and the steel ball of the steel ball screw is embedded in the annular groove of the guide seat.

[0017] Preferably, the retrieval tool is an electromagnet-type retrieval tool, which includes a passive end interface, a base, an input shaft, a housing, a push-button actuation component, a battery fixing plate, a lithium battery, a rebound push-button switch, an electromagnet support, an electromagnet, a third sealing ring, and a bottom cover. The passive end interface includes a body, a ball screw, and a set screw. The upper part of the body has a chamber with multiple threaded holes communicating with the upper chamber. The ball screw connects to the threaded holes, with a ball at its front end. The set screw connects to the threaded holes and presses against the rear end of the ball screw. The input shaft has a hexagonal head, and its middle part is rotatably connected to the passive end interface via a bearing. The hexagonal head of the input shaft is located in the upper chamber of the passive end interface body. The base is fixedly connected to the passive end interface, the tail of the input shaft passes through the base, and the housing is fixedly connected to the base. The battery mounting plate is fixedly connected to the step inside the outer casing. A first sealing ring is connected between the battery mounting plate and the step inside the outer casing. A space is formed between the battery mounting plate and the base. The push-button actuation component is fixedly connected to the tail of the input shaft. The push-button actuation component is located in the space between the battery mounting plate and the base. The push-button actuation component has an inverted trapezoidal end. The lithium battery is fixedly connected to the battery mounting plate. The rebound push-button switch is connected to the battery mounting plate. The rebound push-button switch is electrically connected to the lithium battery through a wire. The bottom cover is fixedly connected to the bottom of the outer casing. A second sealing ring is connected between the bottom cover and the bottom of the outer casing. The electromagnet support is fixedly connected to the bottom cover. The electromagnet is fixedly connected to the electromagnet support. The bottom cover has a rear opening. A part of the electromagnet extends outward from the opening of the bottom cover. A third sealing ring is connected between the side of the electromagnet and the opening. The electromagnet is electrically connected to the rebound push-button switch through a wire.

[0018] When assembling the electromagnet-type salvage tool with the quick-change device, the lower end of the guide seat is located in the chamber on the upper part of the passive end interface body. The hexagonal head of the input shaft is inserted into the hexagonal sleeve, the spring is compressed, and the steel ball of the steel ball screw is embedded in the annular groove of the guide seat.

[0019] In a second aspect, the present invention provides a hybrid robotic arm, comprising a Delta parallel robotic arm and a serial robotic arm. The Delta parallel robotic arm has a static platform and a moving platform. The serial robotic arm includes a connecting plate, a rotating platform, a first joint motor module, a second joint motor module fixing plate, a support plate, a second joint motor module, a right arm connecting plate, a left arm, a right arm, and an end effector platform. The connecting plate is fixedly connected to the housing of the first joint motor module, the rotating platform is fixedly connected to the output shaft of the first joint motor module, the second joint motor module fixing plate is fixedly connected to the rotating platform, and the support plate... The second joint motor module is fixedly connected to the mounting plate. The outer shell of the second joint motor module is fixedly connected to the support plate. The output shaft of the second joint motor module passes through the mounting plate. The right arm connecting plate is fixedly connected to the rotating platform. The rear end of the left arm is fixedly connected to the output shaft of the second joint motor module. The rear end of the left arm is rotatably connected to the mounting plate of the second joint motor module through a bearing. The rear end of the right arm is connected to the right arm connecting plate through a hinge. The front end of the left arm is connected to the end platform through a hinge. The front end of the right arm is connected to the end platform through a hinge. The connecting plate is fixedly connected to the moving platform.

[0020] Preferably, the hybrid robotic arm further includes a third joint motor module, a drive gear, a driven gear, and a quick-change device. The third joint motor module is connected to the end platform, the drive gear is connected to the output shaft of the third joint motor module, and the driven gear meshes with the drive gear.

[0021] The quick-change device includes a housing, end cap, waterproof connector, power output motor, power output shaft, hexagonal sleeve, spring, guide seat, gasket, retaining ring, and skeleton oil seal. The end cap is connected to the housing, and the waterproof connector is connected to the end cap. The power output motor is fixedly installed inside the housing. The bottom of the housing has an opening, and the power output motor has an output end. The power output shaft is fixedly connected to the output end of the power output motor and extends outward from the opening at the bottom of the housing. The upper end of the guide seat is fixedly connected to the bottom of the housing. The upper part of the guide seat has a bearing chamber containing two bearings. The upper part is rotatably connected to the guide seat through two bearings in the bearing chamber. The retaining ring is connected to the upper part of the power output shaft. A skeleton oil seal is connected between the power output shaft and the inner wall of the guide seat. The lower part of the guide seat is provided with a sleeve receiving chamber. The lower end of the power output shaft is located in the sleeve receiving chamber. The gasket is fixedly connected to the lower end of the power output shaft. The spring is sleeved on the lower end of the power output shaft. The upper end of the spring abuts against the gasket. The hexagonal sleeve is sleeved on the lower end of the power output shaft. The hexagonal sleeve and the spring are both located in the sleeve receiving chamber. The lower end of the spring is fixedly connected to the top of the hexagonal sleeve. The lower end of the guide seat is provided with an annular groove.

[0022] The guide seat is rotatably connected to the end platform via two bearings, and the driven gear is fixedly connected to the lower part of the guide seat.

[0023] The beneficial effects of this invention are: For foreign object retrieval robots targeting nuclear island pools, a specifically configured hybrid robotic arm and a series of quick-change retrieval tools are designed, improving the success rate of retrieval of foreign objects in the pool. This is particularly true for retrieving foreign objects from the pool's corners and those with diverse shapes.

[0024] It improves work efficiency and enhances safety.

[0025] Further features and aspects of the present invention will be clearly described in the following detailed description with reference to the accompanying drawings. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the hybrid robotic arm;

[0027] Figure 2 This is a schematic diagram of the Delta parallel robotic arm;

[0028] Figure 3 This is an exploded view of drive motor one;

[0029] Figure 4 It is an isometric view of a series robotic arm;

[0030] Figure 5 It is an isometric view of a series robotic arm;

[0031] Figure 6 This is an exploded view of a series of robotic arms;

[0032] Figure 7 yes Figure 4 Exploded view of the quick-change device in the structure shown;

[0033] Figure 8 This is an exploded view of the quick-change device;

[0034] Figure 9 This is a cross-sectional view of the quick-change device;

[0035] Figure 10 It is an isometric view of a three-finger gripper-type salvage tool;

[0036] Figure 11 This is an exploded view of a three-finger gripper-type salvage tool;

[0037] Figure 12 This is an exploded view of the passive interface;

[0038] Figure 13 This is a schematic diagram of a hybrid robotic arm mounted on an underwater robot.

