A multifunctional mechanical arm device for ocean engineering construction

Abstract

The application discloses a multifunctional mechanical arm device for ocean engineering construction, which comprises a support frame, a bearing block arranged in the inner cavity of the support frame, a driving mechanism arranged at one end of the bearing block, and an operating mechanism arranged at one end of the driving mechanism. The operating mechanism comprises a positioning assembly arranged at one end of the driving mechanism, a clamping assembly arranged at one end of a telescopic assembly, the telescopic assembly being used for rotating multiple clamping assemblies, a hooking assembly arranged at the middle part of the multiple clamping assemblies, and a jacking assembly arranged between the driving mechanism and the telescopic assembly. The driving assembly and the operating mechanism are matched and arranged in the mode that the folded clamping assembly can perform drilling operation on the ocean engineering, the telescopic assembly enables the clamping assembly to clamp, the petal-shaped grab plate can be used to perform grabbing operation on sea sand and the like, the hooking assembly can be used to hook small objects, and the functionality and practicability of the mechanical arm during use are improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a multifunctional robotic arm device for marine engineering construction. Background Technology

[0002] As humanity accelerates its exploration of the deep sea, deep-sea engineering applications are becoming increasingly common. One key technology in this field is the use of robots and robotic arms, which are essential for various operations during marine engineering construction.

[0003] Existing marine engineering construction requires operations such as drilling, grabbing, and hooking. While existing robotic arms are highly flexible and precise, their functionality is limited. Typical robotic arms can only perform clamping operations, which is a single function and cannot meet the diverse operational needs of marine engineering construction. They are not suitable for various operations in engineering projects, resulting in low practical performance of robotic arms. Summary of the Invention

[0004] The purpose of this invention is to provide a multifunctional robotic arm device for marine engineering construction, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multifunctional robotic arm device for marine engineering construction, comprising:

[0006] A support frame, the inner cavity of which is rotatably connected to a load-bearing block via locking bolts.

[0007] A driving mechanism is provided at one end of the bearing block, and an operating mechanism is provided at the other end of the driving mechanism. The operating mechanism includes:

[0008] A positioning component, wherein the positioning component is disposed at one end of the driving mechanism;

[0009] A telescopic assembly and multiple gripping assemblies, wherein the gripping assemblies are disposed at one end of the telescopic assembly, and the telescopic assembly is used for the rotation of the multiple gripping assemblies;

[0010] A hooking assembly, wherein the hooking assembly is disposed in the middle of a plurality of gripping assemblies;

[0011] A jacking assembly is disposed between the drive mechanism and the telescopic assembly, and the jacking assembly is used to jack the telescopic assembly.

[0012] Preferably, the drive mechanism includes:

[0013] The movable block is rotatably interlocked with the inner cavity of the supporting block;

[0014] A fixing component, which is fixed to one side of the movable block;

[0015] An electric telescopic rod is fixedly embedded in one end of a fixed assembly, and one end of the electric telescopic rod is fixedly connected to one end of a jacking assembly;

[0016] A connecting component is disposed within the inner cavity of a fixed component, and the connecting component drives the fixed component to rotate through the extension and retraction of an electric telescopic rod.

[0017] Preferably, the fixing component includes:

[0018] A fixed rod is fixed to one side of the movable block, and the electric telescopic rod is fixed to one end of the fixed rod;

[0019] A circular groove is formed at one corner of the fixed rod, and the hook assembly is disposed at one end of the circular groove;

[0020] A rectangular groove is formed at the other corner of the fixing rod, and the connecting component is disposed in the inner cavity and one side of the rectangular groove.

[0021] Preferably, the connection component includes:

[0022] A rack, wherein the rack is slidably inserted into the inner cavity of a rectangular groove, and one end of the rack is fixedly connected to one end of a positioning component;

[0023] A gear and a connecting rod, wherein the gear meshes with the outer wall of the rack, the connecting rod is fixedly inserted into the middle of the gear, and one end and the middle of the connecting rod are rotatably inserted into one side of the fixed rod through bearings;

[0024] The first reversing wheel is fixed to the other end of the fixed rod;

[0025] A rotating rod, the two ends of which are respectively rotatably connected to the middle of the bearing block and the middle of the fixed rod through bearings, and the rotating rod is fixedly connected to the middle of the movable block;

[0026] A second reversing wheel meshes with the first reversing wheel, and the second reversing wheel is fixedly inserted into one end of the rotating rod.

