Underwater robot-mounted grid space exploration mechanical arm

Abstract

This invention discloses an underwater robot-mounted grid space exploration robotic arm, specifically relating to the field of robotic arm technology. It includes a small underwater robot body, a replaceable tool interface, and a control / sensing unit. Through the inclusion of a robotic arm mounting base 2, an offset transition joint 4, a slender probe section 5, and a replaceable tool interface 13, this invention allows the small underwater robot to deliver the probe mechanism to the vicinity of the entrance without removing the grid. The slender probe section 5 then enters the internal space 11 of the grid, significantly improving the accessibility for searching and probing within confined spaces. This invention reduces the risk of snagging, jamming, and cable interference with the grid edges during probe insertion, making the device more suitable for narrow underwater environments such as ship bottoms or hull bottoms. Furthermore, this invention possesses multi-task expansion capabilities, including searching, observing, probing, cleaning, and contact-based information acquisition, adapting to the close-range inspection needs of complex situations inside the grid.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to an underwater robot-mounted grid space exploration robotic arm. Background Technology

[0002] On the outside of the hull, bilge, or other underwater equipment, grates, fences, or strip-shaped protective structures are often installed to protect the internal space, restrict the entry of larger foreign objects, and ensure fluid exchange. However, such structures also make it difficult to directly observe and approach the internal space. Although existing underwater robots can reach the relevant areas, if they need to enter the grates to perform close-range search, rummaging, detection, or observation tasks, they are usually limited by conditions such as small entrance size, easy to bump into edges, and narrow internal space.

[0003] Conventional underwater robotic arms are mostly general-purpose robotic arms with many joints, large envelope, and robust front-end linkages, which are suitable for grasping and manipulating, but not suitable for penetrating into internal spaces through narrow grid gaps. If the size of conventional robotic arms is directly reduced, problems such as unsmooth attitude switching, serious front-end collisions, and easy entanglement of exposed cables will still be encountered, making it difficult to meet the needs of exploration and detection in confined spaces.

[0004] On the other hand, while some simple probes or single detectors can partially extend into the opening, they usually lack the ability to align with the entrance, guide and prevent snags, and extend the end-point mission. They can only perform single observation or single touch, and cannot meet multiple needs such as searching, detection, cleaning and close-range information acquisition.

[0005] Therefore, there is an urgent need for an underwater robot-mounted grid space exploration robotic arm to solve the above problems. Summary of the Invention

[0006] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide an underwater robot-mounted grid space exploration robotic arm. This invention utilizes a combination design of a small robot equipped with attitude adjustment joints, offset transition joints, and a slender probe section. This design enables the system to possess approach capability, entrance alignment capability, and passage capability. The probe mechanism can be delivered to the vicinity of the entrance by a small underwater robot without removing the grid, and then enters the internal space of the grid using the slender probe section. This significantly improves the accessibility of searching and detecting within confined spaces. Furthermore, the invention employs a guide nose cone, a flexible guide ring, and a smooth shape design, ensuring that the probe section can still move along the grid even with slight deviations. Edge slip correction and reduced external entanglement through concealed cables lower the risk of snagging, jamming, and cable interference with the grid edges during insertion, making the device more suitable for narrow underwater environments such as the bottom of a ship or hull. This invention, through a unified micro-tool interface and multiple replaceable end designs, allows the same insertion mechanism to quickly switch between a search hook, micro-probe, micro-observation head, cleaning brush, and contact sensing head depending on the task. This enables the invention to have multi-task expansion capabilities, including searching, observation, detection, cleaning, and contact information acquisition, adapting to the close-range inspection needs of complex situations inside the grid, thus solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an underwater robot-mounted grid space exploration robotic arm, comprising a small underwater robot body, a replaceable tool interface, and a control and sensing unit. A robotic arm mounting base is provided on one side of the small underwater robot body. An attitude adjustment joint segment is provided on one side of the robotic arm mounting base. An offset transition joint is provided at the end of the attitude adjustment joint segment away from the robotic arm mounting base. A slender probe segment is provided at the end of the offset transition joint away from the attitude adjustment joint segment. The outer surface of the slender probe segment is smooth. A guide nose cone is provided at the end of the slender probe segment away from the offset transition joint. A flexible guide ring is provided on the outer side of the guide nose cone. A common hidden cable is provided inside the robotic arm mounting base, the attitude adjustment joint segment, the offset transition joint, and the slender probe segment. A miniature search and detection end is provided at the end of the guide nose cone away from the slender probe segment. One end of the replaceable tool interface is provided with any one of a search hook, a miniature probe, a miniature observation head, a cleaning brush head, and a contact sensing head. The robotic arm mounting base is installed on the main body of the small underwater robot and is used to complete the alignment near the entrance of the grid at the bottom of the ship or the bottom of the cabin, and to extend the slender probe into the internal space of the grid to search, detect, observe and acquire information about obstacles, sediments, entanglements or objects to be detected. The attitude adjustment joint segment and the offset transition joint are responsible for inlet alignment and attitude transition; The elongated probe section is used for the working section that passes through narrow grid gaps; The rummaging hook is used for turning and rummaging, and is suitable for hooking and turning tangled objects, light debris or locally attached objects; The micro probe is used for surface detection and is suitable for contact detection of narrow gaps, holes or surface conditions. The miniature observation head is used for close-range observation and is suitable for acquiring local close-range image information; The cleaning brush head is used for light cleaning and is suitable for light scrubbing and surface cleaning of the target area; The contact sensing head is used for contact-based information acquisition and is suitable for contact confirmation, positioning, or local information collection.

