A translation type robot hand equipped with a detection device and an underwater robot

Abstract

The application provides a translation type mechanical arm and underwater robot with a detection device. The translation type mechanical arm comprises a driving mechanism, a transmission mechanism and a swing accommodation mechanism. The power input end of the transmission mechanism is connected with the power output end of the driving mechanism, and the power output end of the transmission mechanism is connected with the swing accommodation mechanism. The swing accommodation mechanism is provided with a support seat. The application converts the output rotation of the driving mechanism into the reciprocating linear motion of the swing accommodation mechanism through the transmission mechanism, so that the detection device and the support seat perform the reciprocating linear motion under the action of the transmission mechanism, and the part of the detection object in the stroke is detected. When the detection device encounters an obstacle during movement, the swing accommodation mechanism swings under the reverse force of the obstacle, drives the detection device to accommodate the obstacle, and avoids the hard collision between the detection device and the obstacle.

Description

Technical Field

[0001] This invention relates to the field of underwater jacket crack detection technology, and more specifically, to a translational manipulator and an underwater robot equipped with a detection device. Background Technology

[0002] Currently, domestic underwater inspection technology is primarily used for detecting cracks in jacket platforms. Cracks in jacket platforms can ultimately lead to the collapse of offshore platforms, resulting in significant economic losses. Current robotic arms typically operate with multiple degrees of freedom (DOF), which is inconvenient for underwater inspection. This is because underwater operation is complex, requiring multiple levers to work simultaneously. These levers also have limitations, as they cannot be shortened. When inspecting jacket platforms, it's difficult to control the distance between them, leading to missed detections. Furthermore, the inspection equipment mounted on multi-DOF robotic arms lacks cushioning; improper operation can cause impacts with the jacket platform, easily damaging the inspection device. Currently, the location of robotic arms mounted on underwater robots is generally fixed. Due to the large size of the robotic arms, it's difficult to change their mounting position, which greatly inconveniences inspection, ultimately resulting in wasted time and unnecessary equipment wear and tear. Summary of the Invention

[0003] In view of this, the present invention proposes a translational manipulator and an underwater robot equipped with a detection device, aiming to solve the problems of existing manipulators being complex to operate due to their multi-degree-of-freedom nature and inconvenient underwater detection, which may lead to missed detections.

[0004] On one hand, the present invention proposes a translational manipulator equipped with a detection device. This translational manipulator includes a drive mechanism, a transmission mechanism, and a swing-and-yield mechanism. The power input end of the transmission mechanism is connected to the power output end of the drive mechanism, and the power output end of the transmission mechanism is connected to the swing-and-yield mechanism. The transmission mechanism converts the output rotation of the drive mechanism into the reciprocating linear motion of the swing-and-yield mechanism. The swing-and-yield mechanism is provided with a support seat to support the detection device, allowing the detection device to reciprocate linearly under the action of the transmission mechanism to detect the portion of the workpiece within its stroke. The swing-and-yield mechanism swings when the detection device encounters an obstacle during its movement, causing the detection device to yield to the obstacle and avoid collision.

[0005] Furthermore, in the aforementioned translational manipulator equipped with the detection device, the transmission mechanism is a ball screw mechanism, which includes: a fixed frame for support; a guide rail mounted on the fixed frame for guidance; a lead screw connected to the power output end of the drive mechanism for forward and reverse rotation under the action of the drive mechanism; a lead screw slide seat sleeved on the lead screw, the lead screw slide seat being threadedly connected to the lead screw; and a slider mounted on the lead screw slide seat, the slider being slidably connected to the guide rail for limiting the movement of the lead screw slide seat under the guidance of the guide rail, so that the lead screw slide seat and the slider perform synchronous reciprocating linear motion.

[0006] Furthermore, in the aforementioned translational manipulator equipped with the detection device, the two ends of the fixed frame are respectively provided with a first fixed plate and a second fixed plate. The first fixed plate is used to support the drive mechanism; the second fixed plate is used to support the lead screw.

