Shipborne mechanical arm and using method thereof

Abstract

The invention belongs to the technical field of mechanical arms, and relates to a shipborne mechanical arm and a using method thereof. The mechanical arm comprises a mechanical arm body and a grabbing assembly arranged on the mechanical arm body. The grabbing assembly comprises a shell, a second annular plate and a first annular plate. The first annular plate is rotationally arranged at the front end of the shell, and the first annular plate and the second annular plate are fixedly connected through a fixing pipe; a third annular plate is rotationally arranged at the end, close to the first annular plate, of the second annular plate. A plurality of elastic ropes are fixedly connected between the third annular plate and the first annular plate; a suction assembly for generating negative pressure in the shell is arranged in the shell; and a liquid outlet is formed in the rear end of the shell. When the fan blades rotate, negative pressure is formed in the shell, then the articles are sucked into the containing cavity, after the articles are separated from the water surface, the rotating speed of the fan blades is increased, then the articles are driven to rotate, and water on the articles is spin-dried.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical arms and relates to a shipborne mechanical arm and a use method thereof. Background Art

[0002] The salvage robot arm is a device specially used for underwater salvage operations. It is widely used in marine engineering, rescue and archaeology.

[0003] When salvaging light objects, the objects are easily affected by water flow and water pressure, causing them to shake, making it difficult for the robot arm to accurately grab the objects, resulting in low salvage efficiency. When the objects are salvaged, the remaining water on the objects will spill onto the boat, and in order to facilitate retrieval, the water in the objects needs to be manually shaken out.

[0004] In order to solve the above problems, the present invention proposes a shipborne mechanical arm and a method for using the same. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the present invention proposes a ship-borne mechanical arm and a method for using the same.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present invention is as follows: a shipborne manipulator, comprising a manipulator body and a grabbing assembly arranged on the manipulator body; the grabbing assembly comprises a shell, a second annular plate and a first annular plate; the first annular plate is rotatably arranged at the front end of the shell, and the first annular plate and the second annular plate are fixedly connected by a fixing pipe; a third annular plate is rotatably arranged at one end of the second annular plate close to the first annular plate; a plurality of elastic ropes are fixedly connected between the third annular plate and the first annular plate; a suction assembly for generating negative pressure in the shell is arranged in the shell; a liquid outlet is opened at the rear end of the shell;

[0007] The suction component absorbs the object to be salvaged to the front end of the shell, and then rotates the third annular plate relative to the second annular plate, and the elastic rope is stretched and deformed and wrapped around the object, and wraps the object tightly; after the grabbing component and the object are moved out of the water, the first annular plate, the third annular plate, the second annular plate and the object are all rotated, and the water on the object is thrown out.

[0008] Furthermore, the third annular plate is provided with a second annular cavity extending into the second annular plate, the front end of the shell is provided with a first annular cavity, and the first annular cavity and the second annular cavity are connected through a fixed tube; a first liquid discharge hole is provided on the circumferential surface of the third annular plate, and the outward end of the first liquid discharge hole is inclined in a clockwise direction; a liquid channel connected to the first annular cavity is provided on the shell, and the other end of the liquid channel is located on the rear end inner wall of the shell and avoids the liquid outlet; a sealing plate is rotatably arranged in the shell.

[0009] Furthermore, the suction assembly includes a fan blade, which is rotatably arranged in a shell, and a first motor is fixedly installed in the shell through a fixing frame, and the first motor is drivingly connected to the fan blade.

[0010] Furthermore, a filter screen is arranged at the front end of the shell.

[0011] Furthermore, a second drainage hole is formed on the end surface of the third annular plate away from the second annular plate, and one end of the second drainage hole away from the second annular plate is inclined toward the direction close to the axis of the third annular plate.

[0012] Furthermore, there are four liquid channels, which are evenly distributed along the circumference of the axis of the shell; there are four liquid outlets, which are evenly distributed along the circumference of the axis of the shell; and the blocking plate is in a cross shape.

