A motion rotation positioning system and method based on underwater intelligent mechanical arm

Abstract

The present invention discloses a motion rotation positioning system and method based on an underwater intelligent mechanical arm, comprising a fixed seat, a rotating seat, a first connecting arm, a second connecting arm, a grasping mechanism and a communication module. The rotating seat is fixedly installed with the fixed seat through a plurality of mounting components. A rotation positioning mechanism is arranged between the rotating seat and the first connecting arm, and between the first connecting arm and the second connecting arm. The rotation positioning mechanism comprises a rotation positioning component, a detection component and a protection component; the rotation positioning component comprises a driving motor, a plurality of push rods and an adjustment disk. The present invention relates to the technical field of underwater intelligent mechanical arms. The motion rotation positioning system and method based on an underwater intelligent mechanical arm positions and stabilizes the position of the connecting arm after rotation through the rotation positioning mechanism. After the position adjustment of the connecting arm is completed, the push rod is pushed against the inner wall of the first circular groove by starting the adjustment motor, thereby positioning and stabilizing the position of the connecting arm.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater intelligent mechanical arms, and in particular to a motion rotation positioning system and method based on the use of underwater intelligent mechanical arms. Background Art

[0002] As humans further understand, develop and utilize the ocean, underwater robotic arms are important tools for completing underwater operation tasks. Underwater robotic arms need to smoothly and efficiently complete various seabed operations, including marine engineering, port construction, offshore oil, scientific research, naval defense and many other fields. They play an increasingly important role in underwater exploration, underwater mining, offshore oil engineering and other fields. Underwater robotic arms have become an important tool for people to understand, develop and utilize the ocean.

[0003] Reference patent publication number "CN114055450A" discloses a modular underwater robotic arm. The working principle of the existing underwater robotic arm is roughly the same as that of the traditional robotic arm. Both work by rotating the connecting arm of multiple joints. However, since the underwater robotic arm is in the water, the connecting arm is affected by the buoyancy of the water. After the rotation adjustment, it will be subjected to additional upward force, which makes the position and positioning of the connecting arm unstable and even causes damage to the motor that drives it to rotate. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a motion rotation positioning system and method based on an underwater intelligent robotic arm, which solves the problem that the existing underwater robotic arm is not stable in positioning due to the buoyancy of water when in use.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a motion rotation positioning system based on an underwater intelligent manipulator, comprising a fixed seat, a rotating seat, a first connecting arm, a second connecting arm, a grasping mechanism and a communication module, wherein the rotating seat is fixedly installed with the fixed seat through a plurality of mounting components, a rotation positioning mechanism is arranged between the rotating seat and the first connecting arm, and between the first connecting arm and the second connecting arm, and the rotation positioning mechanism comprises a rotation positioning component, a detection component and a protection component;

[0006] The rotary positioning assembly includes a driving motor, a plurality of push rods and an adjustment disk. The driving motor is used to drive the second connecting arm to rotate. After the rotation stops, the plurality of push rods are pressed against the second connecting arm under the rotation of the adjustment disk to locate the position of the second connecting arm after rotation. The detection assembly includes a detection sensor, which detects the rotation angle of the second connecting arm, and the detection sensor can be quickly removed from the second connecting arm.

[0007] Preferably, the rotary positioning assembly includes a drive shaft and a first circular groove opened on one side of the second connecting arm, the drive motor is fixedly connected to one side of the second connecting arm, the drive shaft is fixedly connected to the output end of the drive motor, and the drive shaft is rotatably connected to the second connecting arm, the drive shaft is rotatably connected to the first connecting arm, the drive shaft passes through the first connecting arm and extends into the first circular groove, one end of the drive shaft located inside the first circular groove is fixedly connected to a disc, and the other side of the disc is fixedly connected to a ring.

[0008] Preferably, at least four slide grooves are equidistantly provided inside the disc, and the inner surface of the disc is slidably connected to a slide rod, one end of the slide rod is fixedly connected to a push rod, and the push rod passes through the ring and extends to the outside of the ring, and the other side of the push rod is fixedly connected to a guide rod.

[0009] Preferably, an adjustment motor is fixedly connected to one side of the circular disk, and the adjustment disk is fixedly connected to the output end of the adjustment motor. The interior of the adjustment disk is provided with guide grooves having the same number as the guide rods, and the guide rods are located inside the guide grooves. The adjustment disk rotates and pushes the guide rods to move through the inner walls of the guide grooves so that the push rods are pressed against the inner wall of the first circular groove.