[0039] Figure 14 This is a schematic diagram of the structure of an irregularly shaped two-finger gripper-type salvage tool;

[0040] Figure 15 yes Figure 14 A cross-sectional view of the irregular two-finger gripper-type salvage tool shown;

[0041] Figure 16 It is an isometric view of an electromagnet-type salvage tool;

[0042] Figure 17 This is an exploded view of an electromagnet-based salvage tool;

[0043] Figure 18 This is a cross-sectional view of an electromagnet-type salvage tool;

[0044] Figure 19 This is a diagram showing the positional relationship between the button actuation element and the battery mounting plate;

[0045] Figure 20 This is a schematic diagram of the motion structure of a hybrid robotic arm;

[0046] Figure 21 It is the coordinate system of the connecting links of the serial robotic arm.

[0047] Explanation of symbols in the diagram:

[0048] 100. Delta Parallel Robotic Arm; 101. Static Platform; 102. Moving Platform; 103. Active Arm 1; 104. Active Arm 2; 105. Active Arm 3; 106. Driven Arm 1; 107. Driven Arm 2; 108. Driven Arm 3; 109. Drive Motor 1; 109-1. Motor Support Plate; 109-2. Screw; 109-3. Joint Motor; 109-3-1. Output Shaft; 109-4. Waterproof Chamber Shell; 109-5. Waterproof Chamber Rear End Cover; 109-6. First O-ring Seal; 109-7. Second O-ring Seal; 109-8. Waterproof Connector; 109-9. Bearing; 109-10. Dynamic Seal; 110. Drive Motor 2; 111. Drive Motor 3; 200. Serial Machine Robotic arm, 201. Connecting plate, 202. Rotating platform, 203. First joint motor module, 204. Second joint motor module fixing plate, 205. Support plate, 206. Second joint motor module, 207. Right arm connecting plate, 208. Left arm, 209. Right arm, 210. Plug screw, 211. Nut, 212. Bushing, 213. Washer, 214. End platform, 215. Third joint motor module, 216. Hinge, 217. Hinge, 218. Drive gear, 219. Driven gear, 220. Quick-change device, 220-1. Housing, 220-2. End cap, 220-3. Waterproof connector, 220-4. Power output motor, 220-4-1. Output end, 220-5. Power transmission... Output shaft, 220-6. Bearing, 220-7. Hexagonal sleeve, 220-8. Spring, 220-9. Bearing, 220-10. Guide seat, 220-10-1. Sleeve receiving chamber, 220-10-2. Annular groove, 220-11. Washer, 220-12. Retaining ring one, 220-13. Bearing, 220-14. Bearing, 220-15. Retaining ring two, 220-16. Skeleton oil seal, 220-17. Bearing pressure plate; 300. Three-finger gripper type retrieval tool, 301. Passive end interface, 301-1. Body, 301-1-1. Threaded hole, 301-2. Steel ball screw, 301-3. Set screw; 302. Input shaft, 302-1. Hexagonal head, 302-2 303. Threaded tail end; 304. Bearing; 305. Base; 306. Finger support rod; 307. Limiting baffle; 308. Moving plate; 309. Finger connecting rod; 310. Flexible finger; 400. Underwater robot; 500. Irregular two-finger gripper-type salvage tool; 501. Passive end interface; 502. Base; 502-1. First slide groove; 502-2. Second slide groove; 503. Input shaft; 504. Active connecting rod; 505. First finger connecting rod; 506. Second finger connecting rod; 507. Plate-shaped finger; 508. Shovel-shaped finger; 509. Bearing; 600. Electromagnetic salvage tool; 601. Passive end interface; 602. Base; 603. Input shaft; 604. Bearing; 605.606. Housing; 607. First sealing ring; 608. Button actuation element; 609. Inverted trapezoidal end; 600. Battery fixing plate; 610. Lithium battery; 611. Rebound button switch; 612. Electromagnet support; 613. Electromagnet; 614. Second sealing ring; 615. Third sealing ring; 616. Bottom cover. Detailed Implementation

[0049] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] Example 1

[0051] like Figure 1 As shown, the hybrid robotic arm includes a Delta parallel robotic arm 100, a serial robotic arm 200, and a three-finger gripper retrieval tool 300.

[0052] like Figure 1 and 2 As shown, the Delta parallel robotic arm 100 includes a static platform 101, a moving platform 102, a first active arm 103, a second active arm 104, a third active arm 105, a first driven arm 106, a second driven arm 107, a third driven arm 108, a first drive motor 109, a second drive motor 110, and a third drive motor 111. The first drive motor 109, the second drive motor 110, and the third drive motor 111 are fixedly mounted on the static platform 101. One end of the first active arm 103 is connected to the output shaft of the first drive motor 109, and one end of the second active arm 104 is connected to the output shaft of the third drive motor 109. The output shaft of the second arm 110 is connected, and one end of the third arm 105 is connected to the output shaft of the third drive motor 111. The upper end of the first arm 106 is connected to the other end of the first arm 103 via a hinge, the upper end of the second arm 107 is connected to the other end of the second arm 104 via a hinge, and the upper end of the third arm 108 is connected to the other end of the third arm 105 via a hinge. The lower ends of the first arm 106, the second arm 107, and the third arm 108 are rotatably connected to the moving platform 102. The lower ends of the first arm 103, the second arm 104, and the third arm 105 are rotatably connected to the moving platform 102. The first arm 103, the second arm 104, and the third arm 105 are evenly distributed along the circumference, and the included angle between two adjacent arms is 120°. The output torque of each drive motor realizes the rotation of the corresponding arm. The primary material for the driven boom 106, driven boom 2 107, and driven boom 3 108 is preferably carbon fiber, which has the advantage of reducing weight, while also providing sufficient rigidity and corrosion resistance to meet the high strength and long-term use requirements of underwater working environments.

[0053] like Figure 3As shown, a specific structure of the drive motor 109 is as follows: the drive motor 109 includes a motor support plate 109-1, screws 109-2, a joint motor 109-3, a waterproof housing 109-4, a waterproof housing rear end cover 109-5, a first O-ring seal 109-6, a second O-ring seal 109-7, a waterproof connector 109-8, a bearing 109-9, and a dynamic seal 109-10. The motor support plate 109-1 is fixed to the static platform 101 by screws 109-2. The joint motor 109-3 is fixedly connected inside the waterproof housing 109-4. The front end face of the waterproof housing 109-4 is fixedly connected to the motor support plate 109-1. The second O-ring seal 109-7 is connected to the front end face of the waterproof housing 109-4 and the motor support plate 109-1. Between the machine support plate 109-1, the rear end cover 109-5 of the waterproof chamber is fixedly connected to the rear end face of the outer shell 109-4 of the waterproof chamber. A first O-ring seal 109-6 is connected between the rear end cover 109-5 of the waterproof chamber and the rear end face of the outer shell 109-4 of the waterproof chamber. A waterproof connector 109-8 is connected to the rear end cover 109-5 of the waterproof chamber. The waterproof connector 109-8 is electrically connected to the joint motor 109-3 through a signal line. The joint motor 109-3 is provided with an output shaft 109-3-1. One end of the active arm 103 is connected to the output shaft 109-3-1. One end of the active arm 103 is rotatably connected to the motor support plate 109-1 through a bearing 109-9. A dynamic seal 109-10 is connected between the motor support plate 109-1 and the active arm 103.

