A side-operating mechanical arm for ocean-going ships

Abstract

The present invention relates to the technical field of robotic arms, and specifically relates to a robotic arm for operating the side of an ocean-going vessel, comprising: a mounting seat, on which an adjusting arm, an adjusting arm and a connecting seat are sequentially mounted; a robotic claw assembly comprises a fixed bracket fixedly mounted on a rotating platform, and an adjusting bracket is rotatably mounted on one end of the fixed bracket; the reflector is in the shape of a triangular pyramid, and the surface is coated with a reflective coating; the interior of the connecting seat is hollow and a camera is fixedly mounted, and the camera is facing the reflector; the beneficial effect is: a robotic arm is formed by arranging the adjusting arm, the adjusting arm and the connecting seat, a robotic claw assembly is arranged on the rotating platform for dredging and cleaning the inner cavity of the side drain pipe, and the staff can observe the overall position of the robotic claw assembly through the camera, the reflector and the reflector, and after aligning the front end of the robotic claw assembly with the side drain pipe, insert it into the inner cavity of the side drain pipe and rotate it, so that the inner cavity of the side drain pipe can be quickly dredged and cleaned.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm for side operation of an ocean-going vessel. Background Art

[0002] The ship's side scupper is a key functional component in the hull design. Its necessity is mainly reflected in the following core areas:

[0003] 1. Drain the water on the deck to prevent it from increasing the weight of the hull;

[0004] 2. To cope with severe weather and prevent seawater from flooding onto the deck and being stranded in strong winds and waves;

[0005] 3. Protect the hull structure and prevent accumulated water from causing long-term immersion damage to the deck, bulkhead and other parts.

[0006] In the prior art, as the drain outlet is used for a long time, impurities will gradually accumulate on the inner wall of the drain pipe, affecting the drainage efficiency and requiring manual dredging on a regular basis.

[0007] However, currently, since the drain outlet of an ocean-going vessel is located at the side, the dredging and cleaning of the drain outlet is relatively dangerous, and the dredging process is time-consuming and labor-intensive. Therefore, the present invention proposes an ocean-going vessel side operating mechanical arm for solving the above problems. Summary of the Invention

[0008] The object of the present invention is to provide a side-operating manipulator for an ocean-going vessel, so as to solve the problem in the above-mentioned background technology that the side drain outlet of the vessel is difficult to clean after being clogged.

[0009] To achieve the above-mentioned object, the present invention provides the following technical solution: a side-operating manipulator arm for an ocean-going vessel, comprising:

[0010] A mounting base, on which an adjustment arm, an adjustment arm, and a connecting base are sequentially mounted, a rotating platform is rotatably mounted on one end of the connecting base, and a mechanical claw assembly is provided at one end of the rotating platform, and the mechanical claw assembly is directly facing the side drain pipe on the side of the ship;

[0011] The mechanical claw assembly includes a fixed bracket fixedly mounted on a rotating table, an adjustment bracket rotatably mounted on one end of the fixed bracket, a clamping claw fixedly connected to one end of the adjustment bracket, the clamping claw is arc-shaped, and a strip plate is fixed on the inner wall, and one end of the clamping claw is provided with a beveled edge, and a serrated groove is opened on the beveled edge;

[0012] A reflector is installed inside the rotating platform. The reflector is in the shape of a triangular pyramid and coated with a reflective coating. A light guide is fixedly installed on the side wall of the rotating platform. A reflector is fixed in the inner cavity of the light guide. One end of the light guide faces the side drain pipe, and the other end of the light guide faces the reflector.

[0013] The interior of the connecting seat is hollow and a camera is fixedly installed therein, and the camera faces the reflective element.

[0014] Preferably, an installation cavity communicating with the inner cavity of the connecting seat is opened inside the rotating table, a fixing base is fixed in the middle of the inner cavity of the installation cavity, and the reflective element is fixed to one side of the reflective element.

[0015] Preferably, the light guide tube is arranged in a "<" shape, and the reflector is fixedly installed at the corner of the inner cavity of the light guide tube. The camera monitors the front of the light guide tube by reflecting the light through the reflector and the reflector. Three light guide tubes are provided and distributed in a circular array around the rotating table.