[0010] Preferably, the detection component includes a T-slot opened inside the first connecting arm, and the T-slot is connected to the first circular groove, the inner surface of the T-slot is slidably connected to a mounting block, a second circular groove is opened on the inner wall of the first circular groove, and a reset spring is fixedly connected to the inner wall of the second circular groove, the reset spring extends to the outside of the second circular groove, and the second circular groove is in contact with the mounting block.

[0011] Preferably, a detection sensor is threadedly connected in the mounting block, one hundred and eighty detection grooves are equidistantly provided on the surface of the disc, and the span of a single detection groove is 1°, and the detection sensor counts and detects the number of detection grooves during the rotation process.

[0012] Preferably, the protective assembly includes an annular platform, which is fixedly connected to the inner wall of the first circular groove, and a cover plate is fixedly connected to one side of the annular platform by multiple bolts, and the cover plate can press the mounting block toward the inside of the first circular groove and allow the detection sensor and the disc to be in the same plane.

[0013] Preferably, the mounting assembly includes a plurality of threaded holes and hollow bolts opened on the top of the fixing seat, the inner surface of the threaded hole is provided with two left and right L-shaped grooves, the interior of the hollow bolt is hollow, the inner surface of the hollow bolt is fixedly connected to a four-plate support member, the four-plate support member is composed of a cylinder and four support plates, the inner surface of the four-plate support member is rotatably connected to a rotating rod, the end of the rotating rod located below the hollow bolt is fixedly connected to a limiting rod for matching with the L-shaped groove, and the end of the rotating rod located above the hollow bolt is fixedly connected to a handle.

[0014] The present invention also discloses a method for using a motion rotation positioning system based on an underwater intelligent mechanical arm, which specifically comprises the following steps:

[0015] Step 1: Installation: Build a fixed seat in the working area. The fixed seat is built by pouring concrete in a mold. Then the underwater intelligent robotic arm is installed on the fixed seat through the installation components.

[0016] Step 2: Work: Send the work signal through the communication module and control the mechanical arm to work, so that the grasping mechanism is close to the underwater object to be grasped under the rotation of the first connecting arm and the second connecting arm;

[0017] Step 3: Rotational positioning: The detection component detects the rotation angle of the first connecting arm and the second connecting arm. After the angle is adjusted to the preset value, the position of the first connecting arm and the second connecting arm after stopping is positioned with the cooperation of the rotational positioning component, and the grasping mechanism is started to work.

[0018] Beneficial Effects

[0019] The present invention provides a motion rotation positioning system and method based on the use of an underwater intelligent manipulator. Compared with the prior art, it has the following beneficial effects:

[0020] 1. The motion rotation positioning system and method based on the underwater intelligent mechanical arm uses a rotation positioning mechanism to stabilize the position of the connecting arm after rotation. After the position adjustment of the connecting arm is completed, the adjustment motor is started to make the push rod press against the inner wall of the first circular groove, thereby stabilizing the position of the connecting arm, avoiding the buoyancy of the water from affecting the connecting arm, and improving the reliability of the device during use.

[0021] 2. The motion rotation positioning system and method based on the underwater intelligent robotic arm detects the rotation angle of the connecting arm through the detection component, and then accurately controls its rotation position. The detection sensor can be quickly disassembled and maintained, which improves the convenience of using the device.

[0022] 3. The motion rotation positioning system and method based on the underwater intelligent robotic arm installs the robotic arm on the fixed seat through the installation component. The bolts in the installation component are connected inside, which is convenient for water operations. The stability of the bolts after fixing is increased by the cooperation of the limit rod and the L-shaped groove, which is conducive to the long-term underwater operation of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0024] Figure 2 It is a partial schematic diagram of the present invention;

[0025] Figure 3 This is an exploded view of the rotary positioning assembly of the present invention;

[0026] Figure 4 It is a schematic diagram of the detection component of the present invention;

[0027] Figure 5 It is an enlarged view of A of the present invention;

[0028] Figure 6 It is an exploded view of the fixed seat and the rotating seat of the present invention;

[0029] Figure 7 It is a schematic diagram of the installation components of the present invention.

