A multi-joint robotic arm structure suitable for underwater narrow space operations

Abstract

The present invention belongs to the field of robotic arm technology and provides a multi-joint robotic arm structure suitable for underwater narrow space operations, including a robotic arm, wherein the robotic arm includes multiple joint arms, two adjacent joint arms are connected by a universal joint, one end of the robotic arm is installed with a mounting plate, the mounting plate is used to fix the robotic arm to an underwater robot, four drive ropes are passed through and slidably connected between the multiple joint arms, the four drive ropes are evenly distributed around the axis of the joint arm, and the joint arm is provided with rope holes adapted to the drive ropes. The present invention controls the robotic arm through four drive ropes, greatly optimizing the structure of the robotic arm, making the structure of the robotic arm simpler and less prone to damage; and the robotic arm does not carry additional equipment, its deadweight is greatly reduced, reducing the inertial force caused by the deadweight of the robotic arm, making its movement accuracy higher, transmission efficiency higher, and flexibility better.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arms, and in particular relates to a multi-joint robotic arm structure suitable for operations in narrow underwater spaces. Background Art

[0002] Currently, underwater robots (ROVs) are one of the primary tools for ocean exploration and research. The operating tools on ROVs are a crucial component of the entire system. These tools primarily consist of a robotic arm and an actuator mounted on one end of the arm.

[0003] In the existing technology, in order to meet the operating requirements of underwater manipulators in complex and narrow working conditions, multi-joint manipulators are usually used as underwater manipulators. The existing manipulator joints usually use transmission parts such as motors and gear reducers to transmit power. The structure of this drive device assembled with the manipulator is relatively complex and easy to damage. In addition, installing the motor at the joint of the manipulator will increase the weight and rotational inertia of the manipulator, resulting in low transmission efficiency and reduced precision and flexibility of the manipulator. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-joint robotic arm structure suitable for underwater narrow space operations, aiming to solve the technical problems of multi-joint robotic arms in the prior art, such as complex structure, easy damage, low precision and poor flexibility.

[0005] The present invention is achieved as follows: a multi-joint manipulator structure suitable for underwater narrow space operations includes a manipulator, the manipulator includes a plurality of joint arms, two adjacent joint arms are connected by a universal joint, one end of the manipulator is installed with a mounting plate, the mounting plate is used to fix the manipulator to an underwater robot, four drive ropes are passed through and slidably connected between the plurality of joint arms, the four drive ropes are evenly distributed around the axis of the joint arm, rope holes adapted for the drive ropes are opened on the joint arm, the ends of the drive ropes are fixedly connected to limit blocks, and the limit blocks abut against the side of the joint arm at the end of the manipulator;

[0006] One end of the robotic arm is also equipped with a wire-reeling mechanism, and the four output ends of the wire-reeling mechanism are respectively connected to one end of four drive ropes. The wire-reeling mechanism is used to reel in or release the drive ropes, so that the drive ropes drive the articulated arm to move and deform the robotic arm.

[0007] The articulated arm comprises a joint tube, a wire fixing plate and a lower sealing cover, wherein the wire fixing plate and the lower sealing cover are respectively fixedly mounted on both ends of the joint tube by fixing screws, and bolt holes adapted to the fixing screws are provided on the wire fixing plate, the joint tube and the lower sealing cover, and the wire fixing plate is arranged at one end of the joint tube away from the mounting plate;

[0008] The cable fixing drum is provided with a plurality of cable clamping mechanisms, the driving rope passes through the middle of the cable clamping mechanism, and the cable clamping mechanism is used to clamp and fix the driving rope, so that the driving rope and the cable fixing drum are relatively fixed;

[0009] A braking structure is installed on the universal joint, which is used to brake the universal joint so that the two adjacent joint arms are relatively fixed. The braking structure cooperates with the wire clamping mechanism to enable the drive rope to drive any joint arm to deform, thereby making the robotic arm more flexible.

[0010] Further technical solution: the wire reeling and winding mechanism includes an installation box, which is fixedly installed on the side of the lower sealing cover at one end of the robotic arm. Four wire winding assemblies are fixedly connected to the inside of the installation box, and the four wire winding assemblies are evenly distributed around the axis of the joint arm. The wire winding assembly includes a mounting frame fixedly connected to the inner wall of the installation box, and a wire reel is rotatably connected to the mounting frame. One end of the drive rope passes through the installation box and is wound on the wire reel. A wire hole for the drive rope to pass through is opened on the installation box. A stepper motor is fixedly installed on the side of the mounting frame, and the output shaft of the stepper motor is fixedly connected to one end of the wire reel.

