An underwater robotic work manipulator

Abstract

This application relates to the field of underwater robot technology, and provides an underwater robot operating manipulator arm, including a frame, a data acquisition mechanism, a gripping mechanism, a storage mechanism, and a controller; the frame is rotatably mounted on an underwater robot; the data acquisition mechanism and the gripping mechanism are mounted on the mounting housing of the frame, and the storage mechanism is located inside the mounting housing; the mounting housing is equipped with a camera, a light source, and a first and a second anti-aircraft device corresponding to the data acquisition mechanism and the gripping mechanism, respectively; the storage mechanism has two sets of rotating storage components, corresponding to the data acquisition mechanism and the gripping mechanism, and the electric push rod in the ejection component is set to correspond to the first and second anti-aircraft devices; the underwater robot operating manipulator arm provided by this application realizes flexible data acquisition or gripping of small targets such as small residual debris, small organisms, and underwater soil.

Description

Technical Field

[0001] This application belongs to the field of underwater robot technology, and more specifically, relates to an underwater robot operating manipulator. Background Technology

[0002] Underwater robots can be divided into observation type and operation type according to their purpose. Operation type underwater robots (UVMS) equipped with underwater manipulator arms can replace humans to complete complex underwater operations and have broad research prospects and engineering significance. Underwater manipulator arms are an indispensable tool for operation type underwater robots and are widely used in underwater sampling, grasping and other tasks of underwater operation type underwater robots. They are an important part of improving the operation efficiency of underwater robots and are widely used in underwater scientific research, marine engineering and other fields.

[0003] However, most current underwater robot arms can only collect and grasp larger targets. For example, patent CN101518897B discloses an underwater robot holding manipulator, which includes a top plate connected to the underwater robot. Two pairs of arms are hinged and mounted symmetrically on the left and right sides below the top plate. Two motors are fixedly mounted symmetrically on the left and right sides in the middle part below the top plate. Each motor drives a pair of symmetrical arms to open and close through a transmission mechanism. Patent CN113753207A discloses a mechanical grasping device for an underwater robot, including a protective frame. A rotating shaft is inserted through one side of a pad. A first motor is fixedly mounted at one end of the rotating shaft, and a support shaft is fixedly mounted at the other end. A groove is formed in the middle of one end of the support shaft, and support sleeves are rotatably mounted in the middle of both sides of the inner wall of the groove. A manipulator arm is fixedly mounted at the output end of a first electric telescopic rod.

[0004] The mechanical gripping methods involved in the two patents mentioned above can only grip larger objects, and it is difficult to flexibly collect or grasp smaller targets such as small residual debris (such as seabed exploration and evidence collection), small organisms (such as endangered small seabed shellfish), and seabed soil underwater.

[0005] Therefore, it is necessary to apply for an underwater robotic arm capable of flexibly collecting or grasping smaller underwater targets.

[0006] Application content

[0007] To address the shortcomings of the existing technology, the purpose of this application is to provide an underwater robotic arm capable of flexibly collecting or grasping smaller underwater targets.

[0008] To achieve the above objectives, the technical solution adopted in this application is: to provide an underwater robot operating manipulator, characterized in that it includes a frame, a data acquisition mechanism, a gripping mechanism, a storage mechanism, and a controller; the frame is rotatably mounted on the underwater robot body;

[0009] The frame includes a mounting housing, the acquisition mechanism and the gripping mechanism are mounted on the outside of the mounting housing, and the storage mechanism is fixedly mounted inside the mounting housing; the mounting housing is provided with a camera, a light source, a first air-shielding device and a second air-shielding device at positions corresponding to the acquisition mechanism and the gripping mechanism;

[0010] The storage mechanism includes a rotating storage assembly and an ejection assembly. Two sets of rotating storage assemblies are provided, corresponding to the acquisition mechanism and the gripping mechanism respectively. At least one storage box is rotatably and slidably mounted on a support plate of each set of rotating storage assemblies, and a return spring is provided between each storage box and the support plate. A lid is rotatably mounted on each storage box via a rotating shaft, and the lid is opened and closed by a lid opening and closing device. The ejection assembly is installed between the two sets of rotating storage assemblies, and the electric push rod in the ejection assembly is positioned corresponding to the positions of clearance 1 and clearance 2 on the mounting housing. During the operation of the acquisition mechanism or the gripping mechanism, one of the storage boxes in the corresponding rotating storage assembly rotates to a position directly facing clearance 1 and clearance 2, and then extends out of the mounting housing under the action of the electric push rod, and the lid is opened under the action of the lid opening and closing device. When the acquisition mechanism or the gripping mechanism places the acquired target object into the storage box, the storage box closes its lid and retracts into the mounting housing under the action of the lid opening and closing device and the return spring.

[0011] The controller is enclosed and mounted on the frame, and is electrically connected to the remote underwater robot remote control terminal via an information transmission module. It is used to complete the operation of the entire working robotic arm under the control of the underwater robot remote control terminal.

[0012] Furthermore, the acquisition mechanism includes a swing arm assembly, a telescopic electric cylinder, and an acquisition component; the swing arm assembly is fixedly mounted on the mounting housing, and its free end is fixedly connected to the telescopic electric cylinder; the acquisition component is mounted on the output end of the telescopic electric cylinder; the difference between the gripping mechanism and the acquisition mechanism is that the acquisition component is replaced with a mechanical gripper.