[0007] Furthermore, in the aforementioned translational manipulator equipped with the detection device, a fixing block is also provided on the fixing frame between the first fixing plate and the second fixing plate for supporting the end of the lead screw away from the second fixing plate.

[0008] Furthermore, in the aforementioned translational manipulator equipped with the detection device, the swing-and-give-up mechanism includes: a linkage frame and at least two pairs of links; wherein, the linkage frame is arranged parallel to one side of the support base, and each link is arranged between the linkage frame and the support base; one end of each pair of links is hinged to the linkage frame and the support base respectively, so that each pair of links, the linkage frame, and the support base form a parallelogram mechanism, and the parallelogram mechanisms formed by each pair of links are parallel and spaced apart.

[0009] Furthermore, in the aforementioned translational manipulator equipped with the detection device, at least one pair of the links is hinged to the link frame via a fixed shaft, and a torsion spring is sleeved on the fixed shaft as a reset mechanism to apply a reset force to the swing clearance mechanism when the detection device moves away from the obstacle, so as to reset the support and the detection device to their initial state; a movable shaft is provided between at least one pair of the links, and the two arms of the torsion spring respectively press against the link frame and the movable shaft.

[0010] Furthermore, in the aforementioned translational manipulator equipped with the detection device, the linkage frame is provided with a limiting groove for limiting the movable shaft so that the linkage is locked in the limiting groove when it is in the initial state.

[0011] Furthermore, the aforementioned translational manipulator equipped with the detection device has a fixed base on its transmission mechanism for mounting on an underwater robot.

[0012] Furthermore, in the aforementioned translational manipulator equipped with the detection device, the swing clearance mechanism is provided with a reset mechanism, which is used to apply a reset force to the swing clearance mechanism when the detection device moves away from the obstacle, so as to reset the support and the detection device to their initial state.

[0013] On the other hand, the present invention also proposes an underwater robot equipped with a translational manipulator carrying the aforementioned detection device.

[0014] The present invention provides a translational manipulator and underwater robot equipped with a detection device. Through a transmission mechanism, the output rotation of the drive mechanism is converted into the reciprocating linear motion of a swing-and-yield mechanism. This allows the detection device and support base to reciprocate linearly under the action of the transmission mechanism, detecting the portion of the workpiece within its travel range. When the detection device encounters an obstacle during its movement, the swing-and-yield mechanism swings under the reaction force of the obstacle, causing the detection device to yield to the obstacle and avoid a hard collision. This translational manipulator features single-degree-of-freedom motion, making it simple to operate. Detection of workpieces such as guide frames is achieved solely through the control of the drive mechanism. During detection, the detection device moves up and down, and the detection range is relatively large, ensuring a certain detection range even when the underwater robot is stationary, effectively reducing the robot's energy consumption. Furthermore, the translational manipulator has a relatively simple structure, and the swing-and-yield mechanism allows for flexible swinging, preventing hard collisions between the detection device and obstacles. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the initial state of the translational manipulator equipped with a detection device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a translational robotic arm equipped with a detection device in a yielding state according to an embodiment of the present invention; Figure 3 This is a disassembled schematic diagram of a portion of the transmission mechanism provided in an embodiment of the present invention; Figure 4 This is a disassembly diagram of the lead screw slide seat, lead screw and slider provided in an embodiment of the present invention; Figure 5 This is a disassembly diagram of the drive mechanism and transmission mechanism provided in an embodiment of the present invention; Figure 6 A schematic diagram of the structure for mounting the second fixing plate on the drive mechanism and transmission mechanism provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the swinging yielding mechanism provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the installation structure of the swing clearance mechanism and the detection device provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the installation structure between the swing clearance mechanism, the detection device, the drive mechanism, and the transmission mechanism provided in an embodiment of the present invention. Figure 10 This is a schematic diagram of the mounting structure of the fixed base provided in an embodiment of the present invention. Detailed Implementation

