Underwater robotic tensegrity arm

Abstract

The application provides an underwater robot tensegrity arm, which comprises an arm assembly comprising a plurality of tension units connected in sequence from a proximal end of the arm assembly to a distal end of the arm assembly, wherein the plurality of tension units are linearly connected in sequence; a driving assembly connected through the plurality of tension units and configured to drive the plurality of tension units to be sequentially tensioned from the proximal end to the distal end under external force; and a limiting assembly configured to be in a relaxed state when the driving assembly does not tension the corresponding tension unit, and in a tensioned state when the driving assembly tensions the corresponding tension unit; each of the tension units is provided with a locking assembly, the driving assembly passes through the locking assembly, and when the driving force of the driving assembly on the corresponding tension unit is less than a preset value, the driving assembly is limited in the locking assembly, and the limiting assembly on the corresponding tension unit is in a relaxed state.

Description

Technical Field

[0001] This application relates to the field of underwater robot technology, and in particular to an underwater robot tensioning integral arm that simulates an octopus arm. Background Technology

[0002] Over the years, underwater robots have proven invaluable in a variety of industrial and scientific fields. While most underwater robots navigate the ocean, few possess maneuvering capabilities. Underwater operations typically employ the method of mounting robotic arms onto underwater vehicles, and the robot's kinematics and dynamics are handled similarly to other typical underwater robotic applications. However, the efficiency of movement in water is significantly different, for example, due to water resistance. Underwater robotic arms waste a considerable amount of energy overcoming the resistance of the surrounding fluids, thus posing a challenge to efficient underwater applications.

[0003] Furthermore, traditional underwater robotic arms are relatively bulky and use multiple joint motors, resulting in large mass, high inertia, high drag, and a significant increase in mass effect. Therefore, they cannot be completely simplified or ignored in the dynamic modeling of high-dynamic underwater vehicles. At the same time, each joint motor requires a secure dynamic seal, forcing the robotic arm to move slowly in high-pressure environments to ensure stability, thus limiting its high-dynamic, fast-response applications in the deep sea. Summary of the Invention

[0004] The purpose of this application is to provide an underwater robot tensioning arm to overcome the problems of low efficiency of underwater robots in water movement and the waste of a lot of energy when overcoming the resistance of the surrounding fluid.

[0005] To achieve the above objectives, the technical solution of this application is realized by designing an underwater robot tensioning integral arm. Specifically, the underwater robot tensioning integral arm includes:

[0006] An arm assembly comprising a plurality of tensioning units connected sequentially from the proximal end to the distal end of the arm assembly, wherein the plurality of tensioning units are connected in a linear sequence.

[0007] A drive assembly, connected to and passing through the plurality of tensioning units, and configured to drive the plurality of tensioning units to be tensioned sequentially from the proximal end to the distal end under the action of an external force; and

[0008] The limiting component is configured to be in a relaxed state when the driving component is not tensioned on the corresponding tensioning unit, and in a tensioned state on the corresponding tensioning unit when the driving component is tensioned.

[0009] Each tensioning unit is provided with a locking component, the driving component passes through the locking component, and when the driving force applied by the driving component to the corresponding tensioning unit is less than a preset value, the driving component is confined in the locking component, and the limiting component on the corresponding tensioning unit is in a relaxed state.

[0010] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, each tensioning unit includes a first connector and a second connector that intersect each other; one end of the first connector of the preceding tensioning unit is pivotally connected to one end of the second connector of the following tensioning unit in any two adjacent tensioning units; one end of the second connector of the preceding tensioning unit is pivotally connected to one end of the first connector of the following tensioning unit.

[0011] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the first connector includes a first end near the proximal end and a second end away from the first end;

[0012] The second connector includes a third end near the proximal end and a fourth end away from the third end;

[0013] The limiting component includes a second cable, the second cable including a first segment connected between the first end and the fourth end, and a second segment connected between the second end and the third end;

[0014] The drive component passes through the first cable sequentially through the fourth end, the first end, the second end, and the third end to drive the first connector and the second connector to move relative to each other.

[0015] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the first connector includes a first end near the proximal end and a second end away from the first end;

[0016] The second connector includes a third end near the proximal end and a fourth end away from the third end;

[0017] The drive assembly passes sequentially through the first cable at the fourth end, the first end, the second end, and the third end to drive the first connector and the second connector to move relative to each other; and

[0018] The limiting component includes a limiting member disposed on the first connector, the limiting member being disposed on the first end and the second end of the first connector; along the proximal end to the distal end, the third end of the second connector abuts against the limiting member at the second end of the first connector of the preceding tensioning unit, and the fourth end of the second connector abuts against the limiting member at the first end of the first connector of the following tensioning unit.