[0013] Furthermore, the swing arm assembly includes a swing arm mounting frame, a rotating frame, a second motor, a third motor, and a bevel gear set; the swing arm mounting frame is fixedly mounted on the mounting housing, and its front end is rotatably connected to the rotating frame; the bevel gear set is mounted on the rotating frame, and its output end is fixedly connected to the telescopic electric cylinder; the second and third motors are fixedly mounted inside the swing arm mounting frame, and the output end of the second motor is synchronously rotatably connected to the input end of the bevel gear set through a pulley set, and the output end of the third motor is synchronously rotatably connected to the shaft end of the rotating frame through a pulley set.

[0014] Furthermore, the collection component includes a collection shovel, a shovel cover, a motor, and a rotary electric cylinder; the collection shovel is rotatably mounted on the output end of the telescopic electric cylinder and is driven to steer by the motor; the shovel cover is rotatably mounted on the collection shovel and is driven to open and close by the rotary electric cylinder.

[0015] Furthermore, the rotary storage assembly also includes a motor six and a pulley group three; the motor six and the pulley group three are mounted on a support plate one, and the output end of the motor six is ​​coaxially and fixedly connected to one of the pulleys of the pulley group three; the belt of the pulley group three has the same number of support blocks fixedly installed on it corresponding to the storage box, the storage box is slidably connected to the corresponding support block through a sliding rod, and the return spring is sleeved on the sliding rod for retracting and returning the storage box to its original position relative to the support block.

[0016] Furthermore, the lid opening and closing device includes a lid opening and closing assembly and an opening and closing rack; the lid opening and closing assembly is installed on each storage box, and the opening and closing rack is installed parallel to one side of the clearance.

[0017] Each of the aforementioned box cover opening and closing components further includes a sliding plate, a sliding head, a second support plate, an opening and closing gear, and a fourth pulley assembly; the sliding plate is fixedly installed on the storage box and located at the pivot position of the box cover; one end of the second support plate is fixedly installed on the sliding plate, and the other end is rotatably mounted with the opening and closing gear, which meshes with the opening and closing rack when the storage box rotates to the position facing the first and second clearances; the fourth pulley assembly is sleeved and installed on the connecting shaft between the pivot and the opening and closing gear.

[0018] Furthermore, the ejection assembly also includes a servo screw, a shift gear, and a shift rack; the servo screw is arranged parallel to the rotary storage assembly, and its two ends are located at the avoidance positions one and two corresponding to the acquisition mechanism and the gripping mechanism; the electric push rod one is fixedly connected to the shift gear and is rotatably mounted on the slider of the servo screw together; the shift rack is arranged parallel to the servo screw and intermittently meshes with the shift gear during the sliding process of the electric push rod one driven by the servo screw, for rotating the electric push rod one 180 degrees.

[0019] Furthermore, a crushing mechanism is fixedly installed on the mounting housing, and a camera and a light source are provided at the position of the crushing mechanism; the crushing mechanism includes a two-axis rotating assembly and a crushing assembly; the two-axis rotating assembly is fixedly installed on the mounting housing; the crushing assembly is fixedly installed at the free end of the two-axis rotating assembly.

[0020] Furthermore, the crushing assembly includes an electric push rod II, a guide sleeve, a connecting plate, a motor IX, and a crushing head; the electric push rod II and the guide sleeve are arranged in parallel and are vertically fixedly installed on the free end of the two-axis rotating assembly via a mounting plate; the extended ends of the electric push rod II and the guide sleeve are fixedly connected via the connecting plate; the motor IX is coaxially arranged with the extended end of the electric push rod II and is fixedly installed on the connecting plate; the crushing head is coaxially fixedly installed at the output end of the motor IX.

[0021] Furthermore, the frame also includes a connecting plate, a rotating disk, a motor, and a connecting column; the mounting housing is rotatably mounted on the connecting plate via the rotating disk; the motor and the connecting column are fixedly mounted on the connecting plate, and the output shaft of the motor is coaxially and fixedly connected to the rotating disk; the connecting column is fixedly connected to the underwater robot body.

[0022] The beneficial effects of the underwater robotic arm provided in this application are as follows:

[0023] 1. This application achieves flexible underwater collection or grasping of small targets such as small residual debris, small organisms, and bottom soil through the coordinated design of the frame, collection mechanism, grasping mechanism, and storage mechanism; in addition, this application has a simple and stable structure, is easy to operate, and has wide applicability.

[0024] 2. This application, through the design of the storage mechanism, not only ensures effective protection of the target object, but also effectively solves the problems of repeated watering, labor and time consumption.

[0025] 3. This application, through the design of the crushing mechanism, greatly improves the success rate of target object collection / grabbing, and effectively improves operational efficiency. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a front view schematic diagram of the overall structure of the robotic arm provided in the embodiments of this application.

[0028] Figure 2 This is a top-down view of the overall structure of the robotic arm provided in an embodiment of this application.

[0029] Figure 3 This is a side-view schematic diagram of the overall structure of the robotic arm provided in the embodiments of this application.

[0030] Figure 4This is a schematic diagram of the overall structure of the robotic arm provided in the embodiments of this application, viewed from a tilted angle.

