Underwater mechanical arm control device

Abstract

The invention belongs to the field of mechanical arms, and particularly relates to an underwater mechanical arm control device which comprises a chassis. A clamping plate is arranged at the top of the base plate, the top of the base plate is fixedly connected with the right end of the clamping plate, a connecting frame is arranged at the left end of the clamping plate, the left end of the clamping plate is movably connected with the bottom of the connecting frame, stabilizing columns are evenly arranged in the connecting frame, and the inner wall of the connecting frame is fixedly connected with the two ends of the stabilizing columns. A supporting mechanism is arranged at the top of the connecting frame, the top of the connecting frame is movably connected with the bottom of the supporting mechanism, a telescopic mechanism is arranged at the bottom of the supporting mechanism, the bottom of the supporting mechanism is movably connected with the top of the telescopic mechanism, and a hand grabbing mechanism is arranged at the bottom of the telescopic mechanism. The bottom of the telescopic mechanism is movably connected with the top of the hand grabbing mechanism, the chassis comprises a base, a supporting column is arranged at the top of the base, and the top of the base is fixedly connected with the bottom of the supporting column.

Description

Technical Field

[0001] The invention belongs to the field of mechanical arms, in particular to an underwater mechanical arm control device. Background Art

[0002] The robot arm is a high-precision, high-speed dispensing robot. With the rapid development of automation and mechanization, more and more robot arms are put into production. Some underwater operations require higher requirements for the robot arm itself and the operation method. At present, most of the underwater robot arms on the market are integrated customized products, which have the following disadvantages: complex structure, high integration, and the repair process requires all disassembly, which is time-consuming and laborious; single function, it is difficult for customers to do secondary development. Now an underwater robot arm control device is proposed to solve the above problems. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides an underwater robotic arm control device, which solves the problems of time-consuming and labor-intensive disassembly and difficulty in secondary development.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an underwater robotic arm control device described in the present invention includes a chassis; a clamping plate is provided on the top of the chassis, and the top of the chassis is fixedly connected to the right end of the clamping plate, a connecting frame is provided on the left end of the clamping plate, and the left end of the clamping plate is movably connected to the bottom of the connecting frame, stabilizing columns are evenly provided inside the connecting frame, and the inner wall of the connecting frame is fixedly connected to the two ends of the stabilizing columns, a supporting mechanism is provided on the top of the connecting frame, and the top of the connecting frame is movably connected to the bottom of the supporting mechanism, a telescopic mechanism is provided on the bottom of the supporting mechanism, and the bottom of the supporting mechanism is movably connected to the top of the telescopic mechanism, a hand grasping mechanism is provided on the bottom of the telescopic mechanism, and the bottom of the telescopic mechanism is movably connected to the top of the hand grasping mechanism.

[0005] The chassis includes a base, a supporting column is provided on the top of the base, and the top of the base is fixedly connected to the bottom of the supporting column, a limiting block is provided on the top of the supporting column, and the top of the supporting column is movably connected to the bottom of the limiting block, a rotating disk is provided at the bottom of the limiting block, and the bottom of the limiting block contacts the top of the rotating disk, positioning blocks are symmetrically provided at both ends of the rotating disk, and the inner wall of the rotating disk contacts the outer surface of the positioning block, fastening bolts are evenly provided inside the positioning block, and the inner wall of the positioning block is fixedly connected to the outer surface of the fastening bolt, a limiting plate is symmetrically provided at the left end of the positioning block, the right end of the limiting plate contacts the inner wall of the positioning block, a tension spring is provided at the right end of the limiting plate, and the left end of the tension spring is fixedly connected to the right end of the limiting plate.