[0016] Preferably, a telescopic member is fixed to the other end of the fixed base, the movable end of the telescopic member passes through the inner wall of one end of the rotating platform and extends to the outside of one end of the rotating platform, and the movable end of the telescopic member is provided with a driving connecting rod for driving the adjustment bracket to rotate.

[0017] Preferably, a through slot is provided through the middle of the adjustment bracket, one end of the driving connecting rod extends to the inner cavity of the through slot and maintains a rotational connection with the adjustment bracket through a fixing pin, and an avoidance chamfer is provided at the edge of one end of the through slot.

[0018] Preferably, a connecting platform is fixed to the movable end of the telescopic member, and the other end of the driving connecting rod is rotatably connected to the connecting platform through a hinge support. Three fixed brackets, three adjustment brackets and three driving connecting rods are each provided and distributed in a circular array, and the three light guides and the three fixed brackets are spaced apart from each other.

[0019] Preferably, a positioning slot is provided on the side wall of the rotating table, the other end of the fixing bracket is inserted into the inner cavity of the positioning slot and is fixedly connected to the rotating table by a countersunk bolt, the fixing bracket is an outwardly extending arc structure, and a connecting ring is fixed in the middle of the fixing bracket.

[0020] Preferably, the connecting ring fixedly connects the three fixing brackets together, one side of the connecting ring is in contact with the open end of the light conduit, and a transparent window corresponding to the light conduit is provided on the connecting ring.

[0021] Preferably, the strip plate has a spiral structure, and the central angle of the strip plate is smaller than the central angle of the clamping jaw, the height of one end of the strip plate is smaller than the height of the other end, and the side of the clamping jaw with a smaller length is provided with an oblique chamfer.

[0022] Preferably, the connecting seat, the adjusting small arm and the adjusting large arm are connected in turn by end-to-end rotation, the adjusting large arm is rotatably mounted on the front of the mounting seat through a hinge support, and the mounting seat is slidably mounted on the outer surface of the side of the ship through a track.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention forms a mechanical arm by arranging an adjusting arm, an adjusting arm and a connecting seat, a rotating platform is rotatably installed at one end of the connecting seat, and a mechanical claw assembly is arranged on the rotating platform for dredging and cleaning the inner cavity of the side drain pipe, an installation cavity is opened inside the rotating platform, and a reflector is fixedly installed in the installation cavity, the reflector is in a triangular pyramid shape, and the surface is coated with a reflective coating, a light guide is installed through the surface of the rotating platform, and a reflector is installed in the inner cavity of the light guide, one end of the light guide faces the side drain pipe, and the other end of the light guide faces the reflector. The staff can observe the overall position of the mechanical claw assembly through the camera, the reflector and the reflector, and can quickly dredge and clean the inner cavity of the side drain pipe after aligning the front end of the mechanical claw assembly with the side drain pipe and inserting it into the inner cavity of the side drain pipe and rotating it. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure installation of the present invention;

[0026] Figure 2 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0027] Figure 3 This is a schematic three-dimensional diagram of the mechanical claw assembly and the rotating table structure of the present invention;

[0028] Figure 4 Schematic cross-sectional view of the rotating platform and connecting base structure of the present invention;

[0029] Figure 5 This is a three-dimensional schematic diagram of the reflective element structure of the present invention;

[0030] Figure 6 This is a schematic diagram of the separation of the fixed bracket and the rotating platform structure of the present invention;

[0031] Figure 7 This is a three-dimensional schematic diagram of the adjustable bracket structure of the present invention;

[0032] Figure 8 This is a three-dimensional schematic diagram of the clamping jaw structure of the present invention;

[0033] Figure 9 It is a schematic side view of the clamping jaw structure of the present invention.

[0034] In the figure: 1. Mounting base; 2. Adjusting upper arm; 3. Adjusting lower arm; 4. Connecting base; 41. Camera; 5. Rotating table; 51. Mounting cavity; 52. Reflector; 521. Reflective coating; 53. Light guide tube; 531. Reflector; 54. Fixed base; 55. Telescopic member; 551. Connecting table; 56. Driving connecting rod; 57. Positioning slot; 58. Countersunk bolt; 6. Mechanical claw assembly; 61. Fixed bracket; 611. Connecting ring; 612. Transparent window; 62. Adjusting bracket; 621. Through slot; 622. Fixing pin; 623. Avoid chamfer; 63. Clamping jaw; 631. Strip plate; 632. Beveled edge; 633. Serrated groove; 634. Bevel chamfer; 7. Side drain pipe. DETAILED DESCRIPTION

[0035] In order to clearly and completely describe the objectives and technical solutions of the present invention and make the advantages more clearly understood, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are part of the embodiments of the present invention, not all of them, and are only used to explain the embodiments of the present invention, not to limit the embodiments of the present invention. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] See also Figures 1 to 9 , the present invention provides a technical solution:

[0037] Embodiment 1, a side-operating robotic arm for an ocean-going vessel, includes: a mounting base 1.