[0011] Further technical solution: the wire fixing disk includes a wiring disk, an upper sealing cover is installed on one side of the wiring disk, a groove is provided on the other side of the wiring disk, an inner sealing disk is installed inside the groove, the wire clamping mechanism is installed on the wiring disk, bolt holes and rope holes are provided at corresponding positions on the inner sealing disk, the wiring disk and the upper sealing cover, a waterproof sealing ring is provided between the rope hole and the drive rope, the wire fixing disk is fixed to the end of the joint tube by a fixing screw, and the inner sealing disk is close to the joint tube.

[0012] Further technical solution: the wire clamping mechanism includes a mounting groove provided on the side wall of the groove, and the first clamping block and the second clamping block are slidingly connected inside the mounting groove, and the opposite sides of the first clamping block and the second clamping block are provided with arc grooves, the diameter of the arc groove is adapted to the diameter of the driving rope, and the two arc grooves are symmetrically distributed about the axis of the rope hole, the sides of the first clamping block and the second clamping block are respectively fixedly connected with the first rack and the second rack, and the bottom of the mounting groove is rotatably connected with the intermediate gear, the first rack and the second rack are both meshed with the intermediate gear, and the first rack and the second rack are respectively arranged on both sides of the intermediate gear, and a first cylinder is fixedly installed on the side wall of the mounting groove, and the movable end of the first cylinder is fixedly connected to the side of the first clamping block.

[0013] Further technical solution: The universal joint includes a rotating ring, and four fixed shafts are fixedly connected to the side of the rotating ring. The four fixed shafts are evenly distributed around the axis of the rotating ring. One end of the four fixed shafts is rotatably connected to a fixed seat. The two opposite fixed seats form a pair, and the two pairs of fixed seats are in opposite directions. The two pairs of fixed seats are respectively connected to two joint arms. A braking mechanism is installed on each of the fixed seats. The output end of the braking mechanism is connected to the fixed shaft. The braking mechanism is used to brake the fixed shaft, so that the fixed shaft is fixed on the fixed seat, and then the two adjacent joint arms are relatively fixed.

[0014] Further technical solution: The braking mechanism includes a cavity opened inside the fixed seat, a second cylinder is fixedly connected to the inside of the cavity, a brake pad is fixedly connected to the movable end of the second cylinder, and one end of the fixed shaft located inside the cavity is fixedly connected to the brake disc, the brake pad can abut against the brake disc, and the brake pad and brake disc are both made of materials with a large friction coefficient.

[0015] Further technical solution: A mechanical claw is also installed at the end of the robotic arm, and the mechanical claw is used to clamp objects.

[0016] Further technical solution: the mechanical claw includes a mounting seat, which is installed at the end of the mechanical arm, and the side of the mounting seat is fixedly connected to two articulated seats, one end of the two articulated seats is hinged with a clamping claw, and the two clamping claws are symmetrically distributed about the axis of the mounting seat, and the side of the mounting seat is fixedly connected to a telescopic rod, the movable end of the telescopic rod is fixedly connected to a drive frame, and the interior of the drive frame is fixedly connected to a drive column, and the opposite sides of the two clamping claws are provided with drive grooves, and the drive column is slidably connected to the two drive grooves.

[0017] Further technical solution: A first rotating component is also installed between the mechanical claw and the end of the mechanical arm, and the first rotating component includes a first mounting sleeve. The first mounting sleeve is mounted on the end of the mechanical arm, and the side of the first mounting sleeve is fixedly connected to a first servo motor. The output shaft of the first servo motor is fixedly connected to one end of the mounting seat, and one end of the mounting seat is rotatably connected to the first mounting sleeve, thereby sealing the first servo motor to prevent the first servo motor from contacting water.