[0006] The supporting mechanism includes a driving block, a steering column is arranged inside the driving block, and the inner wall of the driving block is fixedly connected to the outer surface of the steering column, support plates are symmetrically arranged at both ends of the steering column, and the right end of the steering column is movably connected to the inner wall of the support plate, mounting rods are evenly arranged inside the support plate, and the inner wall of the support plate is fixedly connected to both ends of the mounting rod, a cylinder is arranged on the outer surface of the mounting rod, and the outer surface of the mounting rod is movably connected to the inner wall of the cylinder, a steering rod is arranged at the left end of the support plate, and the inner wall of the support plate is movably connected to both ends of the steering rod, a ring is arranged on the outer surface of the steering rod, and the outer surface of the steering rod is movably connected to the inner wall of the ring, a connecting column is arranged at the bottom of the ring, and the bottom of the ring is fixedly connected to the top of the connecting column.

[0007] The hand grip mechanism comprises a telescopic cylinder, a positioning ring is arranged at the bottom of the telescopic cylinder, and the inner wall of the telescopic cylinder is movably connected to the two ends of the positioning ring, a hand grip rod is arranged at the left end of the positioning ring, and the left end of the positioning ring is movably connected to the top of the hand grip rod.

[0008] A connecting ring is arranged at the right end of the positioning ring, and the right end of the positioning ring is fixedly connected to the outer surface of the connecting ring. A lifting rod is arranged inside the connecting ring, and the inner wall of the connecting ring is fixedly connected to the outer surface of the lifting rod.

[0009] The clamping plate comprises a main body, and positioning nuts are symmetrically arranged inside the main body, and the inner wall of the main body is in contact with the outer surface of the positioning nuts.

[0010] The beneficial effects of the present invention are as follows: 1. The present invention can greatly improve the use effect of the device by setting a chassis. The components on the top can be fixedly installed through the chassis set at the bottom, and the positioning blocks symmetrically arranged on the top of the chassis can make the components inside the device quickly and conveniently assembled during assembly. The limit plates symmetrically arranged on the top of the chassis can ensure the stability of the installation to the greatest extent, greatly avoiding the mistakes caused by loose connections during the use of the device.

[0011] 2. The present invention can greatly improve the use effect of the device by setting a supporting mechanism. The supporting mechanism can be used to conduct mechanical energy, and the driving block arranged inside the supporting mechanism can enable the device to independently control the supporting mechanism and the components of the rear half through the driving block, which greatly improves the practical performance of the device. The cylinder arranged inside the supporting mechanism can be used to fill the polyurethane foaming agent, so that the buoyancy generated by the cylinder can offset the gravity generated by most of the mechanical structure, thereby increasing the effective load of the robotic arm.

[0012] 3. The present invention can greatly improve the practicability of the device by providing a hand grip mechanism. The hand grip mechanism can ensure the stability of the device during operation. The lifting rod provided inside the hand grip mechanism can drive the lifting and lowering of the connecting ring, thereby enabling the hand grip mechanism to drive the tightening and loosening of the hand grip rod through the lifting and lowering of the lifting rod during operation. Furthermore, the hand grip mechanism can be provided so that the device can perform various underwater operations by replacing different types of hand grip mechanisms, thereby greatly improving the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a front view of the present invention; Figure 2 It is a structural schematic diagram of the chassis of the present invention; Figure 3 It is a structural schematic diagram of the support mechanism of the present invention; Figure 4 It is a structural schematic diagram of the hand grasping mechanism of the present invention; Figure 5 It is a schematic diagram of the structure inside the hand grasping mechanism of the present invention; Figure 6 It is a structural schematic diagram of the card connection board of the present invention; In the figure: chassis 1, stabilizing column 2, hand grip mechanism 3, telescopic mechanism 4, supporting mechanism 5, connecting frame 6, clamping plate 7, supporting column 11, tension spring 12, limit block 13, limit plate 14, positioning block 15, fastening bolt 16, rotating disk 17, base 18, telescopic cylinder 31, positioning ring 32, hand grip rod 33, connecting ring 34, lifting rod 35, driving block 51, steering column 52, mounting rod 53, cylinder 54, supporting plate 55, steering rod 56, connecting column 57, collar 58, main body 71, positioning nut 72. DETAILED DESCRIPTION

[0014] use Figure 1-Figure 6 An underwater robot arm control device according to an embodiment of the present invention is described as follows.