[0027] Preferably, the positioning component includes a positioning post and a positioning groove, the rack is fixedly connected to one end of the positioning post, the positioning groove is opened at the other end of the positioning post, and the telescopic component is disposed at the other end of the positioning post.

[0028] Preferably, the telescopic component includes:

[0029] A telescopic column is slidably inserted into the inner cavity of the positioning groove, and the telescopic column is disposed at one end of a plurality of gripping assemblies;

[0030] Multiple toothed grooves are arranged in a ring array on the outer wall of the telescopic column;

[0031] Multiple support rods are provided, each of which is fixed to one end of a telescopic column, and one end of each of the multiple support rods is mounted on the same jacking assembly.

[0032] Preferably, the gripper assembly includes:

[0033] The gripper has a petal-shaped structure and is used for gripping items and grabbing and holding marine objects. Multiple grippers are arranged in a ring-like stacked state, and the hook assembly is arranged between the multiple grippers.

[0034] Multiple spiral grooves are formed on the outer wall of the gripper plate;

[0035] Multiple rubber teeth are fixedly inserted into both sides of the gripper plate;

[0036] A rotating block, which is fixed to one end of a gripper plate;

[0037] Multiple tooth blocks that mesh with tooth grooves, the multiple tooth blocks being fixed at one end of the rotating block in an arc shape at equal intervals;

[0038] The positioning rod is rotatably inserted and connected to the middle of the rotating block. Multiple positioning rods are arranged in a ring array in the inner cavity of the positioning groove, and both ends of the positioning rod are fixedly connected to the inner wall of the positioning groove.

[0039] Preferably, the hooking component includes:

[0040] Multiple hooks and multiple arc-shaped blocks, with two adjacent hooks fixed to both sides of one end of the arc-shaped block;

[0041] Multiple first compression springs are provided, with each first compression spring sleeved on the other end of the arc-shaped block, and one end of each first compression spring being fixedly connected to one end of the arc-shaped block.

[0042] Multiple arc-shaped holes are provided, which are located in the middle of the gripper plate. The other end of the first compression spring is fixedly connected to one end of the arc-shaped hole.

[0043] Multiple branch ropes and pull ropes are provided. The branch ropes are fixed to the other end of the arc-shaped block. The multiple branch ropes are arranged in a circular array and are slidably interwoven with one end of the telescopic column. The multiple branch ropes are fixedly connected to one end of the same pull rope. The pull rope is slidably interwoven with the top of the positioning column.

[0044] The limiting tube and the elastic rope are provided. The limiting tube is fixed to one end of the positioning post and is slidably inserted into the inner cavity of the circular groove. The elastic rope is fixedly disposed between the pull rope and the inner wall of the circular groove.

[0045] Preferably, the actuating assembly includes:

[0046] A top rod, one end of which is fixedly connected to one end of an electric telescopic rod, and the top rod is fixedly connected to one end of multiple support rods;

[0047] The second compression spring and the top groove are provided. The top groove is located at one end of the positioning post. The top rod is slidably inserted into the inner cavity of the top groove. One end of the second compression spring is fixedly connected to the inner wall of the top groove, and the other end of the second compression spring is fixedly connected to the other end of the top rod.

[0048] Preferably, a limiting mechanism is provided between the top rod and the positioning post, the limiting mechanism comprising:

[0049] A limiting hole is provided in the middle of the top rod;

[0050] I-shaped groove, wherein the I-shaped groove is formed on the outer wall of the positioning post;

[0051] The limiting block and the rotating block are provided. The limiting block is fixed to one end of the rotating block. One end of the limiting block is slidably inserted into the inner cavity of the limiting hole. The middle part of the limiting block is threadedly inserted into the middle part of the I-shaped groove.