[0054] The underwater robot's controller is electrically connected to a waterproof connector 109-8 via a cable.

[0055] like Figure 4-7As shown, the serial robotic arm 200 includes a connecting plate 201, a rotating platform 202, a first joint motor module 203, a second joint motor module fixing plate 204, a support plate 205, a second joint motor module 206, a right arm connecting plate 207, a left arm 208, a right arm 209, an end effector platform 214, a third joint motor module 215, hinges 216 and 217, a drive gear 218, a driven gear 219, and a quick-change device 220. The connecting plate 201 and the first joint motor module 203... The outer shell of the second joint motor module 206 is fixedly connected to the rotating platform 202, the output shaft of the first joint motor module 203 is fixedly connected to the rotating platform 202, the second joint motor module fixing plate 204 is fixedly connected to the rotating platform 202 by screws, the support plate 205 is fixedly connected to the second joint motor module fixing plate 204, the outer shell of the second joint motor module 206 is fixedly connected to the support plate 205, the output shaft of the second joint motor module 206 passes through the second joint motor module fixing plate 204, and the right arm connecting plate 207 is fixed to the rotating platform 202. The left arm 208 is fixedly connected to the output shaft of the second joint motor module 206. The rear end of the left arm 208 is rotatably connected to the second joint motor module fixing plate 204 via a bearing. The rear end of the left arm 208 is supported on the second joint motor module fixing plate 204. The rear end of the right arm 209 is connected to the right arm connecting plate 207 via a hinge (a specific hinge structure includes: a screw 210, a nut 211, a bushing 212, and a washer 213; the bushing 212 is installed on the rear end of the right arm 209, and the screw...). Screw 210 passes sequentially through right arm connecting plate 207, washer 213, and bushing 212 (nut 211 connects to the threaded part of screw 210). The front end of left arm 208 is connected to end platform 214 via hinge 216. The front end of right arm 209 is connected to end platform 214 via hinge 217. Third joint motor module 215 is connected to end platform 214. Drive gear 218 is connected to the output shaft of third joint motor module 215. Driven gear 219 meshes with drive gear 218.

[0056] like Figure 8 and 9As shown, the quick-change device 220 includes a housing 220-1, an end cap 220-2, a waterproof connector 220-3, a power output motor 220-4, a power output shaft 220-5, bearings 220-6 and 220-9, a hexagonal sleeve 220-7, a spring 220-8, a guide seat 220-10, a gasket 220-11, a retaining ring 1 220-12, a bearing 220-13, a bearing 220-14, a retaining ring 220-15, and a skeleton oil seal 220-16. The end cap 220-2 is connected to the housing 220-1, and the waterproof connector 220-3 is connected to the end cap 220-1. -2 connection, the power output motor 220-4 is fixedly installed inside the housing 220-1. The bottom of the housing 220-1 has an opening. The power output motor 220-4 has an output end 220-4-1. The power output shaft 220-5 is fixedly connected to the output end 220-4-1. The power output shaft 220-5 extends outward from the opening at the bottom of the housing 220-1. The upper end of the guide seat 220-10 is fixedly connected to the bottom of the housing 220-1. The upper part of the guide seat 220-10 has a bearing chamber. Bearings 220-6 and 220-9 are installed in the bearing chamber. The power output shaft 220-4... The upper part of the 220-5 is rotatably connected to the guide seat 220-10 via bearings 220-6 and 220-9. A retaining ring 220-12 is connected to the upper part of the power output shaft 220-5 and supports bearing 220-6. A skeleton oil seal 220-16 connects the power output shaft 220-5 and the inner wall of the guide seat 220-10. The lower part of the guide seat 220-10 is provided with a sleeve receiving chamber 220-10-1, and the lower end of the power output shaft 220-5 is located in this sleeve receiving chamber 220-10-1. A gasket 220-11 is connected to the power output shaft 220-5. The lower end of the 20-5 is fixedly connected, and the spring 220-8 is sleeved on the lower end of the power output shaft 220-5. The upper end of the spring 220-8 abuts against the washer 220-11. The hexagonal sleeve 220-7 is sleeved on the lower end of the power output shaft 220-5. The hexagonal sleeve 220-7 and the spring 220-8 are both located in the sleeve receiving chamber 220-10-1. The lower end of the spring 220-8 is fixedly connected to the top of the hexagonal sleeve 220-7 (which can be fixed by welding). The hexagonal sleeve 220-7 can extend and retract. When the hexagonal sleeve 220-7 retracts, the spring 220-8 is compressed. Bearings 220-13 and 220-14 are fitted onto the upper part of guide seat 220-10. Retaining ring 220-15 is connected to the upper part of guide seat 220-10 and supports bearing 220-14. Power output motor 220-4 drives power output shaft 220-5 to rotate, which in turn drives hexagonal sleeve 220-7 to rotate. The lower end of guide seat 220-10 is provided with an annular groove 220-10-2.

[0057] refer to Figure 4 ,5 Bearings 220-13 and 220-14 are connected to the bearing connection chamber of the end platform 214. Bearing 220-13 is pressed down by bearing pressure plate 220-17. That is, guide seat 220-10 is rotatably connected to end platform 214 through bearings 220-13 and 220-14. Driven gear 219 is fixedly connected to the lower part of guide seat 220-10. The third joint motor module 215 works by driving gear 218 and driven gear 219 to rotate guide seat 220-10 and housing 220-1, and power output motor 220-4 also rotates accordingly.

[0058] As can be seen, the first joint motor module 203 is responsible for providing the rotational degrees of freedom of the left arm 208 and the right arm 209 around the vertical axis, and the second joint motor module 206 is responsible for providing the rotational degrees of freedom of the left arm 208 and the right arm 209 around the horizontal axis, thereby expanding the workspace and enabling the retrieval tool installed at the end of the hybrid robotic arm to extend beyond the coverage area of ​​the underwater robot chassis, thereby reaching areas such as the edge and corner of a pool for retrieval; the third joint motor module 215 is responsible for providing the rotational degrees of freedom of the retrieval tool around the vertical axis, so that the end tool can grasp foreign objects in any posture.