[0015] like Figure 1-Figure 6As shown, an underwater robotic arm control device described in the present invention includes a chassis 1; a clamping plate 7 is provided on the top of the chassis 1, and the top of the chassis 1 is fixedly connected to the right end of the clamping plate 7, a connecting frame 6 is provided on the left end of the clamping plate 7, and the left end of the clamping plate 7 is movably connected to the bottom of the connecting frame 6, stabilizing columns 2 are evenly provided inside the connecting frame 6, and the inner wall of the connecting frame 6 is fixedly connected to the two ends of the stabilizing columns 2, a supporting mechanism 5 is provided on the top of the connecting frame 6, and the top of the connecting frame 6 is movably connected to the bottom of the supporting mechanism 5, a telescopic mechanism 4 is provided on the bottom of the supporting mechanism 5, and the bottom of the supporting mechanism 5 is movably connected to the top of the telescopic mechanism 4, a hand grasping mechanism 3 is provided on the bottom of the telescopic mechanism 4, and the bottom of the telescopic mechanism 4 is movably connected to the top of the hand grasping mechanism 3, and the purpose of setting the telescopic mechanism 4 is to cooperate with the normal operation of the hand grasping mechanism 3.

[0016] The chassis 1 includes a base 18, a support column 11 is provided on the top of the base 18, and the top of the base 18 is fixedly connected to the bottom of the support column 11, a limit block 13 is provided on the top of the support column 11, and the top of the support column 11 is movably connected to the bottom of the limit block 13, a rotating disk 17 is provided at the bottom of the limit block 13, and the bottom of the limit block 13 is in contact with the top of the rotating disk 17, positioning blocks 15 are symmetrically provided at both ends of the rotating disk 17, and the inner wall of the rotating disk 17 is in contact with the outer surface of the positioning block 15, and the interior of the positioning block 15 is evenly provided with fastening bolts 16, and the inner wall of the positioning block 15 is fixedly connected to the outer surface of the fastening bolt 16, and the left end of the positioning block 15 is symmetrically provided with a limit Plate 14, the right end of the limiting plate 14 contacts the inner wall of the positioning block 15, the right end of the limiting plate 14 is provided with a tension spring 12, the left end of the tension spring 12 is fixedly connected to the right end of the limiting plate 14, by setting the chassis 1, the use effect of the device can be greatly improved, the chassis 1 set at the bottom can be used to fix the top parts, and the positioning blocks 15 symmetrically set at the top of the chassis 1 can make the parts inside the device can be quickly and conveniently assembled during assembly, and the limiting plates 14 symmetrically set at the top of the chassis 1 can ensure the stability of the installation to the greatest extent, which greatly avoids the mistakes caused by loose connections during use of the device.

[0017] The support mechanism 5 includes a driving block 51, a steering column 52 is arranged inside the driving block 51, and the inner wall of the driving block 51 is fixedly connected to the outer surface of the steering column 52, support plates 55 are symmetrically arranged at both ends of the steering column 52, and the right end of the steering column 52 is movably connected to the inner wall of the support plate 55, mounting rods 53 are evenly arranged inside the support plate 55, and the inner wall of the support plate 55 is fixedly connected to both ends of the mounting rod 53, a cylinder 54 is arranged on the outer surface of the mounting rod 53, and the outer surface of the mounting rod 53 is movably connected to the inner wall of the cylinder 54, a steering rod 56 is arranged at the left end of the support plate 55, and the inner wall of the support plate 55 is movably connected to both ends of the steering rod 56, a collar 58 is arranged on the outer surface of the steering rod 56, and the steering rod 56 The outer surface is movably connected to the inner wall of the collar 58, a connecting column 57 is provided at the bottom of the collar 58, and the bottom of the collar 58 is fixedly connected to the top of the connecting column 57. By providing the support mechanism 5, the use effect of the device can be greatly improved. The support mechanism 5 can be used to transmit mechanical energy, and the driving block 51 provided inside the support mechanism 5 can make the device independently control the support mechanism 5 and the parts of the rear half through the driving block 51, which greatly improves the practical performance of the device, and the cylinder 54 provided inside the support mechanism 5 can be used to fill the polyurethane foaming agent, so that the buoyancy generated by the cylinder 54 can offset the gravity generated by most of the mechanical structure, thereby increasing the effective load of the robot arm.