[0008] In a preferred embodiment, a grid entrance is provided on one side of the micro search and detection terminal, and an internal space of the grid is provided on the other side of the grid entrance.

[0009] In a preferred embodiment, an internal target object is provided on the bottom side of the internal space of the grid, and a detection and searching area is provided inside the internal space of the grid.

[0010] In a preferred embodiment, the elongated probe is configured as either an elongated rod-shaped structure or a sleeve-shaped structure, and the elongated probe is configured as either a fixed-length structure or a telescopic structure, wherein the outer dimension of the elongated probe is smaller than the effective passage size of the grid entrance.

[0011] The technical effects and advantages of this invention are as follows: 1. This invention uses a combination design of a small robot equipped with a posture adjustment joint segment, an offset transition joint, and a slender probe segment to enable the system to have approach capability, entrance alignment capability, and crossing capability. The probe mechanism can be delivered to the vicinity of the entrance by a small underwater robot without removing the grid, and the slender probe segment can be used to enter the internal space of the grid, which significantly improves the accessibility of searching and detecting inside the confined space. 2. The present invention, through the design of the guide nose cone, flexible guide ring and smooth shape, enables the probe section to slide and correct along the edge of the grid when there is slight deviation. The hidden cable reduces external entanglement, which can reduce the risk of snagging, jamming and cable interference with the edge of the grid during the probe, making the device more suitable for narrow underwater environments such as the bottom of the ship or the bottom of the cabin. 3. Through a unified micro-tool interface and multiple replaceable end designs, the present invention enables the same probe mechanism to quickly switch between a search hook, a micro probe, a micro observation head, a cleaning brush head, and a contact sensing head according to the task. This gives the present invention the ability to perform multiple tasks such as searching, observing, probing, cleaning, and contact information acquisition, and can adapt to the close-range inspection needs of complex situations inside the grid. Attached Figure Description

[0012] Figure 1This is a schematic diagram of the overall structure of an underwater robot-mounted grid space exploration robotic arm proposed in this invention; Figure 2 This is a schematic diagram of an underwater robot-mounted grid space exploration robotic arm aligned with the grid entrance and ready to probe in, as proposed in this invention. Figure 3 This is a schematic diagram of an underwater robot-mounted grid space exploration robotic arm that passes through the grid and enters the internal space, as proposed in this invention. Figure 4 This is a partial schematic diagram of the guide head and anti-snagging structure of an underwater robot-mounted grid space exploration robotic arm proposed in this invention; Figure 5 This is a schematic diagram of the underwater robot-mounted grid space exploration robotic arm, as proposed in this invention, searching and exploring inside the grid. Figure 6 This is a schematic diagram of a micro-end-effector replacement for an underwater robot-mounted grid space exploration robotic arm proposed in this invention.