[0052] The technical effects and advantages of this invention are as follows:

[0053] (1) The present invention uses a combination of drive components and operating mechanism. The drive mechanism enables the positioning component to extend and retract stably and drives the gripping component to rotate through the connecting component. The closed gripping component can perform drilling operations in marine engineering. The extension component enables the gripping component to clamp and can also grab sea sand and other objects through the petal-shaped gripping plate. The hooking component can also hook small objects, improving the functionality and practicality of the robotic arm.

[0054] (2) The present invention uses a combination of a jacking component and a limiting mechanism to limit the position of the jacking component, so that the telescopic component will not drive the gripper component to close or expand, which facilitates the stability of the gripper component during drilling and makes the robotic arm suitable for use in various marine engineering applications. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0056] Figure 2 This is a schematic diagram of the overall front structure of the present invention. Figure 1 .

[0057] Figure 3 This is a schematic diagram of the overall front structure of the present invention. Figure 2 .

[0058] Figure 4This is a schematic diagram of the front structure of the gripper plate of the present invention.

[0059] Figure 5 This is a schematic diagram of the side structure of the positioning rod of the present invention.

[0060] Figure 6 This is a top-view cross-sectional view of the gear structure of the present invention.

[0061] Figure 7 For the present invention Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0062] Figure 8 For the present invention Figure 3 A magnified schematic diagram of the structure at point B in the middle.

[0063] Figure 9 This is a top-view structural diagram of the hook part of the present invention.

[0064] Figure 10 This is a top view diagram of the limiting block structure of the present invention.

[0065] In the picture:

[0066] 1. Support frame; 2. Load-bearing block;

[0067] 3. Drive mechanism; 31. Movable block; 32. Fixed assembly; 321. Fixed rod; 322. Circular groove; 323. Rectangular groove; 33. Electric telescopic rod; 34. Connecting assembly; 341. Rack; 342. Gear; 343. Connecting rod; 344. First reversing wheel; 345. Rotating rod; 346. Second reversing wheel;

[0068] 4. Operating Mechanism; 41. Positioning Component; 411. Positioning Column; 412. Positioning Groove; 42. Telescopic Component; 421. Telescopic Column; 422. Toothed Groove; 423. Support Rod; 43. Grip Assembly; 431. Grip Plate; 432. Spiral Groove; 433. Rubber Tooth; 434. Rotating Block; 435. Toothed Block; 436. Positioning Rod; 44. Hook Assembly; 441. Grip Hook; 442. Arc Block; 443. First Compression Spring; 444. Arc Hole; 445. Rope Divider; 446. Pull Rope; 447. Limiting Tube; 448. Spring Rope; 45. Pushing Assembly; 451. Push Rod; 452. Second Compression Spring; 453. Push Groove;

[0069] 5. Limiting mechanism; 51. Limiting hole; 52. I-shaped groove; 53. Limiting block; 54. Rotating block. Detailed Implementation

[0070] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0071] This invention provides, for example Figures 1-10 The multi-functional robotic arm device for marine engineering construction shown includes:

[0072] Support frame 1 has a U-shaped structure. The inner cavity of support frame 1 is rotatably connected to bearing block 2 by locking bolts. One end of bearing block 2 is provided with drive mechanism 3. Drive mechanism 3 includes: movable block 31, fixed component 32, electric telescopic rod 33 and connecting component 34. Movable block 31 is rotatably inserted into the inner cavity of bearing block 2. Fixed component 32 is fixed to one side of movable block 31. Electric telescopic rod 33 is fixedly embedded in one end of fixed component 32. Electric telescopic rod 33 is electrically connected to an external power source through an external switch, so that electric telescopic rod 33 can stably drive the robotic arm to perform telescopic activities.