[0031] Figure 5 This is a schematic diagram of the overall structure of the acquisition mechanism in the robotic arm provided in this application embodiment.

[0032] Figure 6 for Figure 5 A magnified structural diagram of point A in the middle.

[0033] Figure 7 for Figure 5 A magnified structural diagram at point B in the middle.

[0034] Figure 8 This is a front view schematic diagram of the overall structure of the acquisition mechanism in the robotic arm provided in this application embodiment.

[0035] Figure 9 for Figure 8 A magnified structural diagram at point C.

[0036] Figure 10 This is a schematic diagram of the overall structure of the acquisition mechanism in the robotic arm provided in this application embodiment.

[0037] Figure 11 This is a schematic diagram of the swing arm mounting frame in the acquisition mechanism provided in the embodiments of this application.

[0038] Figure 12 This is a schematic diagram of the rotating frame in the acquisition mechanism provided in the embodiment of this application.

[0039] Figure 13 This is a schematic diagram of the gripping component in the gripping mechanism provided in the embodiments of this application.

[0040] Figure 14 This is a schematic diagram of the assembly structure of the storage mechanism and the housing installed in the rack, as provided in the embodiments of this application.

[0041] Figure 15 This is an exploded three-dimensional structural diagram of the storage mechanism provided in an embodiment of this application.

[0042] Figure 16 This is an exploded planar structural diagram of the storage mechanism provided in an embodiment of this application.

[0043] Figure 17 This is a schematic diagram of the ejection component in the storage mechanism provided in the embodiments of this application.

[0044] Figure 18 This is a schematic diagram of the rotating memory component in the storage mechanism of this application.

[0045] Figure 19 for Figure 18 A magnified structural diagram at point D.

[0046] Figure 20 This is a schematic diagram of the rotating storage component in the storage mechanism provided in the embodiments of this application, omitting the support plate.

[0047] Figure 21 This is a front view structural diagram of the rotating storage component provided in an embodiment of this application.

[0048] Figure 22 This is a side view of the rotating storage component provided in an embodiment of this application.

[0049] Figure 23 This is a rear view structural diagram of the rotating storage component provided in an embodiment of this application.

[0050] Figure 24 This is a schematic diagram of the crushing mechanism provided in an embodiment of this application.

[0051] Figure 25 This is a schematic diagram of the structure of the crushing component in the crushing mechanism provided in the embodiments of this application.

[0052] Figure 26 This is a schematic diagram showing the connection between the remote control terminal and electrical components provided in an embodiment of this application.

[0053] Figure 27 This is a schematic diagram of the installation structure of the robotic arm provided in an embodiment of this application.

[0054] The following are the labeling elements in the figure:

[0055] 1-Frame; 11-Mounting Housing; 1101-Camera; 1102-Light Source; 1103-Air Shield 1; 1104-Air Shield 2; 12-Connecting Plate; 13-Rotating Disc; 14-Motor 1; 15-Connecting Column; 2-Acquisition Mechanism; 21-Swing Arm Assembly; 2101-Swing Arm Mounting Frame; 2102-Rotating Frame; 2103-Motor 2; 2104-Motor 3; 2105-Bevel Gear Set; 22-Telescopic Electric Cylinder; 23 - Data collection component; 2301- Data collection shovel; 2302- Shovel cover; 2303- Motor 4; 2304- Rotary electric cylinder; 3- Gripping mechanism; 33- Mechanical gripper; 3301- Motor 5; 4- Storage mechanism; 41- Rotary storage component; 4101- Support plate 1; 4102- Motor 6; 4103- Pulley assembly 3; 4103a- Support block; 4104- Storage box; 4104a- Sliding rod; 4104b- Reset spring Spring; 4104c - Box cover; 4105 - Box cover opening and closing assembly; 4105a - Slide plate; 4105b - Sliding head; 4105c - Support plate two; 4105d - Rotating shaft; 4105e - Opening and closing gear; 4105f - Pulley group four; 4106 - Opening and closing rack; 42 - Ejection assembly; 4201 - Servo screw; 4202 - Electric push rod one; 4203 - Shift gear; 4204 - Shift rack; 5 - Crusher Structure; 51-Two-axis rotating assembly; 5101-Motor 7; 5102-Rotating seat 1; 5103-Turntable 1; 5104-Rotating mounting frame; 5105-Motor 8; 5016-Rotating seat 2; 5107-Turntable 2; 5108-Fixed frame; 52-Crushing assembly; 5201-Electric push rod 2; 5202-Guide sleeve; 5203-Connecting disc; 5204-Motor 9; 5205-Crushing head; 6-Controller. Detailed Implementation

[0056] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0057] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0058] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0060] like Figure 1-27 As shown, an underwater robot operating manipulator provided in this application embodiment will now be described. This underwater robot operating manipulator includes a frame 1, a data acquisition mechanism 2, a gripping mechanism 3, a storage mechanism 4, and a controller 6. The mounting housing 11 of the frame 1 is rotatably mounted on the underwater robot body; specifically: as shown... Figure 3 and Figure 27 As shown, the mounting housing 11 is rotatably mounted on the connecting plate 12 via the rotating disk 13; the motor 14 and the connecting column 15 are fixedly mounted on the connecting plate 12, and the output shaft of the motor 14 is coaxially and fixedly connected to the rotating disk 13; the connecting column 15 is fixedly connected to one side of the front end of the underwater robot body; the underwater robot body is a prior art device, including a drive impeller, a walking camera, and a walking light source, etc., which will not be described in detail. The operation of the motor 14 can drive the rotating disk 13 to rotate, thereby causing the mounting housing 11 to rotate, thus realizing the rotation of various components on the mounting housing 11, so as to adjust the angle and position of the gripping mechanism 3 and the acquisition mechanism 2.