[0019] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, any two adjacent tensioning units are respectively a first tensioning unit and a second tensioning unit, and the second end of the first connector of the first tensioning unit is pivotally connected to the third end of the second connector of the second tensioning unit;

[0020] The fourth end of the second connector of the first tensioning unit is pivotally connected to the first end of the second connector of the second tensioning unit.

[0021] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the locking component is disposed on the second connector, and the driving component passes sequentially through the fourth end, the first end, the locking component, the second end, and the third end to drive the first connector and the second connector to move relative to each other.

[0022] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the driving component includes a first cable, and the locking component includes a slot disposed inside the second connector for the first cable to pass through and a plurality of limiting blocks to restrict the movement of the first cable, wherein when the driving force applied by the first cable to the corresponding tensioning unit is less than a preset value, the first cable is restricted in the gap between the plurality of limiting blocks, and when the driving force is greater than the preset value, the first cable passes through the gap between the plurality of limiting blocks and enters the slot.

[0023] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the second connector includes a first connecting plate and a second connecting plate stacked on top of each other, the two ends of the first connecting plate and the two ends of the second connecting plate being fixedly connected, and a through groove being formed between the first connecting plate and the second connecting plate, the height of the through groove being h;

[0024] The first connecting plate has a first protrusion and a first limiting block protruding on its inner side near the second connecting plate, and the second connecting plate has a second protrusion and a second limiting block protruding on its inner side near the first connecting plate, wherein the first protrusion and the second protrusion are arranged diagonally, and the first limiting block and the second limiting block are arranged diagonally, so as to form an intersecting first slot and second slot.

[0025] The height h1 of the first boss and the second boss is slightly less than or equal to h; the sum of the heights h2 of the first limiting block and the second limiting block is less than h, and the gap height h3 between the first limiting block and the second limiting block is less than the diameter d of the first cable.

[0026] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the second connector includes a first connecting plate and a second connecting plate stacked on top of each other, with the two ends of the first connecting plate and the two ends of the second connecting plate fixedly connected, and a through groove formed between the first connecting plate and the second connecting plate; wherein, a first bearing and a second bearing are provided on the two ends where the first connecting plate and the second connecting plate are connected, and the first cable passes sequentially around the first bearing on the second connecting plate of the plurality of tensioning units, the locking component provided in the groove, and the second bearing.

[0027] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the first connector includes a third connecting plate and a fourth connecting plate, and the second connector passes through the third connecting plate and the fourth connecting plate;

[0028] The second cable includes a first segment connecting the same end of the two third connecting plates of the two first connectors of the two adjacent tensioning units, and a second segment connecting the other end of the two third connecting plates of the two first connectors of the two adjacent tensioning units; and / or

[0029] The first line segment is also connected between the same end of the two fourth connecting plates of the two first connecting members of the two adjacent tensioning units; the second line segment is also connected between the other end of the two fourth connecting plates of the two first connecting members of the two adjacent tensioning units.

[0030] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the system also includes a gimbal for driving the underwater robot to extend and retract its integral arm along multiple degrees of freedom, and the driving assembly further includes a drive motor disposed on the gimbal.

[0031] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, the drive assembly further includes a third cable connected between the proximal end of the arm assembly and the distal end of the arm assembly, for rapidly retracting all of the tensioning units under external force.

[0032] In addition to one or more of the features described above, or as an alternative to any of the above embodiments, a suction cup assembly disposed on the distal end is also included.