[0073] Specifically, the fixing component 32 includes: a fixing rod 321, a circular groove 322, and a rectangular groove 323. The fixing rod 321 is fixed to one side of the movable block 31, and the electric telescopic rod 33 is fixed to one end of the fixing rod 321. The circular groove 322 is opened at one corner of the fixing rod 321, and the rectangular groove 323 is opened at the other corner of the fixing rod 321. The rectangular groove 323 is used to cooperate with the connecting component 34.

[0074] More specifically, the connecting component 34 is disposed within the inner cavity of the fixed component 32. The connecting component 34 drives the fixed component 32 to rotate through the extension and retraction of the electric telescopic rod 33. The connecting component 34 is disposed within the inner cavity and one side of the rectangular groove 323. The connecting component 34 includes: a rack 341, a gear 342, a connecting rod 343, a first reversing wheel 344, a rotating rod 345, and a second reversing wheel 346 meshing with the first reversing wheel 344. The rack 341 is slidably inserted into the inner cavity of the rectangular groove 323. The gear 342 is meshed with the outer wall of the rack 341. The connecting rod 343 is fixedly inserted into the middle of the gear 342. One end and the middle of the connecting rod 343 are rotatably inserted into one side of the fixed rod 321 through bearings. The first reversing wheel 344 is fixed to the other end of the fixed rod 321. The two ends of the rotating rod 345 are respectively connected to the middle of the bearing block 2 and the fixed rod 346 through bearings. The fixed rod 321 is rotatably inserted and connected in the middle. The rotating rod 345 is fixedly inserted and connected in the middle of the movable block 31. The second reversing wheel 346 is fixedly inserted and connected to one end of the rotating rod 345. The first reversing wheel 344 and the second reversing wheel 346 are both set in the middle of the inner cavity of the fixed rod 321. The rotating rod 345 is inserted and connected to one end of the fixed rod 321. By moving the rack 341 in the inner cavity of the rectangular groove 323, it can drive the gear 342 to rotate, so that the first reversing wheel 344 at the other end of the connecting rod 343 can rotate, so that the second reversing wheel 346 meshing with the first reversing wheel 344 can drive the rotating rod 345 to rotate, so that the movable block 31 fixed at one end of the rotating rod 345 can rotate stably, so that the fixed rod 321 can stably follow the movable block 31 to rotate, so that the electric telescopic rod 33 can rotate in both directions when it can extend and retract.

[0075] Furthermore, an operating mechanism 4 is provided at one end of the drive mechanism 3. The operating mechanism 4 includes: a positioning component 41, a telescopic component 42, multiple gripping components 43, a hooking component 44, and a pushing component 45. The positioning component 41 is located at one end of the drive mechanism 3. One end of the rack 341 is fixedly connected to one end of the positioning component 41. The positioning component 41 includes a positioning post 411 and a positioning groove 412. The rack 341 is fixedly connected to one end of the positioning post 411. The positioning groove 412 is opened at the other end of the positioning post 411. The positioning groove 412 is a frustum-shaped groove structure.

[0076] Specifically, the telescopic component 42 is located at the other end of the positioning column 411. The telescopic component 42 includes: a telescopic column 421, multiple toothed grooves 422, and multiple support rods 423. The telescopic column 421 is slidably inserted into the inner cavity of the positioning groove 412. The telescopic column 421 is located at one end of multiple gripping components 43. Multiple toothed grooves 422 are arranged in a ring array on the outer wall of the telescopic column 421. The inner cavity of the toothed grooves 422 has a continuous tooth structure. Multiple support rods 423 are all fixed to one end of the telescopic column 421. One end of multiple support rods 423 is located on the same jacking component 45. The jacking component 45 drives the multiple support rods 423 to move, so that the telescopic column 421 can extend and retract at one end of the multiple gripping components 43.

