An underwater robotic arm-type suction mechanism

Abstract

This invention discloses an underwater robot arm-type adsorption mechanism, comprising: an adsorption unit, a telescopic unit, a negative pressure generating unit, and a control unit; the telescopic unit is used to control the suction cup to approach or move away from the working surface; the negative pressure generating unit is used to control the suction cup to adsorb or detach from the working surface; the composite cavity arm is a dual-cavity arm structure, comprising two parallel cavities connected at their sides, the telescopic unit and the negative pressure generating unit being respectively disposed within the two cavities of the composite cavity arm; the composite cavity arm has a structural channel inside, providing a negative pressure transmission channel between the negative pressure generating unit and the adsorption unit; the adsorption unit includes a suction cup, which is connected to the telescopic unit via a return spring, and is connected to the negative pressure generating unit via a spiral hose and the structural channel; the control unit includes a control board and a pressure sensor; the pressure sensor is used to detect the pressure signal of the adsorption unit; the control board is connected to the pressure sensor, the power unit of the negative pressure generating unit, and the power unit of the telescopic unit, respectively, and the control board controls the operation of the telescopic unit and the negative pressure generating unit according to the pressure signal of the pressure sensor. The adsorption unit, telescopic unit, negative pressure generation unit and control unit of the present invention are integrated and coordinated to create a stable and safe operating environment for the underwater robot.

Description

Technical Field

[0001] This invention relates to an underwater robot arm-type adsorption mechanism, belonging to the field of underwater robot technology. Background Technology

[0002] With the deepening development of marine resource exploration and utilization, the tasks of regular inspection, maintenance, repair, and debris removal for various underwater structures (such as ship hulls, drilling platforms, subsea pipelines, and cables) are becoming increasingly demanding. Against this backdrop, underwater robots, especially remotely operated vehicles (ROVs) equipped with robotic arms, have become core equipment for performing such sophisticated operations. However, the actual underwater operating environment is usually very harsh: unstable current fields, low visibility, and continuous interference caused by ocean currents and equipment disturbances pose serious challenges to the robot's accurate positioning and stable adhesion. Traditional adhesion mechanisms often lack flexibility; when they need to adhere to the working surface, they usually rely on repeated, large-scale movements of the robot body to adjust the adhesion angle and position. This process is not only inefficient and energy-intensive, but also prone to positioning errors or even operational failures in complex current fields. Therefore, to significantly improve the operational stability and flexibility of underwater robots in real marine environments, it is urgent to develop an arm-type adhesion mechanism that deeply integrates the adhesion mechanism with the robotic arm. Utilizing the flexibility of the robotic arm can reduce the repetitive movements of the robot body. Summary of the Invention

[0003] The technical problem to be solved by this invention is: how to reduce the repetitive movement of the underwater robot body.

[0004] To solve the above-mentioned technical problems, the present invention provides an underwater robot arm-type adsorption mechanism, comprising: an adsorption unit, a telescopic unit, a negative pressure generating unit, and a control unit;

[0005] The telescopic unit is used to control the suction cup to approach or move away from the working surface; the negative pressure generating unit is used to control the suction cup to adhere to or detach from the working surface.

[0006] The composite cavity arm is a dual-cavity arm structure, comprising two parallel cavities connected at their sides. The telescopic unit and the negative pressure generating unit are respectively disposed in the two cavities within the composite cavity arm. The composite cavity arm has a structural channel inside, providing a negative pressure transmission channel between the negative pressure generating unit and the adsorption unit.

[0007] The adsorption unit includes a suction cup, which is connected to the telescopic unit via a return spring, and the suction cup is connected to the negative pressure generating unit via a spiral hose and a structural channel.

[0008] The control unit includes a control board and a pressure sensor; the pressure sensor is used to detect the pressure signal of the adsorption unit; the control board is connected to the pressure sensor, the power unit of the negative pressure generating unit, and the power unit of the telescopic unit, respectively, and the control board controls the telescopic unit and the negative pressure generating unit to operate according to the pressure signal of the pressure sensor.

[0009] The aforementioned underwater robot arm-type adsorption mechanism includes an electric cylinder in its telescopic unit. The electric cylinder includes a DC motor, the output end of which is connected to a lead screw. The lead screw is connected to a push rod, and the top of the push rod is equipped with a universal damping ball head for connecting to the adsorption unit.