[0033] Compared to existing technologies, the underwater robot tensioning integral arm proposed in this application has the following technical advantages:

[0034] The arm assembly is connected sequentially from its proximal end to its distal end via multiple tensioning units, which are linearly connected. This allows for tensioning and retraction of the arm assembly with a single degree of freedom. Simultaneously, limiting components are connected to each tensioning unit and remain in a relaxed state when the arm assembly is not activated. Thus, the entire arm assembly is initially in a fully relaxed state, allowing it to adapt to deformations in the surrounding space, demonstrating the potential of this robotic arm to move and work in confined spaces. When the first cable is driven by an external force (e.g., a drive motor), this driving force sequentially tensions the first cable from its proximal end to its distal end. Each tensioning unit is tightened; simultaneously, due to the locking component, partial tension can be achieved, while the distal part remains relaxed; furthermore, since each tensioning unit has a preset tension value, when the external driving force is large enough, the entire arm assembly can be rapidly launched in less than 0.3 seconds under the action of a 1Nm motor; and during the rapid launch, the untensioned tensioning units in the arm assembly all face the direction of the water, thus ensuring that the entire arm assembly is always facing the water in the normal direction during the launch process, which can effectively reduce water resistance; at the same time, the entire structure utilizes embedded motion propagation, simplifying the control complexity of underwater robot operation. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a structural diagram of an arm assembly for a tensioned integral arm of an underwater robot provided in one embodiment of this application, wherein only a portion of the tensioning units are tensioned;

[0037] Figure 2This is a structural diagram of an arm assembly for a tensioned integral arm of an underwater robot provided in one embodiment of this application, wherein only a portion of the tensioning units are tensioned;

[0038] Figure 3 This is a cross-sectional view of an arm assembly for a tensioned integral arm of an underwater robot provided in one embodiment of this application, wherein only a portion of the tensioning unit is tensioned;

[0039] Figure 4 This is a cross-sectional view of an arm assembly for a tensioned integral arm of an underwater robot provided in one embodiment of this application, wherein only a portion of the tensioning unit is tensioned;

[0040] Figure 5 This is provided by the embodiments of this application. Figure 4 A magnified view of part C in the middle;

[0041] Figure 6 This is provided by the embodiments of this application. Figure 4 A magnified view of part D in the middle;

[0042] Figure 7 This is a perspective view of the second connector in the tensioning unit of the arm assembly of the underwater robot tensioning integral arm provided in the embodiments of this application;

[0043] Figure 8 This is a front view of the second connector in the tensioning unit of the arm assembly of the underwater robot tensioning integral arm provided in the embodiments of this application;

[0044] Figure 9 This is a partial structural diagram of the arm assembly of an underwater robot tensioning integral arm provided in another embodiment of this application;

[0045] Figure 10 Figure 9 A perspective view of a tensioning unit in the arm assembly of the underwater robot tensioning integral arm shown in the embodiment;

[0046] Figure 11 yes Figure 10 The cross-sectional view of the tensioning unit shown in the figure;

[0047] Figure 12 This is a schematic diagram of a tensioning unit in a relaxed state.

[0048] In the accompanying drawings, the corresponding reference numerals are as follows: Arm component 10; proximal end 11; distal end 12; Tensioning unit 20; First connector 21; first end 211; first abutting platform 2111; second end 212; second abutting platform 2121; third connecting plate 213; fourth connecting plate 214; third bearing 215; fourth bearing 216; Second connector 22; Third end 221; Fourth end 222; First connecting plate 223; Second connecting plate 224; Through groove 225; First bearing 226; Second bearing 227; Upper end face 228; Lower end face 229; First tensioning unit 20a; Second tensioning unit 20b; Drive assembly 30; first cable 31; tensioned first cable 32; slack first cable 33; base 34; Second cable 40; First segment 41; Tensed first segment 41a; Relaxed first segment 41b; Second segment 42; Tensed second segment 42a; Relaxed second segment 42b; Locking component 50; first boss 51; first limiting block 52; second boss 53; second limiting block 54; first slot 55; second slot 56; gap 57. Detailed Implementation

[0049] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0050] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0051] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0053] The extension motion of an octopus arm significantly reduces total drag by minimizing the area of ​​normal resistance acting on the arm. The extension of the octopus arm is achieved by propagating antagonistic muscle stiffening waves to drive arm flexion. Inspired by this biomechanical characteristic, the inventors designed a temporally and spatially sequential underwater robotic tensioning arm that biologically mimics the stiffening and straightening propagation of an octopus arm. This is achieved through paired antagonistic activation of lateral and longitudinal drives to propel flexion along the arm. Simultaneously, through intelligent locking of the physical structure, it achieves extension and contraction actuation requiring only one degree of freedom (DoF), thus enabling the propagation of stiffness and flexion across multiple degrees of freedom.

