A parallel mechanical arm structure suitable for underwater salvage robots

Abstract

A parallel robotic arm structure suitable for an underwater salvage robot includes a first swing arm, a second swing arm, a first connecting rod, a second connecting rod, a third connecting rod, a first drive cylinder, a second drive cylinder, and a salvage claw. The first swing arm has one end hinged to the underwater salvage robot body, and the other end is hinged to the salvage claw. The second swing arm has one end hinged to the underwater salvage robot body, the other end is hinged to one end of the first connecting rod, and the middle portion of the first connecting rod is hinged to the first swing arm. The second connecting rod has one end hinged to the other end of the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to the first swing arm. The first drive cylinder has one end hinged to the underwater salvage robot body, and the other end of the first drive cylinder is hinged to the first swing arm. The second drive cylinder has one end hinged to the other end of the third connecting rod, and the other end of the second drive cylinder is hinged to the salvage claw. The present invention has higher repeatability and salvage accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of salvage robots, and in particular relates to a parallel mechanical arm structure suitable for underwater salvage robots. Background Art

[0002] At present, in tourist attractions and parks that include water projects, it is common for tourists to drop valuables such as mobile phones into the water. In many cases, staff have to go into the water to help salvage the dropped valuables. A few places are also equipped with salvage robots, which can be used to salvage the items.

[0003] Salvage robots can be divided into two types: surface salvage robots and underwater salvage robots. For surface salvage robots, performing underwater salvage operations from above the water surface is not only difficult but also has low accuracy. Underwater salvage robots, on the other hand, can operate underwater and use visual systems to identify fallen objects, reducing both the difficulty and accuracy of salvage operations.

[0004] However, the robotic arm structure used in existing underwater salvage robots generally adopts a serial type. Although the serial robotic arm has the characteristics of simple control and large motion space, it also has the movement inertia caused by its own weight, which makes the control response of the serial robotic arm slow down. In addition, the serial robotic arm has poor rigidity and is prone to shaking during its movement. Moreover, the serial robotic arm is prone to accumulation of motion errors due to its reliance on multi-joint movement, resulting in poor repeatability of the serial robotic arm, thereby affecting the salvage accuracy. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a parallel robotic arm structure suitable for underwater salvage robots. Compared with traditional serial robotic arms, the parallel robotic arm has better rigidity and can avoid jitter during robotic arm movement. The parallel robotic arm has higher repeatability and can obtain a larger transmission angle when salvaging objects, effectively improving the salvage accuracy.

[0006] In order to achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a parallel mechanical arm structure suitable for an underwater salvage robot, comprising a first swing arm, a second swing arm, a first connecting rod, a second connecting rod, a third connecting rod, a first driving cylinder, a second driving cylinder and a salvage claw; one end of the first swing arm is hinged to the underwater salvage robot body, and the other end of the first swing arm is hinged to the salvage claw; one end of the second swing arm is hinged to the underwater salvage robot body, the other end of the second swing arm is hinged to one end of the first connecting rod, and the middle part of the first connecting rod is hinged to the first swing arm; one end of the second connecting rod is hinged to the other end of the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to the first swing arm; one end of the first driving cylinder is hinged to the underwater salvage robot body, and the other end of the first driving cylinder is hinged to the first swing arm; one end of the second driving cylinder is hinged to the other end of the third connecting rod, and the other end of the second driving cylinder is hinged to the salvage claw.

[0007] A stable triangle is formed between the first swing arm, the first driving cylinder and the underwater salvage robot body.

[0008] A Z-shaped force transmission mechanism is formed between the second swing arm, the first connecting rod and the second connecting rod.

[0009] The first swing arm, the first connecting rod, the second swing arm and the underwater salvage robot body form a first parallelogram mechanism.

[0010] The first swing arm, the first connecting rod, the second connecting rod and the third connecting rod form a second parallelogram mechanism.

[0011] The first swing arm, the third connecting rod, the second driving cylinder and the fishing claw form a third parallelogram mechanism.

[0012] The third connecting rod, the second connecting rod and the hinge point of the second driving cylinder share a hinge axis to form a compound hinge.

[0013] The first swing arm, the second swing arm, the first connecting rod, the second connecting rod and the third connecting rod are in the form of a single rod body or a plurality of rod bodies arranged in parallel.