[0010] In the aforementioned underwater robot arm-type adsorption mechanism, the push rod is provided with a guide key on its outside, and the inner wall of the electric cylinder is provided with a keyway that cooperates with the guide key.

[0011] The aforementioned underwater robotic arm-type adsorption mechanism has a suction cup tube connector and a ball head connecting plate installed on the mounting side of the suction cup of the adsorption unit; one side of the suction cup tube connector is connected to the suction cup, and the other side is connected to the structural channel through a spiral hose.

[0012] One side of the ball joint connecting plate is mounted on the surface of the suction cup, and the other side is connected to the universal damping ball joint; the ball joint connecting plate and the universal damping ball joint are located inside the return spring; one end of the return spring is mounted on the mounting side of the suction cup, and the other end is set in the spring mounting groove at the top of the push rod.

[0013] The aforementioned underwater robotic arm-type adsorption mechanism includes a negative pressure generating unit comprising a submersible pump and an ejector. The ejector comprises a nozzle, a suction chamber, and a diffusion chamber. The nozzle is located at the inlet end of the ejector and is connected to the outlet of the submersible pump. The suction chamber is located in front of the nozzle outlet. The inlet end of the diffusion chamber is connected to the end end of the suction chamber, and the outlet end of the diffusion chamber is connected to the structural channel.

[0014] The aforementioned underwater robot arm-type adsorption mechanism includes a submersible pump with an electromagnetic coil inside the submersible pump. The magnetic shaft is supported at both ends by a fixed shaft, which passes through the center of the electromagnetic coil. The two ends of the fixed shaft are respectively inserted into the upper and lower slots of the submersible pump casing for fixation. A turbine is located at the drive end of the magnetic shaft.

[0015] The aforementioned underwater robot arm-type adsorption mechanism includes a control chamber located at the tail of the composite cavity arm. Inside the control chamber are the control board and a motor driver. The input end of the motor driver is connected to the control board, and the output end is connected to the input end of the DC motor of the electric cylinder.

[0016] In the aforementioned underwater robot arm-type adsorption mechanism, the control board is connected to a pressure sensor and an electrical signal. The control board controls the motor driver based on the pressure signal feedback from the pressure sensor, and the motor driver drives the electric cylinder to extend and retract and adjust its speed.

[0017] The aforementioned underwater robotic arm-type adsorption mechanism, the control unit further includes an intelligent speed control module, which is a distance-speed mapping algorithm module running in the control board; a distance sensor is installed on the edge of the suction cup, and the control board is electrically connected to the distance sensor to detect the real-time distance between the suction cup and the working surface and transmit the distance information to the intelligent speed control module to control the extension speed of the telescopic unit.

[0018] The beneficial effects achieved by this invention are as follows: By integrating and coordinating the adsorption unit, telescopic unit, negative pressure generating unit, and control unit, a stable and intelligent underwater operating environment is constructed. The telescopic unit of this invention provides precise positive clamping force, ensuring a rapid seal between the adsorption unit and the working surface. Subsequently, the negative pressure generating unit works efficiently to generate strong adsorption force. The synergistic cooperation between mechanical clamping and negative pressure adsorption improves the success rate and reliability of adsorption. The device greatly enhances adaptability and stability in complex underwater environments: the universal damping ball head structure integrated into the adsorption unit allows the suction cup to adaptively conform to uneven working surfaces within a large angle, effectively ensuring the effectiveness of the seal and ensuring the stability of the entire underwater robot's posture after adsorption, providing a stable base for subsequent operations. The control unit automates the adsorption process and intelligently monitors its status, accurately determining the adsorption status by real-time monitoring of the negative pressure value fed back by the pressure sensor. This invention reduces repetitive movement of the underwater robot body, providing a stable foundation for subsequent underwater operations. Attached Figure Description

[0019] Figure 1 This is a three-dimensional view of the underwater robot arm-type adsorption mechanism of the present invention;

[0020] Figure 2 This is a three-dimensional view of the composite cavity arm of the underwater robot of the present invention.

[0021] Figure 3 This is a cross-sectional view of the underwater robot arm-type adsorption mechanism of the present invention;

[0022] Figure 4 This is a cross-sectional view of the negative pressure adsorption unit of the present invention;

[0023] Figure 5 This is a cross-sectional view of the electric cylinder telescopic device of the present invention;

[0024] Figure 6 This is a three-dimensional view of the robot connection device of the present invention;

[0025] Figure 7This is a three-dimensional view of the robot suction cup connection device of the present invention.