[0061] In this embodiment, as Figure 1-4 As shown, the acquisition mechanism 2 and the gripping mechanism 3 are installed on opposite sides of the outer surface of the mounting housing 11, and the storage mechanism 4 is fixedly installed inside the mounting housing 11; Figure 3 and Figure 14 As shown, the mounting housing 11 is equipped with a camera 1101, a light source 1102, a first clearance 1103, and a second clearance 1104 at the positions corresponding to the acquisition mechanism 2 and the grasping mechanism 3, respectively; the first clearance 1103 is a square opening, the second clearance 1104 is a strip-shaped opening, and the first clearance 1103 and the second clearance 1104 are connected.

[0062] like Figure 14-23As shown, the storage mechanism 4 includes a rotating storage component 41 and an ejection component 42; the rotating storage component 41 is provided in two sets, which are respectively set for the acquisition mechanism 2 and the gripping mechanism 3.

[0063] Each rotating storage assembly 41 includes a support plate 4101, a motor 4102, a pulley assembly 4103, a storage box 4104, and a box cover opening and closing device. The support plate 4101 is fixedly installed inside the mounting housing 11. The motor 4102 and the pulley assembly 4103 are installed on the support plate 4101, and the output end of the motor 4102 is coaxially and fixedly connected to one of the pulleys of the pulley assembly 4103. Three support blocks 41 are fixedly installed on the belt of the pulley assembly 4103. 03a, the three storage boxes 4104 are slidably connected to the corresponding support blocks 4103a via sliding rods 4104a. The support plate 4101 is provided with a sliding groove for sliding the sliding rods 4104a. Each sliding rod 4104a is provided with a top plate. A return spring 4104b (a compression spring in this embodiment) is sleeved on the sliding rod 4104a and located between the support block 4103a and the top plate for retracting and returning the storage box 4104 to its original position relative to the support block 4103a. Each storage box 4104 is rotatably mounted with a box cover 4104c via a rotating shaft 4105d, and the box cover 4104c is opened and closed by a box cover opening and closing device; the ejector assembly 42 is installed between the two sets of rotating storage assemblies 41, and the electric push rod 4202 in the ejector assembly 42 is set at the positions corresponding to the clearance 1103 and clearance 2 1104 on the mounting housing 11; during the operation of the acquisition mechanism 2 or the gripping mechanism 3, one of the storage boxes in the rotating storage assembly 41 is... The storage tank 4104 rotates to a position directly facing the first and second clearances 1103 and then extends out of the mounting housing 11 under the action of the electric push rod 4202, and opens the lid 4104c under the action of the lid opening and closing device; after the collection mechanism 2 or the grasping mechanism 3 puts the target object into the storage tank 4104, the storage tank 4104 closes the lid 4104c and retracts into the mounting housing 11 under the action of the lid opening and closing device and the return spring 4104b.

[0064] The controller 6 is enclosed and mounted on the frame 1, and is electrically connected to the remote underwater robot remote control terminal through the information transmission module. It is used to complete the operation of the entire working robotic arm under the control of the underwater robot remote control terminal.

[0065] Specifically, such as Figure 5-12 As shown, the acquisition mechanism 2 includes a swing arm assembly 21, a telescopic electric cylinder 22, and an acquisition component 23; the swing arm assembly 21 is fixedly mounted on the mounting housing 11, and its free end is fixedly connected to the telescopic electric cylinder 22; the acquisition component 23 is mounted on the output end of the telescopic electric cylinder 22.

[0066] Among them, such as Figure 6As shown, the swing arm assembly 21 includes a swing arm mounting frame 2101, a rotating frame 2102, a second motor 2103, a third motor 2104, and a bevel gear set 2105. The swing arm mounting frame 2101 is fixedly mounted on the mounting housing 11, and its front end is rotatably connected to the rotating frame 2102. The bevel gear set 2105 is mounted on the rotating frame 2102, and its output end is fixedly connected to the telescopic electric cylinder 22. The second motor 2103 and the third motor 2104 are fixedly mounted inside the swing arm mounting frame 2101, and the output end of the second motor 2103 is synchronously connected to the input end of the bevel gear set 2105 through a pulley set, and the output end of the third motor 2104 is synchronously connected to the shaft end of the rotating frame 2102 through a pulley set. That is, the second motor 2103 drives the telescopic electric cylinder 22 to rotate horizontally around a horizontal axis, and the third motor 2104 drives the telescopic electric cylinder 22 to rotate up and down.

[0067] like Figure 7 As shown, the acquisition component 23 includes an acquisition shovel 2301, a shovel cover 2302, a motor 2303, and a rotary electric cylinder 2304; the acquisition shovel 2301 is rotatably mounted on the output end of the telescopic electric cylinder 22 and is driven to steer by the motor 2303; the shovel cover 2302 is rotatably mounted on the acquisition shovel 2301 and is driven to open and close by the rotary electric cylinder 2304.