[0016] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] See Figures 1 to 2 This illustrates a preferred structure of a translational manipulator equipped with a detection device provided in an embodiment of the present invention. For example... Figure 1 and Figure 2 As shown, the translational manipulator includes: a drive mechanism 1, a transmission mechanism 2, a swing clearance mechanism 3, and a support base 4; wherein, like Figure 1 and Figure 2 As shown, the power input end of the transmission mechanism 2 is connected to the power output end of the drive mechanism 1, and the power output end of the transmission mechanism 2 is connected to the swing-yielding mechanism 3. The transmission mechanism 2 is used to convert the output rotation of the drive mechanism 1 into the reciprocating linear motion of the swing-yielding mechanism 3, as shown. Figure 1 As shown, the swing-and-yield mechanism 3 can move vertically up and down. Specifically, the power output end of the drive mechanism 1 can rotate in both directions; in this embodiment, as... Figure 5As shown, the drive mechanism 1 can be a drive motor 11, which can be connected to the power output end of the transmission mechanism 2 via a coupling 12 to drive the transmission mechanism 2 to move. The transmission mechanism 2 can be a ball screw mechanism, or any other mechanism that can convert rotation into linear motion; this embodiment does not impose any limitations on it. The power output end of the transmission mechanism 2 can be connected to the power output end of the coupling 12, so that it moves under the action of the coupling 12, and drives the swing clearance mechanism 3 and the support seat 4 set on the swing clearance mechanism 3 to perform reciprocating linear motion, thereby causing the detection device 5 supported on the support seat 4 to perform up and down reciprocating linear motion, thereby realizing the detection of the part of the workpiece to be detected within the range formed by the reciprocating linear motion, and realizing up and down translational detection.

[0018] like Figure 1 and Figure 2 As shown, the swing clearance mechanism 3 is equipped with a support base 4 for supporting the detection device 5, so that the detection device 5 can reciprocate linearly with the swing clearance mechanism 3 under the action of the transmission mechanism 2, to detect the part of the workpiece (not shown in the figure) within its stroke. Specifically, the support base 4 can be set on the power output end of the swing clearance mechanism 3. The support base 4 can be used to support the detection device 5, so that the detection device 5 can be detachably connected to the support base 4. Thus, the support base 4 and the detection device 5 move up and down with the swing clearance mechanism 3 as a whole under the action of the transmission mechanism 2, realizing the detection of the workpiece within a certain stroke. In the embodiment, the maximum stroke of the swing clearance mechanism 3 can be 300mm, or other values, and no limitation is made in this embodiment.

[0019] like Figure 2 As shown, the swing-and-yield mechanism 3 is used to swing when the detection device 5 encounters an obstacle (not shown) during its movement, so as to drive the detection device 5 to give way to the obstacle and avoid collision between them; as Figure 7 As shown, the swing clearance mechanism 3 is equipped with a reset mechanism 7, which applies a reset force to the swing clearance mechanism 3 when the detection device 5 moves away from the obstacle, so that the support base 4 and the detection device 5 are reset to their initial state. Specifically, the swing clearance mechanism 3 can be a parallelogram mechanism. When the support base 4 and the detection device 5 encounter an obstacle during their up-and-down movement, the support base 4 or the detection device 5 contacts the obstacle, and the obstacle applies a reverse force to the support base 4 or the detection device 5, causing the swing clearance mechanism 3 to swing, thereby driving the support base 4 and the detection device 5 to swing, as shown. Figure 2 As shown, it can swing clockwise to avoid a hard collision between the support base 4, the detection device 5, and the workpiece to be tested. The flexible swing prevents damage to the detection device 5. Meanwhile, as... Figure 7As shown, the swing clearance mechanism 3 is equipped with a reset mechanism 7. When the support base 4 and the detection device 5 are away from the obstacle, the support base 4 or the detection device 5 separates from the obstacle. The reset mechanism 7 applies a reset force to the swing clearance mechanism 3, causing the swing clearance mechanism 3 to swing in the opposite direction, thus resetting the swing clearance mechanism 3. Figure 1 The vertical position shown allows the support 4 and the detection device 5 to be reset as shown. Figure 1 The initial state is shown.