[0077] Specifically, the gripping assembly 43 is used at one end of the telescopic assembly 42, which is used for the rotation of multiple gripping assemblies 43. The gripping assembly 43 includes: a gripping plate 431, multiple spiral grooves 432, multiple rubber teeth 433, a rotating block 434, multiple toothed blocks 435 that mesh with the toothed grooves 422, and a positioning rod 436. The gripping plate 431 has a petal structure and is used for gripping objects and grabbing and holding marine objects. The opening of multiple gripping plates 431 allows it to grip objects, while the closing of multiple gripping plates 431 allows it to grasp objects such as sand in the ocean within the cavity of the multiple gripping plates 431, enabling operations such as grabbing marine sand. The multiple gripping plates 431 are arranged in a ring-like stacked state, making the gripping plates 431 resemble petals. The gripping plates 431 can expand and retract simultaneously, improving the functionality of the gripping assembly 43 during use.

[0078] More specifically, multiple spiral grooves 432 are formed on the outer wall of the gripper plate 431, and the multiple spiral grooves 432 on the gripper plate 431 form a spiral structure of the drill rod, so that when the gripper plate 431 is closed and rotates, the multiple gripper plates 431 can perform drilling operations. Multiple rubber teeth 433 are respectively fixedly inserted into both sides of the gripper plate 431 to facilitate the gripping of soft objects and reduce the risk of pinching injuries during the gripping process. The rotating block 434 is fixed to one end of the gripper plate 431, and multiple toothed blocks 435 are fixed in an arc shape at equal intervals to one end of the rotating block 434. The positioning rod 434 is rotatably interlocked with the middle of the positioning rod 436. Multiple positioning rods 436 are arranged in a ring array in the inner cavity of the positioning groove 412. Both ends of the positioning rod 436 are fixedly connected to the inner wall of the positioning groove 412. The positioning rod 436 facilitates the improvement of the stability of the gripping plate 431 position. The telescopic column 421 moves its tooth groove 422 by telescopic sliding. The engagement of the tooth block 435 at one end of the rotating block 434 with the tooth groove 422 facilitates the rotation of multiple rotating blocks 434, enabling the gripping plate 431 to expand and retract.

[0079] Furthermore, the hook assembly 44 is disposed in the middle of the plurality of gripping assemblies 43, at one end of the circular groove 322, and between the plurality of gripping plates 431. The hook assembly 44 includes: a plurality of gripping hooks 441, a plurality of arc-shaped blocks 442, a plurality of first compression springs 443, a plurality of arc-shaped holes 444, a plurality of rope dividers 445, a pull rope 446, a limiting tube 447, and a spring rope 448. The gripping hooks 441 have an arc-shaped structure, and the arc-shaped blocks 442 have a T-shaped arc-shaped structure. The gripping hooks 441 and the arc-shaped blocks 442 have a T-shaped arc-shaped structure. The structure of 2 matches the arc-shaped structure of the gripper plate 431. Two adjacent grippers 441 are fixed to both sides of one end of the arc-shaped block 442. The first compression spring 443 is sleeved on the other end of the arc-shaped block 442. One end of the first compression spring 443 is fixedly connected to one end of the arc-shaped block 442. The arc-shaped hole 444 is opened in the middle of the gripper plate 431. The other end of the first compression spring 443 is fixedly connected to one end of the arc-shaped hole 444. Through the elasticity of the first compression spring 443, it can push the arc-shaped block 442, so that the grippers 441 can extend out. At the end of plate 431, the hooks 441 on multiple gripping plates 431 are staggered to ensure they do not affect the retraction of the gripping plates 431. Branch ropes 445 are fixed to the other end of the arc-shaped block 442. Multiple branch ropes 445 are arranged in a circular array and slidably interlocked with one end of the telescopic column 421. Multiple branch ropes 445 are fixedly connected to one end of the same pull rope 446. The pull rope 446 is slidably interlocked with the top of the positioning column 411. A limiting tube 447 is fixed to one end of the positioning column 411 and slides within the inner cavity of the circular groove 322. The spring rope 448 is fixedly installed between the pull rope 446 and the inner wall of the circular groove 322 through the interlocking connection. One end of the spring rope 448 is fixed to one end of the pull rope 446, and the other end of the spring rope 448 is fixedly snapped to the top of the fixing rod 321 by a spring buckle. The spring rope 448 can be pulled or released. The spring rope 448 has a certain tensile elasticity so that it does not affect the extension of the positioning post 411 at one end of the fixing rod 321. The spring rope 448 can pull the pull rope 446, so that the grab hook 441 can be stably placed in the inner cavity of the adjacent grab plate 431.