[0018] The hand-grabbing mechanism 3 comprises a telescopic cylinder 31, a positioning ring 32 is provided at the bottom of the telescopic cylinder 31, and the inner wall of the telescopic cylinder 31 is movably connected to the two ends of the positioning ring 32, a hand-grabbing rod 33 is provided at the left end of the positioning ring 32, and the left end of the positioning ring 32 is movably connected to the top of the hand-grabbing rod 33. By providing the hand-grabbing mechanism 3, the practicality of the device can be greatly improved. By providing the hand-grabbing mechanism 3, the stability of the device during operation can be improved. The lifting rod 35 provided inside the hand-grabbing mechanism 3 can drive the lifting and lowering of the connecting ring 34, so that the hand-grabbing mechanism 3 can drive the tightening and loosening of the hand-grabbing rod 33 through the lifting and lowering of the lifting rod 35 during operation. By providing the hand-grabbing mechanism 3, the device can be used for various underwater operations by replacing different types of hand-grabbing mechanisms 3, which greatly improves the practicality of the device.

[0019] A connecting ring 34 is provided at the right end of the positioning ring 32, and the right end of the positioning ring 32 is fixedly connected to the outer surface of the connecting ring 34. A lifting rod 35 is provided inside the connecting ring 34, and the inner wall of the connecting ring 34 is fixedly connected to the outer surface of the lifting rod 35. The purpose of setting the positioning ring 32 is to install the grab bar 33.

[0020] The clamping plate 7 includes a main body 71 , and positioning nuts 72 are symmetrically arranged inside the main body 71 , and the inner wall of the main body 71 is in contact with the outer surface of the positioning nuts 72 . The purpose of arranging the clamping plate 7 is to cooperate with the positioning block 15 .

[0021] The specific workflow is as follows: When working, the underwater robotic arm assembles and controls the overall components through the chassis 1 set at the bottom, and movably installs the connecting frame 6 through the positioning block 15 set at the top of the chassis 1. The positioning block 15 is used in conjunction with the clamping plate 7 to make the chassis 1 and the connecting frame 6 movably connected. The clamping plate 7 contacts the right end of the positioning block 15, so that the fastening bolts 16 are fixed, and the limiting plates 14 set at both ends of the positioning block 15 are used to limit the connection, so that the connecting frame 6 will not be loosely connected during operation, and mechanical energy can be transmitted by setting the supporting mechanism 5, and the cylinder 54 set inside the supporting mechanism 5 can be used to offset the gravity generated by a part of the mechanical structure, thereby greatly improving the use effect of the underwater robotic arm.

[0022] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. An underwater robot arm control device, comprising a chassis (1); characterized in that: A clamping plate (7) is provided at the top of the chassis (1), and the top of the chassis (1) is fixedly connected to the right end of the clamping plate (7); a connecting frame (6) is provided at the left end of the clamping plate (7), and the left end of the clamping plate (7) is movably connected to the bottom of the connecting frame (6); stabilizing columns (2) are evenly provided inside the connecting frame (6), and the inner wall of the connecting frame (6) is fixedly connected to both ends of the stabilizing columns (2); a supporting mechanism (5) is provided at the top of the connecting frame (6), and the top of the connecting frame (6) is movably connected to the bottom of the supporting mechanism (5); a telescopic mechanism (4) is provided at the bottom of the supporting mechanism (5), and the bottom of the supporting mechanism (5) is movably connected to the top of the telescopic mechanism (4); a hand gripping mechanism (3) is provided at the bottom of the telescopic mechanism (4), and the bottom of the telescopic mechanism (4) is movably connected to the top of the hand gripping mechanism (3).