[0068] When the collection mechanism 2 is activated, the telescopic electric cylinder 22 is first adjusted to a preliminary orientation under the combined drive of motor 2103 and motor 2104. Then, the output end of the telescopic electric cylinder 22 drives the collection component 23 to extend to a position close to the target object to be collected. The shovel cover 2302 is opened under the drive of the rotary electric cylinder 2304. Subsequently, the position of the collection shovel 2301 is finely adjusted by the combined drive of motor 2103, motor 32104 and motor 42303. After aligning with the target object to be collected, the telescopic electric cylinder 22 is driven to extend again to shovel the target object into the collection shovel 2301. Then, the telescopic electric cylinder 22 retracts to complete the collection action. Afterward, the shovel cover 2302 is closed under the drive of the rotary electric cylinder 2304 to ensure that the collected target object is not lost.

[0069] In this embodiment, the difference between the gripping mechanism 3 and the collection mechanism 2 is that the collection component 23 is replaced with a mechanical gripper 33, such as... Figure 13 As shown, the mechanical gripper 33 is driven by the lead screw of the motor 3301, which in turn causes the joint of the gripper to bend for gripping. The mechanical gripper 33 is a conventional existing technology device. The finger gripper of the mechanical gripper 33 has at least 4 grippers. The specific structure will not be described in detail here.

[0070] Specifically, such as Figure 18-23 As shown, the lid opening and closing device includes a lid opening and closing assembly 4105 and an opening and closing rack 4106; the lid opening and closing assembly 4105 is installed on each storage box 4104, and the opening and closing rack 4106 is installed parallel to one side of the storage box 4104.

[0071] Each lid opening and closing assembly 4105 further includes a slide plate 4105a, a sliding head 4105b, a second support plate 4105c, an opening and closing gear 4105e, and a pulley set 4105f; the slide plate 4105a is semi-circular, fixedly installed on the storage box 4104, and coaxially arranged with the rotating shaft 4105d of the lid 4104c; one end of the second support plate 4105c is fixedly installed on the slide plate 4105a, and the other end is rotatably mounted with the opening and closing gear 4105e for opening and closing. When the storage box 4104 rotates to the position directly opposite the first clearance 1103 and the second clearance 1104, the gear 4105e meshes with the opening and closing rack 4106; the pulley set 4105f is sleeved and installed on the connecting shaft between the rotating shaft 4105d and the opening and closing gear 4105e; in this embodiment, in order to ensure the stability of the box cover 4104c during rotation, the box cover 4104c is also provided with a sliding head 4105b, which slides along the sliding groove on the sliding plate 4105a.

[0072] Specifically, such as Figure 15-17 As shown, the ejection assembly 42 also includes a servo screw 4201, a shift gear 4203, and a shift rack 4204; the servo screw 4201 is arranged parallel to the rotary storage assembly 41, and its two ends are located at the clearance positions 1103 and 1104 corresponding to the acquisition mechanism 2 and the gripping mechanism 3; the electric push rod 4202 is fixedly connected to the shift gear 4203 and is rotatably mounted on the slider of the servo screw 4201; the shift rack 4204 is arranged parallel to the servo screw 4201 and intermittently meshes with the shift gear 4203 during the sliding process of the electric push rod 4202 driven by the servo screw 4201, for rotating the electric push rod 4202 180 degrees.

[0073] When the acquisition mechanism 2 or the gripping mechanism 3 is operating, the motor 4102 on the corresponding rotary storage component 41 starts, driving each storage box 4104 to move towards the corresponding clearance 1 1103 and clearance 2 1104 via the pulley group 3. The movement stops when one of the storage boxes 4104 is directly opposite clearance 1 1103 and clearance 2 1104. At this time, the opening / closing gear 4105e meshes with the opening / closing rack 4106; simultaneously, the ejector component 42... The servo screw 4201 starts, driving the slider to move towards the corresponding clearance 1103 and clearance 2 1104. During the movement, the shift gear 4203 and shift rack 4204 briefly engage to orient the output end of the electric push rod 4202 toward the corresponding clearance 1103. After the servo screw 4201 drives the slider to move a set distance, the top plate on the sliding rod 4104a is directly opposite the output end of the electric push rod 4202. Then the electric push rod 4202... 4202 is opened, pushing the sliding rod 4104a, which in turn drives the storage box 4104 to slide towards the first clearance 1103. During this process, the opening and closing gear 4105e rotates along the opening and closing rack 4106, thereby driving the pulley assembly 4105f to rotate, which in turn drives the box cover 4104c to rotate around the rotating shaft 4105d towards the second clearance 1104. When the storage box 4104 extends a certain distance out of the mounting housing 11, it stops moving. At this time, the box cover 4104c is relative to the storage box 4104. 04. Rotate more than 130° to provide an entrance for the target object; after the target object is placed, the electric push rod 4202 retracts, and the storage box 4104 retracts synchronously under the action of the return spring 4104b. During this process, the opening and closing gear 4105e rotates in the opposite direction along the opening and closing rack 4106, thereby driving the box cover 4104c to rotate in the opposite direction around the rotating shaft 4105d towards the clearance 1104, and the closing action of the box cover 4104c is completed when the storage box 4104 is fully retracted.