[0030] In the figure: 1. fixed seat; 2. rotating seat; 3. first connecting arm; 4. second connecting arm; 5. grabbing mechanism; 6. mounting assembly; 61. threaded hole; 62. L-shaped groove; 63. hollow bolt; 64. four-plate support; 65. rotating rod; 66. limiting rod; 67. handle; 7. rotary positioning assembly; 71. driving motor; 72. driving shaft; 73. first circular groove; 74. circular disk; 75. circular ring; 76. sliding groove; 77. sliding rod; 78. push rod; 79. guide rod; 710. adjusting motor; 711. adjusting disk; 712. guide groove; 8. detection assembly; 81. T-shaped groove; 82. mounting block; 83. detection sensor; 84. second circular groove; 85. reset spring; 86. detection groove; 9. protection assembly; 91. annular table; 92. cover plate. DETAILED DESCRIPTION

[0031] 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.

[0032] See also Figure 1-Figure 7The motion rotation positioning system based on the underwater intelligent manipulator provides three technical solutions:

[0033] The first embodiment includes a fixed seat 1, a rotating seat 2, a first connecting arm 3, a second connecting arm 4, a grabbing mechanism 5 and a communication module, wherein the communication module is used to receive signals from the control console and signals from the outgoing detection sensor 83, the rotating seat 2 is fixedly installed with the fixed seat 1 through a plurality of mounting components 6, and a rotary positioning mechanism is provided between the rotating seat 2 and the first connecting arm 3, and between the first connecting arm 3 and the second connecting arm 4, and the rotary positioning mechanism includes a rotary positioning component 7, a detection component 8 and a protection component 9;

[0034] The rotary positioning assembly 7 includes a driving motor 71, a plurality of push rods 78 and an adjustment disk 711. The driving motor 71 is used to drive the second connecting arm 4 to rotate. After the rotation stops, the plurality of push rods 78 are pressed against the second connecting arm 4 under the rotation of the adjustment disk 711 to position the second connecting arm 4 after rotation. The detection assembly 8 includes a detection sensor 83, which detects the rotation angle of the second connecting arm 4 and can be quickly removed from the second connecting arm 4.

[0035] The rotary positioning assembly 7 includes a drive shaft 72 and a first circular groove 73 opened on one side of the second connecting arm 4, a drive motor 71 is fixedly connected to one side of the second connecting arm 4, a drive shaft 72 is fixedly connected to the output end of the drive motor 71, and the drive shaft 72 is rotatably connected to the second connecting arm 4, the drive shaft 72 is rotatably connected to the first connecting arm 3, the drive shaft 72 passes through the first connecting arm 3 and extends inside the first circular groove 73, a disc 74 is fixedly connected to one end of the drive shaft 72 located inside the first circular groove 73, a ring 75 is fixedly connected to the other side of the disc 74, at least four slide grooves 76 are equidistantly opened inside the disc 74, and the disc 7 4 is slidably connected with a slide bar 77, one end of the slide bar 77 is fixedly connected with a push rod 78, and the push rod 78 penetrates the ring 75 and extends to the outside of the ring 75, and the other side of the push rod 78 is fixedly connected with a guide rod 79, one side of the disk 74 is fixedly connected with an adjustment motor 710, and the adjustment disk 711 is fixedly connected to the output end of the adjustment motor 710, and the interior of the adjustment disk 711 is provided with guide grooves 712 with the same number as the guide rod 79, and the guide rod 79 is inside the guide groove 712, and the adjustment disk 711 rotates and pushes the guide rod 79 to move through the inner wall of the guide groove 712 so that the push rod 78 is pressed against the inner wall of the first circular groove 73.

[0036] The position of the connecting arm after rotation is positioned and stabilized by the rotary positioning mechanism. After the position adjustment of the connecting arm is completed, the adjustment motor 710 is started so that the push rod 78 is pressed against the inner wall of the first circular groove 73, thereby positioning and stabilizing the position of the connecting arm to avoid the buoyancy of the water from affecting the connecting arm, thereby improving the reliability of the device during use.