[0054] Specifically, in order to make the objectives, technical solutions and advantages of this application clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0055] In one embodiment of this application, reference is made to the appendix. Figures 1 to 12 As shown, the technical solution of this application designs an underwater robot tensioning integral arm to achieve this. Specifically, the underwater robot tensioning integral arm includes: an arm assembly 10, a drive assembly 30, and a limiting assembly; wherein, the drive assembly 30 and the limiting assembly are both disposed on the arm assembly 10, and the rapid extension of the arm assembly 10 is achieved through the cooperation of the drive assembly 30 and the limiting assembly, thereby simulating the rigidity and straightening propagation of an octopus arm.

[0056] In this embodiment, as Figures 1 to 4 As shown, the arm assembly 10 includes a plurality of tensioning units 20 connected sequentially from the proximal end 11 to the distal end 12 of the arm assembly 10. For ease of connection, the proximal end 11 of the arm assembly 10 is connected to a fixed base 34, and the distal end 12 is the location of the tensioning unit 20 furthest from the base 34. Furthermore, the plurality of tensioning units 20 are linearly connected sequentially. Linearity includes both straight lines and curves, where a straight line represents the state of all tensioning units 20 after tensioning, and a curve represents the naturally relaxed transition state of the tensioning units 20 when untensioned. Additionally, the linear sequential connection of the plurality of tensioning units 20 is also reflected in the fact that the positions of the plurality of tensioning units 20 change only in, for example, the XY direction, i.e., they move only in one degree of freedom.

[0057] In this embodiment, the drive assembly 30 is connected to and passes through multiple tensioning units 20 simultaneously, and the drive assembly is configured to drive the multiple tensioning units 20 to be tensioned sequentially from the proximal end 11 to the distal end 12 under the action of an external force.

[0058] In this embodiment of the application, the drive assembly 30 includes an actuation cable (e.g., the first cable 31 described below) that integrally passes through all the tensioning units 20 at the same time. When the actuation cable is driven by an external force (e.g., a motor), the actuation cable sequentially tensions the multiple tensioning units 20 from the proximal end 11 to the distal end 12 of the arm assembly 10. Here, sequential tensioning means that the multiple tensioning units 20 from the proximal end 11 to the distal end 12 are gradually tensioned one after another.

[0059] Furthermore, in this embodiment, the limiting component is configured to be in a relaxed state when the driving component 30 is not tensioned on the corresponding tensioning unit 20, and in a tensioned state when the driving component 30 is tensioned on the corresponding tensioning unit 20.

[0060] In this embodiment, as Figures 4 to 6 As shown, the limiting component is disposed on each of the tensioning units 20. When the limiting component on a particular tensioning unit 20 is in a relaxed state or is not restricted, it indicates that the actuation cable passing through the tensioning unit 20 is not driven, and thus the tensioning unit 20 is also in a relaxed state, as shown. Figure 4 and Figure 5 As shown; simultaneously, when the limiting component on a tensioning unit 20 is in a tensioned state or is restricted, it indicates that the actuation cable passing through the tensioning unit 20 is driven, and thus the tensioning unit 20 is also in a tensioned state, as shown. Figure 4 and Figure 6 As shown.

[0061] In this embodiment of the application, each tensioning unit 20 is provided with a locking component 50, the driving component 30 passes through the locking component 50, and when the driving force applied by the driving component 30 to the corresponding tensioning unit 20 is less than a preset value, the driving component 30 is confined in the locking component 50, and the limiting component on the corresponding tensioning unit 20 is in a relaxed state.

[0062] Based on the setting of the locking component 50, when the actuation cable of the driving component 30 is actuated, if the applied driving force is less than a preset value, the actuation cables passing through all the tensioning units 20 are not driven simultaneously. That is, several tensioning units 20 near the proximal end 11 are tensioned, while the remaining tensioning units 20 far from the proximal end 11 remain in a relaxed state. Figures 1 to 4 As shown; this simulates the pre-extension of an octopus's arms.