[0074] To facilitate the collection and handling of certain targets (such as small shellfish attached to seabed reefs, large targets, etc.), such as Figure 24-25 As shown, a crushing mechanism 5 is also fixedly installed on the mounting housing 11, and two cameras 1101 and two light sources 1102 are provided at the positions corresponding to the crushing mechanism 5; the crushing mechanism 5 includes a two-axis rotating assembly 51 and a crushing assembly 52; the two-axis rotating assembly 51 is fixedly installed on the mounting housing 11; the crushing assembly 52 is fixedly installed at the free end of the two-axis rotating assembly 51.

[0075] The two-axis rotating assembly 51 includes a motor 7 5101, a rotating seat 1 5102, a turntable 1 5103, a rotating mounting bracket 5104, a motor 8 5105, a rotating seat 2 51016, a turntable 2 5107, and a fixed bracket 5108. The rotating seat 1 5102 is fixedly mounted on the mounting housing 11, the motor 7 5101 is fixedly mounted on the rotating seat 1 5102, and the turntable 1 5103 is rotatably mounted on the rotating seat 1 5102 and driven by the motor 7 5101. Mounting bracket 5104 is fixedly mounted on rotating seat 1 5102; rotating seat 2 5016 is fixedly mounted on rotating mounting bracket 5104, and its axis is perpendicular to rotating seat 1 5102; motor 8 5105 is fixedly mounted on rotating seat 2 5016, and turntable 2 5107 is rotatably mounted on rotating seat 2 5016 and driven by motor 8 5105; fixed bracket 5108 is fixedly mounted on turntable 2 5107, and crushing component 52 is installed inside fixed bracket 5108.

[0076] The crushing assembly 52 includes an electric push rod 5201, a guide sleeve 5202, a connecting plate 5203, a motor 5204, and a crushing head 5205. The electric push rod 5201 and the guide sleeve 5202 are arranged in parallel and are fixedly mounted on the fixed frame 5108 by a mounting plate. The movement direction of the electric push rod 5201 and the guide sleeve 5202 is perpendicular to the axial direction of the turntable 5107. The extended ends of the electric push rod 5201 and the guide sleeve 5202 are fixedly connected by the connecting plate 5203. The motor 5204 is coaxially arranged with the extended end of the electric push rod 5201 and is fixedly mounted on the connecting plate 5203. The crushing head 5205 is coaxially fixedly mounted on the output end of the motor 5204.

[0077] When the crushing mechanism 5 is working, the crushing component 52 is first adjusted to a preliminary orientation under the combined drive of motor 7 5101 and motor 8 5105. Then, electric push rod 2 5201 pushes the crushing head 5205 to extend close to the target object to be crushed. Subsequently, the position of the crushing head 5205 is finely adjusted by the cooperation of motor 7 5101 and motor 8 5105. After being aligned with the target object to be crushed, motor 9 5204 is turned on, and the crushing action is completed under the drive of electric push rod 2 5201.

[0078] In this embodiment, as Figure 26As shown, controller 6 includes a main controller, an information transmission module, and a storage module. The main controller is electrically connected to the information transmission module, the storage module, and the camera 1101, light source 1102, motor 14, motor 2103, motor 3, motor 2104, telescopic electric cylinder 22, motor 4, motor 5, motor 6, servo screw 4201, electric push rod 1, motor 7, motor 8, electric push rod 2, and motor 9, all within the acquisition and grasping mechanism. The main controller is electrically connected to the remote underwater robot remote control terminal via the information transmission module and completes the operation of the entire robotic arm under the control of the underwater robot remote control terminal. The information transmission module is used for information transmission between the main controller and the underwater robot remote control terminal. The power supply module is used to provide a stable power supply for controller 6. The storage module is used to store the operation information data of the entire robotic arm.

[0079] The working steps and principles of this embodiment are as follows:

[0080] In the first step, in the initial state, the telescopic electric cylinders 22 of the acquisition mechanism 2 and the gripping mechanism 3 are both in the retracted state, and both are driven by the motor 3 2104 in the swing arm assembly 21 to parallel and adhere to the side of the mounting housing 11. At the same time, the electric push rod 2 5201 of the crushing mechanism 5 is in the retracted state, so that the working robot arm of the entire embodiment is in the state of minimum space occupation.

[0081] The second step is to control the underwater robot body to move towards the target object through the remote control terminal of the underwater robot. After moving close to the target object, the working robot arm of this embodiment is finely adjusted to get close to the target object.

[0082] The third step is to start motor 14 through the remote control terminal of the underwater robot, and drive the mounting shell 11 to rotate, so that the collection mechanism 2 or the grasping mechanism 3 is oriented towards the target object (the fourth and fifth steps take the action of the collection mechanism 2 as an example).