[0059] The connecting plate 201 is fixedly connected to the moving platform 102.

[0060] like Figure 10 and 11As shown, the three-finger gripper-type retrieval tool 300 includes a passive end interface 301, an input shaft 302, bearings 303 and 304, a base 305, a finger support rod 306, a limiting baffle 307, a moving plate 308, a finger connecting rod 309, and a flexible finger 310. The input shaft 302 has a hexagonal head 302-1 and a threaded tail 302-2. The middle part of the input shaft 302 is rotatably connected to the passive end interface 301 through bearings 303 and 304. The upper part of the passive end interface 301 has a chamber, and the hexagonal head 302-1 of the input shaft 302 is located in this chamber. In the chamber, the base 305 is fixedly connected to the bottom of the passive end interface 301, the finger support rod 306 is fixedly connected to the base 305, the limiting baffle 307 is fixedly connected to the threaded tail 302-2 of the input shaft 302, the threaded tail 302-2 passes through the base 305, the moving plate 308 is provided with a threaded hole, the threaded hole of the moving plate 308 is connected and engaged with the threaded tail 302-2, one end of the finger connecting rod 309 is hinged to the moving plate 308, the other end of the finger connecting rod 309 is hinged to the flexible finger 310, and the end of the finger support rod 306 is hinged to the flexible finger 310. There are three finger support rods 306, three finger connecting rods 309, and three flexible fingers 310. The three flexible fingers 310 are evenly distributed along the circumference, and the included angle between two adjacent flexible fingers 310 is 120°. The hexagonal head 302-1 of the input shaft 302 can mate with the hexagonal sleeve 220-7 to transmit torque. Rotation of the input shaft 302 causes the moving plate 308 to rise or fall, thereby causing the three flexible fingers 310 to close or open. The advantage of the flexible fingers 310 is that they can adapt to the object being grasped, improving the success rate of grasping. It should be noted that the flexible fingers 310 can also be replaced by rigid fingers.

[0061] The 300 three-finger gripper is used to grab foreign objects distributed on a flat pool bottom.

[0062] like Figure 12 As shown, the passive end interface 301 includes a body 301-1, a ball screw 301-2, and a set screw 301-3. The body 301-1 has multiple threaded holes 301-1-1, which communicate with the upper cavity of the body 301-1. The ball screw 301-2 is connected to the threaded hole 301-1-1, and a ball is provided at the front end of the ball screw 301-2. The set screw 301-3 is connected to the threaded hole 301-1-1, and the set screw 301-3 presses against the rear end of the ball screw 301-2. One threaded hole 301-1-1 corresponds to one ball screw 301-2 and one set screw 301-3.

[0063] When assembling the three-finger gripper retrieval tool 300 with the quick-change device 220, the passive end interface 301 is aligned with the lower end of the guide seat 220-10, and the body 301-1 is fitted onto the lower end of the guide seat 220-10. The lower end of the guide seat 220-10 is located in the upper cavity of the body 301-1. The hexagonal head 302-1 of the input shaft 302 is inserted into the hexagonal sleeve 220-7, and the hexagonal sleeve 220-7 is displaced (the spring 220-8 is compressed). The set screw 301-3 is tightened so that the steel ball of the ball screw 301-2 is embedded in the annular groove 220-10-2, thereby achieving a fixed connection between the passive end interface 301 and the guide seat 220-10. Further optimization involves setting a conical guide surface at the entrance of the upper chamber of the main body 301-1, and also setting a conical guide surface at the lower end of the guide seat 220-10. The two conical guide surfaces work together to increase the positioning tolerance performance and improve the reliability and speed of docking.

[0064] When using the above-mentioned hybrid robotic arm, refer to Figure 13 The static platform 101 of the Delta parallel robotic arm 100 is fixedly mounted on the underwater robot 400. For various foreign objects such as graphite fragments, bolts, and nuts in the nuclear island pool, the third joint motor module 215 operates, causing the guide seat 220-10 to rotate. The guide seat 220-10 rotates the entire three-finger gripper 300, adjusting its position to easily align with the foreign object to be grasped. The power output motor 220-4 operates, causing the hexagonal sleeve 220-7 to rotate. The hexagonal sleeve 220-7 drives the input shaft 302 to rotate, thereby causing the three flexible fingers 310 to close and grasp the foreign object.

[0065] In addition to the three-finger gripper type, the salvage tool also features a uniquely shaped two-finger gripper type designed for specific working conditions, such as... Figure 14 and 15As shown, the irregular two-finger gripper-type retrieval tool 500 includes a passive end interface 501, a base 502, an input shaft 503, an active connecting rod 504, a first finger connecting rod 505, a second finger connecting rod 506, a plate-shaped finger 507, a shovel-shaped finger 508, and a bearing 509. The passive end interface 501 has the same structure as the passive end interface 301. The passive end interface 501 includes a body, a ball screw, and a set screw. The body has multiple threaded holes that communicate with a cavity in the upper part of the body. The ball screw connects to the threaded holes, with a ball at its front end. The set screw connects to the threaded holes and presses against the rear end of the ball screw. The input shaft 503 has a hexagonal head. The middle part of the input shaft 503 is rotatably connected to the passive end interface 501 via the bearing 509. The hexagonal head of the input shaft 503 is located in the cavity in the upper part of the passive end interface body. The base 502 is fixedly connected to the passive end interface 501. The base 502 is provided with a first sliding groove 502-1 and a second sliding groove 502-2. The upper end of the plate-shaped finger 507 is located in the first sliding groove 502-1 (shown in the figure as a sliding connection via a dovetail groove structure), and the upper end of the shovel-shaped finger 508 is located in the second sliding groove 502-2 (shown in the figure as a sliding connection via a dovetail groove structure). The tail of the input shaft 503 passes through the base 502. The middle part of the active connecting rod 504 is fixedly connected to the tail of the input shaft 503 by screws. One end of the first finger connecting rod 505 is rotatably connected to the plate-shaped finger 507, and the other end of the first finger connecting rod 505 is rotatably connected to one end of the active connecting rod 504. One end of the second finger connecting rod 506 is rotatably connected to the shovel-shaped finger 508, and the other end of the second finger connecting rod 506 is rotatably connected to the other end of the active connecting rod 504. When the input shaft 503 rotates, it drives the plate-shaped finger 507 and the shovel-shaped finger 508 to close via a crank-slider mechanism. The plate-shaped finger 507 is a large-area flat plate used to sweep foreign objects away from the junction of the wall and the ground. The flat plate has a wedge-shaped cross-section that tapers towards the end, allowing it to be inserted from the side between the wall and the foreign object. The shovel-shaped finger 508 is shaped like a shovel by a bend at one corner. Its bottom cross-section is also wedge-shaped, tapering towards the end, to scoop up foreign objects from the bottom. Another way to use the irregular two-finger gripper retrieval tool 500 is to sweep foreign objects away from edges and corners, and then use the three-finger gripper retrieval tool 300 to grab the foreign objects.