[0026] Components shown in the diagram: 1. Suction cup; 2. Return spring; 3. Internally threaded filter screen; 4. Socket head cap screw; 5. Submersible pump; 5-1. Electromagnetic coil; 5-2. Shaft retaining ring; 5-3. Magnetic shaft; 5-4. Turbine; 5-5. Pump cover; 5-6. Pump seal ring; 6. Suction cup tube connector; 7. Composite cavity arm; 8. Structural channel; 9. Pressure sensor; 10. Spiral hose; 11. Externally threaded quick connector; 12. Robot connector 13. Connector; 13-1. Electric cylinder; 13-2. Push rod; 13-3. Lead screw; 13-3. DC motor; 14. Fastening nut; 15. Control chamber; 16. Control chamber cover; 17. Ball joint connecting plate; 18. Universal damping ball joint; 19. Ejector; 19-1. Nozzle; 19-2. Suction chamber; 19-3. Diffusion chamber; 20. Control board; 21. Motor driver; 22. Connecting arm; 23. Guide key; 24. Spring mounting slot. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0028] Example 1

[0029] The present invention will be described in detail below with reference to the accompanying drawings. The present invention relates to an underwater robot arm-type adsorption mechanism, wherein one end of the underwater robot arm-type adsorption mechanism is connected to the underwater robot through a robot connection connector 12, and the other end is adsorbed onto the working surface through an adsorption unit.

[0030] The underwater robotic arm-type adsorption mechanism includes: an adsorption unit, a telescopic unit, a negative pressure generation unit, and a control unit;

[0031] The telescopic unit is used to control the suction cup 1 to approach or move away from the working surface; the negative pressure generating unit is used to control the suction cup 1 to adhere to or detach from the working surface.

[0032] The composite cavity arm 7 is a dual-cavity arm structure, including two parallel cavities connected on the sides. The telescopic unit and the negative pressure generating unit are respectively located in the two cavities inside the composite cavity arm 7. The composite cavity arm 7 is provided with a structural channel 8 to provide a negative pressure transmission channel between the negative pressure generating unit and the adsorption unit.

[0033] The adsorption unit includes a suction cup 1, which is connected to the telescopic unit via a return spring 2, and is connected to the negative pressure generating unit via a spiral hose 10 and a structural channel 8.

[0034] The control unit includes a control board 20 and a pressure sensor 9; the pressure sensor 9 is used to detect the pressure signal of the adsorption unit; the control board 20 is connected to the pressure sensor 9, the power unit of the negative pressure generating unit, and the power unit of the telescopic unit, respectively, and the control board 20 controls the telescopic unit and the negative pressure generating unit to operate according to the pressure signal of the pressure sensor 9.

[0035] The adsorption unit includes a suction cup 1, a suction cup tube connector 6, a return spring 2, a universal damping ball head 18, a ball head connecting plate 17, an internal hexagonal cylindrical screw 4, and a spring mounting groove 24.

[0036] The suction cup 1 is connected to the suction cup tube connector 6 via the top interface. The other side of the suction cup tube connector 6 is connected to the structural channel 8 via a spiral hose 10, forming the main channel for the adsorption fluid. The return spring 2 is located on one side of the suction cup tube connector 6, with one end connected to the suction cup 1 and the other end connected to the composite cavity arm 7 via the spring mounting groove 24. It is used to provide the suction cup 1 with the restoring force when it detaches from the adsorption surface. The ball head connecting plate 17 is located inside the return spring 2. One side of the ball head connecting plate 17 is connected to the suction cup 1 via an internal hexagonal screw 4. The other side of the ball head connecting plate 17 is connected to the universal damping ball head 18. The universal damping ball head 18 can adjust the angle slightly when the suction cup 1 adsorbs the working surface, providing better adsorption conditions and allowing the suction cup 1 to completely cover the working surface.

[0037] The suction cup connector 6 is equipped with an external threaded filter screen to prevent foreign objects from entering the spiral hose 10 during suction cup operation, which could affect work efficiency or damage the device. The internal hexagonal cylindrical screw 4 is used to easily replace the suction cup 1 with different diameters or bottom materials, such as suction cups with flexible sealing edges, to adapt to working surfaces with different curvatures and surface materials, such as hulls and pipes.