[0063] Here, it is assumed that the multiple tensioning units 20 include a first tensioning unit 20, a second tensioning unit 20, ..., an (n-1)th tensioning unit 20, and an nth tensioning unit 20 connected sequentially from the proximal end 11 to the distal end 12. Because the actuation cable passes through all the tensioning units sequentially, the driving force applied by the motor to the actuation cable is transmitted in chronological order, that is, the portion of the actuation cable near the proximal end 11 is actuated before the portion of the actuation cable near the distal end 12. Consequently, when the motor applies the driving force, the driving force is transmitted from the side of the actuation cable near the proximal end to the side near the distal end, causing the n tensioning units 20 through which it passes to be tensioned sequentially. Although in the description, the n tensioning units 20 are tensioned sequentially from the proximal end 11 to the distal end 12, during the process of the motor applying the driving force, the n tensioning units 20 may be tensioned almost instantaneously. During this process, the tensioned tensioning units 20 are aligned in a straight line (e.g., along the X-axis), while the remaining tensioning units 20 that are not tensioned hang down naturally or in other curved shapes (e.g., along the Y-axis). When the remaining tensioning units 20 that are not tensioned continue to be tensioned, they are instantly thrown from the Y-axis to the X-axis. If this process is carried out underwater, the untensioned tensioning units 20 in the arm assembly 10 all face the direction of the water, thus ensuring that the entire arm assembly 10 is always thrown forward in the direction of the water, which can effectively reduce water resistance.

[0064] Furthermore, in the embodiments of this application, such as Figures 1 to 4As shown; the arm assembly 10 is connected sequentially from the proximal end 11 to the distal end 12 of the arm assembly 10 through multiple tensioning units 20, and the multiple tensioning units 20 are linearly connected in sequence; thus, the tensioning and retraction of the arm assembly 10 can be achieved by a single degree of freedom drive; at the same time, each tensioning unit 20 is connected to a limiting component, and is in a relaxed state when the arm assembly 10 is not activated, so the initial state of the entire arm assembly 10 is a fully relaxed state, which can conform to the deformation of the surrounding space, demonstrating the potential of this robotic arm to move and work in a confined space; when the first cable 31 is driven by an external force (e.g., a drive motor, etc.), the first cable 31 is displaced in the multiple tensioning units 20, and the driving force sequentially tensions each tensioning unit 20 from the proximal end 11 to the distal end 12 through the first cable 31; at the same time, due to the setting of the locking component 50, the first cable 31 is connected to the tensioning unit 20 by the locking component 50. One section of cable 20 can be displaced within the corresponding tensioning unit to tension it, thus achieving partial tensioning. However, the tensioning units at the far end 12 cannot be displaced to drive the corresponding tensioning unit 20 to tension because the corresponding part of the first cable 31 has not yet passed through the corresponding locking component 50, and thus remain in a slack state. In addition, since each tensioning unit 20 has a preset tension value, when the external driving force is large enough, the entire arm assembly 10 can be quickly thrown out in less than 0.3 seconds under the action of a 1Nm motor. During the rapid throwing out, the untensioned tensioning units 20 in the arm assembly 10 are all facing the direction of the water, so that the entire arm assembly 10 is always facing the water in the normal direction during the throwing process, which can effectively reduce water resistance. At the same time, the entire structure utilizes embedded motion propagation, simplifying the control complexity of underwater robot operation.

[0065] In one embodiment of this application, such as Figures 1 to 4 As shown; each tensioning unit 20 includes a first connector 21 and a second connector 22 that intersect each other; in any two adjacent tensioning units 20, one end of the first connector 21 of the preceding tensioning unit 20 is pivotally connected to one end of the second connector 22 of the following tensioning unit 20; one end of the second connector 22 of the preceding tensioning unit 20 is pivotally connected to one end of the first connector 21 of the following tensioning unit 20.

[0066] In this embodiment, as Figures 1 to 4As shown, the first connector 21 and the second connector 22 of each tensioning unit 20 intersect each other to form an "X" shape. The intersecting first connector 21 and the second connector 22 can move relative to each other, similar to the opening and closing of scissors. Simultaneously, multiple X-shaped structures are connected end-to-end to form the arm assembly 10 in this application. In this embodiment, the arm assembly 10 preferably includes n tensioning units 20, where n is any integer greater than 5. In this embodiment, n is preferably 18, meaning that 18 X-shaped structures are connected end-to-end to form the arm assembly 10 in this application.

[0067] Of the 18 X-shaped structures, the first X-shaped structure is connected to the base 34, and the 18th X-shaped structure is the free structure at the farthest end 12. In any two tensioning units 20 from the second to the 17th X-shaped structures, one end of the first connector 21 of the preceding tensioning unit 20 is pivotally connected to one end of the second connector 22 of the following tensioning unit 20; and one end of the second connector 22 of the preceding tensioning unit 20 is pivotally connected to one end of the first connector 21 of the following tensioning unit 20. Through such cross-pivot connection, the entire arm assembly 10 can be rapidly extended under the drive of the drive assembly 30, thereby simulating the rapid swinging out of an octopus arm.

