Mechanical hand mechanism for underwater gripping and method of use thereof

Abstract

The application discloses a mechanical hand structure for underwater clamping, comprising a fixing frame, an upper left mechanical arm and an upper right mechanical arm connected with an upper left-right moving mechanism at the upper part of the front end of the fixing frame, a lower left mechanical arm and a lower right mechanical arm symmetrically arranged with the upper left-right moving mechanism, the upper left mechanical arm and the upper right mechanical arm at the lower part of the front end of the fixing frame, a row of left transposition units connected with the left mechanical arm, a row of right transposition units connected with the right mechanical arm, a plurality of left transposition units and right transposition units arranged in the front-rear horizontal direction, the left transposition units and the right transposition units having the same number and being alternately arranged in the front-rear direction, a left rope connected between each group of corresponding left transposition units on the upper left mechanical arm and the lower left mechanical arm, a right rope connected between each group of corresponding right transposition units on the upper right mechanical arm and the lower right mechanical arm, and the left transposition units and the right transposition units being replaced with each other to wrap the underwater object to be grabbed with the left rope and the right rope. The application solves the technical problem of stably and effectively grabbing the underwater object with irregular shape.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot engineering, specifically a robotic arm mechanism for underwater gripping. Background Technology

[0002] ROVs (Remotely Operated Vehicles) are important platforms for marine operations and observation, and have been widely used in marine scientific research, marine resource development, marine atmospheric physics, and marine ecology. While ROVs have complex structures and diverse functions, their most fundamental function is underwater operation. The underwater manipulator is an indispensable part of an ROV and a prerequisite for completing various underwater tasks.

[0003] Existing underwater robotic arms include rotary joint robotic arms, telescopic arm robotic arms, and parallel arm robotic arms. They are driven by hydraulic systems or electric motors (or electric motors) and rely on the gripping force of claws and clamps on the robotic arms to grasp underwater objects and keep them stable.

[0004] Claws and grippers can effectively grasp regularly shaped underwater objects, but when grasping irregularly shaped underwater objects, the gripping force between the object and the claws and grippers is unstable due to the object's irregular shape. This makes it difficult to hold the object firmly, and it often happens that the irregular object is squeezed out of the claws or grippers when they exert force. Underwater objects, especially their protruding parts, are also prone to breakage under the gripping force.

[0005] Since underwater objects are usually irregular in shape, and regular-shaped underwater objects are rare, it is necessary to study how to more stably and effectively grasp irregularly shaped underwater objects.

[0006] The research concept of this invention is to use multiple crisscrossing ropes to grasp irregularly shaped underwater objects. When the ropes are stressed, they match the shape of the irregular underwater object, closely adhering to the outer surface of the underwater object and tightening it to form a gripping method that envelops the underwater object. This avoids the situation where only the two protruding parts of the irregularly shaped underwater object are gripped by the clamp, ensuring that the parts of the irregularly shaped underwater object that are not facing the robotic arm are also gripped. During the process of tightening the ropes left and right, even if the underwater object rotates to some extent, it is still stably wrapped and grasped by the ropes under the tension and enveloping effect of the multiple ropes, thus enabling the grasping of underwater objects of any irregular shape. Summary of the Invention

[0007] The purpose of this invention is to provide a robotic arm mechanism for underwater gripping, which uses multiple ropes crisscrossing to grasp irregularly shaped underwater objects in a wrapping manner.

[0008] To achieve the above objectives, the underwater gripper mechanism of the present invention includes a mounting frame, the rear end of which has a connection hole for connecting an ROV; The upper left and upper right robotic arms are connected to the upper front end of the fixed frame via an upper left and right horizontal movement mechanism. Driven by the upper left and right horizontal movement mechanism, the upper left and upper right robotic arms approach or move away from each other in the left and right horizontal direction. The lower front end of the fixed frame is symmetrically equipped with a lower left and right horizontal movement mechanism, a lower left mechanical arm, and a lower right mechanical arm. The upper left robotic arm and the lower left robotic arm are collectively referred to as the left robotic arm, and the upper right robotic arm and the lower right robotic arm are collectively referred to as the right robotic arm. A row of left transposition units is connected to the left robotic arm, and a row of right transposition units is connected to the right robotic arm. Multiple left transposition units and multiple right transposition units are spaced apart along the front-back horizontal direction. The number of left transposition units and right transposition units is the same and they are alternately arranged in the front-back direction. The left transposition units on the upper left and lower left robotic arms correspond one-to-one. Each pair of corresponding left transposition units on the upper left and lower left robotic arms is connected to a left rope for wrapping underwater objects. The right transposition units on the upper right and lower right robotic arms are in one-to-one correspondence. Each set of corresponding right transposition units on the upper right and lower right robotic arms is connected to a right rope for wrapping underwater objects; both the left rope and the left rope are elastic. When the left and right robotic arms are aligned and close together, the left transposition unit detaches from the left robotic arm and connects to the right robotic arm, while the right transposition unit detaches from the right robotic arm and connects to the left robotic arm, so that the left and right ropes wrap around the underwater object to be grabbed.

[0009] The upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism have the same structure, both including a horizontal movement motor installed in the motor box, and the motor box is fixedly connected to the front left or front right of the fixed frame. The output shaft of the transverse motor is connected to a transverse screw, which passes through the left and right robotic arms and is threaded into the left and right robotic arms. The transverse screw is bounded by its midpoint in the left-right direction, and the threads on both sides of the midpoint rotate in opposite directions. The front end of the fixed frame is provided with a transverse sliding groove, and the rear ends of the left and right robotic arms are adapted to the transverse sliding groove and slide in cooperation with it.