[0038] Specifically, an adjusting arm 2, an adjusting arm 3 and a connecting seat 4 are sequentially mounted on the mounting seat 1. The connecting seat 4, the adjusting arm 3 and the adjusting arm 2 are rotatably connected head to tail in sequence. The adjusting arm 2 is rotatably mounted on the front of the mounting seat 1 through a hinge support. The connecting seat 4, the adjusting arm 3 and the adjusting arm 2 can all be rotated individually to change the position of the connecting seat 4. The rotation of the connecting seat 4, the adjusting arm 3 and the adjusting arm 2 is powered by a driving device known in the prior art, such as an oil cylinder or an air cylinder. The mounting seat 1 is slidably mounted on the outer surface of the ship's side through a track. The mounting seat 1 can be adjusted in position along the length direction of the track to change the position of the connecting seat 4 is located at a position where a rotating platform 5 is rotatably installed at one end of the connecting seat 4. The rotating platform 5 can be driven to rotate by the cooperation of a motor and a gear known in the prior art. No further details are given here. A mechanical claw assembly 6 is provided at one end of the rotating platform 5, and the mechanical claw assembly 6 is facing the side drain pipe 7 on the side of the ship. By coordinating and adjusting the mounting seat 1, the adjusting arm 2, the adjusting arm 3 and the connecting seat 4, the mechanical claw assembly 6 can be aligned with the side drain pipe 7. After the front end of the mechanical claw assembly 6 is inserted into the inner cavity of the side drain pipe 7, the mechanical claw assembly 6 is driven to rotate by rotating the rotating platform 5, and the mechanical claw assembly 6 can clear the blockage in the inner cavity of the side drain pipe 7;

[0039] Secondly, the mechanical claw assembly 6 includes a fixed bracket 61 fixedly mounted on the rotating table 5, and the fixed bracket 61 can rotate with the rotation of the rotating table 5. An adjusting bracket 62 is rotatably mounted on one end of the fixed bracket 61. The angle between the adjusting bracket 62 and the fixed bracket 61 can be adjusted to control the opening angle of the front end of the mechanical claw assembly 6 to adapt to the inner cavity size of the side drain pipe 7. A clamping claw 63 is fixedly connected to one end of the adjusting bracket 62. The clamping claw 63 is arc-shaped, and a strip plate 631 is fixed on the inner wall. After the clamping claw 63 is inserted into the inner cavity of the side drain pipe 7, the clamping claw 63 can be opened by opening the adjusting bracket 62. The curved surface fits the inner wall of the side drain pipe 7. At this time, the clamping jaw 63 rotates around the axis of the rotating table 5 to clean the impurities adhering to the inner wall of the side drain pipe 7. One end of the clamping jaw 63 is provided with a beveled edge 632, and the beveled edge 632 is provided with a serrated groove 633. The front end of the clamping jaw 63 is a "V"-shaped angle structure, which can be easily inserted into the blockage in the inner cavity of the side drain pipe 7. During the rotation of the clamping jaw 63, the sawtooth groove 633 can saw the blockage to more easily clean the blockage, avoiding the influence of the hardness of some blockages on the normal cleaning work.