[0066] In addition, an electromagnet-type retrieval tool 600 was designed, which is used to attract and grasp ferrous foreign objects that are difficult to grasp. Figure 16-18As shown, the electromagnet-type retrieval tool 600 includes a passive end interface 601, a base 602, an input shaft 603, a bearing 604, a housing 605, a first sealing ring 606, a button actuation component 607, a battery fixing plate 608, a lithium battery 609, a rebound button switch 610, an electromagnet support 611, an electromagnet 612, a second sealing ring 613, a third sealing ring 614, and a bottom cover 615. The passive end interface 601 has the same structure as the passive end interface 301. The passive end interface 601 includes a body, a ball screw, and a set screw. The body has multiple threaded holes that communicate with the upper cavity of the body. The ball screw is connected to the threaded holes, and a ball is provided at the front end of the ball screw. The set screw is connected to the threaded hole and presses against the rear end of the ball screw. The input shaft 603 has a hexagonal head. The middle part of the input shaft 603 is rotatably connected to the passive end interface 601 via a bearing 604. The hexagonal head of the input shaft 603 is located in the cavity at the top of the passive end interface body. The base 602 is fixedly connected to the passive end interface 601. The tail of the input shaft 603 passes through the base 602. The outer shell 605 is fixedly connected to the base 602. The battery fixing plate 608 is fixedly connected to the step inside the outer shell 605. A first sealing ring 606 is connected between the battery fixing plate 608 and the step inside the outer shell 605. A space is formed between the battery fixing plate 608 and the base 602. The button toggle 607 is fixedly connected to the tail of the input shaft 603. The button toggle 607 is located in the space between the battery fixing plate 608 and the base 602. The button toggle 607 has an inverted trapezoidal end 607-1. A lithium battery 609 is fixedly mounted on a battery mounting plate 608. A spring-loaded push-button switch 610 is connected to the battery mounting plate 608 and is electrically connected to the lithium battery 609 via a wire. A bottom cover 615 is fixedly connected to the bottom of the outer casing 605. A second sealing ring 613 is connected between the bottom cover 615 and the bottom of the outer casing 605. An electromagnet support 611 is fixedly mounted on the bottom cover 615, and an electromagnet 612 is fixedly mounted on the electromagnet support 611. The bottom cover 615 has a rear opening through which a portion of the electromagnet 612 extends outward. A third sealing ring 614 is connected between the side of the electromagnet 612 and the opening. The electromagnet 612 is electrically connected to the spring-loaded push-button switch 610 via a wire. In the initial state, as... Figure 19 As shown, the rebound button switch 610 is in the off state, and the button actuation element 607 is a certain distance away from the rebound button switch 610 and is not in contact. Then, the input shaft 603 rotates a certain angle, causing the button actuation element 607 to rotate and move. The inverted trapezoidal end 607-1 then presses against the button of the rebound button switch 610. Figure 18As shown, this puts the spring-loaded button switch 610 in the conducting state, and the lithium battery 609 supplies power to the electromagnet 612. When the electromagnet 612 is energized, it attracts ferromagnetic foreign objects such as screws in the pool. When the attraction is complete and release is needed, the button actuation component 607 is reversed at a certain angle so that the inverted trapezoidal end 607-1 moves away from the spring-loaded button switch 610, putting the spring-loaded button switch 610 in the off state. This de-energizes the electromagnet 612 and releases the foreign object. It is evident that using the spring-loaded button switch 610 improves the reliability of the module. The electromagnet-type retrieval tool 600 is particularly suitable for ferromagnetic foreign objects that are difficult to grasp.

[0067] Example 2

[0068] The following is a method for forward and inverse kinematic control of the hybrid robotic arm in Example 1:

[0069] The overall motion structure of the hybrid robotic arm is as follows Figure 20 As shown, joints 1, 2, and 3 belong to the Delta parallel robotic arm section, while joints 4, 5, 6, and 7 belong to the serial arm section. Since the hybrid robotic arm primarily focuses on grasping foreign objects from the pool bottom, joints 5 and 6, along with their connected links, are designed as parallelogram mechanisms to facilitate control and ensure the end effector axis remains perpendicular to the ground. This also results in the rotation angle of joint 6 always being the opposite of the rotation angle of joint 5; therefore, this hybrid robotic arm actually has 6 degrees of freedom.

[0070] The forward kinematics of a hybrid robotic arm is based on the rotation angle θ of each joint. i The process of calculating the pose of the end effector is specifically achieved by performing forward kinematic analysis on the parallel and serial parts of Delta respectively, and then integrating the two.

[0071] First, a kinematic analysis is performed on the Delta parallel robotic arm. Equilateral triangle A1A2A3 is defined as the static platform, with O as the origin of the static platform coordinate system; equilateral triangle C1C2C3 is defined as the moving platform, with O' as the origin of the moving platform coordinate system. Let the length of the active link be |A... i B i | = L1, the length of the driven rod | B i C i |=L2. Radius of the static platform|OA i |=R,Dynamic platform radius|O'C i |=r, the angle between the stationary platform and the driving link is θ i The included angle between the three active links is 2π / 3.

[0072] Based on the above definition, A i The position vector in the static platform coordinate system can be expressed as:

[0073]

[0074] Similarly, C i The position vector in the moving platform coordinate system can be expressed as:

[0075]

[0076] The origin of the moving platform coordinate system can be represented in the static platform coordinate system as:

[0077]

[0078] Based on the angle θ between the static platform and the drive shaft i The connection point B between the driving link and the driven link can be solved. i The position vector in the static platform coordinate system and the connection point C between the driven rod and the moving platform. i Position vector in the static platform coordinate system:

[0079]

[0080] Thus, the driven rod B is derived. i C i The position vector can be represented as:

[0081]

[0082] Since the rod length is a fixed property, |B i C i From |=L2, we can derive the expression for the kinematic equations of the Delta parallel robot:

[0083]

[0084] The forward kinematics of the Delta parallel robotic arm is used to solve for the position and orientation of the moving platform based on the known lengths and angles of each link of the robotic arm, thereby achieving precise control and positioning. It plays a crucial role in path planning, simulation, error compensation, and real-time feedback, ensuring that the robotic arm can accurately execute tasks and optimize its motion trajectory.