[0010] The upper left robotic arm includes a left body, the rear end of which is adapted to and slides with the transverse sliding groove; the middle of the left body has a vertical left hole that is open from top to bottom and extends in the front-to-back direction; the right side wall of the left body has multiple left through holes, the odd-numbered left through holes from front to back are left reserved holes for connecting the right transposition unit, and the even-numbered left through holes from front to back are left mounting holes, each left mounting hole connecting to a set of left transposition units; The left transposition unit includes a left slide rod adapted to the left mounting hole. The left slide rod has a circumferential protrusion in the middle to provide a left limiting block for limiting the depth of the left slide rod inserted into the left mounting hole. Left opening and closing plates are respectively hinged downward at the left and right ends of the left slide rod. The left opening and closing plates at both ends of the left slide rod extend towards the left limiting block. A torsion spring is provided between the hinge part of each left opening and closing plate and the left slide rod. Under the action of no external force, the torsion spring causes the left opening and closing plates other than the hinge end to separate from the left slide rod and form an open acute angle anti-disengagement structure with the left slide rod. When the left opening and closing plate at the left end of the left slide rod enters the left mounting hole from right to left, the left mounting hole constrains the left opening and closing plate to fit together with the left slide rod. After the left opening and closing plate enters the left vertical hole, it loses the constraint of the left mounting hole and forms an open acute angle anti-detachment structure with the left slide rod under the action of the torsion spring. The top of the left body has an upper left groove, and an upper left button plate is movable inside the upper left groove. Multiple upper left buttons are provided on the upper left button plate. The upper left buttons correspond one-to-one with the left through holes. The upper left buttons extend downward into the left vertical hole. When the left slider extends to the left vertical hole to its limit position, the lower left button is located directly below the left opening and closing plate on the left side of the left slider; The bottom of the left body has a downward-facing groove, and a lower left button plate is movable inside the groove. Multiple lower left buttons are positioned upward on the lower left button plate. Each lower left button corresponds to a left through hole. The lower left buttons extend upward into the left vertical hole. The upper left button motor is fixedly installed on the upper rear part of the left body. The upper left button motor is axially connected to the upper left button screw. The upper left button screw passes through the upper left button plate and is threadedly engaged with the upper left button plate. The lower left button motor is fixedly installed on the lower rear part of the left body. The lower left button motor is axially driven downward and connected to the lower left button screw. The lower left button screw passes downward through the lower left button plate and is threadedly engaged with the lower left button plate. The upper right robotic arm includes a right body, the rear end of which is adapted to and slides with the transverse sliding groove; the middle of the right body has a right vertical hole that is open from top to bottom and extends in the front-back direction; the left side wall of the right body has multiple right through holes, and the right through holes and left through holes are set one to one, and the shape and size of the vertical cross-section of the left through holes and the right through holes are the same. The even-numbered right through holes from front to back are reserved right holes for connecting the left transposition unit, and the odd-numbered right through holes from front to back are right mounting holes. Each right mounting hole connects to a set of right transposition units. The right transposition unit includes a right slide rod that is adapted to the right mounting hole, and a right limiting block is provided with a circumferential protrusion in the middle of the right slide rod to limit the depth of the right slide rod inserted into the right mounting hole; The right slide rod has right opening and closing plates hinged upwards at both ends. The right opening and closing plates at both ends of the right slide rod extend towards the limiting block. A torsion spring is provided between the hinge part of each right opening and closing plate and the corresponding right slide rod. Under the action of no external force, the torsion spring causes the right opening and closing plate other than the hinge end to separate from the right slide rod and form an open acute angle anti-detachment structure with the right slide rod. When the right opening and closing plate at the right end of the right slide rod enters the right mounting hole from left to right, the right mounting hole constrains the right opening and closing plate to fit together with the right slide rod. After the right opening and closing plate enters the right vertical hole, it loses the constraint of the right mounting hole and forms an open acute angle anti-detachment structure with the right slide rod under the action of the torsion spring. The top of the right body has an upper right groove, and an upper right button plate is movable inside the upper right groove. Multiple upper right buttons are provided on the upper right button plate. The upper right buttons correspond one-to-one with the right through holes. The upper right buttons extend downward into the right vertical holes. When the right slide bar extends to the right vertical hole to its limit position, the upper right button is located directly above the right opening and closing plate on the right side of the right slide bar; The bottom of the right body has a downward-facing groove, and a lower right button plate is movable inside the groove. Multiple lower right buttons are positioned upward on the lower right button plate. Each lower right button corresponds to a right through hole. The lower right buttons extend upward into the right vertical hole. When the left slider extends to the right vertical hole to its limit position, the lower right button is located directly below the left opening and closing plate on the right side of the left slider; When the right slider extends to the left vertical hole to its limit position, the upper left button is located directly above the left opening and closing plate on the left side of the right slider; The upper right button motor is fixedly installed on the upper rear part of the right body. The upper right button motor is axially connected to the upper right button screw. The upper right button screw passes through the upper right button plate and is threadedly engaged with the upper right button plate. The lower right button motor is fixedly installed on the lower rear part of the right body. The lower right button motor is axially connected to the lower right button screw. The lower right button screw passes downward through the lower right button plate and is threaded into the lower right button plate. Each left limit block and each right limit block has an upper rope loop connected to its lower end; The lower left robotic arm and the upper left robotic arm are structurally symmetrical. The upper ends of each left limit block of the lower left robotic arm are connected to a lower rope loop. The lower right robotic arm and the upper right robotic arm are structurally symmetrical. The upper ends of each right limit block of the lower right robotic arm are connected to a lower rope loop. The upper rope loop of the upper left robotic arm corresponds one-to-one with the lower rope loop of the lower left robotic arm, and a left rope connects the corresponding set of upper and lower rope loops at this location. The upper rope loop of the upper right robotic arm corresponds one-to-one with the lower rope loop of the lower right robotic arm, and a right rope connects the corresponding upper and lower rope loops at this point.

[0011] The present invention also discloses a method for using the above-mentioned robotic arm mechanism for underwater gripping, which is carried out according to the following steps: The first step is installation, which involves connecting the robotic arm mechanism used for underwater gripping to the ROV through the connection holes; The upper left robotic arm has an upper left button motor and a lower left button motor, the upper right robotic arm has an upper right button motor and a lower right button motor, the lower left robotic arm is symmetrically equipped with two lower left arm button motors above and below the upper left robotic arm, and the lower right robotic arm is symmetrically equipped with two lower right arm button motors above and below the upper right robotic arm. The upper left button motor, lower left button motor, upper right button motor, lower right button motor, two lower left arm button motors, and two lower right arm button motors are collectively referred to as button motors; The horizontal movement motors of the upper left and right horizontal movement mechanism, the horizontal movement motors of the lower left and right horizontal movement mechanism, and the 8 button motors are all connected to the ROV controller; the horizontal movement motors and the 8 button motors are all forward and reverse reversible motors. The ROV's controller puts the underwater gripper mechanism into its initial state. At this time, the left transposition unit is connected to the upper left and lower left robotic arms, and the right transposition unit is connected to the upper right and lower right robotic arms. The upper left and lower left robotic arms are both at their left limit positions for left and right displacement, and the upper right and lower right robotic arms are both at their right limit positions for left and right displacement. The second step is to grab underwater objects; the area enclosed by the upper left robotic arm, lower left robotic arm, upper right robotic arm, and lower right robotic arm is the capture area; The left and right bodies are collectively referred to as the body; the left and right vertical holes are collectively referred to as vertical holes; the left and right opening and closing plates are collectively referred to as opening and closing plates; the lower left button plate, upper left button plate, upper right button plate, and lower right button plate are collectively referred to as button plates; the left and right slide rods are collectively referred to as slide rods; the left and right through holes are collectively referred to as through holes; in the initial state, 4 of the 8 button motors correspond to the opening and closing plates in the vertical holes; After the ROV detects an underwater object entering the capture area, the ROV's controller controls four button motors corresponding to the opening and closing plates in the vertical holes to rotate. The rotation direction drives the button plates to press against the corresponding opening and closing plates, causing them to apply pressure to the torsion springs and fit against the slide rods, providing a foundation for the opening and closing plates to pass through the through holes and leave the vertical holes of the main body. The ROV controller controls the horizontal movement motors of the upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism to synchronously drive the corresponding horizontal movement screws to rotate. The rotation direction of the horizontal movement screws drives the left and right robotic arms to center and move closer to each other along the horizontal movement screws in the left and right direction. When the centering and moving closer action begins, the opening and closing plate passes through the through hole and leaves the vertical hole of the body. At this time, the ROV controller controls the four button motors to rotate in the opposite direction and reset, so as to prevent the opening and closing plate from pressing the opening and closing plate when it is reinserted into the vertical hole, so that it cannot form an acute angle anti-detachment structure with the slide rod. When the left and right robotic arms finish aligning and moving closer together, the left slide bar of the left transposition unit on the left robotic arm and the left opening and closing plate on the right side of the left slide bar are inserted into the right pre-drilled hole on the right robotic arm. During the insertion into the right pre-drilled hole, the left opening and closing plate on the right side of the left slide bar is constrained by the right pre-drilled hole and applies pressure to the torsion spring and adheres to the left slide bar. After the left opening and closing plate enters the right vertical hole of the right robotic arm, it forms an open acute angle anti-detachment structure with the left slide bar under the action of the torsion spring, thereby preventing the left slide bar from detaching from the right vertical hole of the right robotic arm to the left. When the left and right robotic arms finish aligning and moving closer together, the right slide bar of the right transposition unit on the right robotic arm and the right opening and closing plate on the left side of the right slide bar are inserted into the left pre-drilled hole on the left robotic arm. During the insertion into the left pre-drilled hole, the right opening and closing plate on the left side of the right slide bar is constrained by the left pre-drilled hole and applies pressure to the torsion spring and adheres to the right slide bar. After the right opening and closing plate enters the left vertical hole of the left robotic arm, it forms an open acute angle anti-detachment structure with the right slide bar under the action of the torsion spring, thereby preventing the right slide bar from detaching from the left vertical hole of the left robotic arm. After the left and right robotic arms are aligned and brought together, the left and right slide rods switch positions. In the initial state, four of the eight button motors correspond to the opening and closing plates in the vertical holes. After the left and right switching, the other four button motors correspond to the opening and closing plates in the vertical holes. The upper and lower ends of the left rope connected to the left limit block of the left slide bar are consistent with the left and right positions of the right robotic arm. The upper and lower ends of the right rope connected to the right limit block of the right slide bar are consistent with the left and right positions of the left robotic arm. The middle part of the upper and lower position of the left rope is constrained by the underwater object and is located on the left side of the underwater object. The middle part of the upper and lower position of the right rope is constrained by the underwater object and is located on the right side of the underwater object. After the left and right robotic arms are aligned and brought closer together, the ROV controller controls the lateral movement motors of the upper left and right lateral movement mechanism and the lower left and right lateral movement mechanism to synchronously drive the corresponding lateral movement screws to rotate in the opposite direction. The reverse rotation direction of the lateral movement screws drives the left and right robotic arms to move away from each other in the left and right directions along the lateral movement screws, thereby pulling the left rope to the right and pulling the right rope to the left at the same time, so that multiple left ropes and multiple right ropes tightly wrap around the underwater object. The third step is unloading; The ROV carries the underwater object to the designated unloading position. The ROV's controller controls the left and right rotation of the four button motors corresponding to the opening and closing plate in the vertical hole. The rotation direction drives the button plate to press against the corresponding opening and closing plate, so that it applies pressure to the torsion spring and makes the opening and closing plate fit with the slide rod, providing a basis for the opening and closing plate to pass through the through hole and leave the vertical hole of the body. The ROV's controller controls the horizontal movement motors of the upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism to synchronously drive the corresponding horizontal movement screws to rotate. The rotation direction of the horizontal movement screws drives the left and right robotic arms to center and move closer to each other along the horizontal movement screws in the left and right direction. When the action of moving closer together begins, the opening and closing plates pass through the through hole and leave the vertical hole of the body. At this time, the ROV controller controls the motors of the above 4 buttons in the unloading step to rotate in the opposite direction and reset, so as to prevent the opening and closing plates from being pressed when they are reinserted into the vertical hole, thus preventing them from forming an acute angle anti-detachment structure with the slide rod. During the unloading process, when the left and right robotic arms are aligned and close to each other, the left slide bar of the left switching unit and the left opening and closing plate on the left side of the left slide bar are inserted into the left mounting hole on the left robotic arm. During the insertion into the left mounting hole, the left opening and closing plate on the left side of the left slide bar is constrained by the left mounting hole and applies pressure to the torsion spring and adheres to the left slide bar. After the left opening and closing plate enters the left vertical hole of the left robotic arm, it forms an open acute angle anti-detachment structure with the left slide bar under the action of the torsion spring, thereby preventing the left slide bar from detaching from the left vertical hole of the left robotic arm to the right. During the unloading process, when the left and right robotic arms are aligned and move closer together, the right slide bar of the right switching unit and the right opening and closing plate on the right side of the right slide bar are inserted into the right mounting hole on the right robotic arm. During the insertion into the right mounting hole, the right opening and closing plate on the right side of the right slide bar is constrained by the right mounting hole and applies pressure to the torsion spring and adheres to the right slide bar. After the right opening and closing plate enters the right vertical hole of the right robotic arm, it forms an open acute angle anti-detachment structure with the right slide bar under the action of the torsion spring, thereby preventing the right slide bar from detaching from the right vertical hole of the right robotic arm to the left. During the unloading process, when the left and right robotic arms finish their alignment and approach each other, the left and right ropes release their gripping force on the underwater object. During the unloading process, after the left and right robotic arms are aligned and brought closer together, the ROV controller controls the lateral movement motors of the upper left and right lateral movement mechanism and the lower left and right lateral movement mechanism to synchronously drive the corresponding lateral movement screws to rotate in the opposite direction. The reverse rotation direction of the lateral movement screws drives the left and right robotic arms to move away from each other in the left and right direction along the lateral movement screws, thereby returning the robotic arm mechanism used for underwater gripping to its initial state. This causes the multiple left and right ropes to release the underwater object they are wrapped, completing the unloading action while simultaneously resetting the robotic arm mechanism used for underwater gripping.