[0018] Further technical solution: A second rotating assembly is also installed between the robotic arm and the mounting plate, and the second rotating assembly includes a second servo motor fixedly mounted on the side of the mounting plate. The output shaft of the second servo motor is fixedly connected to a second mounting sleeve, and the second mounting sleeve is sleeved on one end of the robotic arm. In order to seal the second servo motor and prevent the second servo motor from contacting water, a waterproof retaining ring is also fixedly connected to the side of the mounting plate, and the waterproof retaining ring is rotatably connected to the second mounting sleeve.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The device controls the robotic arm through four drive ropes, which greatly optimizes the structure of the robotic arm, making it simpler and less prone to damage. In addition, the robotic arm does not carry any additional equipment, which greatly reduces its weight and the inertia force caused by its own weight, making its movement accuracy higher, transmission efficiency higher, and flexibility better.

[0021] 2. When changing the angle of a certain articulated arm, the articulated arm and the drive rope are fixed relative to each other. When the drive rope is reeled in, the drive rope drives the articulated arm to move. Since the length of the drive rope on the side of the articulated arm away from the mounting plate does not change, the angles of the other articulated arms on the side of the articulated arm away from the mounting plate do not change. Therefore, the angle of the articulated arm can be accurately changed, and the movement of the articulated arm is more flexible and convenient to use.

[0022] 3. When changing the angle of a certain articulated arm, all other universal joints that are not connected to the articulated arm on the side close to the mounting plate of the articulated arm are fixed, so that the other articulated arms on the side close to the mounting plate of the articulated arm are relatively fixed, so that the movement angle of the articulated arm can be accurately controlled, making the movement accuracy of the robotic arm higher;

[0023] 4. The present invention provides a first rotary assembly that can drive the mechanical claw to rotate around the end of the mechanical arm, thereby enabling the mechanical claw to grasp objects from any angle, greatly increasing the flexibility of the mechanical arm;

[0024] 5. The present invention provides a second rotary assembly, which can drive the robotic arm to rotate around the mounting plate, thereby allowing the robotic arm to be adjusted in any direction, making the operation of the robotic arm more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 It is a schematic diagram of a local structure of the present invention.

[0027] Figure 3 It is a schematic diagram of the structure of the decomposed cable tray in the present invention.

[0028] Figure 4 For the present invention Figure 3 A magnified schematic diagram.

[0029] Figure 5 It is a structural schematic diagram of the cross section of the universal joint in the present invention.

[0030] Figure 6 It is a schematic diagram of a local structure of the present invention.

[0031] Figure 7 It is a structural schematic diagram of the wire-reeling and wire-unreeling mechanism in the present invention.

[0032] Figure 8 Schematic diagram of the structure of the mechanical claw and the first rotating component in the present invention.

[0033] Figure 9 It is a schematic structural diagram of the mounting plate and the second rotary assembly in the present invention.

[0034] In the accompanying drawings: 10, mechanical claw; 11, clamping claw; 12, driving column; 13, driving groove; 14, driving frame; 15, articulated seat; 16, telescopic rod; 17, mounting seat; 20, first rotary assembly; 21, first servo motor; 22, first mounting sleeve; 30, universal joint; 31, rotating ring; 32, fixed shaft; 33, fixed seat; 40, articulated arm; 41, fixed wire drum; 411, inner sealing disk; 412, groove; 413, wiring drum; 414, waterproof sealing ring; 415, upper sealing cover; 42, joint cylinder; 43, lower sealing cover; 50, second rotary assembly; 51, second mounting sleeve; 52, second servo motor; 53, Waterproof retaining ring; 60, mounting plate; 70, fixing screw; 80, limit block; 90, drive rope; 100, wire retracting and releasing mechanism; 101, wire reel; 102, wire hole; 103, stepping motor; 104, mounting frame; 105, mounting box; 110, bolt hole; 120, wire clamping mechanism; 121, first cylinder; 122, first clamping block; 123, mounting groove; 124, first rack; 125, intermediate gear; 126, second clamping block; 127, second rack; 128, arc groove; 130, brake mechanism; 131, cavity; 132, second cylinder; 133, brake pad; 134, brake disc; 140, rope hole. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0037] like Figures 1-9 As shown, a multi-joint manipulator structure suitable for underwater narrow space operations provided by the present invention includes a manipulator, the manipulator includes a plurality of joint arms 40, two adjacent joint arms 40 are connected by a universal joint 30, one end of the manipulator is installed with a mounting plate 60, the mounting plate 60 is used to fix the manipulator to the underwater robot, four drive ropes 90 are passed through and slidably connected between the plurality of joint arms 40, the four drive ropes 90 are evenly distributed around the axis of the joint arm 40, the joint arm 40 is provided with a rope hole 140 adapted to the drive rope 90, the end of the drive rope 90 is fixedly connected to a limit block 80, and the limit block 80 abuts against the side of the joint arm 40 at the end of the manipulator;