[0040] In addition, a reflector 52 is installed inside the rotating platform 5. The reflector 52 is in the shape of a triangular pyramid and is coated with a reflective coating 521. When light is irradiated by the reflective coating 521, it can be reflected. A light guide 53 is fixedly installed on the side wall of the rotating platform 5. A reflector 531 is fixed in the inner cavity of the light guide 53. One end of the light guide 53 faces the side drain pipe 7, and the other end of the light guide 53 faces the reflector 52. The interior of the connecting base 4 is hollow and fixed with a camera 41. The camera 41 faces the reflector 52. Figure 4 and Figure 5 As shown, light from the outside of one end of the light guide 53 enters the inner cavity of the light guide 53, is reflected by the reflector 531, and can be emitted from the other end of the light guide 53. At this time, the light just shines on the reflective coating 521 on the surface of the reflector 52. The reflective coating 521 reflects the light a second time, thereby shining the light on the camera 41. Therefore, although the camera 41 is located in the middle of the inner cavity of the connecting base 4, it can monitor the image at the front edge of the rotating table 5, that is, the image of the position of the circle where the clamping jaws 63 are located. The advantage of this design is that when the adjustment bracket 62 is rotated and the opening size of the clamping jaws 63 is adjusted, the camera 41 monitors from the opening at one end of the light guide 53, and it can clearly observe whether the clamping jaws 63 are in contact with the inner wall of the side drain pipe 7.

[0041] In order to prevent the reflector 52 and the other end of the light guide 53 from being misaligned with each other, the present application also has an installation cavity 51 opened inside the rotating table 5 and connected to the inner cavity of the connecting seat 4. A fixing base 54 is fixed to the middle of the inner cavity of the installation cavity 51. The reflector 52 is fixed to one side of the reflector 52. The fixing base 54 itself is truncated. The other end of the light guide 53 is in contact with the surface of the fixing base 54 and fixed thereto. The reflector 52 is fixedly connected to the fixing base 54 to remain relatively fixed to the rotating table 5, and further to the light guide 53, thereby preventing the other end opening of the light guide 53 from being misaligned with the reflective coating 521. In addition, since the camera 41 itself remains relatively fixed to the connecting seat 4 and does not rotate, the reflector 52 will rotate synchronously with the rotating table 5. Therefore, the image area actually monitored by the camera 41 will also change with the rotation and movement of the light guide 53. The image area actually monitored by the camera 41 is annular and directly opposite the side drain pipe 7.

[0042] In order to describe the structure of the light duct 53 in detail, the light duct 53 of the present application is arranged in a "<" shape, and the reflector 531 is fixedly installed at the corner of the inner cavity of the light duct 53. The camera 41 monitors the front of the light duct 53 by reflecting the light through the reflector 52 and the reflector 531. Three light ducts 53 are provided and distributed in a circular array around the turntable 5. The two ends of the light duct 53 face different directions. In conjunction with the reflector 531, the light in the inner cavity of the light duct 53 can be transported in a "<" shape. Combined with the secondary reflection of the light by the reflective coating 521, it can ensure that the camera 41 can simultaneously monitor the images of multiple areas around the turntable 5.

[0043] In order to drive the adjustment bracket 62 to rotate, the present application also has a telescopic member 55 fixed at the other end of the fixed base 54. The telescopic member 55 itself can be telescoped. The inner cavity of the installation cavity 51 can be pre-installed with a battery and a controller known in the prior art to control the working telescopic member 55. The telescopic member 55 adopts wireless control and does not use a power cord to connect to an external socket, which can avoid the power cord of the telescopic member 55 being twisted off when the rotating table 5 rotates. The movable end of the telescopic member 55 passes through the inner wall of one end of the rotating table 5 and extends to the outside of one end of the rotating table 5. The movable end of the telescopic member 55 is provided with a driving connecting rod 56 for driving the adjustment bracket 62 to rotate. When the telescopic member 55 is working and telescopic, the driving connecting rod 56 can drive the adjustment bracket 62 to rotate around one end of the fixed bracket 61, thereby changing the position of the clamping claw 63.

[0044] In order to connect the driving link 56 with the adjusting bracket 62, the present application also has a through slot 621 running through the middle of the adjusting bracket 62. One end of the driving link 56 extends to the inner cavity of the through slot 621 and maintains a rotational connection with the adjusting bracket 62 through a fixing pin 622. An avoidance chamfer 623 is provided at the edge of one end of the through slot 621. The adjusting bracket 62 and the driving link 56 can only rotate relative to each other and will not separate from each other. The setting of the avoidance chamfer 623 can be used to increase the relative expansion angle between the driving link 56 and the adjusting bracket 62, thereby avoiding collision between the driving link 56 and the adjusting bracket 62 and affecting the rotational expansion of the adjusting bracket 62.