[0020] See also Figure 1 and Figure 2 The transmission mechanism 2 is equipped with a fixed base 6 for mounting on an underwater robot (not shown in the figure). Specifically, the fixed base 6 is detachably connected to the transmission mechanism 2, and can also be detachably connected to the underwater robot, so that the translational manipulator is mounted entirely on the underwater robot. This allows the translational manipulator to adjust its position under the action of the underwater robot, and to detect a certain stroke at other positions. The fixed base 6 and the swing clearance mechanism 3 can be respectively located on both sides of the transmission mechanism 2 (e.g., ...). Figure 1 (As shown on the left and right sides).

[0021] See Figures 3 to 6 This illustrates a preferred structure for the drive mechanism and transmission mechanism provided in an embodiment of the present invention. For example... Figure 3 and Figure 4 As shown, the transmission mechanism 2 includes: a fixed frame 21, a guide rail 22, a lead screw 23, a lead screw sliding seat 24, and a slider 25; wherein, the fixed frame 21 serves as a support; the guide rail 22 is mounted on the fixed frame 21 and serves as a guide; the lead screw 23 is connected to the power output end of the drive mechanism 1 and is used to rotate in both directions under the action of the drive mechanism 1; the lead screw sliding seat 24 is sleeved on the lead screw 23, and the lead screw sliding seat 24 is threadedly connected to the lead screw 23; the slider 25 is mounted on the lead screw sliding seat 24, and the slider 25 is slidably connected to the guide rail 22, used to limit the movement of the lead screw sliding seat 24 under the guidance of the guide rail 22, so that the lead screw sliding seat 24 and the slider 25 perform synchronous reciprocating linear motion. To achieve support for the drive mechanism 1 and the lead screw 23, preferably, both ends of the fixed frame 21 (such as...) Figure 3 As shown, there is a left end and as... Figure 6 The left end shown is provided with a first fixing plate 26 and a second fixing plate 27. The first fixing plate 26 is used to support the drive mechanism 1; the second fixing plate 27 is used to support the lead screw 23; to achieve further support for the lead screw 23, such as... Figure 3 As shown, more preferably, a fixing block 28 is further provided on the fixing frame 21 between the first fixing plate 26 and the second fixing plate 27, for fixing the end of the lead screw 23 away from the second fixing plate 27 (e.g., Figure 3Support is provided at the right end (as shown).

[0022] Specifically, such as Figure 3 As shown, the end of the fixing bracket 21 (such as...) Figure 3 The right end of the first fixing plate 26 (as shown) is provided with a first threaded hole 211, and a first screw 212 is threadedly connected to the first threaded hole 211 so that the lower end surface 261 of the first fixing plate 26 (as shown) is provided with a first threaded hole 211. Figure 3 The left end face shown) and the upper end face 213 of the fixing bracket 21 (as shown) Figure 3 The right end face shown is overlapped and pressed together to achieve the connection between the first fixing plate 26 and the fixing frame 21; the fixing frame 21 is provided with a second threaded hole 214, and the second screw 215 is threadedly connected to the second threaded hole 214 so that the rear end face 281 of the fixing block 28 (as shown) is connected to the fixing block 28. Figure 3 The lower end face shown) and the front end face 216 of the fixing bracket 21 (as shown) Figure 3 The upper end face shown is overlapped and pressed together to achieve the connection between the fixing block 28 and the fixing frame 21; the third screw 210 is threadedly connected to the first countersunk hole 221 on the guide rail 22 and the third threaded hole 219 on the fixing frame 21, so that the rear end face 222 of the guide rail 22 overlaps and presses together with the front end face 216 of the fixing frame, and the upper end face 223 of the guide rail 22 overlaps and presses together with the lower end face 282 of the fixing block 28, thereby fixing the fixing block 28 and the guide rail 22; the slider 25 is provided with a sliding groove 251, which is adapted to and clearance-fitted with the sliding track 224 on the guide rail 22, so that the slider 25 can slide bidirectionally on the guide rail 22; the two ends of the lead screw 23 (such as Figure 3 The left end shown and as Figure 4 The right end shown is provided with a first light rod 231 and a second light rod 232. The first light rod 231 passes through the first through hole 283 on the fixed block 28 and the two are fitted with a gap so that the first light rod 231 can be rotatably passed through the fixed block 28. The axis of the lead screw 23 coincides with the center line of the first through hole 283, that is, the lead screw 23 and the first through hole 283 are coaxially arranged.