[0014] Beneficial effects of the present invention:

[0015] The parallel robotic arm structure suitable for underwater salvage robots of the present invention has better rigidity than traditional serial robotic arms, which can avoid jitter during robotic arm movement. In addition, the parallel robotic arm has higher repeatability and can obtain a larger transmission angle when salvaging objects, thereby effectively improving the salvage accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional diagram of an underwater salvage robot using the parallel manipulator arm of the present invention (with the salvage claw facing forward and the storage box open);

[0017] Figure 2 A three-dimensional diagram of an underwater salvage robot (salvaging objects downwards with a closed storage box) using the parallel manipulator arm of the present invention;

[0018] Figure 3 A side view of an underwater salvage robot (salvaging objects upwards with the storage box closed) using the parallel manipulator arm of the present invention;

[0019] Figure 4 A perspective view of an underwater salvage robot (storing salvaged items downward) using the parallel manipulator arm of the present invention;

[0020] Figure 5 A schematic structural diagram of a parallel manipulator arm suitable for an underwater salvage robot according to the present invention;

[0021] In the figure, 1 is the first swing arm, 2 is the second swing arm, 3 is the first connecting rod, 4 is the second connecting rod, 5 is the third connecting rod, 6 is the first driving cylinder, 7 is the second driving cylinder, 8 is the salvage claw, and 9 is the underwater salvage robot body. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 5 As shown, a parallel manipulator arm structure suitable for an underwater salvage robot comprises a first swing arm 1, a second swing arm 2, a first connecting rod 3, a second connecting rod 4, a third connecting rod 5, a first driving cylinder 6, a second driving cylinder 7 and a salvage claw 8; one end of the first swing arm 1 is hinged to the underwater salvage robot body 9, and the other end of the first swing arm 1 is hinged to the salvage claw 8; one end of the second swing arm 2 is hinged to the underwater salvage robot body 9, and the other end of the second swing arm 2 is hinged to one end of the first connecting rod 3, and the third connecting rod 5 is hinged to the first connecting rod 3. The middle part of the first connecting rod 3 is hinged to the first swing arm 1; one end of the second connecting rod 4 is hinged to the other end of the first connecting rod 3, the other end of the second connecting rod 4 is hinged to one end of the third connecting rod 5, and the other end of the third connecting rod 5 is hinged to the first swing arm 1; one end of the first driving cylinder 6 is hinged to the underwater salvage robot body 9, and the other end of the first driving cylinder 6 is hinged to the first swing arm 1; one end of the second driving cylinder 7 is hinged to the other end of the third connecting rod 5, and the other end of the second driving cylinder 7 is hinged to the salvage claw 8.

[0024] A stable triangle is formed between the first swing arm 1 , the first driving cylinder 6 and the underwater salvage robot body 9 .

[0025] A Z-shaped force transmission mechanism is formed between the second swing arm 2 , the first connecting rod 3 and the second connecting rod 4 .

[0026] The first swing arm 1 , the first connecting rod 3 , the second swing arm 2 and the underwater salvage robot body 9 form a first parallelogram mechanism.

[0027] The first swing arm 1 , the first connecting rod 3 , the second connecting rod 4 and the third connecting rod 5 form a second parallelogram mechanism.

[0028] The first swing arm 1 , the third connecting rod 5 , the second driving cylinder 7 and the fishing claw 8 form a third parallelogram mechanism.

[0029] The hinge points of the third connecting rod 5, the second connecting rod 4 and the second driving cylinder 7 share a hinge axis to form a composite hinge.

[0030] The first swing arm 1 , the second swing arm 2 , the first connecting rod 3 , the second connecting rod 4 and the third connecting rod 5 are in the form of a single rod or a plurality of rods arranged in parallel.

[0031] Specifically, since a stable triangle can be formed between the first swing arm 1, the first drive cylinder 6 and the underwater salvage robot body 9, the root of the parallel robotic arm can withstand a greater torque, thereby further improving the stability of the parallel robotic arm.

[0032] Specifically, since the parallel robotic arm contains multiple sets of parallelogram mechanisms, the working stability of the robotic arm can be improved, while the force transmission effect and transmission ratio are improved. The parallelogram mechanism can be folded when the robotic arm is deflected upward, thereby further improving the working flexibility of the robotic arm in a narrow space.

[0033] Specifically, since a Z-shaped force transmission mechanism is formed between the second swing arm 2, the first connecting rod 3 and the second connecting rod 4, the robotic arm can obtain a larger force transmission ratio, further improving the dynamic performance of the robotic arm, and has the characteristics of compact structure and good operating field of view.

[0034] Specifically, since the third connecting rod 5 shares a hinge axis with the hinge point of the second connecting rod 4 and the second driving cylinder 7 to form a composite hinge, the pressure per unit area of the component can be reduced, the load-bearing capacity can be improved, and it has a better transmission effect than a single hinge, which can avoid the unstable movement phenomenon when the second driving cylinder 7 is hinged alone.

[0035] Specifically, since the second driving cylinder 7 is directly hingedly connected to the salvage claw 8, the deflection angle of the salvage claw 8 can be effectively increased, so that the salvage claw 8 can better adapt to salvage operations in complex environments.