[0013] The attached figures are labeled as follows: 1. Main body of the small underwater robot; 2. Robotic arm mounting base; 3. Attitude adjustment joint segment; 4. Offset transition joint; 5. Slender probe segment; 6. Guide nose cone; 7. Flexible guide ring; 8. Hidden cable; 9. Miniature search and detection end effector; 91. Search hook; 92. Miniature probe; 93. Miniature observation head; 94. Cleaning brush head; 95. Contact sensing head; 10. Grid entrance; 11. Grid interior space; 12. Internal target object; 13. Replaceable tool interface; 14. Detection and search area. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 and attached Figure 6As shown, this invention provides an underwater robot-mounted grid space exploration robotic arm, including a small underwater robot body 1, a replaceable tool interface 13, and a control and sensing unit. A robotic arm mounting base 2 is provided on one side of the small underwater robot body 1. An attitude adjustment joint segment 3 is provided on one side of the robotic arm mounting base 2. An offset transition joint 4 is provided at the end of the attitude adjustment joint segment 3 away from the robotic arm mounting base 2. An elongated probe segment 5 is provided at the end of the offset transition joint 4 away from the attitude adjustment joint segment 3. The outer surface of the elongated probe segment 5 is configured as... With a smooth shape, the slender probe section 5 is provided with a guide nose cone 6 at one end away from the offset transition joint 4, and a flexible guide ring 7 is provided on the outside of the guide nose cone 6. The robotic arm mounting base 2, the attitude adjustment joint section 3, the offset transition joint 4 and the slender probe section 5 are provided with the same hidden cable 8. The guide nose cone 6 is provided with a miniature search and detection end 9 at one end away from the slender probe section 5. The replaceable tool interface 13 is provided with any one of the following: a search hook head 91, a miniature probe 92, a miniature observation head 93, a cleaning brush head 94 and a contact sensing head 95. The robotic arm mounting base 2 is mounted on the main body 1 of the small underwater robot and is used to complete the alignment near the entrance 10 of the grid at the bottom of the ship or the bottom of the cabin, and to extend the slender probe 5 into the internal space 11 of the grid to search, detect, observe and acquire information on obstacles, sediments, entanglements or objects to be detected. The attitude adjustment joint segment 3 and the offset transition joint 4 are responsible for inlet alignment and attitude transition. The elongated probe 5 is a working section used to pass through narrow grid gaps; The rummaging hook 91 is used for turning and rummaging, and is suitable for hooking and turning tangled objects, light debris or locally attached objects; The micro probe 92 is used for surface detection and is suitable for contact detection of narrow gaps, holes or surface conditions. The miniature observation head 93 is used for close-range observation and is suitable for acquiring local close-range image information; The cleaning brush head 94 is used for light cleaning and is suitable for light scrubbing and surface cleaning of the target area; The contact sensing head 95 is used for contact information acquisition and is suitable for contact confirmation, positioning, or local information collection.

[0016] The micro search and detection terminal 9 has a grid entrance 10 on one side, and a grid interior space 11 is provided on one side of the grid entrance 10.

[0017] An internal target object 12 is provided on the bottom side of the internal space 11 of the grid, and a detection and searching area 14 is provided inside the internal space 11 of the grid.

[0018] The slender probe section 5 is configured as either a slender rod-shaped structure or a sleeve-shaped structure, and the slender probe section 5 is configured as either a fixed-length structure or a telescopic structure. The outer dimensions of the slender probe section 5 are smaller than the effective passage size of the grid entrance 10.