[0013] A method for using a ship-borne mechanical arm in the present invention comprises the following steps:

[0014] S1. Extend the grabbing assembly into the water through the robot arm body, and make the second annular plate close to the object to be salvaged;

[0015] S2, start the suction assembly, water flows from the front end of the shell to the rear, and flows out through the liquid outlet, negative pressure is generated in the shell, and the objects to be salvaged are sucked into the accommodating cavity formed by the filter screen, the elastic rope, the second annular plate and the third annular plate;

[0016] S3, the blocking plate is rotated to close the liquid outlet and open the liquid channel; the water in the shell flows into the second annular cavity through the liquid channel, the first annular cavity and the fixed pipe, and then is sprayed out through the first liquid discharge hole; the third annular plate is rotated relative to the second annular plate, and the third annular plate drives one end of the elastic rope to rotate, so that the elastic rope is gradually stretched and wrapped around the object, until the object is tightly wrapped by the elastic rope, and the object is fixed on the grabbing assembly under the adsorption effect of the shell and the wrapping of the elastic rope;

[0017] S4, the grabbing assembly and the object are moved above the water surface by the robot arm body; the suction assembly keeps working, the air is sucked into the shell and then passes through the liquid channel, the first annular cavity, the fixing tube, the second annular cavity in sequence, and then is ejected from the first liquid discharge hole, and the object is fixed on the grabbing assembly;

[0018] S5, increasing the suction force of the suction assembly, rotating the third annular plate, the second annular plate, the first annular plate and the object to throw water off the object;

[0019] S6. The grabbing assembly is placed on the ship, and then the suction assembly stops working. The elastic rope resets and drives the third annular plate to rotate. The grabbing assembly releases the grip of the object, and the object falls from the grabbing assembly.

[0020] Compared with the prior art, the present invention has the following beneficial effects: when the fan blades rotate, negative pressure is formed in the shell, thereby sucking the objects into the accommodating cavity, making it convenient to fix the objects later.

[0021] After the object is fixed, the elastic rope is wrapped around the object to fix the object. At the same time, the object is subjected to the adsorption force of the shell, and the impact force of the water flow sprayed from the second drainage hole on the object makes the object have a tendency to move into the shell, so that the object is stably placed on the grabbing component, preventing the object from falling off the grabbing component.

[0022] When the object leaves the water, the rotation speed of the fan blades increases, thereby driving the object to rotate and drying the water on the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the grabbing assembly in the first direction of the present invention;

[0025] Figure 3 is a schematic diagram of the structure of the grabbing assembly in the second direction of the present invention;

[0026] Figure 4 It is a schematic diagram of the internal structure of the grabbing component in the present invention;

[0027] Figure 5 is a schematic diagram of the connection between the first annular plate and the shell in the present invention;

[0028] Figure 6 is a schematic diagram of the connection between the second annular plate and the third annular plate in the present invention;

[0029] Figure 7 The present invention Figure 4 A magnified view of part A;

[0030] Figure 8 is a cross-sectional view of the third annular plate in the present invention;

[0031] Fig. 9 The present invention Figure 8 A magnified view of part B;

[0032] Fig.10 It is a schematic diagram of the state in which the blocking plate blocks the liquid channel in the present invention.

[0033] In the figure: 1. base; 2. robot arm body; 3. shell; 4. filter; 5. fixing frame; 6. first motor; 7. fan blades; 8. first annular plate; 9. first annular cavity; 10. liquid channel; 11. fixing tube; 12. second annular plate; 13. third annular plate; 14. elastic rope; 15. first drainage hole; 16. second drainage hole; 17. liquid outlet; 18. second motor; 19. sealing plate; 20. second annular cavity. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1-Figure 10 A ship-borne robotic arm is shown.

[0036] Embodiment 1: The technical solution adopted by the present invention is as follows: A ship-borne manipulator includes a manipulator body 2 and a grabbing assembly. One end of the manipulator body 2 is mounted on a base 1, and the base 1 is mounted on a ship hull. The grabbing assembly is mounted on the other end of the manipulator body 2. When in use, the grabbing assembly is extended into the water through the manipulator body 2 to perform salvage operations.

[0037] The grabbing assembly includes a shell 3, a first annular plate 8 and a second annular plate 12. The shell 3 is mounted on the robot arm body 2. The front end of the shell 3 is open, and a filter screen 4 is installed at the front end of the shell 3 to cover its opening. The first annular plate 8 is coaxially rotatably mounted at the front end of the shell 3 with the shell 3. There is a certain rotational damping between the first annular plate 8 and the shell 3. A first annular cavity 9 is provided at the front end of the shell 3, and the first annular cavity 9 extends to the interior of the first annular plate 8. A liquid channel 10 is provided on the side wall of the shell 3, one end of the liquid channel 10 is connected to the first annular cavity 9, and the other end of the liquid channel 10 is located on the rear end inner wall of the shell 3 and is connected to the shell 3. In this embodiment, there are four liquid channels 10, and the four liquid channels 10 are evenly distributed around the axis of the shell 3.