[0036] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0037] In this embodiment, the underwater salvage robot body 9 is the body of a tracked underwater walking salvage robot, the body of which adopts the parallel robotic arm of the present invention, and the body of the robot is provided with a storage box that can be opened and closed automatically, and the top of the robot body is also equipped with an underwater vision system; the first drive cylinder 6 and the second drive cylinder 7 in the parallel robotic arm both adopt waterproof electric servo cylinders, and the salvage claw 8 in the parallel robotic arm adopts a waterproof electric servo robotic claw.

[0038] If a tourist drops an important item into the water, an underwater salvage robot can be activated to retrieve it. The robot is first placed on shore by staff, who then remotely control it and drive it into the water. Staff can then monitor the underwater situation in real time through a smart terminal.

[0039] When the underwater salvage robot reaches the target object, if it finds the target object has fallen diagonally below the robot, the rod of the first drive cylinder 6 is controlled to retract, causing the entire robot arm to deflect downward until the salvage claw 8 moves diagonally above the target object. The first drive cylinder 6 is then locked. After the first drive cylinder 6 is locked, the rod of the second drive cylinder 7 is controlled to retract, and the posture of the salvage claw 8 is fine-tuned until the target object enters the grasping range of the salvage claw 8. The salvage claw 8 is then controlled to grasp the target object.

[0040] Once the target object is grabbed by the salvage claw 8, the first drive cylinder 6 is activated again, causing its rod to extend, causing the robotic arm to deflect upward. The storage box on the robot body is then opened, and the robotic arm moves the salvage claw 8, which holds the target object, over the storage box. The salvage claw 8 then places the target object into the storage box, which is then closed. If there are no more objects to be salvaged, the robot can be returned to shore, where the storage box can be opened and the salvaged object can be retrieved.

[0041] Similarly, when the underwater salvage robot reaches the target object, if it finds the target object has fallen diagonally above the robot, the rod of the first drive cylinder 6 is controlled to extend, causing the entire robot arm to deflect upward until the salvage claw 8 moves diagonally behind the target object. The first drive cylinder 6 is then locked. After the first drive cylinder 6 is locked, the rod of the second drive cylinder 7 is controlled to extend, and the posture of the salvage claw 8 is fine-tuned until the target object enters the grasping range of the salvage claw 8. The salvage claw 8 is then controlled to grasp the target object.

[0042] Once the target object is grabbed by the salvage claw 8, the storage box on the robot body can be directly controlled to open. The entire robot arm is then controlled to deflect downward until the salvage claw 8 with the target object is moved above the storage box. The salvage claw 8 then places the target object into the storage box, and finally the storage box is controlled to close. If there are no more objects to be salvaged, the robot can be controlled to return to shore, where the storage box can be opened and the salvaged object can be taken out.

[0043] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. Any equivalent implementation or modification that does not deviate from the present invention is included in the patent scope of this case.

Claims

1. A parallel manipulator arm structure suitable for an underwater salvage robot, characterized by: It includes a first swing arm, a second swing arm, a first connecting rod, a second connecting rod, a third connecting rod, a first driving cylinder, a second driving cylinder and a salvage claw; one end of the first swing arm is hinged to the body of the underwater salvage robot, and the other end of the first swing arm is hinged to the salvage claw; one end of the second swing arm is hinged to the body of the underwater salvage robot, the other end of the second swing arm is hinged to one end of the first connecting rod, and the middle part of the first connecting rod is hinged to the first swing arm; one end of the second connecting rod is hinged to the other end of the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to the first swing arm; one end of the first driving cylinder is hinged to the body of the underwater salvage robot, and the other end of the first driving cylinder is hinged to the first swing arm; one end of the second driving cylinder is hinged to the other end of the third connecting rod, and the second driving cylinder The other end is hinged to the salvage claw; a stable triangle is formed between the first swing arm, the first drive cylinder and the underwater salvage robot body; a Z-shaped force transmission mechanism is formed between the second swing arm, the first connecting rod and the second connecting rod; a first parallelogram mechanism is formed between the first swing arm, the first connecting rod, the second swing arm and the underwater salvage robot body; a second parallelogram mechanism is formed between the first swing arm, the first connecting rod, the second connecting rod and the third connecting rod; a third parallelogram mechanism is formed between the first swing arm, the third connecting rod, the second drive cylinder and the salvage claw; the third connecting rod shares a hinge axis with the second connecting rod and the second drive cylinder to form a compound hinge; the first swing arm, the second swing arm, the first connecting rod, the second connecting rod and the third connecting rod are in the form of a single rod or multiple rods in parallel.

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