[0038] One end of the robotic arm is also equipped with a wire-reeling mechanism 100. The four output ends of the wire-reeling mechanism 100 are respectively connected to one end of four drive ropes 90. The wire-reeling mechanism 100 is used to reel in or release the drive ropes 90, so that the drive ropes 90 drive the articulated arm 40 to move, causing the robotic arm to deform.

[0039] The articulated arm 40 includes a joint cylinder 42, a cable tray 41, and a lower sealing cover 43. The cable tray 41 and the lower sealing cover 43 are fixed to both ends of the joint cylinder 42 by fixing screws 70. Bolt holes 110 that are compatible with the fixing screws 70 are formed on the cable tray 41, the joint cylinder 42, and the lower sealing cover 43. The cable tray 41 is arranged at the end of the joint cylinder 42 away from the mounting plate 60.

[0040] The cable fixing disc 41 is provided with a plurality of cable clamping mechanisms 120 . The driving rope 90 passes through the middle of the cable clamping mechanism 120 . The cable clamping mechanism 120 is used to clamp and fix the driving rope 90 , thereby fixing the driving rope 90 and the cable fixing disc 41 relatively.

[0041] A braking structure is installed on the universal joint 30, which is used to brake the universal joint 30 so that the two adjacent articulated arms 40 are relatively fixed. The braking structure cooperates with the wire clamping mechanism 120 to enable the drive rope 90 to drive any articulated arm 40 to deform, thereby making the robotic arm more flexible.

[0042] like Figure 6-Figure 7 As shown, a multi-joint robotic arm structure suitable for underwater narrow space operations provided by the present invention, in this embodiment, the wire reeling mechanism 100 includes a mounting box 105, and the mounting box 105 is fixedly mounted on the side of the lower sealing cover 43 at one end of the robotic arm, and four wire winding assemblies are fixedly connected to the interior of the mounting box 105, and the four wire winding assemblies are evenly distributed around the axis of the joint arm 40, and the wire winding assembly includes a mounting frame 104 fixedly connected to the inner wall of the mounting box 105, and a wire reel 101 is rotatably connected to the mounting frame 104, one end of the drive rope 90 passes through the mounting box 105 and is wound on the wire reel 101, and a wire hole 102 for the drive rope 90 to pass through is opened on the mounting box 105, and a stepper motor 103 is fixedly mounted on the side of the mounting frame 104, and the output shaft of the stepper motor 103 is fixedly connected to one end of the wire reel 101.

[0043] In order to enable the robot arm to move flexibly, two opposing winding assemblies are connected to the control program as a group. In one group of winding assemblies, when one winding assembly reels in the wire, the other winding assembly unwinds the wire, so that one articulated arm 40 can rotate to one side of the robot arm. Since the other group of winding assemblies is not started, the articulated arm 40 will not move in the direction of the other group of winding assemblies, thereby accurately changing the movement direction of the robot arm.

[0044] like Figure 2-Figure 4 As shown, a multi-joint robotic arm structure suitable for underwater narrow space operations provided by the present invention, in this embodiment, the wire fixing disk 41 includes a wiring disk 413, one side of the wiring disk 413 is installed with an upper sealing cover 415, the other side of the wiring disk 413 is provided with a groove 412, the interior of the groove 412 is provided with an inner sealing disk 411, the wire clamping mechanism 120 is installed on the wiring disk 413, the inner sealing disk 411, the wiring disk 413 and the corresponding positions on the upper sealing cover 415 are provided with bolt holes 110 and rope holes 140, a waterproof sealing ring 414 is provided between the rope hole 140 and the driving rope 90, the wire fixing disk 41 is fixedly installed on the end of the joint tube 42 by a fixing screw 70, and the inner sealing disk 411 is close to the joint tube 42.