[0023] like Figure 4 As shown, the fourth screw 254 is threadedly connected to the second countersunk hole 252 on the slider 25 and the fourth threaded hole 241 on the lead screw slide seat 24, so that the slider front end face 253 of the slider 25 (as shown) is threadedly connected to the second countersunk hole 252 on the slider 25 and the fourth threaded hole 241 on the lead screw slide seat 24, so that the slider front end face 253 of Figure 4 The lower end face shown) and the rear surface 242 of the lead screw slide seat (as shown) Figure 4 The upper end face shown is overlapped and connected; the second guide rod 232 passes through the center hole 243 in the lead screw slide seat 24, and is driven by the thread transmission between the external thread 233 of the lead screw 23 and the internal thread of the lead screw slide seat 24, so that the lead screw slide seat 24 can reciprocate as the lead screw 23 rotates.

[0024] like Figure 5 As shown, the lower surface 113 of the drive motor 11 (as shown) is connected by the threaded connection of the first bolt 111 and the first nut 112. Figure 5 The left end face shown) and the upper surface 262 of the countersunk hole of the first fixing plate 26 (as shown) Figure 5 The upper surface of the countersunk hole shown coincides with the upper surface of the countersunk hole; the motor spindle 114 of the drive motor 11 passes through the second through hole 263 of the first fixed plate 26; the coupling 12 is set between the first fixed plate 26 and the fixed block 28, and the motor spindle 114 is connected to the first guide rod 231 through the coupling 12, and the center lines of the lead screw 23, the coupling 12 and the motor spindle 114 are coincident, that is, they are coaxially set.

[0025] like Figure 6 As shown, the bearing seat hole 271 on the second fixed plate 27 is interference-fitted with the deep groove ball bearing 274; the second guide rod 232 of the lead screw 23 passes through the inner ring 274 of the deep groove ball bearing and the second through hole 272 on the second fixed plate 27, and the inner ring 2741 of the deep groove ball bearing is interference-fitted with the second guide rod 232, and is clearance-fitted with the third through hole 272 on the second fixed plate 27; through the threaded connection of the fifth screw 275 and the fifth thread 276 on the fixing bracket 21, the upper surface 273 of the second fixed plate 27 coincides with the lower surface 278 of the fixing bracket 21; the elastic retaining ring 277 is stuck in the slot 2321 on the second guide rod 232 to restrict the axial movement of the lead screw 21.