[0080] The jacking assembly 45 is disposed between the drive mechanism 3 and the telescopic assembly 42. The jacking assembly 45 is used to jack the telescopic assembly 42. One end of the electric telescopic rod 33 is fixedly connected to one end of the jacking assembly 45. The jacking assembly 45 includes: a jacking rod 451, a second compression spring 452, and a jacking groove 453. One end of the jacking rod 451 is fixedly connected to one end of the electric telescopic rod 33, so that the jacking rod 451 can drive the positioning post 411 to perform telescopic movements. The jacking rod 451 is fixedly connected to one end of multiple support rods 423. The jacking groove 453 is opened at one end of the positioning post 411. The jacking rod 451 is slidably inserted into the inner cavity of the jacking groove 453. Both sides of the jacking rod 451 are fixedly connected with clips. The block and the locking block are slidably inserted into the inner wall of the top groove 453 to limit the sliding of the top rod 451, so that the top rod 451 can drive the positioning column 411 to rotate stably, and the gripping plate 431 can rotate to drill. One end of the second compression spring 452 is fixedly connected to the inner wall of the top groove 453, and the other end of the second compression spring 452 is fixedly connected to the other end of the top rod 451. Through the elasticity of the second compression spring 452, it is easy to push the support rod 423. When the extension end of the electric telescopic rod 33 extends, the support rod 423 pushes, causing the telescopic column 421 to slide and drive the gripping plate 431 to open and rotate. When the extension end of the electric telescopic rod 33 retracts, the gripping plate 431 closes.

[0081] A limiting mechanism 5 is provided between the push rod 451 and the positioning post 411. The limiting mechanism 5 includes: a limiting hole 51, an I-shaped groove 52, a limiting block 53, and a rotating block 54. The rotating block 54 has a slot to facilitate its rotation. The limiting hole 51 is located in the middle of the push rod 451. The I-shaped groove 52 is located on the outer wall of the positioning post 411. The limiting block 53 is fixed to one end of the rotating block 54, and one end of the limiting block 53 slides against the inner cavity of the limiting hole 51. The limiting block 53 is threadedly connected to the middle of the I-shaped groove 52. By rotating the rotating block 54, the limiting block 53 can be threadedly inserted into the I-shaped groove 52, so that the limiting block 53 extends into the inner cavity of the limiting hole 51, which facilitates the pushing of the push rod 451. This prevents the push rod 451 from pushing the support rod 423, which facilitates the stability of the clamping assembly 43 when drilling, and allows the multiple clamping plates 431 that are closed to perform drilling operations.

[0082] Working principle of this invention:

[0083] When drilling is required, rotate the rotating block 54 so that the limiting block 53 passes into the inner cavity of the limiting hole 51 to limit the position of the top rod 451, keeping the multiple gripping plates 431 in a closed state. Drive the electric telescopic rod 33 so that the top rod 451 drives the positioning column 411 to move. At the same time, the movement of the rack 341 in the inner cavity of the rectangular groove 323 can drive the connecting rod 343 on the gear 342 to rotate. This allows the second reversing wheel 346, which meshes with the first reversing wheel 344, to drive the rotating rod 345 to rotate. This causes the movable block 31 fixed at one end of the rotating rod 345 to rotate stably, and the fixed rod 321 to rotate stably following the movable block 31. This causes the positioning column 411 to extend and rotate at the same time. In conjunction with the spiral groove 432 on the outer wall of the gripping plate 431, the multiple gripping plates 431 closed together form a drill bit structure for drilling operations.