[0012] The present invention has the following advantages: Because the object is gripped by multiple left and right ropes that cross each other, it is difficult for underwater objects to slip out of the ropes. This avoids the problem that when grippers or claws forcefully grab underwater objects, the irregular shape of the object causes uneven force distribution, which can lead to the object slipping out of the gripper or claw. The grip is more stable.

[0013] The upper left-right lateral movement mechanism and the lower left-right lateral movement mechanism have simple structures. Through the lateral movement screws with opposite left and right rotation directions, the left and right robotic arms are forced to move towards each other synchronously or move away from each other synchronously, providing a basis for the left and right switching units to switch positions, tighten ropes, wrap and grab underwater objects.

[0014] This invention utilizes an upper left-right lateral movement mechanism and a lower left-right lateral movement mechanism to enable the left and right ropes to apply a stable tension and wrapping force to underwater objects. Both the left and right ropes are elastic, allowing them to match the shapes of various irregular underwater objects compared to rigid clamps, smoothly and stably grasping irregularly shaped underwater objects, thus adapting to the reality that underwater objects are often irregularly shaped.

[0015] The structures of the upper left and upper right robotic arms are not complex. The modular components facilitate design and manufacturing, enabling the left and right transposition units to interchange positions (i.e., the left transposition unit can detach from the left body and connect to the right body, and the right transposition unit can detach from the right body and connect to the left body), providing a structural basis for the left and right ropes to cross and wrap around underwater objects.

[0016] After the opening and closing plate enters the vertical hole of the main body along with the sliding rod, it loses the constraint of the through hole and opens under the action of the torsion spring, thus preventing the sliding rod from detaching from the main body.

[0017] The setting of each button motor can control the corresponding button to press the corresponding opening and closing plate, so that the opening and closing plate is in contact with the corresponding slide rod, so that the slide rod can be separated from the main body (left main body or right main body) through the corresponding left through hole or right through hole.

[0018] This invention is easy to install on an ROV. It only requires controlling two transverse motors and eight button motors (each action corresponds to the operation of four button motors on the opening and closing plate) to complete the left and right cross-positioning of the left and right switching units, the wrapping of underwater objects or the release of underwater objects. The control process is simple and quick, easy to implement, and has good efficiency in grabbing and unloading objects.

[0019] In this invention, the left and right ropes can closely adhere to the outer surface of the underwater object and tighten it to form a gripping method that envelops the underwater object. This avoids the situation where only the two protruding parts of the irregularly shaped underwater object are subjected to the clamping force, so that the part of the irregularly shaped underwater object that is not facing the robotic arm can also be gripped. During the tightening of the ropes, even if the underwater object rotates to a certain extent, it will still be stably wrapped and gripped by the ropes under the tension and enveloping effect of multiple ropes. Thus, it is possible to grasp underwater objects of any irregular shape, which has significant positive implications for cleaning underwater objects and controlling water pollution. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the robotic arm mechanism for underwater gripping according to the present invention.

[0021] Figure 2 yes Figure 1 AA sectional view.

[0022] Figure 3 yes Figure 1 CC section view.

[0023] Figure 4 yes Figure 1 DD sectional view.

[0024] Figure 5 This is a three-dimensional structural diagram of the present invention.

[0025] Figure 6 This is a schematic diagram of the upper left robotic arm.

[0026] Figure 7 yes Figure 6 EE sectional view.

[0027] Figure 8 yes Figure 7 FF sectional view.

[0028] Figure 9 This is a 3D structural diagram of the upper left robotic arm. The lower left robotic arm is structurally symmetrical to the upper left robotic arm.

[0029] Figure 10 This is a structural diagram of the upper right robotic arm. The lower right robotic arm is structurally symmetrical to the upper right robotic arm.

[0030] Figure 11 yes Figure 10 GG cross-sectional view; Figure 12 yes Figure 11 HH sectional view; Figure 13 This is a 3D structural diagram of the robotic arm in the upper right corner.

[0031] Figure 14 yes Figure 2 Enlarged view of point A in the middle.

[0032] In each of the attached diagrams, the opening and closing plates not subjected to button pressure should form an acute-angle anti-disengagement structure with the corresponding slide rod. For simplicity, only [the following is shown in the diagram]. Figure 8 and Figure 12 The diagram shows the acute-angle anti-detachment structure formed by the opening plate and the sliding rod.

[0033] To ensure clarity and prevent clutter, only one left rope and one right rope are shown in each of the attached diagrams; not all left and right ropes are displayed. Detailed Implementation

[0034] like Figures 1 to 13 As shown, the underwater gripper mechanism of the present invention includes a mounting frame 1, and the rear end of the mounting frame 1 has a connection hole 2 for connecting an ROV (i.e., an underwater robot, also called a remotely operated vehicle). The upper front end of the fixed frame 1 is connected to the upper left robotic arm 3 and the upper right robotic arm 4 via an upper left and right horizontal movement mechanism. Under the drive of the upper left and right horizontal movement mechanism, the upper left robotic arm 3 and the upper right robotic arm 4 approach or move away from each other in the left and right horizontal direction. The lower front end of the fixed frame 1 is symmetrically provided with the upper left and right horizontal movement mechanism, the upper left mechanical arm 3 and the upper right mechanical arm 4, the lower left and right horizontal movement mechanism, the lower left mechanical arm 5 and the lower right mechanical arm 6; the lower left mechanical arm 5 and the lower right mechanical arm 6 approach each other or move away from each other in the left and right horizontal direction under the drive of the lower left and right horizontal movement mechanism. Because the structure is symmetrical, this invention only describes the structure of the upper left robotic arm 3 and the upper right robotic arm 4 in detail, without going into detail about the structure of the lower left robotic arm 5 and the lower right robotic arm 6, which are symmetrical to the two.