[0037] The second embodiment is mainly different from the first embodiment in that the detection assembly 8 includes a T-slot 81 provided inside the first connecting arm 3, and the T-slot 81 is connected to the first circular groove 73, the inner surface of the T-slot 81 is slidably connected with a mounting block 82, a second circular groove 84 is provided on the inner wall of the first circular groove 73, and a reset spring 85 is fixedly connected to the inner wall of the second circular groove 84, the reset spring 85 extends to the outside of the second circular groove 84, and the second circular groove 84 is in contact with the mounting block 82, and the mounting block 82 is threadedly connected with a detection The sensor 83 and the disc 74 are provided with one hundred and eighty detection grooves 86 at equal intervals on their surface, and the span of a single detection groove 86 is 1°. The detection sensor 83 counts and detects the number of detection grooves 86 during the rotation process. The protection component 9 includes an annular platform 91, which is fixedly connected to the inner wall of the first circular groove 73, and a cover plate 92 is fixedly connected to one side of the annular platform 91 by a plurality of bolts, and the cover plate 92 can press the mounting block 82 toward the inside of the first circular groove 73, and allow the detection sensor 83 and the disc 74 to be in the same plane.

[0038] The detection component 8 is used to detect the rotation angle of the connecting arm, thereby accurately controlling the rotation position thereof, and the detection sensor 83 can be quickly disassembled and maintained, thereby improving the convenience of the device when in use.

[0039] The third embodiment mainly differs from the second embodiment in that: the mounting assembly 6 includes a plurality of threaded holes 61 and a hollow bolt 63 opened on the top of the fixing seat 1, the inner surface of the threaded hole 61 is provided with two left and right L-shaped grooves 62, the inside of the hollow bolt 63 is hollow, and the inner surface of the hollow bolt 63 is fixedly connected with a four-plate support member 64, the four-plate support member 64 is composed of a cylinder and four support plates, and the inner surface of the four-plate support member 64 is rotatably connected with a rotating rod 65, and the end of the rotating rod 65 located below the hollow bolt 63 is fixedly connected with a limiting rod 66 for matching with the L-shaped groove 62, and the end of the rotating rod 65 located above the hollow bolt 63 is fixedly connected with a handle 67.

[0040] The robot arm is mounted on the fixing seat 1 through the mounting assembly 6. The bolts in the mounting assembly 6 are connected to facilitate underwater operations, and the stability of the bolts after fixing is increased by the cooperation between the limiting rod 66 and the L-shaped groove 62.

[0041] The present invention also discloses a method for using a motion rotation positioning system based on an underwater intelligent mechanical arm, which specifically comprises the following steps:

[0042] Step 1: Installation: A fixing seat 1 is constructed in the working area. The fixing seat 1 is constructed by pouring concrete into a mold. Then, the underwater intelligent robotic arm is installed on the fixing seat 1 as a whole through the installation component 6;

[0043] Step 2: Work: Send the work signal through the communication module and control the mechanical arm to work. Under the rotation of the first connecting arm 3 and the second connecting arm 4, the grasping mechanism 5 is brought close to the underwater object to be grasped. During installation, align the hole on the rotating seat 2 with the threaded hole 61, align the limit rod 66 with the L-shaped groove 62 after alignment, and screw the hollow bolt 63 into the threaded hole 61. After screwing in, rotate the rotating rod 65 through the handle 67, so that the limit rod 66 enters the curved part of the L-shaped groove 62;

[0044] Step 3: Rotational positioning: The detection component 8 detects the rotation angle of the first connecting arm 3 and the second connecting arm 4. After the angle is adjusted to the preset value, the first connecting arm 3 and the second connecting arm 4 are positioned after stopping with the cooperation of the rotational positioning component 7, and the drive motor 71 is started to rotate the second connecting arm 4. During the rotation, the disk 74 rotates and causes the detection slot 86 to rotate. The detection sensor 83 detects the number of detection slots 86 passing through, and then obtains the rotation angle. After rotating to the set angle, the adjustment motor 710 is started to adjust the disk 71. 11 rotates, the adjusting disk 711 rotates and drives the guide groove 712 to rotate, the guide groove 712 rotates and cooperates with the guide rod 79 to move the multiple push rods 78, and then the multiple push rods 78 are against the inner wall of the first circular groove 73, so as to position and lock the position of the second connecting arm 4 after rotation. When it is necessary to take out the detection sensor 83 for maintenance, unscrew the multiple bolts on the cover plate 92, and remove the cover plate 92. Under the action of the reset spring 85, the mounting block 82 pops out. At this time, the detection sensor 83 can be unscrewed from the mounting block 82, and the grasping mechanism 5 is started to work.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A motion rotation positioning system based on an underwater intelligent manipulator, comprising a fixed seat, a rotating seat, a first connecting arm, a second connecting arm, a grasping mechanism and a communication module, characterized in that: The rotating seat is fixedly installed with a fixed seat through a plurality of installation components, and a rotation positioning mechanism is provided between the rotating seat and the first connecting arm, and between the first connecting arm and the second connecting arm, and the rotation positioning mechanism includes a rotation positioning component, a detection component and a protection component; The rotary positioning assembly includes a driving motor, a plurality of push rods and an adjustment disk. The driving motor is used to drive the second connecting arm to rotate. After the rotation stops, the plurality of push rods are pressed against the second connecting arm under the rotation of the adjustment disk to locate the position of the second connecting arm after rotation. The detection assembly includes a detection sensor, which detects the rotation angle of the second connecting arm, and the detection sensor can be quickly removed from the second connecting arm.