[0019] The specific implementation method is as follows: When using this invention, the robotic arm is mounted on the main body 1 of a small underwater robot. It is used to complete the alignment near the entrance 10 of the grid at the bottom of the ship or the bottom of the cabin, and to extend the slender probe 5 into the internal space 11 of the grid to search, detect, observe, and acquire information about obstacles, sediments, entanglements, or objects to be detected. The robotic arm adopts a lightweight and compact layout. The attitude adjustment joint 3 and the offset transition joint 4 are mainly responsible for entrance alignment and attitude transition. The slender probe 5 is a working section specifically used to pass through narrow grid gaps. Compared with conventional general-purpose robotic arms, this invention does not rely on a multi-joint end structure with a large envelope. Instead, through the division of labor between the short attitude adjustment section and the slender probe, the robot has a stronger ability to pass through and probe in limited spaces. The slender probe 5 is preferably a slender rod-shaped or sleeve-shaped structure. It can be a fixed-length structure or a telescopic structure. Its outer dimensions are smaller than the effective passage size of the grid entrance 10. The front end of the probe is provided with a guide nose cone 6 and a flexible guide ring 7. The guide nose cone 6 preferentially contacts the edge of the grid, allowing the probe segment to slide along the edge and automatically correct its entry direction even with slight deviations. The flexible guide ring 7 reduces the risk of snagging and minimizes friction and jamming with the grid edge during probe entry. The offset transition joint 4 spatially offsets the working axis of the probe segment 5 relative to the robot body, preventing rigid interference between the robot body, base, and grid frame. The outer surface of the slender probe segment 5 is preferably smooth and continuous, and it employs an internal wiring structure that hides the cable 8, reducing the risk of exposed cables getting caught on the grid edge and improving reliability in complex and confined environments. The miniature search probe end effector 9 can be installed at the front end of the probe segment 5 and quickly replaced via the tool interface 13. The end effector preferably includes one of the following: a searching hook 91, a miniature probe 92, a miniature observation head 93, a cleaning brush head 94, a contact sensing head 95, or a sampling head. It is used for searching, probing, close-range observation, light cleaning, or contact information acquisition of internal obstacles or target objects 12 within the grid's internal space 11. Figure 6As shown, the rummaging hook 91 is suitable for hooking and moving tangled objects, lightweight debris, or locally attached substances; the miniature probe 92 is suitable for contact detection of narrow gaps, holes, or surface conditions; the miniature observation head 93 is suitable for acquiring local close-range image information; the cleaning brush head 94 is suitable for light brushing and surface cleaning of the target area; and the contact sensing head 95 is suitable for contact confirmation, positioning, or local information collection. In actual use, the main body 1 of the small underwater robot first sends the robotic arm to the vicinity of the bottom of the ship or the bottom of the cabin. The attitude adjustment joint segment 3 and the offset transition joint 4 make fine adjustments to the probe direction. Then, the slender probe segment 5, with the assistance of the guide nose cone 6 and the flexible guide ring 7, passes through the grid entrance 10 and enters the internal space 11. After probe entry, the miniature search and detection end 9 performs rummaging, moving, detection, and observation tasks within a limited range. After the task is completed, the probe segment 5 safely withdraws along the original path or the planned path. This allows the invention to utilize a small robot equipped with the attitude adjustment joint segment 3, the offset transition joint 4, and the slender probe segment. The combined design of 5 gives the system accessibility, entrance alignment capability, and penetration capability. A small underwater robot can deliver the probe to the vicinity of the entrance without removing the grid, and the slender probe 5 enters the internal space 11 of the grid, significantly improving the accessibility of searching and detecting inside confined spaces. The invention uses a guide nose cone 6, a flexible guide ring 7, and a smooth shape design to allow the probe to slide and correct along the edge of the grid even with slight deviations. The hidden cable reduces external entanglement, which reduces the risk of snagging, jamming, and cable interference with the grid edge during the probe, making the device more suitable for narrow underwater environments such as the bottom of a ship or the bottom of a hull. The invention uses a unified micro-tool interface and multiple replaceable end designs to allow the same probe to quickly switch between a search hook 91, a micro probe 92, a micro observation head 93, a cleaning brush head 94, and a contact sensing head 95 according to the task. This gives the invention multi-task expansion capabilities such as searching, observing, detecting, cleaning, and contact information acquisition, and can adapt to the close-range inspection needs of complex situations inside the grid.