[0026] See Figures 7 to 9 This illustrates a preferred structure of the swing-yielding mechanism provided in an embodiment of the present invention. As shown in the figure, the swing-yielding mechanism 3 includes: a linkage frame 31 and at least two pairs of linkages 32; wherein, the linkage frame 31 is arranged parallel to one side of the support base 4 (e.g., Figure 8 (As shown on the upper side), each link 32 is disposed between the link frame 31 and the support base 4; both ends of one of the links 32 in each pair of links 32 (such as...) Figure 8 The upper and lower ends (as shown) are respectively hinged to the linkage frame 31 and the support base 4, so that each pair of connecting rods 32 forms a parallelogram mechanism with the linkage frame 31 and the support base 4, and the parallelogram mechanisms formed by each pair of connecting rods 32 are parallel and spaced apart. In this embodiment, there are two pairs of connecting rods 32, and two connecting rods 32 in each pair are respectively arranged on both sides of the linkage frame 31 and the support base 4 (e.g., the upper and lower ends are hinged to the linkage frame 31 and the support base 4, respectively). Figure 9 (as shown on the left and right sides), and both ends of each link 32 (as shown on the left and right sides). Figure 9 The upper and lower ends shown are respectively connected to the end of the connecting rod frame 32 and the end of the support seat 4, so that the two connecting rods 32 and the connecting rod frame 31 and the support seat 4 on the same side form a parallelogram structure, that is, it can be a parallelogram structure from the side or the front.

[0027] See also Figure 7 At least one pair of connecting rods 32 are hinged to the connecting rod frame 31 via a fixed shaft 33. The reset mechanism 7 is a torsion spring, rotatably mounted on the fixed shaft 33. A movable shaft 34 is provided between at least one pair of connecting rods 32, with the two arms of the torsion spring respectively pressing against the connecting rod frame 31 and the movable shaft 34. Alternatively, the two arms of the torsion spring can also press against the connecting rod frame 31 and the connecting rod 32, compressing the torsion spring when the connecting rod 32 rotates. Specifically, the connecting rod frame 31 is provided with a limiting groove 311 to limit the movable shaft 34, so that the connecting rod 32 is locked in the limiting groove 311 in its initial state, maintaining the connecting rod 32 in its initial state without interference. The torsion spring not only enables reset but also buffers the detection device 5 when it is impacted. The torsion spring provides a buffering force, causing the connecting rod to swing, thus better preventing damage to the detection device when it is too close to the workpiece.

[0028] like Figure 7As shown, in this embodiment, the reset mechanism 7, i.e., the torsion spring, can be two. Two identical torsion springs are respectively sleeved on both sides of the fixed shaft 33, and the two arms of the torsion springs are respectively locked on the outer surface 342 of the movable shaft 34 and the front surface 312 of the connecting rod frame 31. The outer surface 342 of the movable shaft is in contact with the limiting groove 311, and the movable shaft 34 is perpendicular to the connecting rod 32. The four identical connecting rods 32 are arranged in parallel pairs, and the fourth passage of two of the parallel connecting rods 32 is... Hole 321 is coaxially fitted with the sixth threaded holes 331 at both ends of the fixed shaft 33. The fourth through holes 321 of the other two parallel connecting rods 32 are coaxially fitted with the fifth through holes 313 on the connecting rod holder 32. The sixth screw 332 is threaded into the sixth threaded hole 331, so that the two parallel connecting rods 32 are respectively connected to the two washers 35 at both ends of the connecting rod holder 31. The two ends of the movable shaft 34 pass through the sixth through holes 322 of the two parallel connecting rods 32, and the cotter pin 36 is inserted into the seventh through hole 313 on the movable shaft 34. The through hole 341 enables axial positioning of the movable shaft 34. The fourth through hole 321 of the two parallel connecting rods 32 is coaxially engaged with the sixth threaded hole 331 at both ends of the fixed shaft 33. Two washers 35 are respectively placed on both sides of each connecting rod 32. Through the threaded connection of the second bolt 314 and the second nut 315, the two parallel connecting rods 32 are respectively connected to the two washers 35 at both ends of the connecting rod frame 31. The fourth through hole 312 of the two parallel connecting rods 32 is coaxially engaged with the fifth through hole 313 at both ends of the connecting rod frame 31. Two washers 35 are placed on both sides of each connecting rod 32; the seventh screw 317 passing through the eighth through hole 316 is threaded to the seventh threaded hole 41 on both sides of the support seat 4, so that the four parallel connecting rods 32 are connected to the two washers 35 on both sides of the support seat 4. Since the connecting rods 32 are connected in parallel between the support seat 4 and the connecting rod frame 31, according to the parallelogram effect, as the connecting rods 32 rotate, the support seat 4 is always parallel to the connecting rod frame 31 and perpendicular to the front surface 312 of the connecting rod frame.