[0084] When clamping or gripping is required, the rotating block 54 is rotated in the opposite direction to release the position restriction of the positioning column 411. When the electric telescopic rod 33 extends, the top rod 451 pushes the multiple support rods 423, causing the telescopic column 421 to move. This causes the tooth block 435, which meshes with the tooth groove 422, to rotate. This causes the rotating block 434 to drive the gripping plate 431 to rotate and open. When the electric telescopic rod 33 retracts, the gripping plate 431 rotates in the opposite direction to close. The rubber teeth 433 can clamp the item, and the cavity formed by the multiple gripping plates 431 can grip and support the item.

[0085] When it is necessary to hook an item, when multiple gripping plates 431 are in the open state, press the spring buckle on the elastic rope 448 to loosen the elastic rope 448 appropriately, so that the first compression spring 443 on the gripping plate 431 is not restricted by pressure, so that the first compression spring 443 pushes the two gripping hooks 441 at the end of the arc-shaped block 442 out of the end of the gripping plate 431, so that the gripping hooks 441 can hook the item.

[0086] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-functional robotic arm device for marine engineering construction, comprising: The support frame (1) has a bearing block (2) rotatably connected to its inner cavity by a locking bolt. The characteristic feature is that a driving mechanism (3) is provided at one end of the bearing block (2), and an operating mechanism (4) is provided at one end of the driving mechanism (3), the operating mechanism (4) comprising: Positioning component (41), the positioning component (41) is disposed at one end of the drive mechanism (3); A telescopic assembly (42) and a plurality of gripping assemblies (43), the gripping assemblies (43) being used at one end of the telescopic assembly (42), the telescopic assembly (42) being used for the rotation of the plurality of gripping assemblies (43); Hook assembly (44), which is disposed in the middle of multiple gripping assemblies (43); push assembly (45), which is disposed between the drive mechanism (3) and the telescopic assembly (42), and is used for pushing the telescopic assembly (42); The drive mechanism (3) includes: Movable block (31), the movable block (31) is rotatably interlocked with the inner cavity of the bearing block (2); A fixing component (32) is fixed to one side of the movable block (31); An electric telescopic rod (33) is fixedly embedded at one end of a fixed assembly (32), and one end of the electric telescopic rod (33) is fixedly connected to one end of a jacking assembly (45). A connecting component (34) is disposed in the inner cavity of the fixing component (32). The connecting component (34) drives the fixing component (32) to rotate by the extension and retraction of the electric telescopic rod (33). The fixing component (32) includes: A fixed rod (321) is fixed to one side of the movable block (31), and an electric telescopic rod (33) is fixed to one end of the fixed rod (321); A circular groove (322) is formed at one corner of the fixed rod (321), and the hook assembly (44) is set at one end of the circular groove (322); A rectangular groove (323) is formed at the other corner of the fixing rod (321), and the connecting component (34) is provided in the inner cavity and one side of the rectangular groove (323); The connection component (34) includes: A rack (341) is slidably inserted into the inner cavity of a rectangular groove (323). One end of the rack (341) is fixedly connected to one end of a positioning assembly (41). Gear (342) and connecting rod (343), wherein the gear (342) meshes with the outer wall of the rack (341), and the connecting rod (343) is fixedly inserted into the middle of the gear (342). One end and the middle of the connecting rod (343) are rotatably inserted into one side of the fixed rod (321) through bearings. The first reversing wheel (344) is fixed to the other end of the fixed rod (321); Rotating rod (345), the two ends of the rotating rod (345) are respectively rotatably connected to the middle of the bearing block (2) and the middle of the fixed rod (321) through bearings, and the rotating rod (345) is fixedly connected to the middle of the movable block (31); A second reversing wheel (346) meshes with the first reversing wheel (344), and the second reversing wheel (346) is fixedly inserted through one end of the rotating rod (345).

2. The multifunctional robotic arm device for marine engineering construction according to claim 1, characterized in that, The positioning component (41) includes a positioning post (411) and a positioning groove (412). The rack (341) is fixedly connected to one end of the positioning post (411), the positioning groove (412) is opened at the other end of the positioning post (411), and the telescopic component (42) is located at the other end of the positioning post (411).