[0035] The upper left robotic arm 3 and the lower left robotic arm 5 are collectively referred to as the left robotic arm, and the upper right robotic arm 4 and the lower right robotic arm 6 are collectively referred to as the right robotic arm. A row of left transposition units 7 is connected to the left robotic arm, and a row of right transposition units 8 is connected to the right robotic arm. Multiple left transposition units 7 and right transposition units 8 are spaced apart along the front-back horizontal direction. The number of left transposition units 7 and right transposition units 8 is the same and they are alternately arranged in the front-back direction. The left transposition units 7 on the upper left robotic arm 3 and the lower left robotic arm 5 are arranged in a one-to-one correspondence and symmetrical arrangement. Each set of corresponding left transposition units 7 on the upper left robotic arm 3 and the lower left robotic arm 5 is connected by a left rope 9 for wrapping underwater objects; multiple sets of corresponding left transposition units 7 are connected by multiple left ropes 9.

[0036] The right transposition units 8 on the upper right robotic arm 4 and the lower right robotic arm 6 are arranged in a one-to-one correspondence and symmetrical arrangement. Each set of corresponding right transposition units 8 on the upper right robotic arm 4 and the lower right robotic arm 6 is connected by a right rope 10 for wrapping underwater objects. Multiple sets of corresponding right transposition units 8 are connected by multiple right ropes 10. Both the left rope 9 and the left rope 9 are elastic. When the left and right robotic arms align and move closer together in the left-right direction, the left transposition unit 7 disengages from the left robotic arm and connects to the right robotic arm. At the same time, the right transposition unit 8 disengages from the right robotic arm and connects to the left robotic arm, so that the left rope 9 and the right rope 10 wrap around the underwater object to be grabbed.

[0037] The upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism have the same structure, both including a horizontal movement motor 12 installed in the motor housing 11. The motor housing 11 is fixedly connected to the front left or front right of the fixed frame 1. The output shaft of the transverse motor 12 is connected to a transverse screw 13, which passes through the left and right robotic arms and is threaded into the left and right robotic arms. The transverse screw 13 is bounded by its midpoint in the left and right directions, and the threads on both sides of the midpoint have opposite directions. The front end of the fixed frame 1 is provided with a transverse sliding groove 14. The rear ends of the left and right robotic arms are adapted to and slide in cooperation with the transverse sliding groove 14. Under the constraint of the transverse sliding groove 14, neither the left nor the right robotic arm will rotate, thus forcing the left and right robotic arms to move synchronously towards or away from each other along the transverse sliding groove 14 when the transverse screw 13 rotates. Specifically, the vertical cross section of the transverse sliding groove 14 is preferably semi-circular.

[0038] The upper left-right lateral movement mechanism and the lower left-right lateral movement mechanism have simple structures. Through the lateral movement screws 13 with opposite left and right rotation directions, the left and right robotic arms are forced to move towards each other synchronously or move away from each other synchronously, providing a basis for the left and right switching units 7 and 8 to switch left and right, tighten ropes, wrap and grab underwater objects.

[0039] The upper left robotic arm 3 includes a left body 15. The rear end of the left body 15 is adapted to and slides in a horizontal sliding groove 14 (sliding left and right). The middle of the left body 15 is provided with a vertical left hole 16 that is open from top to bottom and extends in the front-back direction. The right side wall of the left body 15 is provided with multiple left through holes 17. The odd-numbered left through holes 17 from front to back are left reserved holes for connecting the right transposition unit 8, and the even-numbered left through holes 17 from front to back are left mounting holes. Each left mounting hole is connected to a set of left transposition units 7. The left transposition unit 7 includes a left slide rod 18 adapted to the left mounting hole (the left mounting hole and the left reserved hole have the same size specifications). The left slide rod 18 has a circumferential protrusion in the middle of the left slide rod 18, which is used to limit the depth of the left slide rod 18 inserted into the left mounting hole and the right reserved hole. The left opening and closing plates 20 are respectively hinged downward at the left and right ends of the left slide rod 18. The left opening and closing plates 20 at both ends of the left slide rod 18 extend towards the left limit block 19, and a torsion spring is provided between the hinge part of each left opening and closing plate 20 and the left slide rod 18. Under the action of no external force, the torsion spring causes the left opening and closing plates 20 other than the hinge end to leave the left slide rod 18 and form an open acute angle anti-detachment structure 21 with the left slide rod 18. The acute angle anti-detachment structure 21 is larger than the left through hole 17 and the right through hole. refer to Figure 8 When the left opening and closing plate 20 at the left end of the left slide rod 18 enters the left mounting hole from right to left, the left mounting hole constrains the left opening and closing plate 20 to fit together with the left slide rod 18. After the left opening and closing plate 20 enters the left vertical hole 16, it loses the constraint of the left mounting hole and forms an open acute angle anti-detachment structure 21 with the left slide rod 18 under the action of the torsion spring. The top of the left body 15 is provided with an upper left groove 22, and an upper left button plate 23 is movably provided in the upper left groove 22. Multiple upper left buttons 24 are provided downward on the upper left button plate 23. Multiple upper left buttons 24 are provided in correspondence with the left through hole 17. The upper left buttons 24 extend downward into the left vertical hole 16. When the left slide bar 18 extends to the left vertical hole 16 to the limit position (the deepest position of insertion into the left vertical hole 16 is limited by the left limit block 19), the lower left button 27 is located directly below the left opening and closing plate 20 on the left side of the left slide bar 18. The bottom of the left body 15 is provided with a lower left groove 25, and a lower left button plate 26 is movably provided in the lower left groove 25. Multiple lower left buttons 27 are provided on the lower left button plate 26. Multiple lower left buttons 27 are provided in one-to-one correspondence with the left through hole 17. The lower left buttons 27 extend upward into the left vertical hole 16. When the right slide bar extends to the left vertical hole 16 to its limit position (the deepest position of insertion into the left vertical hole 16 is limited by the right limit block), the upper left button 24 is located to the left of the right slide bar or directly above the right opening and closing plate. The upper left button motor 28 is fixedly installed on the upper rear part of the left body 15. The upper left button motor 28 is axially connected to the upper left button screw 29. The upper left button screw 29 passes through the upper left button plate 23 and is threadedly engaged with the upper left button plate 23. When the upper left button motor 28 drives the upper left button screw 29 to rotate, the upper left button plate 23 will not rotate under the restriction of the upper left groove 22, forcing the upper left button plate 23 to move up and down with the forward and reverse rotation of the upper left button motor 28. When moving down, it is used to press down the right opening and closing plate at the left end of the right slide rod, so that the right opening and closing plate is in contact with the right slide rod, so that it can pass through the left reserved hole in the left through hole 17 to the right. The lower left button motor 30 is fixedly installed on the lower rear part of the left body 15. The lower left button motor 30 is axially driven downward to be connected to the lower left button screw 31. The lower left button 27 screw passes downward through the lower left button plate 26 and is threadedly engaged with the lower left button plate 26. When the lower left button motor 30 drives the lower left button 27 screw to rotate, the lower left button plate 26 will not rotate under the restriction of the lower left groove 25, forcing the lower left button plate 26 to move up and down with the forward and reverse rotation of the lower left button motor 30. When it moves upward, it presses the left opening and closing plate 20 at the left end of the left slide rod 18, so that the left opening and closing plate 20 fits with the left slide rod 18, thus allowing it to pass through the left mounting hole in the left through hole 17 to the right.