[0029] like Figure 8 As shown, the eighth screw 42 passes through the ninth through hole 43 on the support base 4 and is threaded to the fifth threaded hole 51 on the detection device 5, so that the lower surface 44 of the support base 4 coincides with the upper surface 52 of the detection device 5.

[0030] like Figure 9 As shown, the ninth screw 244 passes through the tenth through hole 318 on the connecting rod bracket 31 and is threadedly connected to the ninth threaded hole 245 on the lead screw sliding seat 24, so that the front surface 246 of the lead screw fixing seat 24 coincides with the rear surface 319 of the connecting rod bracket 31.

[0031] See Figure 10 This is a schematic diagram of the mounting structure of the fixed base provided in an embodiment of the present invention. Figure 10As shown, the fixed seat 6 and the lead screw sliding seat 24 are connected by a connector 8. Specifically, the connector 8 can be a right-angle steel structure, such as an L-shaped structure; the fixed seat 6 can be provided with a rectangular groove 61 for securing it to the lead screw sliding seat 24; of course, the rectangular groove can also be other structures that match the lead screw sliding seat 24. The tenth screw 247 can be threaded into the tenth threaded hole 248 on the lead screw sliding seat 24, so that the rear surface 81 of the connecting angle steel of the connector 8 coincides with the rear end face 249 of the lead screw sliding seat; the rectangular groove 61 on the fixed seat 6 is fastened to the lead screw sliding seat 24 with a clearance fit; the eleventh screw 62 is threaded into the eleventh threaded hole 63 on the fixed seat 6, so that the lower surface 82 of the connecting angle steel coincides with the upper surface 64 of the fixed seat; the connector 8 serves to connect the lead screw sliding seat 24 and the fixed seat 6, and ensures that they are perpendicular to each other; Figure 10 As shown, the mounting base 6 is provided with reserved through holes 65, which can be six or other numbers, and no limitation is made in this embodiment; the reserved through holes 65 are for connecting the mounting base 6 to the underwater robot, so as to fix the translational manipulator carrying the detection device, so that the translational manipulator can be adjusted in position under the action of the underwater robot.

[0032] The working process of the translational robotic arm equipped with the detection device is as follows: When the detection device 5 reaches the detectable position, the drive motor 11 operates, and the motor spindle 114 rotates, driving the lead screw 23 to rotate through the coupling 12. The lead screw slide seat 24, constrained by the slider 25 on its back and the guide rail 22, reciprocates up and down with the rotation of the lead screw 23. The lead screw slide seat 24, through the connecting rod frame 31, connecting rod 32, and support seat 4, drives the detection device 5 to reciprocate up and down and perform detection. The travel distance of the probe's reciprocating motion is the detection range. Simultaneously, when the detection device 5 collides with the object to be detected or other obstacles, the reaction force exerted by the object to be detected or other obstacles on the detection device 5 causes the connecting rod 32 to rotate backward (e.g., ...). Figure 2 (As shown, rotating clockwise) simultaneously moves the detection device 5 backward to prevent damage to the detection device 5; when the detection device 5 moves away from the object to be detected or other obstacles, the torsion spring will reset the detection device 5 to its original position by driving the movable shaft 34 and the connecting rod 32, that is, reset it to the initial state.