[0083] In the fourth step, the collection mechanism 2 is activated. The telescopic electric cylinder 22 is initially adjusted to a preliminary orientation under the combined drive of motor 2103 and motor 3104. Then, the output end of the telescopic electric cylinder 22 drives the collection component 23 to extend to a position close to the target object to be collected. The shovel cover 2302 is opened under the drive of the rotary electric cylinder 2304. Subsequently, the position of the collection shovel 2301 is finely adjusted by the combined drive of motor 2103, motor 32104 and motor 42303. After aligning with the target object to be collected, the telescopic electric cylinder 22 is driven to extend and retract again to complete the collection action. Then, the shovel cover 2302 is closed under the drive of the rotary electric cylinder 2304 to ensure that the collected target object is not lost. At the same time, during the operation of the collection mechanism 2 or the gripping mechanism 3, a storage box 4104 on the corresponding rotary storage component 41 extends a set distance outside the mounting housing 11 and opens the box cover 4104c.

[0084] In the fifth step, the telescopic electric cylinder 22 is driven by the motor 2104 in the swing arm assembly 21 to turn the storage box 4104 into the inlet. After aligning with the inlet of the storage box 4104, the telescopic electric cylinder 22 is activated again to send the collection shovel 2301 into the storage box 4104. Then, the shovel cover 2302 is opened again, and the collection shovel 2301 is flipped under the drive of the collection shovel 2301 to pour in the target object. Then, the telescopic electric cylinder 22 retracts, the shovel cover 2302 is closed, and it enters the standby state. When the target object is put in, the electric push rod 4202 retracts, and the storage box 4104 retracts synchronously under the action of the return spring 4104b. When the storage box 4104 is fully retracted, the box cover 4104c is closed, thus completing the storage of the target object.

[0085] The sixth step is to start motor 14 via the remote control terminal of the underwater robot when it is necessary to collect or grab small shellfish or large targets attached to the seabed reefs. This will cause the mounting shell 11 to rotate, so that the crushing mechanism 5 is oriented towards the target.

[0086] Step 7: The crushing mechanism 5 is activated. The crushing component 52 is initially adjusted to its initial orientation under the combined drive of motor 7 5101 and motor 8 5105. Then, electric push rod 2 5201 pushes the crushing head 5205 to extend close to the target object to be crushed. Subsequently, the position of the crushing head 5205 is finely adjusted by the combined drive of motor 7 5101 and motor 8 5105. After aligning with the target object to be crushed, motor 9 5204 is activated, and the crushing action is completed under the drive of electric push rod 2 5201. This prepares for the operations in steps 2 to 5.

[0087] The above steps complete the acquisition or capture of the target object in this embodiment.

[0088] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An underwater robotic arm, characterized in that, It includes a frame (1), a data acquisition mechanism (2), a gripping mechanism (3), a storage mechanism (4), and a controller (6); the frame (1) is rotatably mounted on the underwater robot body; The frame (1) includes a mounting housing (11), the acquisition mechanism (2) and the gripping mechanism (3) are mounted on the outside of the mounting housing (11), and the storage mechanism (4) is fixedly mounted inside the mounting housing (11); the mounting housing (11) is provided with a camera (1101), a light source (1102), a first air gap (1103) and a second air gap (1104) at the positions corresponding to the acquisition mechanism (2) and the gripping mechanism (3). The storage mechanism (4) includes a rotating storage component (41) and an ejection component (42); the rotating storage component (41) is provided in two sets, respectively corresponding to the acquisition mechanism (2) and the gripping mechanism (3); at least one storage box (4104) is slidably installed on the support plate (4101) of each set of rotating storage components (41), and a return spring (4104b) is provided between each storage box (4104) and the support plate (4101); a box cover (4104c) is rotatably installed on each storage box (4104) through a rotating shaft (4105d), and the box cover (4104c) is opened and closed by a box cover opening and closing device; the ejection component (42) is installed between the two sets of rotating storage components (41), and the electric push rod (4202) in the ejection component (42) is positioned opposite to the electric push rod (4202) of the rotating storage component (41). The positions of the first clearance (1103) and the second clearance (1104) on the housing (11) should be set; during the operation of the collection mechanism (2) or the grasping mechanism (3), one of the storage boxes (4104) in the corresponding rotating storage component (41) is rotated to the position facing the first clearance (1103) and the second clearance (1104), and then the storage box (4104) extends out of the housing (11) under the action of the electric push rod (4202), and the box cover (4104c) is opened under the action of the box cover opening and closing device; when the collection mechanism (2) or the grasping mechanism (3) puts the target object into the storage box (4104), the storage box (4104) closes the box cover (4104c) and retracts into the housing (11) under the action of the box cover opening and closing device and the return spring (4104b); The controller (6) is installed in a sealed manner on the frame (1) and is electrically connected to the remote underwater robot remote control terminal through the information transmission module. It is used to complete the operation of the entire working robotic arm under the control of the underwater robot remote control terminal.

2. The underwater robotic arm according to claim 1, characterized in that, The acquisition mechanism (2) includes a swing arm assembly (21), a telescopic electric cylinder (22), and an acquisition component (23); the swing arm assembly (21) is fixedly installed on the mounting housing (11), and its free end is fixedly connected to the telescopic electric cylinder (22); the acquisition component (23) is installed on the output end of the telescopic electric cylinder (22); the difference between the gripping mechanism (3) and the acquisition mechanism (2) is that the acquisition component (23) is replaced by a mechanical gripper (33).