[0038] A liquid outlet 17 is provided on the rear end side wall of the housing 3 away from the liquid channel 10. Water in the housing 3 is discharged through the liquid outlet 17. In this embodiment, there are four liquid outlets 17, which are evenly distributed around the axis of the housing 3.

[0039] A blocking plate 19 is rotatably arranged in the housing 3, and the blocking plate 19 is in a cross shape. A second motor 18 is embedded and fixedly installed on the side wall of the housing 3, and the second motor 18 is drivingly connected to the blocking plate 19.

[0040] A suction assembly for generating negative pressure in the housing 3 is provided in the housing 3. The suction assembly includes a fan blade 7, which is rotatably mounted in the housing 3. A first motor 6 is fixedly mounted in the housing 3 via a fixing frame 5, and the first motor 6 is drivingly connected to the fan blade 7. The fan blade 7 rotates, so that the water in the housing 3 flows from the front to the back, so that a negative pressure is formed at the front end of the housing 3, and the water in front of the housing 3 is sucked into the housing 3.

[0041] The second annular plate 12 is fixedly mounted on the front end of the first annular plate 8 through the fixing tube 11. The second annular plate 12 is coaxially arranged with the first annular plate 8. The second annular plate 12 is rotatably connected to the third annular plate 13 on one side close to the first annular plate 8. The third annular plate 13 is provided with a second annular cavity 20, which extends into the interior of the second annular plate 12. The first annular cavity 9 and the second annular cavity 20 are connected through the fixing tube 11.

[0042] A plurality of first liquid discharge holes 15 are formed on the circumferential surface of the third annular plate 13. Figure 8 , Fig. 9 As shown, the outward end of the first liquid discharge hole 15 is inclined in the clockwise direction.

[0043] A plurality of elastic ropes 14 are fixedly connected between the third annular plate 13 and the first annular plate 8 . The plurality of elastic ropes 14 are distributed circumferentially along the axis of the third annular plate 13 .

[0044] Working principle: Initially, the blocking plate 19 blocks the liquid channel 10. The liquid outlet 17 is in an open state. The filter screen 4, the elastic rope 14, the second annular plate 12 and the third annular plate 13 form a receiving chamber.

[0045] When in use, the base 1 is installed on the hull. When objects need to be salvaged, the grab assembly 4 is extended into the water through the mechanical arm body 2. When the second annular plate 12 is close to the objects to be salvaged, the first motor 6 is started, the fan blades 7 rotate, and the fan blades 7 drive the water in the shell 3 to flow, so that the water at the front end of the shell 3 is sucked into the shell 3 and discharged from the liquid outlet 17. Negative pressure is formed at the front end of the shell 3, and the objects to be salvaged are sucked into the accommodating cavity surrounded by the filter screen 4, the elastic rope 14, the second annular plate 12 and the third annular plate 13. The objects to be salvaged do not completely block the filter screen 4.

[0046] After that, the second motor 18 is started, the blocking plate 19 rotates, so that the blocking plate 19 blocks the liquid outlet 17, the liquid channel 10 is opened, and the second motor 18 is turned off. Thereafter, as the fan blades 7 rotate, the water in the housing 3 enters the first annular cavity 9 through the liquid channel 10, and the water in the first annular cavity 9 enters the second annular cavity 20 through the fixed pipe 11, and then is sprayed out through the first drainage hole 15.

[0047] When the water in the second annular cavity 20 is sprayed out through the first drainage hole 15, the third annular plate 13 rotates relative to the second annular plate 12 under the action of the first drainage hole 15. At this time, due to the certain rotation damping between the first annular plate 8 and the housing 3, the third annular plate 13 cannot drive the second annular plate 12 and the first annular plate 8 to rotate. The third annular plate 13 drives one end of the elastic rope 14 to rotate, so that the elastic rope 14 is gradually stretched and gradually wrapped around the object. As the elastic rope 14 deforms, the resistance to the rotation of the third annular plate 13 becomes greater and greater until the third annular plate 13 can no longer rotate. At this time, the object is tightly wrapped by the elastic rope 14, so that the object is fixed on the grasping assembly. At this time, the grasping assembly is in a grasping state.