[0020] Working principle of this invention: Refer to the instruction manual appendix Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 and attached Figure 6When using this invention, the structure includes a robotic arm mounting base 2, an offset transition joint 4, a slender probe section 5, and a replaceable tool interface 13. This allows the system to combine approach capability, entrance alignment capability, and penetration capability through a small robot mounted on the posture adjustment joint section 3, offset transition joint 4, and slender probe section 5. The probe mechanism can be delivered to the vicinity of the entrance by a small underwater robot without removing the enclosure, and then enter the internal space 11 of the enclosure using the slender probe section 5. This significantly improves the accessibility of searching and probing within confined spaces. The invention also utilizes a guide nose cone 6, a flexible guide ring 7, and a smooth shape design to ensure the probe section... Even with slight deviations, it can still slide and correct along the edge of the grid, and the hidden cable reduces external entanglement, which can reduce the risk of snagging, jamming, and cable interference with the grid edge during the probe, making the device more suitable for narrow underwater environments such as the bottom of a ship or the bottom of a hull. Through a unified micro-tool interface and multiple replaceable end designs, the same probe mechanism can quickly switch between the rummaging hook 91, micro probe 92, micro observation head 93, cleaning brush head 94, and contact sensing head 95 according to the task. This gives the invention the ability to perform multiple tasks such as rummaging, observation, detection, cleaning, and contact information acquisition, and can adapt to the close-range inspection needs of complex situations inside the grid.

[0021] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater robot-mounted grid space exploration robotic arm, comprising a small underwater robot body (1), a replaceable tool interface (13), and a control and sensing unit, characterized in that: The main body (1) of the small underwater robot is provided with a robotic arm mounting base (2) on one side. The robotic arm mounting base (2) is provided with an attitude adjustment joint segment (3) on one side. An offset transition joint (4) is provided at the end of the attitude adjustment joint segment (3) away from the robotic arm mounting base (2). An elongated probe segment (5) is provided at the end of the offset transition joint (4) away from the attitude adjustment joint segment (3). The outer surface of the elongated probe segment (5) is set with a smooth shape. A guide nose cone (6) is provided at the end of the elongated probe segment (5) away from the offset transition joint (4). The guide nose cone (6) is provided with a flexible guide ring (7) on its outer side. The robotic arm mounting base (2), posture adjustment joint section (3), offset transition joint (4) and slender probe section (5) are provided with the same hidden cable (8). The guide nose cone (6) is provided with a micro search and detection end (9) at one end away from the slender probe section (5). The replaceable tool interface (13) is provided with any one of the following: a search hook (91), a micro probe (92), a micro observation head (93), a cleaning brush head (94), and a contact sensing head (95). The robotic arm mounting base (2) is mounted on the small underwater robot body (1) and is used to complete the alignment near the bottom of the ship or the entrance (10) of the grid, and to extend the slender probe (5) into the internal space (11) of the grid to search, detect, observe and acquire information on obstacles, sediments, entanglements or objects to be detected. The attitude adjustment joint segment (3) and the offset transition joint (4) are responsible for inlet alignment and attitude transition; The elongated probe section (5) is a working section used to pass through narrow grid gaps; The rummaging hook (91) is used for rummaging and is suitable for hooking and moving tangled objects, light debris or locally attached objects; The micro probe (92) is used for surface detection and is suitable for contact detection of narrow gaps, holes or surface conditions; The miniature observation head (93) is used for close-range observation and is suitable for acquiring local close-range image information; The cleaning brush head (94) is used for light cleaning and is suitable for light scrubbing and surface cleaning of the target area; The contact sensing head (95) is used for contact information acquisition and is suitable for contact confirmation, positioning or local information collection.

2. The underwater robot-mounted grid space exploration robotic arm according to claim 1, characterized in that: A grid entrance (10) is provided on one side of the micro search and detection terminal (9), and an internal grid space (11) is provided on one side of the grid entrance (10).

3. The underwater robot-mounted grid space exploration robotic arm according to claim 2, characterized in that: An internal target object (12) is provided on the bottom side of the internal space (11) of the grid, and a detection and searching area (14) is provided inside the internal space (11).

4. The underwater robot-mounted grid space exploration robotic arm according to claim 2, characterized in that: The slender probe section (5) is configured as either a slender rod-shaped structure or a sleeve-shaped structure. The slender probe section (5) is configured as either a fixed-length structure or a telescopic structure. The outer dimensions of the slender probe section (5) are smaller than the effective passage size of the grid entrance (10).

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