[0040] The upper right robotic arm 4 includes a right body 32. The rear end of the right body 32 is adapted to and slides in a horizontal sliding groove 14 (sliding left and right). The right body 32 has a right vertical hole 33 that is open from top to bottom in the middle, and the right vertical hole 33 extends in the front-back direction. The left side wall of the right body 32 has multiple right through holes 34, and the right through holes 34 and the left through holes 17 are set one-to-one. The shape and size of the vertical cross-section of the left through hole 17 and the right through hole 34 are the same. The even-numbered right through holes 34 from front to back are reserved right holes for connecting the left transposition unit 7, and the odd-numbered right through holes 34 from front to back are right mounting holes. Each right mounting hole is connected to a set of right transposition units 8. The right transposition unit 8 includes a right slide bar 35 adapted to the right mounting hole. The right slide bar 35 has a right limiting block 36 circumferentially protruding in the middle to limit the depth of the right slide bar 35 inserted into the right mounting hole and the left reserved hole. Right sliding rod 35 has right opening and closing plates 37 hinged upwards at its left and right ends respectively. The right opening and closing plates 37 at both ends of the right sliding rod 35 extend towards the limiting block. A torsion spring is provided between the hinge part of each right opening and closing plate 37 and the corresponding right sliding rod 35. Under the action of no external force, the torsion spring causes the right opening and closing plate 37 other than the hinge end to leave the right sliding rod 35 and form an open acute angle anti-detachment structure 21 with the right sliding rod 35. The acute angle anti-detachment structure 21 is larger than the left through hole 17 and the right through hole 34. When the right opening and closing plate 37 at the right end of the right slide rod 35 enters the right mounting hole from left to right, the right mounting hole constrains the right opening and closing plate 37 to fit together with the right slide rod 35 through the right mounting hole. After the right opening and closing plate 37 enters the right vertical hole 33, it loses the constraint of the right mounting hole and forms an open acute-angle anti-detachment structure 21 with the right slide rod 35 under the action of the torsion spring. The acute-angle anti-detachment structure 21 is larger than the left through hole 17 and the right through hole 34. The torsion spring is a conventional technology, and a torsion spring structure is found in ordinary clips. The torsion spring is not shown in the figure.

[0041] The top of the right body 32 is provided with an upper right groove 38, and an upper right button plate 39 is movably provided in the upper right groove 38. Multiple upper right buttons 40 are provided downward on the upper right button plate 39. Multiple upper right buttons 40 are provided in one-to-one correspondence with the right through hole 34. The upper right buttons 40 extend downward into the right vertical hole 33. When the right slide bar 35 extends to the right vertical hole 33 to the limit position (the deepest position of insertion into the right vertical hole 33 is limited by the right limit block 36), the upper right button 40 is located directly above the right opening and closing plate 37 on the right side of the right slide bar 35. The bottom of the right body 32 is provided with a lower right groove 41 facing downwards. A lower right button plate 42 is movably provided in the lower right groove 41. Multiple lower right buttons 43 are provided on the lower right button plate 42 facing upwards. Multiple lower right buttons 43 are provided in correspondence with the right through hole 34. The lower right buttons 43 extend upwards into the right vertical hole 33. When the left slide bar 18 extends to the right vertical hole 33 to its limit position (the deepest position of insertion into the right vertical hole 33 is limited by the left limit block 19), the lower right button 43 is located directly below the left opening and closing plate 20 on the right side of the left slide bar 18.

[0042] The upper right button motor is fixedly installed on the upper rear part of the right body 32. The upper right button motor is axially connected to the upper right button screw 44. The upper right button screw 44 passes through the upper right button plate 39 and is threadedly engaged with the upper right button plate 39. The upper right button motor and the upper left button motor are symmetrically arranged. The upper right button motor is not shown in the figure.

[0043] When the upper right button motor drives the upper right button screw 44 to rotate, the upper right button plate 39 will not rotate under the restriction of the upper right groove 38, forcing the upper right button plate 39 to move up and down with the forward and reverse rotation of the upper right button motor. When moving downward, it is used to press down the right opening and closing plate 37 at the right end of the right slide rod 35, so that the right opening and closing plate 37 fits with the right slide rod 35, thus allowing it to pass through the right mounting hole in the right through hole 34 to the left. The lower right button motor is fixedly installed on the lower rear part of the right body 32. The lower right button motor is axially driven by the lower right button screw 45. The lower right button screw 45 passes downward through the lower right button plate 42 and is threaded into the lower right button plate 42. The lower right button motor and the lower left button motor are symmetrically arranged. The lower right button motor is not shown in the figure.

[0044] When the lower right button motor drives the lower right button screw 45 to rotate, the lower right button plate 42 will not rotate under the restriction of the lower right groove 41, forcing the lower right button plate 42 to move up and down with the forward and reverse rotation of the lower right button motor. When it moves upward, it presses the left opening and closing plate 20 at the right end of the left slide rod 18, so that the left opening and closing plate 20 fits with the left slide rod 18, thus allowing it to pass through the right reserved hole in the right through hole 34 to the left.

[0045] The lower ends of each left limiting block 19 and each right limiting block 36 are respectively connected to an upper rope loop; The lower left robotic arm 5 and the upper left robotic arm 3 are structurally symmetrical. The upper ends of each left limit block 19 of the lower left robotic arm 5 are connected to a lower rope ring. The lower right robotic arm 6 and the upper right robotic arm 4 are structurally symmetrical. Each right limit block 36 of the lower right robotic arm 6 has a lower rope loop connected to its upper end; the upper and lower rope loops are collectively referred to as rope loops. Figure 8 and attached Figure 12 The rope loop is shown as reference numeral 46 in the attached diagram. (Due to the appendix...) Figure 8 This is a cross-sectional view of the upper left robotic arm, attached. Figure 12 This is a cross-sectional view of the lower left robotic arm, therefore attached. Figure 8 and attached Figure 12 All rope loops are located below the limit blocks. The rope loops on the lower left and lower right robotic arms are located above the corresponding limit blocks.

[0046] The upper rope loop of the upper left robotic arm 3 corresponds one-to-one with the lower rope loop of the lower left robotic arm 5, and a left rope 9 connects the corresponding set of upper and lower rope loops at this location. The upper rope loop of the upper right robotic arm 4 corresponds one-to-one with the lower rope loop of the lower right robotic arm 6, and a right rope 10 connects the corresponding set of upper and lower rope loops at this location.

[0047] The structures of the upper left robotic arm 3 and the upper right robotic arm 4 are not complex. The modular components facilitate design and manufacturing. They enable the left transposition unit 7 and the right transposition unit 8 to interchange positions (i.e., the left transposition unit 7 can detach from the left body 15 and connect to the right body 32, and the right transposition unit 8 can detach from the right body 32 and connect to the left body 15), providing a structural basis for the left rope 9 and the right rope 10 to cross and wrap around the underwater object.

[0048] After the opening and closing plate enters the vertical hole of the main body along with the sliding rod, it loses the constraint of the through hole and opens under the action of the torsion spring, thus preventing the sliding rod from detaching from the main body.

[0049] The setting of each button motor can control the corresponding button to press the corresponding opening and closing plate, so that the opening and closing plate is in contact with the corresponding slide rod, so that the slide rod can be separated from the main body (left main body 15 or right main body 32) through the corresponding left through hole 17 or right through hole 34.

[0050] The present invention also discloses a method for using the above-mentioned robotic arm mechanism for underwater gripping, which is carried out according to the following steps: The first step is installation, which involves connecting the robotic arm mechanism used for underwater gripping to the ROV through connection hole 2; The upper left robotic arm 3 has an upper left button motor 28 and a lower left button motor 30, the upper right robotic arm 4 has an upper right button motor and a lower right button motor, the lower left robotic arm 5 is symmetrically equipped with two lower left arm button motors above and below the upper left robotic arm 3, and the lower right robotic arm 6 is symmetrically equipped with two lower right arm button motors above and below the upper right robotic arm 4. Due to the symmetrical arrangement, the upper right button motor, the lower right button motor, the two lower left arm button motors, and the two lower right arm button motors are not shown in the attached diagram.