[0048] Then the housing 3 and the object are dragged out of the water by the robot body 2. When the grabbing assembly is removed from the water, the fan blades 7 are still in the working state, and then the outside air is sucked into the housing 3, and then flows through the liquid channel 10, the fixing pipe 11, the second annular cavity 20 in sequence, and then sprayed out through the first drainage hole 15, so that the grabbing assembly remains in the grabbing state. The object is stably fixed on the grabbing assembly, and the elastic rope 14 is still wrapped around the object.

[0049] The first motor 6 increases the rotation speed of the fan blade 7, allowing more air to enter the housing 3, thereby increasing the velocity of the air ejected through the first drainage hole 15 and increasing the impact force of the ejected gas. Since the elastic rope 14 is tightly wrapped around the object, the rotation resistance of the third annular plate 13 increases, and the third annular plate 13 drives the object, the first annular plate 8 and the second annular plate 12 to rotate through the elastic rope 14, so as to throw water off the object.

[0050] After the water on the articles is dried, the housing 3 is moved to the boat, and the first motor 6 is turned off. No more air is ejected from the first drainage hole 15, and the elastic rope 14 returns to its original state, driving the third annular plate 13 to rotate. Until the elastic rope 14 returns to its initial state, the article is released from its wrapping, and the article falls onto the boat.

[0051] Embodiment 2: This embodiment is an improvement based on the embodiment base 1.

[0052] A plurality of second drainage holes 16 communicating with the second annular cavity 20 are formed on the end surface of the third annular plate 13 away from the second annular plate 12 . The second drainage holes 16 are inclined toward the axis of the third annular plate 13 at one end away from the second annular plate 12 .

[0053] When water enters the second annular cavity 20 from the housing 3 through the liquid channel 10, the first annular cavity 9, and the fixing tube 11, the water in the second annular cavity 20 is simultaneously ejected through the first drainage hole 15 and the second drainage hole 16. The water flowing out through the second drainage hole 16 is ejected toward the object, causing the object to have a tendency to move toward the inside of the housing 3. This further increases the clamping and fixing effect on the object, allowing the object to be stably placed on the gripping assembly, preventing the object from falling off the gripping assembly.

[0054] The method for using the ship-borne mechanical arm in the present invention comprises the following steps:

[0055] S1. Extend the grabbing assembly into the water through the robot arm body 2, and make the second annular plate 12 close to the object to be salvaged.

[0056] S2. Start the suction assembly, water flows backward from the front end of the shell 3 and flows out through the liquid outlet 17, negative pressure is generated in the shell 3, and the objects to be salvaged are sucked into the accommodating cavity formed by the filter screen 4, the elastic rope 14, the second annular plate 12 and the third annular plate 13.

[0057] S3, rotate the blocking plate 19 to close the liquid outlet 17 and open the liquid channel 10; the water in the shell 3 flows into the second annular cavity 20 through the liquid channel 10, the first annular cavity 9 and the fixed tube 11, and then sprays out through the first drainage hole 15, the third annular plate 13 rotates relative to the second annular plate 12, and the third annular plate 13 drives one end of the elastic rope 14 to rotate, so that the elastic rope 14 is gradually stretched and wrapped around the object until the object is tightly wrapped by the elastic rope 14, and the object is fixed on the grabbing assembly under the adsorption effect of the shell 3 and the wrapping of the elastic rope 14.

[0058] S4. Move the grabbing assembly and the object above the water surface through the robot arm body 2; the suction assembly keeps working, and the air is sucked into the shell 3 and then passes through the liquid channel 10, the first annular cavity 9, the fixing tube 11, the second annular cavity 20 in sequence before being ejected from the first drainage hole 15, and the object is fixed on the grabbing assembly.

[0059] S5. Increase the suction force of the suction assembly, and rotate the third annular plate 13, the second annular plate 12, the first annular plate 8 and the objects to throw away the water on the objects.

[0060] S6. The grabbing assembly is placed on the ship, and then the suction assembly stops working. The elastic rope 14 resets and drives the third annular plate 13 to rotate. The grabbing assembly releases the grip of the object, and the object falls from the grabbing assembly.