[0045] like Figure 3-Figure 4 As shown, a multi-joint manipulator structure suitable for underwater narrow space operations provided by the present invention, in this embodiment, the line clamping mechanism 120 includes a mounting groove 123 provided on the side wall of the groove 412, and the interior of the mounting groove 123 is slidably connected with a first clamping block 122 and a second clamping block 126, and the first clamping block 122 and the second clamping block 126 are provided with an arc groove 128 on the opposite sides, the diameter of the arc groove 128 is adapted to the diameter of the drive rope 90, and the two arc grooves 128 are symmetrically distributed about the axis of the rope hole 140, and the side wall of the arc groove 128 is provided with a first clamping block 122 and a second clamping block 126. Several anti-slip grooves are provided. The sides of the first clamping block 122 and the second clamping block 126 are fixedly connected with the first rack 124 and the second rack 127 respectively. The bottom of the mounting groove 123 is rotatably connected with the intermediate gear 125. The first rack 124 and the second rack 127 are both meshed with the intermediate gear 125, and the first rack 124 and the second rack 127 are respectively arranged on both sides of the intermediate gear 125. The first cylinder 121 is fixedly installed on the side wall of the mounting groove 123, and the movable end of the first cylinder 121 is fixedly connected to the side of the first clamping block 122.

[0046] When changing the angle of a certain articulated arm 40, the articulated arm 40 and the drive rope 90 are relatively fixed. During operation, the first cylinder 121 drives the first clamping block 122 to move, and the first clamping block 122 drives the intermediate gear 125 to rotate through the first rack 124. The intermediate gear 125 drives the second clamping block 126 to move in the opposite direction through the second rack 127. The first clamping block 122 and the second clamping block 126 jointly clamp the drive rope 90, so that the joint tube 42 and the drive rope 90 are relatively fixed. When the drive rope 90 is wound, the drive rope 90 will drive the articulated arm 40 to move; since the length of the drive rope 90 on the side of the articulated arm 40 away from the mounting plate 60 has not changed, the angle of the other articulated arms 40 on the side of the articulated arm 40 away from the mounting plate 60 does not change. Therefore, the robot arm can accurately change the angle of the articulated arm 40, and the movement of the robot arm is more flexible and more convenient to use.

[0047] like Figure 2 and Figure 5 As shown, a multi-joint robotic arm structure suitable for underwater narrow space operations provided by the present invention, in this embodiment, the universal joint 30 includes a rotating ring 31, and four fixed shafts 32 are fixedly connected to the side of the rotating ring 31, and the four fixed shafts 32 are evenly distributed around the axis of the rotating ring 31, and one end of the four fixed shafts 32 is rotatably connected to a fixed seat 33, and the two opposite fixed seats 33 form a pair, and the two pairs of fixed seats 33 are in opposite directions, and the two pairs of fixed seats 33 are respectively connected to two articulated arms 40, and a braking mechanism 130 is installed on each of the fixed seats 33, and the output end of the braking mechanism 130 is connected to the fixed shaft 32, and the braking mechanism 130 is used to brake the fixed shaft 32, so that the fixed shaft 32 is fixed on the fixed seat 33, and then the two adjacent articulated arms 40 are relatively fixed.

[0048] like Figure 2 and Figure 5 As shown, a multi-joint robotic arm structure suitable for underwater narrow space operations provided by the present invention. In this embodiment, the braking mechanism 130 includes a cavity 131 opened inside the fixed seat 33, and the interior of the cavity 131 is fixedly connected to a second cylinder 132, and the movable end of the second cylinder 132 is fixedly connected to a brake pad 133, and one end of the fixed shaft 32 located inside the cavity 131 is fixedly connected to a brake disc 134, and the brake pad 133 can abut against the brake disc 134, and the brake pad 133 and the brake disc 134 are both made of materials with a large friction coefficient.

[0049] When braking the universal joint 30, the second cylinder 132 drives the brake pad 133 to move, and the brake pad 133 abuts against the brake disc 134. Under the action of friction, the brake pad 133 prevents the brake disc 134 from rotating, and the brake disc 134 prevents the fixed shaft 32 from rotating, thereby fixing the two pairs of fixing seats 33 relative to each other, and then fixing the two adjacent joint arms 40 relative to each other;

[0050] When changing the angle of a certain articulated arm 40, all other universal joints 30 that are not connected to the articulated arm 40 on the side close to the mounting plate 60 of the articulated arm 40 are fixed, so that the other articulated arms 40 on the side close to the mounting plate 60 of the articulated arm 40 are relatively fixed, so that the movement angle of the articulated arm 40 can be precisely controlled, making the movement accuracy of the robotic arm higher.