[0051] The upper left button motor 28, the lower left button motor 30, the upper right button motor, the lower right button motor, the two lower left arm button motors, and the two lower right arm button motors are collectively referred to as button motors; The horizontal movement motor 12 of the upper left and right horizontal movement mechanism, the horizontal movement motor 12 of the lower left and right horizontal movement mechanism, and the 8 button motors are all connected to the ROV controller (i.e., the electrical control device); the horizontal movement motor 12 and the 8 button motors are all powered by the ROV and controlled by the ROV controller; the horizontal movement motor 12 and the 8 button motors are all forward and reverse reversible motors. The ROV's controller puts the underwater gripper mechanism into its initial state. At this time, the left transposition unit 7 is connected to the upper left robotic arm 3 and the lower left robotic arm 5, and the right transposition unit 8 is connected to the upper right robotic arm 4 and the lower right robotic arm 6. The upper left robotic arm 3 and the lower left robotic arm 5 are both at their left extreme positions of left and right displacement, and the upper right robotic arm 4 and the lower right robotic arm 6 are both at their right extreme positions of left and right displacement. The second step is to grab underwater objects; the area enclosed by the upper left robotic arm 3, the lower left robotic arm 5, the upper right robotic arm 4, and the lower right robotic arm 6 is the capture area; The left body 15 and the right body 32 are collectively referred to as the body; the left vertical hole 16 and the right vertical hole 33 are collectively referred to as the vertical hole; the left opening and closing plate 20 and the right opening and closing plate 37 are collectively referred to as the opening and closing plate; the lower left button plate 26, the upper left button plate 23, the upper right button plate 39, and the lower right button plate 42 are collectively referred to as the button plate; the left slide bar 18 and the right slide bar 35 are collectively referred to as the slide bar; the left through hole 17 and the right through hole 34 are collectively referred to as the through hole; in the initial state, 4 of the 8 button motors correspond to the opening and closing plates in the vertical holes; After the ROV detects an underwater object entering the capture area (ROV underwater object detection is existing technology and will not be elaborated), the ROV's controller controls four button motors corresponding to the opening and closing plates in the current vertical hole to rotate. The rotation direction drives the button plate to press against the corresponding opening and closing plate, so that it applies pressure to the torsion spring and fits against the slide rod (until the opening and closing plate fits against the slide rod), providing a basis for the opening and closing plate to pass through the through hole and leave the vertical hole of the body; The ROV controller controls the horizontal movement motors 12 of the upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism to synchronously drive the corresponding horizontal movement screws 13 to rotate. The rotation direction of the horizontal movement screws 13 drives the left and right robotic arms to center and move closer to each other along the horizontal movement screws 13 in the left and right direction. When the centering and moving closer action begins, the opening and closing plate passes through the through hole and leaves the vertical hole of the body. At this time, the ROV controller controls the above 4 button motors to rotate in the opposite direction and reset, so as to prevent the opening and closing plate from being pressed when it is inserted into the vertical hole again, so that it cannot form an acute angle anti-detachment structure 21 with the slide rod. When the left and right robotic arms finish aligning and moving closer together, the left slide bar 18 of the left transposition unit 7 on the left robotic arm and the left opening and closing plate 20 on the right side of the left slide bar 18 are inserted into the right reserved hole on the right robotic arm. During the insertion into the right reserved hole, the left opening and closing plate 20 on the right side of the left slide bar 18 is constrained by the right reserved hole and applies pressure to the torsion spring and adheres to the left slide bar 18. After the left opening and closing plate 20 enters the right vertical hole 33 of the right robotic arm, it forms an open acute angle anti-detachment structure 21 with the left slide bar 18 under the action of the torsion spring, thereby preventing the left slide bar 18 from detaching from the right vertical hole 33 of the right robotic arm to the left. When the left and right robotic arms finish aligning and moving closer together, the right slide bar 35 of the right transposition unit 8 on the right robotic arm and the right opening and closing plate 37 on the left side of the right slide bar 35 are inserted into the left pre-drilled hole on the left robotic arm. During the insertion into the left pre-drilled hole, the right opening and closing plate 37 on the left side of the right slide bar 35 is constrained by the left pre-drilled hole and applies pressure to the torsion spring and adheres to the right slide bar 35. After the right opening and closing plate 37 enters the left vertical hole 16 of the left robotic arm, it forms an open acute angle anti-detachment structure 21 with the right slide bar 35 under the action of the torsion spring, thereby preventing the right slide bar 35 from detaching from the left vertical hole 16 of the left robotic arm. After the left and right robotic arms are aligned and brought closer together, the left slide bar 18 and the right slide bar 35 switch positions. In the initial state, four of the eight button motors correspond to the opening and closing plates in the vertical holes. After the left and right switching, the other four button motors correspond to the opening and closing plates in the vertical holes. The upper and lower ends of the left rope 9 connected to the left limit block 19 of the left slide bar 18 are consistent with the left and right positions of the right robotic arm. The upper and lower ends of the right rope 10 connected to the right limit block 36 of the right slide bar 35 are consistent with the left and right positions of the left robotic arm. The middle part of the upper and lower position of the left rope 9 is constrained by the underwater object and is located on the left side of the underwater object. The middle part of the upper and lower position of the right rope 10 is constrained by the underwater object and is located on the right side of the underwater object. After the left and right robotic arms are aligned and brought closer together, the ROV controller controls the horizontal movement motors 12 of the upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism to synchronously drive the corresponding horizontal movement screws 13 to rotate in opposite directions. The reverse rotation direction of the horizontal movement screws 13 drives the left and right robotic arms to move away from each other in the left and right directions along the horizontal movement screws 13, thereby pulling the left rope 9 to the right and pulling the right rope 10 to the left at the same time, so that the multiple left ropes 9 and multiple right ropes 10 tightly wrap the underwater object. The third step is unloading; The ROV carries the underwater object to the designated unloading position. The ROV's controller controls the left and right rotation of the four button motors corresponding to the opening and closing plates in the vertical hole. The rotation direction drives the button plates to press against the corresponding opening and closing plates, causing them to apply pressure to the torsion springs and make the opening and closing plates fit against the sliding rods. This provides a foundation for the opening and closing plates to pass through the through holes and leave the vertical hole of the main body (when the acute angle anti-detachment structure 21 is opened, it is locked; when the opening and closing plates fit against the sliding rods, it is unlocked). The ROV controller controls the horizontal movement motor 12 of the upper left and right horizontal movement mechanism and the horizontal movement motor 12 of the lower left and right horizontal movement mechanism to synchronously drive the corresponding horizontal movement screw 13 to rotate. The rotation direction of the horizontal movement screw 13 is to drive the left and right robotic arms to center and move closer to each other along the horizontal movement screw 13 in the left and right direction. When the action of moving closer together begins, the opening and closing plate passes through the through hole and leaves the vertical hole of the body. At this time, the ROV controller controls the motors of the above 4 buttons in the unloading step to rotate in the opposite direction and reset, so as to prevent the opening and closing plate from being pressed when it is reinserted into the vertical hole, so that it cannot form an acute angle anti-detachment structure 21 with the slide rod. During the unloading process, when the left and right robotic arms are aligned and close to each other, the left slide bar 18 of the left switching unit 7 and the left opening and closing plate 20 on the left side of the left slide bar 18 are inserted into the left mounting hole on the left robotic arm. During the insertion into the left mounting hole, the left opening and closing plate 20 on the left side of the left slide bar 18 is constrained by the left mounting hole and applies pressure to the torsion spring and adheres to the left slide bar 18. After the left opening and closing plate 20 enters the left vertical hole 16 of the left robotic arm, it forms an open acute angle anti-detachment structure 21 with the left slide bar 18 under the action of the torsion spring, thereby preventing the left slide bar 18 from detaching from the left vertical hole 16 of the left robotic arm to the right. During the unloading process, when the left and right robotic arms are aligned and close to each other, the right slide bar 35 of the right switching unit 8 and the right opening and closing plate 37 on the right side of the right slide bar 35 are inserted into the right mounting hole on the right robotic arm. During the insertion into the right mounting hole, the right opening and closing plate 37 on the right side of the right slide bar 35 is constrained by the right mounting hole and applies pressure to the torsion spring and adheres to the right slide bar 35. After the right opening and closing plate 37 enters the right vertical hole 33 of the right robotic arm, it forms an open acute angle anti-detachment structure 21 with the right slide bar 35 under the action of the torsion spring, thereby preventing the right slide bar 35 from detaching from the right vertical hole 33 of the right robotic arm to the left. During the unloading process, when the left and right robotic arms are aligned and close to each other, the left rope 9 and right rope 10 release the (tensioned) clamping force on the underwater object. During the unloading process, after the left and right robotic arms are aligned and brought closer together, the ROV controller controls the horizontal movement motors 12 of the upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism to synchronously drive the corresponding horizontal movement screws 13 to rotate in opposite directions. The reverse rotation direction of the horizontal movement screws 13 drives the left and right robotic arms to move away from each other in the left and right directions along the horizontal movement screws 13 (left robotic arm to the left, right robotic arm to the right), thereby returning the robotic arm mechanism (including the left and right ropes) used for underwater gripping to its initial state, causing the multiple left ropes 9 and multiple right ropes 10 to release the underwater object they are wrapped, completing the unloading action while simultaneously completing the reset action of the robotic arm mechanism used for underwater gripping.