[0038] The bottom of suction cup 1 is made of a three-layer multifunctional composite material, consisting of a contact protection layer, a core sealing layer, and a structural support layer from the outside in. The contact protection layer material has high wear resistance and a high coefficient of friction. The core sealing layer material is flexible, porous, and elastic. The structural support layer is made of a high-modulus elastic material, used to provide overall support and firmly bond to the main body of suction cup 1.

[0039] The composite cavity arm 7 is a parallel double-cavity arm structure, including two parallel cavities connected on the sides; one cavity is a telescopic unit, which integrates an electric cylinder telescopic device 13, and the other cavity is a negative pressure generating unit, which integrates a submersible pump 5 and an ejector 19.

[0040] The telescopic unit includes: an electric cylinder 13, a push rod 13-1, a lead screw 13-2, a DC motor 13-3, and a guide key 23.

[0041] The output end of the DC motor 13-3 is connected to the lead screw 13-2, and the lead screw 13-2 is threadedly connected to the push rod 13-1. The push rod 13-1 is connected to the ball head connecting plate 17 through the universal damping ball head 18. The external structure of the push rod 13-1 is provided with a guide key 23, and the inner wall of the electric cylinder 13 is provided with a keyway that mates with the wire key 23.

[0042] After the DC motor 13-3 starts, it drives the lead screw 13-2 to rotate. The guide key 23 restricts the rotation of the push rod 13-1, converting the rotational motion into the extension and retraction motion of the push rod 13-1. The extension and retraction unit controls the suction cup 1 to approach and move away from the working surface, and the rotation direction of the DC motor 13-3 controls the movement direction of the push rod 13-1: when the DC motor 13-3 rotates in the forward direction, it drives the push rod 13-1 to extend; when the DC motor 13-3 rotates in the reverse direction, it drives the push rod 13-1 to retract.

[0043] The negative pressure generating unit integrates a submersible pump 5 and an ejector 19. The pump body of the submersible pump 5 is connected to the ejector 19. The water inlet of the ejector 19 is connected to the high-pressure water outlet of the submersible pump 5, and the water outlet of the ejector 19 is connected to the middle of the structural channel 8 of the composite cavity arm 7. One end of the structural channel 8 is connected to a spiral hose 10, a suction cup connector 6, and a suction cup in sequence through an external threaded quick connector 11, and the other end of the structural channel 8 is connected to a pressure sensor 9.

[0044] The submersible pump 5 includes: an electromagnetic coil 5-1, a shaft retaining ring 5-2, a magnetic shaft 5-3, a turbine 5-4, a pump cover 5-5, and a water pump sealing ring 5-6. The electromagnetic coil 5-1 is encapsulated inside the pump casing of the submersible pump 5 and in the negative pressure generating unit structure of the composite cavity arm 7. The magnetic shaft 5-3 is supported at both ends by a fixed shaft, which passes through the center of the electromagnetic coil 5-1. The two ends of the fixed shaft are respectively inserted into the upper and lower slots of the pump casing of the submersible pump 5 for fixation. The turbine 5-4 is fixedly installed at the drive end of the magnetic shaft 5-3. The shaft retaining ring 5-2 is installed at the slot at the other end of the magnetic shaft 5-3 and is used to restrict the axial movement of the magnetic shaft 5-3. The pump cover 5-5 is fastened to the pump casing by threads, enclosing the turbine 5-4 to form a pressure chamber. The water pump sealing ring 5-6 is set at the connection surface between the pump cover 5-5 and the pump casing to ensure the water tightness of the outer casing joint and prevent high-pressure water leakage.

[0045] The inlet of the submersible pump 5 is located in the center of the pump body directly in front of the turbine 5-4. An internally threaded filter screen 3 is installed at the inlet to prevent solid impurities in the water from being sucked into the submersible pump 5 and to prevent the turbine 5-4 from getting stuck.

[0046] When energized, the electromagnetic coil 5-1 generates a high-speed rotating magnetic field, driving the internal magnetic shaft 5-3 to rotate synchronously. The magnetic shaft 5-3 drives the turbine 5-4 to rotate. Water enters from the inlet of the submersible pump 5, and under centrifugal force, the water is thrown towards the outer edge of the turbine 5-4, forming a high-speed water flow at the outlet of the submersible pump 5. During this process, through non-contact electromagnetic force transmission, the magnetic shaft 5-3 and the turbine 5-4 rotate within the sealed cavity, isolated from the external electromagnetic coil 5-1, achieving contactless power transmission and a fully sealed flow channel, ensuring the reliability and safety of long-term underwater operation.