[0033] In summary, the translational manipulator equipped with the detection device provided in this embodiment converts the output rotation of the drive mechanism 1 into the reciprocating linear motion of the swing clearance mechanism 3 through the transmission mechanism 2. This allows the detection device 5 and the support base 4 to reciprocate linearly under the action of the transmission mechanism 2, thereby detecting the portion of the workpiece within its travel range. When the detection device 5 encounters an obstacle during its movement, the swing clearance mechanism 3 swings under the reaction force of the obstacle, causing the detection device 5 to move aside and avoid a hard collision. This translational manipulator features single-degree-of-freedom motion, making it simple to operate. It only requires control of the drive mechanism to detect workpieces such as guide frames. During detection, the detection device 5 moves up and down, and the detection range is relatively large, ensuring a certain detection range even when the underwater robot is stationary, effectively reducing the robot's energy consumption. Furthermore, the translational manipulator has a relatively simple structure, and the swing clearance mechanism 3 allows for flexible swinging, preventing hard collisions between the detection device 5 and obstacles.

[0034] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0035] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A translational robotic arm equipped with a detection device, characterized in that, include: The mechanism comprises a drive mechanism, a transmission mechanism, and a swing-and-yield mechanism; among which, The power input end of the transmission mechanism is connected to the power output end of the drive mechanism, and the power output end of the transmission mechanism is connected to the swing clearance mechanism. The transmission mechanism is used to convert the output rotation of the drive mechanism into the reciprocating linear motion of the swing clearance mechanism. The swing clearance mechanism is provided with a support seat to support the detection device, so that the detection device can reciprocate linearly with the swing clearance mechanism under the action of the transmission mechanism to detect the part of the workpiece within the stroke. The swing clearance mechanism is used to swing when the detection device encounters an obstacle during its movement, so as to drive the detection device to make way for the obstacle and avoid collision between the two. The swing-off mechanism is a parallelogram mechanism, comprising: a linkage and at least two pairs of linkages; wherein, The linkage frame is arranged parallel to one side of the support base, and each linkage is arranged between the linkage frame and the support base; One end of each pair of links is hinged to the link frame and the support base respectively, so that each pair of links, the link frame, and the support base form a parallelogram mechanism, and the parallelogram mechanisms formed by each pair of links are parallel and spaced apart. At least one pair of the connecting rods is hinged to the connecting rod frame via a fixed shaft, and a torsion spring is sleeved on the fixed shaft as a reset mechanism to apply a reset force to the swing clearance mechanism when the detection device moves away from the obstacle, so as to reset the support and the detection device to the initial state; At least one pair of the connecting rods is provided with a movable shaft, and the two arms of the torsion spring respectively press against the connecting rod frame and the movable shaft; The connecting rod frame is provided with a limiting groove for limiting the movable shaft so that the connecting rod is locked in the limiting groove when it is in the initial state. The transmission mechanism is a ball screw mechanism, which includes: The mounting bracket serves a supporting function; The guide rail, mounted on the fixed frame, serves a guiding function; The lead screw is connected to the power output end of the drive mechanism and is used to rotate in both directions under the action of the drive mechanism. A lead screw sliding seat is sleeved on the lead screw, and the lead screw sliding seat is threadedly connected to the lead screw; A slider is disposed on the lead screw slide seat, and the slider is slidably connected to the guide rail. It is used to limit the movement of the lead screw slide seat under the guidance of the guide rail, so that the lead screw slide seat and the slider can perform synchronous reciprocating linear motion. The fixing frame has a first fixing plate and a second fixing plate at both ends, the first fixing plate is used to support the drive mechanism, and the second fixing plate is used to support the lead screw. The fixing frame is further provided with a fixing block between the first fixing plate and the second fixing plate, which is used to support the end of the lead screw away from the second fixing plate; The transmission mechanism is provided with a fixed seat, which is detachably connected to the transmission mechanism. The fixed seat is used to be installed on the underwater robot. The swing clearance mechanism is provided with a reset mechanism, which is used to apply a reset force to the swing clearance mechanism when the detection device moves away from the obstacle, so as to reset the support and the detection device to the initial state; The fixed seat and the lead screw sliding seat are connected by a connector, which is a right-angle steel structure; the fixed seat may be provided with a rectangular groove for securing it to the lead screw sliding seat.

2. An underwater robot, characterized in that, A translational robotic arm as described in claim 1 is provided.

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