[0052] The above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robotic arm mechanism for underwater gripping, comprising a mounting frame, the rear end of which has a connection hole for connecting to an ROV, characterized in that: The upper left and upper right robotic arms are connected to the upper front end of the fixed frame via an upper left and right horizontal movement mechanism. Driven by the upper left and right horizontal movement mechanism, the upper left and upper right robotic arms approach or move away from each other in the left and right horizontal direction. The lower front end of the fixed frame is symmetrically equipped with a lower left and right horizontal movement mechanism, a lower left mechanical arm, and a lower right mechanical arm. The upper left robotic arm and the lower left robotic arm are collectively referred to as the left robotic arm, and the upper right robotic arm and the lower right robotic arm are collectively referred to as the right robotic arm. A row of left transposition units is connected to the left robotic arm, and a row of right transposition units is connected to the right robotic arm. Multiple left transposition units and multiple right transposition units are spaced apart along the front-back horizontal direction. The number of left transposition units and right transposition units is the same and they are alternately arranged in the front-back direction. The left transposition units on the upper left and lower left robotic arms correspond one-to-one. Each pair of corresponding left transposition units on the upper left and lower left robotic arms is connected to a left rope for wrapping underwater objects. The right transposition units on the upper right robotic arm and the lower right robotic arm are in one-to-one correspondence. Each set of corresponding right transposition units on the upper right robotic arm and the lower right robotic arm is connected to a right rope for wrapping underwater objects; both the left rope and the right rope are elastic. When the left and right robotic arms are aligned and close together, the left transposition unit detaches from the left robotic arm and connects to the right robotic arm, while the right transposition unit detaches from the right robotic arm and connects to the left robotic arm, so that the left and right ropes wrap around the underwater object to be grabbed.

2. The robotic arm mechanism for underwater gripping according to claim 1, characterized in that: The upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism have the same structure, both including a horizontal movement motor installed in the motor box, and the motor box is fixedly connected to the front left or front right of the fixed frame. The output shaft of the transverse motor is connected to a transverse screw, which passes through the left and right robotic arms and is threaded into the left and right robotic arms. The transverse screw is bounded by its midpoint in the left-right direction, and the threads on both sides of the midpoint rotate in opposite directions. The front end of the fixed frame is provided with a transverse sliding groove, and the rear ends of the left and right robotic arms are adapted to the transverse sliding groove and slide in cooperation with it.

3. The robotic arm mechanism for underwater gripping according to claim 2, characterized in that: The upper left robotic arm includes a left body, the rear end of which is adapted to and slides with the transverse sliding groove; the middle of the left body has a vertical left hole that is open from top to bottom and extends in the front-to-back direction; the right side wall of the left body has multiple left through holes, the odd-numbered left through holes from front to back are left reserved holes for connecting the right transposition unit, and the even-numbered left through holes from front to back are left mounting holes, each left mounting hole connecting to a set of left transposition units; The left transposition unit includes a left slide rod adapted to the left mounting hole. The left slide rod has a circumferential protrusion in the middle to provide a left limiting block for limiting the depth of the left slide rod inserted into the left mounting hole. Left opening and closing plates are respectively hinged downward at the left and right ends of the left slide rod. The left opening and closing plates at both ends of the left slide rod extend towards the left limiting block. A torsion spring is provided between the hinge part of each left opening and closing plate and the left slide rod. Under the action of no external force, the torsion spring causes the left opening and closing plates other than the hinge end to separate from the left slide rod and form an open acute angle anti-disengagement structure with the left slide rod. When the left opening and closing plate at the left end of the left slide rod enters the left mounting hole from right to left, the left mounting hole constrains the left opening and closing plate to fit together with the left slide rod. After the left opening and closing plate enters the left vertical hole, it loses the constraint of the left mounting hole and forms an open acute angle anti-detachment structure with the left slide rod under the action of the torsion spring. The top of the left body has an upper left groove, and an upper left button plate is movable inside the upper left groove. Multiple upper left buttons are provided on the upper left button plate. The upper left buttons correspond one-to-one with the left through holes. The upper left buttons extend downward into the left vertical hole. When the left slider extends to the left vertical hole to its limit position, the lower left button is located directly below the left opening and closing plate on the left side of the left slider; The bottom of the left body has a downward-facing groove, and a lower left button plate is movable inside the groove. Multiple lower left buttons are positioned upward on the lower left button plate. Each lower left button corresponds to a left through hole. The lower left buttons extend upward into the left vertical hole. The upper left button motor is fixedly installed on the upper rear part of the left body. The upper left button motor is axially connected to the upper left button screw. The upper left button screw passes through the upper left button plate and is threadedly engaged with the upper left button plate. The lower left button motor is fixedly installed on the lower rear part of the left body. The lower left button motor is axially driven downward and connected to the lower left button screw. The lower left button screw passes downward through the lower left button plate and is threadedly engaged with the lower left button plate. The upper right robotic arm includes a right body, the rear end of which is adapted to and slides with the transverse sliding groove; the middle of the right body has a right vertical hole that is open from top to bottom and extends in the front-back direction; the left side wall of the right body has multiple right through holes, and the right through holes and left through holes are set one to one, and the shape and size of the vertical cross-section of the left through holes and the right through holes are the same. The even-numbered right through holes from front to back are reserved right holes for connecting the left transposition unit, and the odd-numbered right through holes from front to back are right mounting holes. Each right mounting hole connects to a set of right transposition units. The right transposition unit includes a right slide rod that is adapted to the right mounting hole, and a right limiting block is provided with a circumferential protrusion in the middle of the right slide rod to limit the depth of the right slide rod inserted into the right mounting hole; The right slide rod has right opening and closing plates hinged upwards at both ends. The right opening and closing plates at both ends of the right slide rod extend towards the limiting block. A torsion spring is provided between the hinge part of each right opening and closing plate and the corresponding right slide rod. Under the action of no external force, the torsion spring causes the right opening and closing plate other than the hinge end to separate from the right slide rod and form an open acute angle anti-detachment structure with the right slide rod. When the right opening and closing plate at the right end of the right slide rod enters the right mounting hole from left to right, the right mounting hole constrains the right opening and closing plate to fit together with the right slide rod. After the right opening and closing plate enters the right vertical hole, it loses the constraint of the right mounting hole and forms an open acute angle anti-detachment structure with the right slide rod under the action of the torsion spring. The top of the right body has an upper right groove, and an upper right button plate is movable inside the upper right groove. Multiple upper right buttons are provided on the upper right button plate. The upper right buttons correspond one-to-one with the right through holes. The upper right buttons extend downward into the right vertical holes. When the right slide bar extends to the right vertical hole to its limit position, the upper right button is located directly above the right opening and closing plate on the right side of the right slide bar; The bottom of the right body has a downward-facing groove, and a lower right button plate is movable inside the groove. Multiple lower right buttons are positioned upward on the lower right button plate. Each lower right button corresponds to a right through hole. The lower right buttons extend upward into the right vertical hole. When the left slider extends to the right vertical hole to its limit position, the lower right button is located directly below the left opening and closing plate on the right side of the left slider; When the right slider extends to the left vertical hole to its limit position, the upper left button is located directly above the left opening and closing plate on the left side of the right slider; The upper right button motor is fixedly installed on the upper rear part of the right body. The upper right button motor is axially connected to the upper right button screw. The upper right button screw passes through the upper right button plate and is threadedly engaged with the upper right button plate. The lower right button motor is fixedly installed on the lower rear part of the right body. The lower right button motor is axially connected to the lower right button screw. The lower right button screw passes downward through the lower right button plate and is threaded into the lower right button plate. Each left limit block and each right limit block has an upper rope loop connected to its lower end; The lower left robotic arm and the upper left robotic arm are structurally symmetrical. The upper ends of each left limit block of the lower left robotic arm are connected to a lower rope loop. The lower right robotic arm and the upper right robotic arm are structurally symmetrical. The upper ends of each right limit block of the lower right robotic arm are connected to a lower rope loop. The upper rope loop of the upper left robotic arm corresponds one-to-one with the lower rope loop of the lower left robotic arm, and a left rope connects the corresponding set of upper and lower rope loops at this location. The upper rope loop of the upper right robotic arm corresponds one-to-one with the lower rope loop of the lower right robotic arm, and a right rope connects the corresponding upper and lower rope loops at this point.