[0051] As shown in the figure and Figure 8 As shown, a multi-joint robotic arm structure suitable for underwater narrow space operations provided by the present invention is provided. In this embodiment, a robotic claw 10 is further installed at the end of the robotic arm, and the robotic claw 10 is used to clamp objects.

[0052] like Figure 8 As shown, a multi-joint robotic arm structure suitable for underwater narrow space operations provided by the present invention, in this embodiment, the mechanical claw 10 includes a mounting seat 17, the mounting seat 17 is installed at the end of the robotic arm, the side of the mounting seat 17 is fixedly connected to two articulated seats 15, one end of the two articulated seats 15 are hinged with a clamping jaw 11, the two clamping jaws 11 are symmetrically distributed about the axis of the mounting seat 17, the side of the mounting seat 17 is fixedly connected to a telescopic rod 16, the movable end of the telescopic rod 16 is fixedly connected to a drive frame 14, the interior of the drive frame 14 is fixedly connected to a drive column 12, the opposite sides of the two clamping jaws 11 are provided with a drive groove 13, the drive column 12 is slidably connected to the two drive grooves 13.

[0053] The telescopic rod 16 drives the two clamping jaws 11 to rotate through the driving frame 14 and the driving column 12, so that the two clamping jaws 11 are opened or clamped, so that objects can be clamped.

[0054] like Figure 1 and Figure 8As shown, a multi-joint robotic arm structure suitable for underwater narrow space operations provided by the present invention. In order to enable the robotic claw 10 to clamp objects from any angle, in this embodiment, a first rotating component 20 is also installed between the robotic claw 10 and the end of the robotic arm. The first rotating component 20 includes a first mounting sleeve 22, which is mounted on the end of the robotic arm. The side of the first mounting sleeve 22 is fixedly connected to a first servo motor 21, and the output shaft of the first servo motor 21 is fixedly connected to one end of the mounting seat 17. One end of the mounting seat 17 is rotatably connected to the first mounting sleeve 22, thereby sealing the first servo motor 21 to prevent the first servo motor 21 from contacting water.

[0055] like Figure 1 and Figure 9 As shown, a multi-joint robotic arm structure suitable for underwater narrow space operations provided by the present invention. In order to enable the robotic arm to approach an object from any direction, in this embodiment, a second rotating assembly 50 is further installed between the robotic arm and the mounting plate 60. The second rotating assembly 50 includes a second servo motor 52 fixedly mounted on the side of the mounting plate 60. The output shaft of the second servo motor 52 is fixedly connected to a second mounting sleeve 51. The second mounting sleeve 51 is mounted on one end of the robotic arm. In order to seal the second servo motor 52 and prevent the second servo motor 52 from contacting water, a waterproof retaining ring 53 is also fixedly connected to the side of the mounting plate 60. The waterproof retaining ring 53 is rotatably connected to the second mounting sleeve 51.

[0056] Workflow: Fix the mounting plate 60 to the underwater robot and connect the device to the control circuit of the underwater robot;

[0057] When changing the angle of a certain articulated arm 40, by operating the brake mechanism 130, all other universal joints 30 that are not connected to the articulated arm 40 and are close to the mounting plate 60 are fixed, thereby making the other articulated arms 40 close to the mounting plate 60 relatively fixed.

[0058] Then, the thread clamping mechanism 120 on the articulated arm 40 is operated. The first cylinder 121 drives the first clamping block 122 to move. The first clamping block 122 drives the intermediate gear 125 to rotate via the first rack 124. The intermediate gear 125 drives the second clamping block 126 to move in the opposite direction via the second rack 127. The first clamping block 122 and the second clamping block 126 jointly clamp the drive rope 90, thereby relatively fixing the joint cylinder 42 and the drive rope 90. That is, the drive rope 90 is relatively fixed to the articulated arm 40.

[0059] Then, the stepper motor 103 drives the winding drum 101 to rotate, and the winding drum 101 reels or releases the driving rope 90, so that the driving rope 90 pulls the articulated arm 40 to move. By controlling the reeling length of the driving rope 90, the movement angle of the articulated arm 40 can be adjusted.