[0061] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A ship-borne mechanical arm, characterized in that: The invention comprises a mechanical arm body (2) and a grasping assembly arranged on the mechanical arm body (2); the grasping assembly comprises a shell (3), a second annular plate (12) and a first annular plate (8); the first annular plate (8) is rotatably arranged at the front end of the shell (3), and the first annular plate (8) and the second annular plate (12) are fixedly connected via a fixing tube (11); a third annular plate (13) is rotatably arranged at one end of the second annular plate (12) close to the first annular plate (8); a plurality of elastic ropes (14) are fixedly connected between the third annular plate (13) and the first annular plate (8); a suction assembly for generating negative pressure in the shell (3) is arranged in the shell (3); and a liquid outlet (17) is provided at the rear end of the shell (3); The suction component absorbs the object to be salvaged to the front end of the shell (3), and then causes the third annular plate (13) to rotate relative to the second annular plate (12), and the elastic rope (14) is stretched and deformed and wrapped around the object, thereby wrapping the object tightly; after the grabbing component and the object are moved out of the water, the first annular plate (8), the third annular plate (13), the second annular plate (12) and the object are all rotated, and the water on the object is thrown out.

2. A shipborne mechanical arm according to claim 1, characterized in that: The third annular plate (13) is provided with a second annular cavity (20) extending into the second annular plate (12); the front end of the shell (3) is provided with a first annular cavity (9); the first annular cavity (9) and the second annular cavity (20) are connected via a fixed tube (11); a first liquid discharge hole (15) is provided on the circumferential surface of the third annular plate (13); the outward end of the first liquid discharge hole (15) is inclined in a clockwise direction; a liquid channel (10) connected to the first annular cavity (9) is provided on the shell (3); the other end of the liquid channel (10) is located on the rear end inner wall of the shell (3) and avoids the liquid outlet (17); a sealing plate (19) is rotatably arranged in the shell (3).

3. A shipborne mechanical arm according to claim 1, characterized in that: The suction assembly comprises a fan blade (7), which is rotatably arranged in a housing (3), a first motor (6) is fixedly installed in the housing (3) via a fixing frame (5), and the first motor (6) is drivingly connected to the fan blade (7).

4. A shipborne mechanical arm according to claim 1, characterized in that: A filter screen (4) is provided at the front end of the housing (3).

5. A shipborne mechanical arm according to claim 2, characterized in that: A second drainage hole (16) is provided on the end surface of the third annular plate (13) away from the second annular plate (12); one end of the second drainage hole (16) away from the second annular plate (12) is inclined in a direction close to the axis of the third annular plate (13).

6. A shipborne mechanical arm according to claim 2, characterized in that: There are four liquid channels (10), which are evenly distributed along the circumference of the axis of the shell (3); there are four liquid outlets (17), which are evenly distributed along the circumference of the axis of the shell (3); and the blocking plate (19) is in a cross shape.

7. A method for using the shipborne robotic arm as claimed in claim 1, characterized in that: S1, extending the grabbing assembly into the water through the mechanical arm body (2), and making the second annular plate (12) close to the object to be salvaged; S2, starting the suction assembly, water flows backward from the front end of the housing (3) and flows out through the liquid outlet (17), negative pressure is generated in the housing (3), and the objects to be salvaged are sucked into the accommodating chamber formed by the filter screen (4), the elastic rope (14), the second annular plate (12) and the third annular plate (13); S3, the blocking plate (19) is rotated to close the liquid outlet (17) and open the liquid channel (10); the water in the shell (3) flows into the second annular cavity (20) through the liquid channel (10), the first annular cavity (9) and the fixing tube (11), and then is sprayed out through the first liquid discharge hole (15); the third annular plate (13) is rotated relative to the second annular plate (12), and the third annular plate (13) drives one end of the elastic rope (14) to rotate, so that the elastic rope (14) is gradually stretched and wrapped around the object, until the object is tightly wrapped by the elastic rope (14), and the object is fixed on the grabbing component under the adsorption effect of the shell (3) and the wrapping of the elastic rope (14); S4, the grabbing assembly and the object are moved above the water surface by the robot arm body (2); the suction assembly keeps working, and the air is sucked into the housing (3) and then passes through the liquid channel (10), the first annular cavity (9), the fixing pipe (11), the second annular cavity (20) in sequence before being ejected from the first liquid discharge hole (15), and the object is fixed on the grabbing assembly; S5, increasing the suction force of the suction assembly, and rotating the third annular plate (13), the second annular plate (12), the first annular plate (8) and the object to throw water off the object; S6, the grabbing assembly is placed on the ship, and then the suction assembly stops working, the elastic rope (14) resets and drives the third annular plate (13) to rotate, the grabbing assembly releases the grip on the object, and the object falls from the grabbing assembly.

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