[0045] In order to drive the driving link 56 to move, the present application further has a connecting platform 551 fixed to the movable end of the telescopic member 55, and the other end of the driving link 56 is rotatably connected to the connecting platform 551 through a hinge support. The fixed bracket 61, the adjustment bracket 62 and the driving link 56 are each provided with three and distributed in a circular array. The three light guides 53 and the three fixed brackets 61 are spaced apart from each other, as shown in FIG. Figure 7As shown, when the telescopic member 55 is extended or retracted, it drives the connecting platform 551 to move accordingly, and then through the synchronous linkage of the three driving links 56, the three adjustment brackets 62 can be synchronously rotated, expanded, or gathered. It should be noted that this application sets three fixed brackets 61, adjustment brackets 62 and driving links 56, which is only a number designed for easy understanding. In actual use, the number can be set to two, three, four... or more, which will not be elaborated here.

[0046] In order to prevent water and impurities from entering the inner cavity of the light guide 53, the present application also has a positioning slot 57 opened on the side wall of the rotating table 5, and the other end of the fixing bracket 61 is inserted into the inner cavity of the positioning slot 57 and is fixedly connected to the rotating table 5 by a countersunk bolt 58. Figure 6 As shown, at least two countersunk bolts 58 are provided at the end of each fixing bracket 61 as a group, which are used to ensure the connection strength and stability between the fixing bracket 61 and the rotating table 5. The fixing bracket 61 is an outwardly arc-shaped structure. A connecting ring 611 is fixed in the middle of the fixing bracket 61. The connecting ring 611 connects the three fixing brackets 61 together, which can further improve the stability of the relative positions between the three fixing brackets 61. One side of the connecting ring 611 is in contact with the open end of the light guide 53, and the connecting ring 611 fixes the light guide 53. After one end of the opening is sealed, water, dust, impurities, etc. can be prevented from entering the inner cavity of the light duct 53. A transparent window 612 corresponding to the light duct 53 is provided on the connecting ring 611. The transparent window 612 is a transparent structure, which ensures that the camera 41 can monitor the image from one end of the light duct 53. When water or impurities adhere to the surface of the transparent window 612 and the connecting ring 611, the rotating table 5 rotates to drive the fixed bracket 61 and the connecting ring 611 to rotate, and the water and impurities can be thrown away from the surface of the connecting ring 611 and the transparent window 612 through centrifugal force.

[0047] In order to discharge the obstruction in the inner cavity of the side drain pipe 7 in time, the strip plate 631 of the present application is a spiral structure, and the central angle of the strip plate 631 is smaller than the central angle of the clamping claw 63, such as Figure 8 As shown, the strip plate 631 acts as a conveying fan structure. When the clamping jaw 63 rotates, the strip plate 631 can squeeze the obstruction inside the clamping jaw 63, thereby discharging the obstruction in the inner cavity of the side drain pipe 7 to the outside of the port of the side drain pipe 7. In combination with the above, it can be seen that when the obstruction is discharged from the inner cavity of the side drain pipe 7, it is possible to adhere to the surface of the connecting ring 611 and the transparent window 612. However, since the rotating platform 5 is in a rotating state at this time, even if the obstruction adheres to the surface of the transparent window 612, it will be thrown away in time, and the open end of the light guide 53 will not be blocked by the obstruction to affect the monitoring image of the camera 41. The height of one end of the strip plate 631 is smaller than the height of the other end. Figure 9As shown, the strip plate 631 will produce a certain cutting effect on the obstruction when squeezing and conveying the obstruction in the inner cavity of the side drain pipe 7, thereby preventing the large blockage from causing a large collision impact force on the device when it is discharged. In addition, the side of the clamping jaw 63 with a smaller length is provided with an oblique chamfer 634, combined with the Figure 8 As shown, the chamfer 634 is mainly provided to reduce the resistance generated between the side of the clamping jaw 63 and the obstruction when the clamping jaw 63 rotates.