4. The method of using the robotic arm mechanism for underwater gripping as described in claim 3, characterized in that... Follow these steps: The first step is installation, which involves connecting the robotic arm mechanism used for underwater gripping to the ROV through the connection hole; The upper left robotic arm has an upper left button motor and a lower left button motor, the upper right robotic arm has an upper right button motor and a lower right button motor, the lower left robotic arm is symmetrically equipped with two lower left arm button motors above and below the upper left robotic arm, and the lower right robotic arm is symmetrically equipped with two lower right arm button motors above and below the upper right robotic arm. The upper left button motor, lower left button motor, upper right button motor, lower right button motor, two lower left arm button motors, and two lower right arm button motors are collectively referred to as button motors; The horizontal movement motors of the upper left and right horizontal movement mechanism, the horizontal movement motors of the lower left and right horizontal movement mechanism, and the 8 button motors are all connected to the ROV controller; the horizontal movement motors and the 8 button motors are all forward and reverse reversible motors. The ROV's controller puts the underwater gripper mechanism into its initial state. At this time, the left transposition unit is connected to the upper left and lower left robotic arms, and the right transposition unit is connected to the upper right and lower right robotic arms. The upper left and lower left robotic arms are both at their left limit positions for left and right displacement, and the upper right and lower right robotic arms are both at their right limit positions for left and right displacement. The second step is to grab underwater objects; the area enclosed by the upper left robotic arm, lower left robotic arm, upper right robotic arm, and lower right robotic arm is the capture area; The left and right bodies are collectively referred to as the body; the left and right vertical holes are collectively referred to as vertical holes; the left and right opening and closing plates are collectively referred to as opening and closing plates; the lower left button plate, upper left button plate, upper right button plate, and lower right button plate are collectively referred to as button plates; the left and right slide rods are collectively referred to as slide rods; the left and right through holes are collectively referred to as through holes; in the initial state, 4 of the 8 button motors correspond to the opening and closing plates in the vertical holes; After the ROV detects an underwater object entering the capture area, the ROV's controller controls four button motors corresponding to the opening and closing plates in the vertical holes to rotate. The rotation direction drives the button plates to press against the corresponding opening and closing plates, causing them to apply pressure to the torsion springs and fit against the slide rods, providing a foundation for the opening and closing plates to pass through the through holes and leave the vertical holes of the main body. The ROV controller controls the horizontal movement motors of the upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism to synchronously drive the corresponding horizontal movement screws to rotate. The rotation direction of the horizontal movement screws drives the left and right robotic arms to center and move closer to each other along the horizontal movement screws in the left and right direction. When the centering and moving closer action begins, the opening and closing plate passes through the through hole and leaves the vertical hole of the body. At this time, the ROV controller controls the four button motors to rotate in the opposite direction and reset, so as to prevent the opening and closing plate from pressing the opening and closing plate when it is reinserted into the vertical hole, so that it cannot form an acute angle anti-detachment structure with the slide rod. When the left and right robotic arms finish aligning and moving closer together, the left slide bar of the left transposition unit on the left robotic arm and the left opening and closing plate on the right side of the left slide bar are inserted into the right pre-drilled hole on the right robotic arm. During the insertion into the right pre-drilled hole, the left opening and closing plate on the right side of the left slide bar is constrained by the right pre-drilled hole and applies pressure to the torsion spring and adheres to the left slide bar. After the left opening and closing plate enters the right vertical hole of the right robotic arm, it forms an open acute angle anti-detachment structure with the left slide bar under the action of the torsion spring, thereby preventing the left slide bar from detaching from the right vertical hole of the right robotic arm to the left. When the left and right robotic arms finish aligning and moving closer together, the right slide bar of the right transposition unit on the right robotic arm and the right opening and closing plate on the left side of the right slide bar are inserted into the left pre-drilled hole on the left robotic arm. During the insertion into the left pre-drilled hole, the right opening and closing plate on the left side of the right slide bar is constrained by the left pre-drilled hole and applies pressure to the torsion spring and adheres to the right slide bar. After the right opening and closing plate enters the left vertical hole of the left robotic arm, it forms an open acute angle anti-detachment structure with the right slide bar under the action of the torsion spring, thereby preventing the right slide bar from detaching from the left vertical hole of the left robotic arm. After the left and right robotic arms are aligned and brought together, the left and right slide rods switch positions. In the initial state, four of the eight button motors correspond to the opening and closing plates in the vertical holes. After the left and right switching, the other four button motors correspond to the opening and closing plates in the vertical holes. The upper and lower ends of the left rope connected to the left limit block of the left slide bar are consistent with the left and right positions of the right robotic arm. The upper and lower ends of the right rope connected to the right limit block of the right slide bar are consistent with the left and right positions of the left robotic arm. The middle part of the upper and lower position of the left rope is constrained by the underwater object and is located on the left side of the underwater object. The middle part of the upper and lower position of the right rope is constrained by the underwater object and is located on the right side of the underwater object. After the left and right robotic arms are aligned and brought closer together, the ROV controller controls the lateral movement motors of the upper left and right lateral movement mechanism and the lower left and right lateral movement mechanism to synchronously drive the corresponding lateral movement screws to rotate in the opposite direction. The reverse rotation direction of the lateral movement screws drives the left and right robotic arms to move away from each other in the left and right directions along the lateral movement screws, thereby pulling the left rope to the right and pulling the right rope to the left at the same time, so that multiple left ropes and multiple right ropes tightly wrap around the underwater object. The third step is unloading; The ROV carries the underwater object to the designated unloading position. The ROV's controller controls the left and right rotation of the four button motors corresponding to the opening and closing plate in the vertical hole. The rotation direction drives the button plate to press against the corresponding opening and closing plate, so that it applies pressure to the torsion spring and makes the opening and closing plate fit with the slide rod, providing a basis for the opening and closing plate to pass through the through hole and leave the vertical hole of the body. The ROV's controller controls the horizontal movement motors of the upper left and right horizontal movement mechanism and the lower left and right horizontal movement mechanism to synchronously drive the corresponding horizontal movement screws to rotate. The rotation direction of the horizontal movement screws drives the left and right robotic arms to center and move closer to each other along the horizontal movement screws in the left and right direction. When the action of moving closer together begins, the opening and closing plates pass through the through hole and leave the vertical hole of the body. At this time, the ROV controller controls the motors of the above 4 buttons in the unloading step to rotate in the opposite direction and reset, so as to prevent the opening and closing plates from being pressed when they are reinserted into the vertical hole, thus preventing them from forming an acute angle anti-detachment structure with the slide rod. During the unloading process, when the left and right robotic arms are aligned and close to each other, the left slide bar of the left switching unit and the left opening and closing plate on the left side of the left slide bar are inserted into the left mounting hole on the left robotic arm. During the insertion into the left mounting hole, the left opening and closing plate on the left side of the left slide bar is constrained by the left mounting hole and applies pressure to the torsion spring and adheres to the left slide bar. After the left opening and closing plate enters the left vertical hole of the left robotic arm, it forms an open acute angle anti-detachment structure with the left slide bar under the action of the torsion spring, thereby preventing the left slide bar from detaching from the left vertical hole of the left robotic arm to the right. During the unloading process, when the left and right robotic arms are aligned and move closer together, the right slide bar of the right switching unit and the right opening and closing plate on the right side of the right slide bar are inserted into the right mounting hole on the right robotic arm. During the insertion into the right mounting hole, the right opening and closing plate on the right side of the right slide bar is constrained by the right mounting hole and applies pressure to the torsion spring and adheres to the right slide bar. After the right opening and closing plate enters the right vertical hole of the right robotic arm, it forms an open acute angle anti-detachment structure with the right slide bar under the action of the torsion spring, thereby preventing the right slide bar from detaching from the right vertical hole of the right robotic arm to the left. During the unloading process, when the left and right robotic arms finish their alignment and approach each other, the left and right ropes release their gripping force on the underwater object. During the unloading process, after the left and right robotic arms are aligned and brought closer together, the ROV controller controls the lateral movement motors of the upper left and right lateral movement mechanism and the lower left and right lateral movement mechanism to synchronously drive the corresponding lateral movement screws to rotate in the opposite direction. The reverse rotation direction of the lateral movement screws drives the left and right robotic arms to move away from each other in the left and right direction along the lateral movement screws, thereby returning the robotic arm mechanism used for underwater gripping to its initial state. This causes the multiple left and right ropes to release the underwater object they are wrapped, completing the unloading action while simultaneously resetting the robotic arm mechanism used for underwater gripping.

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