[0047] The jet ejector 19 includes a nozzle 19-1, a suction chamber 19-2, and a diffusion chamber 19-3. The nozzle 19-1 is located at the inlet end of the jet ejector 19 and is connected to the high-pressure outlet of the submersible pump 5; the suction chamber 19-2 is located in front of the outlet of the nozzle 19-1; the inlet end of the diffusion chamber 19-3 is connected to the end of the suction chamber 19-2, and the outlet end of the diffusion chamber 19-3 is connected to the structural channel 8 of the composite cavity arm 7.

[0048] When high-pressure water flows from the outlet of submersible pump 5 into nozzle 19-1, it forms a high-speed jet that enters suction chamber 19-2. Subsequently, the fluid enters diffusion chamber 19-3, creating a negative pressure zone at the outlet of diffusion chamber 19-3. This negative pressure is transmitted through the connected structural channel 8, spiral hose 10, and suction cup connector 6, ultimately reaching the suction cup 1 at the end. This discharges water or air between the suction cup 1 and the contact surface, maintaining a pressure lower than ambient, thus generating suction force.

[0049] The control unit includes: a control compartment 15, a control compartment cover 16, a control board 20, a pressure sensor 9, and a motor driver 21.

[0050] The control unit is located at the top of the telescopic unit. The control chamber 15 is connected to the housing of the electric cylinder 13. The opening end of the control chamber 15 is bolted to the control chamber cover 16. A sealing ring is provided at the connection between the control chamber 15, the control chamber cover 16, and the electric cylinder housing 13. The pressure sensor 9 is connected to the structural channel 8 of the composite cavity arm 7 through a pressure sensor connector. The control board 20 and the motor driver 21 are installed inside the control chamber 15. The output end of the motor driver 21 is connected to the input end of the DC motor 13-3. The control board 20 is electrically connected to the pressure sensor 9 and the submersible pump 5, and receives pressure signal feedback from the pressure sensor 9.

[0051] Pressure sensor 9 monitors the negative pressure value inside suction cup 1. Control board 20 controls motor driver 21 based on the pressure signal feedback from pressure sensor 9 and external commands. Motor driver 21 controls the rotation and speed of DC motor 13-3 based on the commands from control board 20, and further controls the extension and retraction movement and speed of push rod 13-1.

[0052] The underwater robot arm adsorption mechanism of the present invention can be connected to the underwater robot connecting arm 22 through the robot connector 12 and the fastening nut 14. The underwater robot connector uses a hexagonal plug to restrict rotation, and the fastening nut 14 restricts the axial movement of the mechanism.

[0053] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0054] Example 2

[0055] Referring to the accompanying drawings, this embodiment details the workflow of the underwater robot arm-type adsorption mechanism in Embodiment 1. The workflow of the underwater robot arm-type adsorption mechanism is divided into an adsorption initiation stage, a work surface adaptation stage, and a detachment and reset stage, as follows:

[0056] Adsorption start-up phase: The robot connector 12 connects to the underwater robot arm 22. The underwater robot approaches the work surface, and the robot arm 22 adjusts its joints at a large angle to align the underwater robot arm-type adsorption mechanism with the work surface. When the distance to the work surface is close, for example, when the distance reaches 8-10mm, the robot arm joints are locked. It should be noted that the aforementioned range of distances between the underwater robot arm-type adsorption mechanism and the work surface is only one example, and other values ​​can be used; this application does not limit this range.

[0057] Adaptive working surface stage: Control chamber 15 is activated. Based on environmental parameters monitored by pressure sensor 9, control chamber 15 issues a command to activate electric cylinder 13 to drive suction cup 1, causing it to cover the working surface. The return spring 2 and universal damping ball head 18 enable small-angle adjustment of suction cup 1, providing better adsorption conditions. After suction cup 1 is attached, submersible pump 5 is activated. The electromagnetic coil 5-1 of submersible pump 5 drives magnetic shaft 5-3, causing turbine 5-3 to rotate at high speed, generating high-pressure water that is accelerated and sprayed through nozzle 19-1 of ejector 19. The high-speed water flow draws fluid into chamber 19-2, creating a negative pressure zone in diffusion chamber 19-3. This negative pressure is transmitted to the sealed cavity of suction cup 1 through structural channel 8, achieving stable adsorption under the Bernoulli effect. Pressure sensor 9 monitors the negative pressure value inside the suction cup in real time. If it falls below the required threshold, the power of submersible pump 5 is increased to enhance the adsorption force of suction cup 1.