[0068] In one embodiment of this application, such as Figure 5 and Figure 6 As shown, the first connector 21 includes a first end 211 near the proximal end 11 and a second end 212 away from the first end 211; the second connector 22 includes a third end 221 near the proximal end 11 and a fourth end 222 away from the third end 221. The above designations are for ease of description and understanding only; please refer to the accompanying drawings for details.

[0069] That is, in this embodiment, as Figure 1 and Figure 2 As shown, any two adjacent tensioning units 20 are designated as a first tensioning unit 20a and a second tensioning unit 20b, respectively. The second end 212 of the first connector 21 of the first tensioning unit 20a is pivotally connected to the third end 221 of the second connector 22 of the second tensioning unit 20b; at the same time, the fourth end 222 of the second connector 22 of the first tensioning unit 20a is pivotally connected to the first end 211 of the second connector 22 of the second tensioning unit 20b.

[0070] In this embodiment, as Figure 2 and Figure 3As shown, the limiting component includes a second cable 40, which includes a first segment 41 connecting the first end 211 and the fourth end 222, and a second segment 42 connecting the second end 212 and the third end 221; that is, the first segment 41 connects between the two upper branches of the X-shaped structure, while the second segment 42 connects between the two lower branches of the X-shaped structure. In the embodiments of this application, each X-shaped structure preferably has a separate first segment 41 and second segment 42; that is, the limiting components on any two tensioning units 20 are independent of each other. Of course, in other embodiments, the second cable 40 may also include only one first segment 41 and one second segment 42, a first segment 41 and multiple second segments 42, or multiple first segments 41 and one second segment 42; the specific structural selection will not be elaborated in this application.

[0071] In this embodiment, as Figure 6 As shown, when the corresponding tensioning unit 20 is tensioned by the drive assembly 30, the first line segment 41 connected between the first end 211 and the fourth end 222, and the second line segment 42 connected between the second end 212 and the third end 221 are both tensioned, and in this state, the first line segment 41 and the second line segment 42 are preferably parallel to each other.

[0072] In this embodiment, as Figure 6 As shown, the drive assembly preferably includes a first cable 31, which sequentially passes around the fourth end 222, the first end 211, the second end 212, and the third end 221; thereby driving the first connector 21 and the second connector 22 to move relative to each other. Here, the first cable 31 passes through all the tensioning units 20. Preferably, one end of the first cable 31 is connected to an external drive unit, which is preferably connected to the base 34, and the other end is fixedly connected to the tensioning unit 20 at the farthest end 12. When the drive unit applies an external force to pull the first cable 31, the first cable 31, which passes through all the tensioning units 20, sequentially tensions all the tensioning units 20 from the near end 11 to the far end 12.

[0073] In this embodiment, as Figure 1 and Figure 2As shown, any two adjacent tensioning units 20 are designated as the first tensioning unit 20a and the second tensioning unit 20b, respectively. Preferably, a pivot shaft is provided between the second end 212 of the first connector 21 of the first tensioning unit 20a and the third end 221 of the second connector 22 of the second tensioning unit 20b. At the same time, only a pivot shaft is provided between the fourth end 222 of the second connector 22 of the first tensioning unit 20a and the first end 211 of the second connector 22 of the second tensioning unit 20b. That is, two adjacent tensioning units 20 are pivotally connected by two pivot shafts. The first cable 31 preferably bypasses multiple pivot shafts to drive the relative movement of the first connector 21 and the second connector 22 of each tensioning unit 20 to tension the corresponding tensioning unit 20.

[0074] In another embodiment of this application, such as Figure 6 As shown, the first connector 21 includes a first end 211 near the proximal end 11 and a second end 212 away from the first end 211; the second connector 22 includes a third end 221 near the proximal end 11 and a fourth end 222 away from the third end 221. The above designations are for ease of description and understanding only; please refer to the accompanying drawings for details.

[0075] That is, in this embodiment, any two adjacent tensioning units 20 are set as a first tensioning unit 20a and a second tensioning unit 20b, respectively. The second end 212 of the first connector 21 of the first tensioning unit 20a is pivotally connected to the third end 221 of the second connector 22 of the second tensioning unit 20b; at the same time, the fourth end 222 of the second connector 22 of the first tensioning unit 20a is pivotally connected to the first end 211 of the second connector 22 of the second tensioning unit 20b.