3. The multifunctional robotic arm device for marine engineering construction according to claim 2, characterized in that, The telescopic component (42) includes: Telescopic column (421), the telescopic column (421) is slidably inserted into the inner cavity of the positioning groove (412), and the telescopic column (421) is disposed at one end of a plurality of gripping assemblies (43); Multiple toothed grooves (422) are arranged in a ring array on the outer wall of the telescopic column (421); Multiple support rods (423) are fixed to one end of the telescopic column (421), and one end of each support rod (423) is mounted on the same jacking assembly (45).

4. A multifunctional robotic arm device for marine engineering construction according to claim 3, characterized in that, The gripper assembly (43) includes: The gripper (431) has a petal structure and is used for gripping items and grabbing and holding marine objects. Multiple grippers (431) are arranged in a ring-shaped stacked state, and the hook assembly (44) is arranged between the multiple grippers (431). Multiple spiral grooves (432) are formed on the outer wall of the gripper plate (431); Multiple rubber teeth (433) are fixedly inserted into both sides of the gripper plate (431); A rotating block (434) is fixed to one end of a gripper plate (431); Multiple tooth blocks (435) mesh with tooth groove (422), and the multiple tooth blocks (435) are fixed at one end of the rotating block (434) in an arc shape at equal intervals; The positioning rod (436) is rotatably inserted and connected to the middle of the rotating block (434). Multiple positioning rods (436) are arranged in a ring array in the inner cavity of the positioning groove (412). Both ends of the positioning rod (436) are fixedly connected to the inner wall of the positioning groove (412).

5. A multifunctional robotic arm device for marine engineering construction according to claim 4, characterized in that, The hooking component (44) includes: Multiple hooks (441) and multiple arc blocks (442), with two adjacent hooks (441) fixed to both sides of one end of the arc block (442); Multiple first compression springs (443) are sleeved on the other end of the arc-shaped block (442), and one end of the first compression spring (443) is fixedly connected to one end of the arc-shaped block (442); Multiple arc-shaped holes (444) are provided in the middle of the gripper plate (431), and the other end of the first compression spring (443) is fixedly connected to one end of the arc-shaped hole (444). Multiple branch ropes (445) and pull ropes (446) are provided. The branch ropes (445) are fixed to the other end of the arc-shaped block (442). The multiple branch ropes (445) are arranged in a ring array and are slidably interlocked with one end of the telescopic column (421). The multiple branch ropes (445) are fixedly connected to one end of the same pull rope (446). The pull rope (446) is slidably interlocked with the top of the positioning column (411). The limiting tube (447) and the elastic rope (448) are fixed to one end of the positioning post (411). The limiting tube (447) is slidably inserted into the inner cavity of the circular groove (322). The elastic rope (448) is fixedly disposed between the pull rope (446) and the inner wall of the circular groove (322).

6. A multifunctional robotic arm device for marine engineering construction according to claim 3, characterized in that, The actuating assembly (45) includes: Top rod (451), one end of which is fixedly connected to one end of electric telescopic rod (33), and the top rod (451) is fixedly connected to one end of multiple support rods (423); The second compression spring (452) and the top groove (453) are provided. The top groove (453) is located at one end of the positioning post (411). The top rod (451) is slidably inserted into the inner cavity of the top groove (453). One end of the second compression spring (452) is fixedly connected to the inner wall of the top groove (453), and the other end of the second compression spring (452) is fixedly connected to the other end of the top rod (451).

7. A multifunctional robotic arm device for marine engineering construction according to claim 6, characterized in that, A limiting mechanism (5) is provided between the top rod (451) and the positioning post (411), the limiting mechanism (5) comprising: A limiting hole (51) is provided in the middle of the top rod (451); I-shaped groove (52), the I-shaped groove (52) is formed on the outer wall of the positioning column (411); The limiting block (53) and the rotating block (54) are fixed to one end of the rotating block (54). One end of the limiting block (53) is slidably inserted into the inner cavity of the limiting hole (51). The middle part of the limiting block (53) is threadedly inserted into the middle part of the I-shaped groove (52).

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