2. The motion rotation positioning system based on the underwater intelligent mechanical arm according to claim 1 is characterized in that: The rotary positioning assembly includes a driving shaft and a first circular groove opened on one side of the second connecting arm, the driving motor is fixedly connected to one side of the second connecting arm, the driving shaft is fixedly connected to the output end of the driving motor, and the driving shaft is rotatably connected to the second connecting arm, the driving shaft is rotatably connected to the first connecting arm, the driving shaft passes through the first connecting arm and extends into the first circular groove, one end of the driving shaft located in the first circular groove is fixedly connected to a disc, and the other side of the disc is fixedly connected to a ring.

3. The motion rotation positioning system based on the underwater intelligent mechanical arm according to claim 2 is characterized in that: At least four slide grooves are equidistantly provided inside the disc, and a slide rod is slidably connected to the inner surface of the disc. One end of the slide rod is fixedly connected to a push rod, and the push rod passes through the ring and extends to the outside of the ring, and the other side of the push rod is fixedly connected to a guide rod.

4. The motion rotation positioning system based on the underwater intelligent mechanical arm according to claim 3 is characterized in that: An adjustment motor is fixedly connected to one side of the circular disk, and the adjustment disk is fixedly connected to the output end of the adjustment motor. The interior of the adjustment disk is provided with guide grooves having the same number as the guide rods, and the guide rods are located inside the guide grooves. The adjustment disk rotates and pushes the guide rods to move through the inner walls of the guide grooves so that the push rods are pressed against the inner wall of the first circular groove.

5. The motion rotation positioning system based on the underwater intelligent mechanical arm according to claim 2, characterized in that: The detection component includes a T-slot opened inside the first connecting arm, and the T-slot is connected to the first circular groove. The inner surface of the T-slot is slidably connected to a mounting block. A second circular groove is opened on the inner wall of the first circular groove, and a reset spring is fixedly connected to the inner wall of the second circular groove. The reset spring extends to the outside of the second circular groove, and the second circular groove is in contact with the mounting block.

6. The motion rotation positioning system based on the underwater intelligent mechanical arm according to claim 5, characterized in that: The mounting block is threadedly connected with a detection sensor. One hundred and eighty detection grooves are evenly spaced on the surface of the disc, and the span of a single detection groove is 1°. The detection sensor counts and detects the number of detection grooves during the rotation process.

7. The motion rotation positioning system based on the underwater intelligent mechanical arm according to claim 6, characterized in that: The protection component includes an annular platform, which is fixedly connected to the inner wall of the first circular groove, and a cover plate is fixedly connected to one side of the annular platform by multiple bolts, and the cover plate can press the mounting block toward the inside of the first circular groove and allow the detection sensor and the disc to be in the same plane.

8. A method for using the motion rotation positioning system used by the underwater intelligent manipulator according to any one of claims 1 to 7, characterized in that: The specific steps include: Step 1: Installation: Build a fixed seat in the working area. The fixed seat is built by pouring concrete in a mold. Then the underwater intelligent robotic arm is installed on the fixed seat through the installation components. Step 2: Work: Send the work signal through the communication module and control the mechanical arm to work, so that the grasping mechanism is close to the underwater object to be grasped under the rotation of the first connecting arm and the second connecting arm; Step 3: Rotational positioning: The detection component detects the rotation angle of the first connecting arm and the second connecting arm. After the angle is adjusted to the preset value, the position of the first connecting arm and the second connecting arm after stopping is positioned with the cooperation of the rotational positioning component, and the grasping mechanism is started to work.

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