[0058] Disengagement and Reset Phase: After the operation is completed, the submersible pump 5 is turned off to eliminate the pressure difference inside and outside the suction cup 1. At the same time, the electric cylinder 13 is activated to extend and retract, and the suction cup 1 begins to move away from the working surface. As the suction cup 1 moves away from the working surface, the reset spring 2 pulls the ball joint connecting plate 17 back to the initial angle, and the universal damping ball joint 18 resets under the tension of the reset spring 2. Finally, the suction cup 1 completely detaches from the working surface, and the underwater robot arm-type adsorption mechanism enters standby mode.

[0059] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0060] Example 3

[0061] The control unit of the present invention also includes an intelligent speed regulation module, which enables the underwater robot arm adsorption mechanism to automatically adjust the speed of the DC motor 13-3 according to the real-time distance from the working surface, thereby controlling the extension and retraction speed of the telescopic unit and realizing a smooth and adaptive attachment process.

[0062] The intelligent speed control module is a distance-speed mapping algorithm module that runs on the control board 20. This algorithm module dynamically calculates and outputs control signals to the motor driver 21 based on real-time distance information. A distance sensor is installed on the edge of the suction cup 1 or on the ball joint connecting plate 17. The control board 20 is electrically connected to the distance sensor to measure the distance between the center point of the suction cup and the target working surface in real time. The measured data serves as the main input to the intelligent speed control module.

[0063] The ranging sensor is a high-pressure resistant, waterproof laser ranging sensor or an ultrasonic ranging sensor.

[0064] The core of this control strategy is segmented speed regulation and end buffering, which ensures that the suction cup 1 approaches the working surface at the most appropriate speed, preventing suction failure or damage to the equipment due to impact caused by excessive speed.

[0065] The first stage is the rapid approach stage. When the distance is >50mm, the system enters the first stage. When the distance between the suction cup 1 and the working surface is far, the system aims to improve efficiency. The control board 20 instructs the motor driver 21 to drive the DC motor 13-3 to operate at the rated maximum speed, and the electric cylinder 13 extends rapidly, so that the suction cup 1 quickly approaches the target area.

[0066] The second stage is the deceleration and adjustment phase. When the distance is between 10mm and 50mm, the system enters the second stage and initiates precise position adjustment. The speed of the DC motor 13-3 decreases linearly as the distance decreases. This allows the suction cup 1 to gradually slow down as it approaches the working surface, providing time for subsequent fine alignment and attitude self-adaptation. This is particularly beneficial for dealing with inclined dam surfaces, giving the universal damping ball head 18 sufficient time for fine-tuning its angle.

[0067] The third stage is the low-speed attachment stage. When the distance is ≤ 10mm, the system enters the third stage. In this final attachment stage, the system slowly advances the suction cup 1 at an extremely low and constant speed, controlled between 0.1-0.5mm / s. This speed is sufficient to allow the flexible composite sponge pad of the suction cup 1 to smoothly contact the rough surface and begin to undergo elastic deformation, filling tiny cracks. At the same time, it avoids squeezing water or air bubbles into the sealing interface due to excessive speed, thus creating optimal initial conditions for establishing reliable negative pressure.

[0068] The range of distance values ​​for the different stages mentioned above is only one example, and other values ​​can also be used, which are not limited in this application. Among them, segmented speed adjustment means entering different speed stages according to different distance ranges; end buffer means that in the final attachment stage, the suction cup 1 slowly attaches to the working surface at an extremely low and constant speed.

[0069] It should be understood that the above description is for illustrative purposes only and does not imply limitation of the invention. Those skilled in the art will understand that variations of the invention are included within the scope of the claims herein. In the description of the invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise stated, "a plurality of" means two or more.