[0085] Based on the above conditions, the forward kinematic equations of the Delta robotic arm can be calculated. Substituting these values ​​into equation (2-7) one by one, we finally obtain the following expression:

[0086]

[0087] By combining the above three equations, x and y can be expressed using the parameter z as follows:

[0088]

[0089] In the formula:

[0090] A1=R+L1 cosθ1-r, B1=1, C1=L1 sinθ1

[0091] A2=(R+L1 cosθ2-r) / 2, C2=L1 sinθ2

[0092] A3=(R+L1 cosθ3-r) / 2, C3=L1 sinθ3

[0093]

[0094] Substituting equation (9) into the first sub-equation of equation (8), we obtain a quadratic equation in only the parameter z:

[0095]

[0096] Finally, the value of z can be obtained using the quadratic formula:

[0097]

[0098] The solution obtained by the quadratic formula yields two sets of z values. The "-" solution describes the case where the moving platform is below the stationary platform, which conforms to the parallel arm layout. The "+" solution, on the other hand, indicates the case where the moving platform is above the stationary platform, which is not suitable for practical applications and is therefore discarded. Substituting the retained "-" solution into equation (9) yields the values ​​of x and y.

[0099] Because the structure of the Delta robotic arm ensures that the moving platform only undergoes displacement changes while its posture remains unchanged, the transformation matrix T of the moving platform's center point coordinates relative to the stationary platform coordinates is... Delta Represented as:

[0100]

[0101] For a serial robotic arm, its forward kinematics is derived by solving the pose of the end effector (p) based on the angles (θ4, θ5, θ6, θ7) of joints 4, 5, 6, and 7. x ,p y ,p z The forward kinematics of the tandem manipulator are derived using the DH method. The coordinate system of the tandem manipulator links is established as follows: Figure 21 As shown in Table 1, the DH parameters are as follows.

[0102] Table 1 DH parameters of the tandem robotic arm

[0103]

[0104] Wherein, rod length a i-1 For along Xi Axial direction Z i-1 Axis and Z i Distance between axes; angle of twist α i-1 For along X i The axial direction from Z i-1 Rotate the axis to Z i Angle of axis; joint offset d i For along Z i Axial direction X i-1 The axis moves to X i Distance between axes; joint angle θ i For along Z i The axial direction is from X i-1 Rotate the axis to X i The angle of the axis. Since joint 6 is the driven hinge of a parallelogram mechanism, its rotation angle θ6 is the opposite of the rotation angle θ5 of the driving end joint 5.

[0105] After the coordinate system is established, the general formula for coordinate transformation of the robotic arm is obtained through the following four steps:

[0106] (1) The initial coordinate system is {i-1}, and the coordinate system is rotated around X. i-1 Axis rotation α i-1 , making Z i-1 Axis and Z i The axes are parallel;

[0107] (2) Move the coordinate system along the X i-1 Axis translation distance a i-1 , making Z i-1 Axis and Z i Collinear axes;

[0108] (3) Rotate the coordinate system around Z i Axis rotation θ i , make X i-1 Axis and X i The axes are parallel;

[0109] (4) Move the coordinate system along the Z-axis. i Axis translation d i Thus, the coordinate system {i} is obtained.

[0110] This leads to the linkage transformation. The general expression is:

[0111]

[0112] The homogeneous transformation matrix from joint 4 to joint 7 can be obtained from the formula:

[0113]

[0114] The transformation matrix T of the end effector coordinate system of the serial robotic arm relative to the base coordinate system is...Serial for:

[0115]

[0116] Simplifying, we get:

[0117]

[0118] Multiplying the transformation matrix of the parallel part represented by equation (12) with the transformation matrix of the series part represented by equation (15) yields the forward kinematics of the hybrid arm:

[0119]

[0120] The inverse kinematics of the hybrid arm is obtained by given the pose of the end effector (p x ,p y ,p z The rotation angles of each joint are calculated using the formulas (θ1, θ2, θ3, θ4, θ5, θ6), and the angles of each joint are solved in reverse to achieve precise motion planning and control. To facilitate the end effector's grasping of foreign objects, a parallelogram mechanism is introduced, restricting the rotational degrees of freedom of the end effector relative to the X and Y axes of the robotic arm's base coordinate system. Therefore, the actual pose of the end effector is represented as (p...). x ,p y ,p z The condition ,0,0,α) implies that the robotic arm has two redundant degrees of freedom. On the one hand, redundant robotic arms have significant advantages in obstacle avoidance and preventing joints from exceeding limits; on the other hand, they also bring additional challenges in control and planning.

[0121] By performing redundancy removal on the hybrid robotic arm, two joint variables are selected as known parameters, while the other four joint variables are treated as parameters to be solved. This transforms the problem into solving a four-degree-of-freedom robotic arm problem, yielding a definite finite set of solutions. To reduce the influence of fixed degrees of freedom on the overall motion of the robotic arm, the x and y coordinates of the moving platform of the parallel robotic arm are fixed, and the joint angles are solved.

[0122] For a position in space with (p) x ,p y ,p z For a point A in coordinate system (α, β, γ), the transformation matrix relative to the base coordinate system is:

[0123]

[0124] Therefore, the pose can be obtained as (p x ,p y ,p zThe homogeneous transformation matrix of the end effector (γ, 0, 0, γ) relative to the Delta robotic arm stationary platform is as follows:

[0125]

[0126] Since both equations (16) and (18) represent transformation matrices of the end effector relative to the Delta robot arm's static platform coordinate system, the corresponding elements of the matrices should be equal, resulting in the following equation:

[0127] cos(θ₄+θ₇)=cosγ (19)

[0128] sin(θ₄+θ₇)=sinγ (20)

[0129] cosθ4cosθ5a5+x=p x (twenty one)

[0130] sinθ4cosθ5a5+y=p y (twenty two)

[0131] -sinθ5a5+d4+d7+z=p z (twenty three)

[0132] The range of rotation angles for each joint is as follows: θ4∈[-π,π), θ7∈[-π,π)

[0133] (1) Find θ4 and θ5

[0134] Rearranging the known and unknown quantities in equations (21) and (22) onto both sides of the equation, we get:

[0135]

[0136] Square the two equations and add them together, then use sin 2 θ4+cos 2 Eliminating θ4 and simplifying, we get:

[0137]

[0138] because cosθ5>0, therefore only the positive root is taken:

[0139]

[0140] When p x When -x≠0, dividing the two equations in equation (24) yields:

[0141]

[0142] Since θ4∈[-π,π), we get:

[0143]

[0144] When p x When -x≠0, since cosθ5>0, we have cosθ4=0, solving for:

[0145]

[0146] (2) Find θ7

[0147] Solving equations (19) and (20) simultaneously, we get:

[0148] θ7=γ-θ4 (29)

[0149] (2) Find θ1, θ2, θ3

[0150] From equation (23), the formula for calculating the z-value of the moving platform center can be obtained:

[0151] z = p z +sinθ5a5-d4-d7 (30)

[0152] Treating x, y, and z in the kinematic equation expressed by equation (7) as known quantities, and rearranging it into a single variable θ i The equation is as follows:

[0153] a i sinθ i +b i cosθ i +c i =0 (31)

[0154] In the formula:

[0155] a i =2zL1

[0156]

[0157] Solving the above equations will yield the specific values ​​of the rotation angles of each joint of the Delta robotic arm:

[0158]

[0159] In summary, all joint angles of the robotic arm have been calculated.