[0060] By adjusting the angles of the multiple articulated arms 40 in sequence, the robotic arm can be brought close to the object, and then the telescopic rod 16 drives the two clamping jaws 11 to rotate through the drive frame 14 and the drive column 12, so that the two clamping jaws 11 are opened or clamped, thereby being able to clamp the object.

[0061] The device controls the robotic arm through four drive ropes 90, which greatly optimizes the structure of the robotic arm, making the structure of the robotic arm simpler and less prone to damage; and the robotic arm does not carry any additional equipment, its own weight is greatly reduced, reducing the inertia force of the robotic arm caused by its own weight, making its movement accuracy higher, transmission efficiency higher, and flexibility better.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0063] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A multi-joint manipulator structure suitable for underwater narrow space operations, comprising a manipulator, wherein the manipulator comprises a plurality of joint arms (40), two adjacent joint arms (40) are connected via a universal joint (30), and a mounting plate (60) is mounted on one end of the manipulator, characterized in that: Four driving ropes (90) are passed through and slidably connected between the plurality of articulated arms (40), the four driving ropes (90) are evenly distributed around the axis of the articulated arms (40), a rope hole (140) adapted to the driving ropes (90) is opened on the articulated arms (40), the ends of the driving ropes (90) are fixedly connected to a limiting block plate (80), and the limiting block plate (80) abuts against the side of the articulated arm (40) at the end of the robotic arm; One end of the robotic arm is further provided with a wire-reeling mechanism (100), wherein four output ends of the wire-reeling mechanism (100) are respectively connected to one end of four drive ropes (90), and the wire-reeling mechanism (100) is used to reel in or release the drive ropes (90); The articulated arm (40) comprises a joint cylinder (42), a wire fixing plate (41) and a lower sealing cover (43), wherein the wire fixing plate (41) and the lower sealing cover (43) are respectively fixedly mounted on both ends of the joint cylinder (42) by fixing screws (70), the wire fixing plate (41), the joint cylinder (42) and the lower sealing cover (43) are all provided with bolt holes (110) adapted to the fixing screws (70), and the wire fixing plate (41) is arranged at one end of the joint cylinder (42) away from the mounting plate (60); A plurality of wire clamping mechanisms (120) are installed on the wire fixing disk (41), the driving rope (90) passes through the middle of the wire clamping mechanism (120), and the wire clamping mechanism (120) is used to clamp and fix the driving rope (90); A braking structure is installed on the universal joint (30), and the braking structure is used to brake the universal joint (30), thereby fixing two adjacent joint arms (40) relatively. The braking structure cooperates with the wire clamping mechanism (120) to enable the driving rope (90) to drive any one of the joint arms (40) to deform.

2. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 1, characterized in that: The wire reeling and unwinding mechanism (100) includes a mounting box (105), which is fixedly mounted on the side of a lower sealing cover (43) at one end of the robotic arm. Four wire reeling assemblies are fixedly connected to the interior of the mounting box (105), and the four wire reeling assemblies are evenly distributed around the axis of the articulated arm (40). The wire reeling assembly includes a mounting frame (104) fixedly connected to the inner wall of the mounting box (105), and a wire reel (101) is rotatably connected to the mounting frame (104). One end of the driving rope (90) passes through the mounting box (105) and is wound on the wire reel (101). A wire hole (102) for the driving rope (90) to pass through is opened on the mounting box (105). A stepping motor (103) is fixedly mounted on the side of the mounting frame (104), and the output shaft of the stepping motor (103) is fixedly connected to one end of the wire reel (101).

3. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 1, characterized in that: The wire fixing disk (41) comprises a wiring disk (413), an upper sealing cover (415) is installed on one side of the wiring disk (413), a groove (412) is provided on the other side of the wiring disk (413), an inner sealing disk (411) is installed inside the groove (412), the wire clamping mechanism (120) is installed on the wiring disk (413), bolt holes (110) and rope holes (140) are provided at corresponding positions on the inner sealing disk (411), the wiring disk (413) and the upper sealing cover (415), a waterproof sealing ring (414) is provided between the rope hole (140) and the driving rope (90), the wire fixing disk (41) is fixedly installed on the end of the joint cylinder (42) by means of a fixing screw (70), and the inner sealing disk (411) is close to the joint cylinder (42).

4. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 3, characterized in that: The wire clamping mechanism (120) includes a mounting groove (123) provided on a side wall of the groove (412), a first clamping block (122) and a second clamping block (126) are slidably connected inside the mounting groove (123), and arcuate grooves (128) are provided on opposite sides of the first clamping block (122) and the second clamping block (126), the diameter of the arcuate groove (128) is adapted to the diameter of the driving rope (90), and the two arcuate grooves (128) are symmetrically distributed about the axis of the rope hole (140), and the sides of the first clamping block (122) and the second clamping block (126) are A first rack (124) and a second rack (127) are fixedly connected respectively, and an intermediate gear (125) is rotatably connected to the bottom of the mounting groove (123), and the first rack (124) and the second rack (127) are both meshed and connected with the intermediate gear (125), and the first rack (124) and the second rack (127) are respectively arranged on both sides of the intermediate gear (125), and a first cylinder (121) is fixedly installed on the side wall of the mounting groove (123), and the movable end of the first cylinder (121) is fixedly connected to the side of the first clamping block (122).

5. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 1, characterized in that: The universal joint (30) includes a rotating ring (31), and four fixed shafts (32) are fixedly connected to the side of the rotating ring (31). The four fixed shafts (32) are evenly distributed around the axis of the rotating ring (31). One end of the four fixed shafts (32) is rotatably connected to a fixed seat (33). Two opposite fixed seats (33) form a pair. The directions of the two pairs of fixed seats (33) are opposite, and the two pairs of fixed seats (33) are respectively connected to two joint arms (40). A braking mechanism (130) is installed on each of the fixed seats (33). The output end of the braking mechanism (130) is connected to the fixed shaft (32). The braking mechanism (130) is used to brake the fixed shaft (32).

6. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 5, characterized in that: The brake mechanism (130) includes a cavity (131) opened inside a fixed seat (33), a second cylinder (132) is fixedly connected to the inside of the cavity (131), a brake pad (133) is fixedly connected to the movable end of the second cylinder (132), and a brake disc (134) is fixedly connected to one end of the fixed shaft (32) located inside the cavity (131). The brake pad (133) can abut against the brake disc (134), and both the brake pad (133) and the brake disc (134) are made of a material with a large friction coefficient.

7. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 1, characterized in that: A mechanical claw (10) is also installed at the end of the mechanical arm, and the mechanical claw (10) is used to clamp an object.

8. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 7, characterized in that: The mechanical claw (10) includes a mounting seat (17), the mounting seat (17) is mounted on the end of the mechanical arm, the side of the mounting seat (17) is fixedly connected to two articulated seats (15), one end of each of the two articulated seats (15) is hinged with a clamping claw (11), the two clamping claws (11) are symmetrically distributed about the axis of the mounting seat (17), the side of the mounting seat (17) is fixedly connected to a telescopic rod (16), the movable end of the telescopic rod (16) is fixedly connected to a driving frame (14), the interior of the driving frame (14) is fixedly connected to a driving column (12), the opposite sides of the two clamping claws (11) are provided with a driving groove (13), and the driving column (12) is slidably connected to the two driving grooves (13).

9. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 8, characterized in that: A first rotary assembly (20) is also installed between the mechanical claw (10) and the end of the mechanical arm. The first rotary assembly (20) includes a first mounting sleeve (22). The first mounting sleeve (22) is mounted on the end of the mechanical arm. A first servo motor (21) is fixedly connected to the side of the first mounting sleeve (22). The output shaft of the first servo motor (21) is fixedly connected to one end of the mounting seat (17). One end of the mounting seat (17) is rotatably connected to the first mounting sleeve (22).

10. The multi-joint robotic arm structure suitable for underwater narrow space operations according to claim 1, characterized in that: A second rotary assembly (50) is also installed between the robotic arm and the mounting plate (60). The second rotary assembly (50) includes a second servo motor (52) fixedly mounted on the side of the mounting plate (60). The output shaft of the second servo motor (52) is fixedly connected to a second mounting sleeve (51). The second mounting sleeve (51) is sleeved on one end of the robotic arm. A waterproof retaining ring (53) is also fixedly connected to the side of the mounting plate (60). The waterproof retaining ring (53) and the second mounting sleeve (51) are rotatably connected.

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