2. The underwater robot arm control device according to claim 1, characterized in that: The chassis (1) comprises a base (18), a support column (11) is arranged on the top of the base (18), and the top of the base (18) is fixedly connected to the bottom of the support column (11), a limit block (13) is arranged on the top of the support column (11), and the top of the support column (11) is movably connected to the bottom of the limit block (13), a rotating disk (17) is arranged on the bottom of the limit block (13), and the bottom of the limit block (13) is in contact with the top of the rotating disk (17), and positioning blocks (17) are symmetrically arranged at both ends of the rotating disk (17). 5), and the inner wall of the rotating disk (17) contacts the outer surface of the positioning block (15), the interior of the positioning block (15) is evenly provided with fastening bolts (16), and the inner wall of the positioning block (15) is fixedly connected to the outer surface of the fastening bolts (16), a limit plate (14) is symmetrically arranged at the left end of the positioning block (15), the right end of the limit plate (14) contacts the inner wall of the positioning block (15), and a tension spring (12) is arranged at the right end of the limit plate (14), and the left end of the tension spring (12) is fixedly connected to the right end of the limit plate (14).

3. The underwater robot arm control device according to claim 1, characterized in that: The support mechanism (5) comprises a driving block (51), a steering column (52) is arranged inside the driving block (51), and the inner wall of the driving block (51) is fixedly connected to the outer surface of the steering column (52), support plates (55) are symmetrically arranged at both ends of the steering column (52), and the right end of the steering column (52) is movably connected to the inner wall of the support plate (55), mounting rods (53) are evenly arranged inside the support plate (55), and the inner wall of the support plate (55) is fixedly connected to both ends of the mounting rod (53), and the outer surface of the mounting rod (53) is A cylinder (54) is provided on the surface, and the outer surface of the mounting rod (53) is movably connected to the inner wall of the cylinder (54); a steering rod (56) is provided at the left end of the support plate (55), and the inner wall of the support plate (55) is movably connected to both ends of the steering rod (56); a collar (58) is provided on the outer surface of the steering rod (56), and the outer surface of the steering rod (56) is movably connected to the inner wall of the collar (58); a connecting column (57) is provided at the bottom of the collar (58), and the bottom of the collar (58) is fixedly connected to the top of the connecting column (57).

4. The underwater robot arm control device according to claim 1, characterized in that: The hand grip mechanism (3) comprises a telescopic cylinder (31), a positioning ring (32) is provided at the bottom of the telescopic cylinder (31), and the inner wall of the telescopic cylinder (31) is movably connected to both ends of the positioning ring (32), a hand grip rod (33) is provided at the left end of the positioning ring (32), and the left end of the positioning ring (32) is movably connected to the top of the hand grip rod (33).

5. The underwater robot arm control device according to claim 4, characterized in that: A connecting ring (34) is provided at the right end of the positioning ring (32), and the right end of the positioning ring (32) is fixedly connected to the outer surface of the connecting ring (34); a lifting rod (35) is provided inside the connecting ring (34), and the inner wall of the connecting ring (34) is fixedly connected to the outer surface of the lifting rod (35).

6. The underwater robot arm control device according to claim 1, characterized in that: The clamping plate (7) comprises a main body (71), and positioning nuts (72) are symmetrically arranged inside the main body (71), and the inner wall of the main body (71) is in contact with the outer surface of the positioning nuts (72).

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