[0070] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0071] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An underwater robotic arm-type adsorption mechanism, characterized in that, include: Adsorption unit, telescopic unit, negative pressure generating unit, and control unit; The telescopic unit is used to control the suction cup (1) to approach or move away from the working surface; the negative pressure generating unit is used to control the suction cup (1) to adhere to or detach from the working surface; The composite cavity arm (7) is a double-cavity arm structure, including two parallel cavities connected on the sides. The telescopic unit and the negative pressure generating unit are respectively located in the two cavities inside the composite cavity arm (7). The composite cavity arm (7) is provided with a structural channel (8) to provide a negative pressure transmission channel between the negative pressure generating unit and the adsorption unit. The adsorption unit includes a suction cup (1), which is connected to the telescopic unit via a return spring (2). The suction cup (1) is connected to the negative pressure generating unit via a spiral hose (10) and a structural channel (8). The control unit includes a control board (20) and a pressure sensor (9); the pressure sensor (9) is used to detect the pressure signal of the adsorption unit; the control board (20) is connected to the pressure sensor (9), the power unit of the negative pressure generating unit, and the power unit of the telescopic unit respectively, and the control board (20) controls the telescopic unit and the negative pressure generating unit to operate according to the pressure signal of the pressure sensor (9).

2. The underwater robot arm-type adsorption mechanism according to claim 1, characterized in that, The telescopic unit includes an electric cylinder (13), which includes a DC motor (13-3). The output end of the DC motor (13-3) is connected to a lead screw (13-2). The lead screw (13-2) is connected to a push rod (13-1). The top of the push rod (13-1) is equipped with a universal damping ball head (18) for connecting to the adsorption unit.

3. The underwater robot arm-type adsorption mechanism according to claim 2, characterized in that, The push rod (13-1) is provided with a guide key (23) on the outside, and the electric cylinder (13) is provided with a keyway that matches the guide key (23) on the inner wall.

4. The underwater robot arm-type adsorption mechanism according to claim 2, characterized in that, A suction cup tube connector (6) and a ball head connecting plate (17) are installed on the mounting side of the suction cup (1) of the adsorption unit; one side of the suction cup tube connector (6) is connected to the suction cup (1), and the other side is connected to the structural channel (8) through a spiral hose (10); The ball joint connecting plate (17) is installed on one side of the suction cup (1) and connected to the universal damping ball joint (18) on the other side; the ball joint connecting plate (17) and the universal damping ball joint (18) are located inside the return spring (2); one end of the return spring (2) is installed on the mounting side of the suction cup (1) and the other end is set in the spring mounting groove (24) at the top of the push rod (13-1).

5. The underwater robot arm-type adsorption mechanism according to claim 1, characterized in that, The negative pressure generating unit includes a submersible pump (5) and an ejector (19). The ejector (19) includes a nozzle (19-1), a suction chamber (19-2), and a diffusion chamber (19-3). The nozzle (19-1) is located at the inlet end of the ejector (19) and is connected to the outlet of the submersible pump (5). The suction chamber (19-2) is located in front of the outlet of the nozzle (19-1). The inlet end of the diffusion chamber (19-3) is connected to the end of the suction chamber (19-2), and the outlet end of the diffusion chamber (19-3) is connected to the structural channel (8).

6. The underwater robot arm-type adsorption mechanism according to claim 5, characterized in that, The submersible pump (5) includes an electromagnetic coil (5-1), which is located inside the submersible pump (5). The magnetic shaft (5-3) is supported at both ends by a fixed shaft, which passes through the center of the electromagnetic coil (5-1). The two ends of the fixed shaft are respectively inserted into the upper and lower slots of the pump casing of the submersible pump (5) for fixation. The turbine (5-4) is located at the drive end of the magnetic shaft (5-3).

7. The underwater robot arm-type adsorption mechanism according to claim 2, characterized in that, The control unit includes a control compartment (15), which is located at the tail of the composite cavity arm (7). The control compartment (15) contains the control board (20) and a motor driver (21). The input end of the motor driver (21) is connected to the control board (20), and the output end is connected to the input end of the DC motor (13-3) of the electric cylinder (13).

8. The underwater robot arm-type adsorption mechanism according to claim 7, characterized in that, The control board (20) is connected to the pressure sensor (9) and electrical signal. The control board (20) controls the motor driver (21) based on the pressure signal feedback from the pressure sensor (9). The motor driver (21) drives the electric cylinder (13) to extend and retract and adjust its speed.

9. The underwater robot arm-type adsorption mechanism according to claim 7, characterized in that, The control unit also includes an intelligent speed control module, which is a distance-speed mapping algorithm module running in the control board (20); a distance sensor is installed on the edge of the suction cup (1), and the control board (20) is electrically connected to the distance sensor to detect the real-time distance between the suction cup (1) and the working surface and transmit the distance information to the intelligent speed control module to control the extension speed of the telescopic unit.

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