3. The underwater robotic arm according to claim 2, characterized in that, The swing arm assembly (21) includes a swing arm mounting frame (2101), a rotating frame (2102), a second motor (2103), a third motor (2104), and a bevel gear set (2105). The swing arm mounting frame (2101) is fixedly mounted on the mounting housing (11), and its front end is rotatably connected to the rotating frame (2102). The bevel gear set (2105) is mounted on the rotating frame (2102), and its output end is fixedly connected to the telescopic electric cylinder (22). The second motor (2103) and the third motor (2104) are fixedly mounted inside the swing arm mounting frame (2101), and the output end of the second motor (2103) is synchronously connected to the input end of the bevel gear set (2105) through a pulley set, and the output end of the third motor (2104) is synchronously connected to the shaft end of the rotating frame (2102) through a pulley set.

4. The underwater robotic arm according to claim 2, characterized in that, The acquisition component (23) includes an acquisition shovel (2301), a shovel cover (2302), a motor (2303), and a rotary electric cylinder (2304). The acquisition shovel (2301) is rotatably mounted on the output end of the telescopic electric cylinder (22) and is driven to turn by the motor (2303). The shovel cover (2302) is rotatably mounted on the acquisition shovel (2301) and is driven to open and close by the rotary electric cylinder (2304).

5. The underwater robotic arm according to claim 1, characterized in that, The rotating storage assembly (41) further includes a motor six (4102) and a pulley group three (4103); the motor six (4102) and the pulley group three (4103) are mounted on a support plate one (4101), and the output end of the motor six (4102) is coaxially and fixedly connected to one of the pulleys of the pulley group three (4103); the belt of the pulley group three (4103) is fixedly mounted with the same number of support blocks (4103a) corresponding to the storage box (4104), the storage box (4104) is slidably connected to the corresponding support block (4103a) through a sliding rod (4104a), and the return spring (4104b) is sleeved and mounted on the sliding rod (4104a) for retracting and returning the storage box (4104) to the support block (4103a).

6. The underwater robotic arm according to claim 1, characterized in that, The lid opening and closing device includes a lid opening and closing assembly (4105) and an opening and closing rack (4106); the lid opening and closing assembly (4105) is installed on each storage box (4104), and the opening and closing rack (4106) is installed parallel to one side of the clearance two (1104); each lid opening and closing assembly (4105) further includes a sliding plate (4105a), a sliding head (4105b), a support plate two (4105c), an opening and closing gear (4105e), and a pulley group four (4105f); the sliding plate (4105a) is fixedly installed on the storage box (4104). 104) and located on the pivot (4105d) of the cover (4104c); one end of the support plate (4105c) is fixedly installed on the slide plate (4105a), and the other end is rotatably installed with a gear (4105e). The gear (4105e) meshes with the rack (4106) when the storage box (4104) rotates to the position facing the first clearance (1103) and the second clearance (1104); the pulley group four (4105f) is sleeved on the connecting shaft of the pivot (4105d) and the gear (4105e).

7. The underwater robotic arm according to claim 1, characterized in that, The ejection assembly (42) further includes a servo screw (4201), a shift gear (4203), and a shift rack (4204); the servo screw (4201) is arranged parallel to the rotary storage assembly (41), and the two ends of the servo screw (4201) are located at the clearance one (1103) and clearance two (1104) positions corresponding to the acquisition mechanism (2) and the gripping mechanism (3); the electric push rod one (4202) is fixedly connected to the shift gear (4203) and is rotatably mounted on the slider of the servo screw (4201); the shift rack (4204) is arranged parallel to the servo screw (4201) and intermittently meshes with the shift gear (4203) during the sliding process of the electric push rod one (4202) driven by the servo screw (4201), and is used to rotate the electric push rod one (4202) 180 degrees.

8. The underwater robotic arm according to claim 1, characterized in that, A crushing mechanism (5) is also fixedly installed on the mounting housing (11), and a camera (1101) and a light source (1102) are provided at the position corresponding to the crushing mechanism (5); the crushing mechanism (5) includes a two-axis rotating assembly (51) and a crushing assembly (52); the two-axis rotating assembly (51) is fixedly installed on the mounting housing (11); the crushing assembly (52) is fixedly installed at the free end of the two-axis rotating assembly (51).

9. The underwater robotic arm according to claim 8, characterized in that, The crushing assembly (52) includes an electric push rod two (5201), a guide sleeve (5202), a connecting plate (5203), a motor nine (5204), and a crushing head (5205). The electric push rod two (5201) and the guide sleeve (5202) are arranged in parallel and are vertically fixed on the free end of the two-axis rotating assembly (51) by a mounting plate. The extended ends of the electric push rod two (5201) and the guide sleeve (5202) are fixedly connected by the connecting plate (5203). The motor nine (5204) is coaxially arranged with the extended end of the electric push rod two (5201) and is fixedly installed on the connecting plate (5203). The crushing head (5205) is coaxially fixedly installed on the output end of the motor nine (5204).

10. An underwater robotic arm according to any one of claims 1-9, characterized in that, The frame (1) also includes a connecting plate (12), a rotating disk (13), a motor (14), and a connecting column (15); the mounting housing (11) is rotatably mounted on the connecting plate (12) via the rotating disk (13); the motor (14) and the connecting column (15) are fixedly mounted on the connecting plate (12), and the output shaft of the motor (14) is coaxially and fixedly connected to the rotating disk (13); the connecting column (15) is fixedly connected to the underwater robot body.

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