Claims

1. An underwater salvage robot with a hybrid robotic arm for handling foreign objects in a nuclear island pool, characterized in that, The system includes an underwater robot and a hybrid robotic arm. The hybrid robotic arm comprises a Delta parallel robotic arm, a serial robotic arm, and a salvage tool. The Delta parallel robotic arm has a static platform and a moving platform. The static platform is connected to the underwater robot. The serial robotic arm includes a connecting plate, a rotating platform, a first joint motor module, a second joint motor module fixing plate, a support plate, a second joint motor module, a right arm connecting plate, a left arm, a right arm, an end effector platform, a third joint motor module, a drive gear, a driven gear, and a quick-change device. The connecting plate is fixedly connected to the housing of the first joint motor module. The rotating platform is fixedly connected to the output shaft of the first joint motor module. The second joint motor module fixing plate is fixedly connected to the rotating platform. The support plate is connected to the second joint motor module. The motor module fixing plate is fixedly connected; the outer shell of the second joint motor module is fixedly connected to the support plate; the output shaft of the second joint motor module passes through the second joint motor module fixing plate; the right arm connecting plate is fixedly connected to the rotating platform; the rear end of the left arm is fixedly connected to the output shaft of the second joint motor module; the rear end of the left arm is rotatably connected to the second joint motor module fixing plate via a bearing; the rear end of the right arm is connected to the right arm connecting plate via a hinge; the front end of the left arm is connected to the end platform via a hinge; the front end of the right arm is connected to the end platform via a hinge; the third joint motor module is connected to the end platform; the driving gear is connected to the output shaft of the third joint motor module; the driven gear meshes with the driving gear; and the connecting plate is fixedly connected to the moving platform. The quick-change device includes a housing, an end cap, a waterproof connector, a power output motor, a power output shaft, a hexagonal sleeve, a spring, a guide seat, a washer, and a retaining ring. The end cap is connected to the housing, and the waterproof connector is connected to the end cap. The power output motor is fixedly installed inside the housing. The bottom of the housing has an opening, and the power output motor has an output end. The power output shaft is fixedly connected to the output end of the power output motor and extends outward from the opening at the bottom of the housing. The upper end of the guide seat is fixedly connected to the bottom of the housing. The upper part of the guide seat has a bearing chamber containing two bearings. The upper part of the power output shaft... The part is rotatably connected to the guide seat through two bearings in the bearing chamber. The retaining ring is connected to the upper part of the power output shaft. A skeleton oil seal is connected between the power output shaft and the inner wall of the guide seat. The lower part of the guide seat is provided with a sleeve receiving chamber. The lower end of the power output shaft is located in the sleeve receiving chamber. The gasket is fixedly connected to the lower end of the power output shaft. The spring is sleeved on the lower end of the power output shaft, and the upper end of the spring abuts against the gasket. The hexagonal sleeve is sleeved on the lower end of the power output shaft. The hexagonal sleeve and the spring are both located in the sleeve receiving chamber. The lower end of the spring is fixedly connected to the top of the hexagonal sleeve. The lower end of the guide seat is provided with an annular groove. The guide seat is rotatably connected to the end platform via two bearings, and the driven gear is fixedly connected to the lower part of the guide seat; The salvage tool is connected to the quick-change device.

2. The underwater salvage robot with a hybrid robotic arm for handling foreign objects in the nuclear island pool according to claim 1, characterized in that, The salvage tool is a three-finger gripper type salvage tool, which includes a passive end interface, an input shaft, a base, a finger support rod, a limiting baffle, a moving plate, a finger connecting rod, and fingers. The input shaft has a hexagonal head and a threaded tail. The middle part of the input shaft is rotatably connected to the passive end interface through two bearings. The upper part of the passive end interface has a cavity, and the hexagonal head of the input shaft is located in the cavity. The base is fixedly connected to the bottom of the passive end interface, and the finger support rod is fixedly connected to the base. The limiting baffle is fixedly connected to the threaded end of the input shaft, which passes through the base. The moving plate has a threaded hole that connects with the threaded end of the input shaft. One end of the finger connecting rod is hinged to the moving plate, and the other end is hinged to a finger. The end of the finger support rod is hinged to a finger. There are three finger support rods, three finger connecting rods, and three fingers, which are evenly distributed along the circumference. The hexagonal head of the input shaft can mate with a hexagonal sleeve. The passive end interface includes a body, a ball screw, and a set screw. The body has multiple threaded holes that communicate with a chamber in the upper part of the body. The ball screw is connected to the threaded holes, and a ball is provided at the front end of the ball screw. The set screw is connected to the threaded holes and presses against the rear end of the ball screw. When the three-finger gripper-type retrieval tool is assembled with the quick-change device, the lower end of the guide seat is located in the cavity of the upper part of the body, the hexagonal head of the input shaft is inserted into the hexagonal sleeve, the spring is compressed, and the steel ball of the steel ball screw is embedded in the annular groove of the guide seat.

3. The underwater salvage robot with a hybrid robotic arm for handling foreign objects in the nuclear island pool according to claim 2, characterized in that, The fingers can be flexible or rigid.

4. The underwater salvage robot with a hybrid robotic arm for handling foreign objects in the nuclear island pool according to claim 3, characterized in that, The upper chamber of the passive end interface has a tapered guide surface at its entrance, and the lower end of the guide seat has a tapered guide surface.