[0048] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A side-operating manipulator for an ocean-going vessel, characterized by: include: A mounting seat (1), wherein an adjusting arm (2), an adjusting arm (3) and a connecting seat (4) are sequentially mounted on the mounting seat (1); a rotating platform (5) is rotatably mounted on one end of the connecting seat (4); a mechanical claw assembly (6) is provided at one end of the rotating platform (5), and the mechanical claw assembly (6) faces a side drain pipe (7) on the side of the ship; The mechanical claw assembly (6) includes a fixed bracket (61) fixedly mounted on the rotating table (5), an adjustment bracket (62) being rotatably mounted on one end of the fixed bracket (61), a clamping claw (63) being fixedly connected to one end of the adjustment bracket (62), the clamping claw (63) being arc-shaped and having a strip plate (631) fixed on the inner wall, a beveled edge (632) being provided at one end of the clamping claw (63), and a sawtooth groove (633) being provided on the beveled edge (632); A reflector (52) is installed inside the rotating platform (5), the reflector (52) is in a triangular pyramid shape and coated with a reflective coating (521) on its surface, a light guide (53) is fixedly installed on the side wall of the rotating platform (5), a reflector (531) is fixed in the inner cavity of the light guide (53), one end of the light guide (53) faces the side drain pipe (7), and the other end of the light guide (53) faces the reflector (52); The interior of the connecting seat (4) is hollow and a camera (41) is fixedly mounted thereon, the camera (41) facing the reflective element (52); The rotating platform (5) is provided with a mounting cavity (51) in communication with the inner cavity of the connecting seat (4), a fixing seat (54) is fixed in the middle of the inner cavity of the mounting cavity (51), and the reflective element (52) is fixed to a side surface of the reflective element (52); The light guide tube (53) is arranged in a "<" shape, and the reflector (531) is fixedly installed at the inner cavity corner of the light guide tube (53). The camera (41) monitors the front of the light guide tube (53) by reflecting the light through the reflector (52) and the reflector (531). Three light guide tubes (53) are arranged and distributed in a circular array around the rotating table (5); A telescopic member (55) is fixed to the other end of the fixed base (54), and a movable end of the telescopic member (55) passes through the inner wall of one end of the rotating platform (5) and extends to the outer side of one end of the rotating platform (5). The movable end of the telescopic member (55) is provided with a driving connecting rod (56) for driving the adjusting bracket (62) to rotate.

2. The ocean-going vessel side operating robotic arm according to claim 1, characterized in that: A through slot (621) is provided through the middle of the adjustment bracket (62), one end of the driving connecting rod (56) extends into the inner cavity of the through slot (621) and is rotationally connected to the adjustment bracket (62) via a fixing pin (622), and an avoidance chamfer (623) is provided at an edge of one end of the through slot (621).

3. The ocean-going vessel side operating robotic arm according to claim 2, characterized in that: A connecting platform (551) is fixed to the movable end of the telescopic member (55), and the other end of the driving connecting rod (56) is rotatably connected to the connecting platform (551) via a hinge support. Three of the fixing bracket (61), the adjusting bracket (62) and the driving connecting rod (56) are provided and distributed in a circular array. The three light guides (53) and the three fixing brackets (61) are spaced apart from each other.

4. The ocean-going vessel side operating robotic arm according to claim 3, characterized in that: A positioning slot (57) is provided on the side wall of the rotating platform (5), and the other end of the fixing bracket (61) is inserted into the inner cavity of the positioning slot (57) and is fixedly connected to the rotating platform (5) via a countersunk bolt (58). The fixing bracket (61) is in an outwardly extending arc-shaped structure, and a connecting ring (611) is fixed in the middle of the fixing bracket (61).

5. The ocean-going vessel side operating robotic arm according to claim 4, characterized in that: The connecting ring (611) fixedly connects the three fixing brackets (61) together, one side of the connecting ring (611) is in contact with the open end of the light guide tube (53), and a transparent window (612) corresponding to the light guide tube (53) is provided on the connecting ring (611).

6. The ocean-going vessel side operating robotic arm according to claim 1, characterized in that: The strip plate (631) has a spiral structure, and the central angle of the strip plate (631) is smaller than the central angle of the clamping jaw (63). The height of one end of the strip plate (631) is smaller than the height of the other end. The side of the clamping jaw (63) with a smaller length is provided with an oblique chamfer (634).

7. The ocean-going vessel side operating robotic arm according to claim 1, characterized in that: The connecting seat (4), the adjusting small arm (3) and the adjusting large arm (2) are connected in a head-to-tail rotational manner in sequence. The adjusting large arm (2) is rotationally mounted on the front of the mounting seat (1) via a hinged support. The mounting seat (1) is slidably mounted on the outer surface of the ship's side via a track.

Images