5. The underwater salvage robot with a hybrid robotic arm for handling foreign objects in the nuclear island pool according to claim 1, characterized in that, The salvage tool is an irregularly shaped two-finger gripper type salvage tool. This tool includes a passive end interface, a base, an input shaft, an active connecting rod, a first finger connecting rod, a second finger connecting rod, a plate-shaped finger, and a shovel-shaped finger. The passive end interface includes a body, a ball screw, and a set screw. The body has multiple threaded holes and a chamber. The threaded holes communicate with the upper chamber of the body. The ball screw connects to the threaded holes, with a ball at its front end. The set screw connects to the threaded holes and presses against the rear end of the ball screw. The input shaft has a hexagonal head, and its middle section is rotatably connected to the passive end interface via a bearing. The hexagonal head of the input shaft is located at the passive end interface. The base is fixedly connected to the passive end interface in the upper chamber of the body. The base is provided with a first sliding groove and a second sliding groove. The upper end of the plate-shaped finger is connected to the first sliding groove, and the upper end of the shovel-shaped finger is connected to the second sliding groove. The tail of the input shaft passes through the base, and the middle part of the active connecting rod is fixedly connected to the tail of the input shaft. One end of the first finger connecting rod is rotatably connected to the plate-shaped finger, and the other end of the first finger connecting rod is rotatably connected to one end of the active connecting rod. One end of the second finger connecting rod is rotatably connected to the shovel-shaped finger, and the other end of the second finger connecting rod is rotatably connected to the other end of the active connecting rod. The cross-section of the plate-shaped finger is a wedge shape that tapers towards the end, and the bottom cross-section of the shovel-shaped finger is a wedge shape that tapers towards the end. When the irregular two-finger gripper-type retrieval tool is assembled with the quick-change device, the lower end of the guide seat is located in the cavity of the upper part of the passive end interface, the hexagonal head of the input shaft is inserted into the hexagonal sleeve, the spring is compressed, and the steel ball of the steel ball screw is embedded in the annular groove of the guide seat.

6. The underwater salvage robot with a hybrid robotic arm for handling foreign objects in the nuclear island pool according to claim 1, characterized in that, The salvage tool is an electromagnet-type salvage tool, comprising a passive end interface, a base, an input shaft, a housing, a button actuation component, a battery fixing plate, a lithium battery, a rebound button switch, an electromagnet support, an electromagnet, a third sealing ring, and a bottom cover. The passive end interface includes a body, a ball screw, and a set screw. The upper part of the body has a chamber with multiple threaded holes communicating with the upper chamber. The ball screw connects to the threaded holes, with a ball at its front end. The set screw connects to the threaded hole and presses against the rear end of the ball screw. The input shaft has a hexagonal head, and its middle part is rotatably connected to the passive end interface via a bearing. The hexagonal head of the input shaft is located in the upper chamber of the passive end interface body. The base is fixedly connected to the passive end interface, and the tail of the input shaft passes through the base. The housing is fixedly connected to the base. The battery fixing plate is... The steps inside the outer casing are fixedly connected, and a first sealing ring is connected between the battery fixing plate and the steps inside the outer casing. A space is formed between the battery fixing plate and the base. The button toggle is fixedly connected to the tail of the input shaft. The button toggle is located in the space between the battery fixing plate and the base. The button toggle has an inverted trapezoidal end. The lithium battery is fixedly connected to the battery fixing plate. The rebound button switch is connected to the battery fixing plate and is electrically connected to the lithium battery through a wire. The bottom cover is fixedly connected to the bottom of the outer casing. A second sealing ring is connected between the bottom cover and the bottom of the outer casing. The electromagnet support is fixedly connected to the bottom cover. The electromagnet is fixedly connected to the electromagnet support. The bottom cover has a rear opening. A part of the electromagnet extends outward from the opening of the bottom cover. A third sealing ring is connected between the side of the electromagnet and the opening. The electromagnet is electrically connected to the rebound button switch through a wire. When the electromagnet-type salvage tool is assembled with the quick-change device, the lower end of the guide seat is located in the cavity on the upper part of the passive end interface, the hexagonal head of the input shaft is inserted into the hexagonal sleeve, the spring is compressed, and the steel ball of the steel ball screw is embedded in the annular groove of the guide seat.

7. A hybrid robotic arm, characterized in that, The system includes a Delta parallel robotic arm and a serial robotic arm. The Delta parallel robotic arm has a static platform and a moving platform. The serial robotic arm includes a connecting plate, a rotating platform, a first joint motor module, a second joint motor module fixing plate, a support plate, a second joint motor module, a right arm connecting plate, a left arm, a right arm, and an end effector platform. The connecting plate is fixedly connected to the housing of the first joint motor module. The rotating platform is fixedly connected to the output shaft of the first joint motor module. The second joint motor module fixing plate is fixedly connected to the rotating platform. The support plate is fixedly connected to the second joint motor module. The plate is fixedly connected, the outer shell of the second joint motor module is fixedly connected to the support plate, the output shaft of the second joint motor module passes through the second joint motor module fixing plate, the right arm connecting plate is fixedly connected to the rotating platform, the rear end of the left arm is fixedly connected to the output shaft of the second joint motor module, the rear end of the left arm is rotatably connected to the second joint motor module fixing plate through a bearing, the rear end of the right arm is connected to the right arm connecting plate through a hinge, the front end of the left arm is connected to the end platform through a hinge, the front end of the right arm is connected to the end platform through a hinge, and the connecting plate is fixedly connected to the moving platform.

8. The hybrid robotic arm according to claim 7, characterized in that, The hybrid robotic arm also includes a third joint motor module, a drive gear, a driven gear, and a quick-change device. The third joint motor module is connected to the end platform, the drive gear is connected to the output shaft of the third joint motor module, and the driven gear meshes with the drive gear. The quick-change device includes a housing, an end cap, a waterproof connector, a power output motor, a power output shaft, a hexagonal sleeve, a spring, a guide seat, a gasket, a retaining ring, and a skeleton oil seal. The end cap is connected to the housing, and the waterproof connector is connected to the end cap. The power output motor is fixedly installed inside the housing. The bottom of the housing has an opening, and the power output motor has an output end. The power output shaft is fixedly connected to the output end of the power output motor and extends outward from the opening at the bottom of the housing. The upper end of the guide seat is fixedly connected to the bottom of the housing, and the upper part of the guide seat has a bearing chamber containing two bearings. The power output shaft... The upper part is rotatably connected to the guide seat through two bearings in the bearing chamber. The retaining ring is connected to the upper part of the power output shaft. A skeleton oil seal is connected between the power output shaft and the inner wall of the guide seat. The lower part of the guide seat is provided with a sleeve receiving chamber. The lower end of the power output shaft is located in the sleeve receiving chamber. The gasket is fixedly connected to the lower end of the power output shaft. The spring is sleeved on the lower end of the power output shaft, and the upper end of the spring abuts against the gasket. The hexagonal sleeve is sleeved on the lower end of the power output shaft. The hexagonal sleeve and the spring are both located in the sleeve receiving chamber. The lower end of the spring is fixedly connected to the top of the hexagonal sleeve. The lower end of the guide seat is provided with an annular groove. The guide seat is rotatably connected to the end platform via two bearings, and the driven gear is fixedly connected to the lower part of the guide seat.

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