[0076] In this embodiment, the driving component preferably includes a first cable 31, which sequentially connects to a fourth end 222, a first end 211, a second end 212, and a third end 221; thereby driving the first connector 21 and the second connector 22 to move relative to each other. Here, the first cable 31 passes through all the tensioning units 20. Preferably, one end of the first cable 31 is connected to an external driving component, which is preferably connected to the base 34, and the other end is fixedly connected to the tensioning unit 20 at the farthest end 12. When the driving component applies an external force to pull the first cable 31, the first cable 31, which passes through all the tensioning units 20, sequentially tensions all the tensioning units 20 from the near end 11 to the far end 12.

[0077] In this embodiment, as Figure 1 , Figure 2 and Figure 7As shown, any two adjacent tensioning units 20 are designated as the first tensioning unit 20a and the second tensioning unit 20b, respectively. Preferably, a pivot shaft is provided between the second end 212 of the first connector 21 of the first tensioning unit 20a and the third end 221 of the second connector 22 of the second tensioning unit 20b. At the same time, only a pivot shaft is provided between the fourth end 222 of the second connector 22 of the first tensioning unit 20a and the first end 211 of the second connector 22 of the second tensioning unit 20b. That is, two adjacent tensioning units 20 are pivotally connected by two pivot shafts. The first cable 31 preferably bypasses multiple pivot shafts to drive the relative movement of the first connector 21 and the second connector 22 of each tensioning unit 20 to tension the corresponding tensioning unit 20.

[0078] Unlike the previous embodiment, in this embodiment, as Figures 7 to 11 As shown, without the second cable 40, the limiting component includes two limiting members disposed on the first connector 21. The two limiting members are disposed on the first end 211 and the second end 212 of the first connector 21. The two limiting members are respectively the first abutting platform 2111 and the second abutting platform 2121 on the first end 211 and the second end 212 of the first connector 21.

[0079] In this embodiment, as Figures 10 to 11 As shown, the first end 211 and the second end 212 of the first connector 21 are both closed and form a first abutting platform 2111 and abutting platform 2121 respectively. When the first connector 21 pivots relative to the second connector 22 and is tensioned, the first abutting platform 2111 of the first end 211 of the first connector 21 of the subsequent tensioning unit 20 abuts against the upper end face 228 of the second connector 22 of the preceding tensioning unit 20, and the second abutting platform 2121 of the second end 212 of the first connector 21 of the preceding tensioning unit 20 abuts against the lower end face 229 of the second connector 22 of the subsequent tensioning unit 20, and abutting against each other in sequence; thus, the entire arm assembly 10 is tensioned under the action of the first cable 31.

[0080] In addition, when the corresponding tensioning unit 20 is in a relaxed state, the first end 211 of the first connector 21 of the subsequent tensioning unit 20 is away from and does not contact the upper end face 228 of the second connector 22 of the preceding tensioning unit 20, and the second end 212 of the first connector 21 of the preceding tensioning unit 20 is away from and does not contact the lower end face 229 of the second connector 22 of the subsequent tensioning unit 20.

[0081] This structural design ensures that the tensioning unit 20 remains stable after being tensioned. This design allows all the tensioning units 20 in the arm assembly 10 to maintain a certain stiffness after being tensioned to withstand the impact of water flow or water pressure in deep water environments.

[0082] In this embodiment, the first connector 21 may have a limiting member at a certain distance from both the first end 211 and the second end 212, or it may have a limiting member at only one end. It is understood that the shape and structure of the limiting member can be adapted and designed according to actual circumstances, and will not be further elaborated in this application.

[0083] In one embodiment of this application, such as Figures 5-6 and / or Figures 10-11 As shown, the aforementioned locking component 50 is preferably disposed on the second connector 22. For a certain tensioning unit 20 in the center, the first cable 31 of the driving component 30 preferably passes through the fourth end 222, the first end 211, the locking component 50, the second end 212, and the third end 221 in sequence to drive the first connector 21 and the second connector 22 to move relative to each other.

[0084] In this embodiment, as Figures 5-6 and / or Figures 10-11 As shown, the locking component 50 is disposed inside the second connector 22, and the first cable 31 passes around the pivots correspondingly disposed at each end and through the locking component 50. The structure of the locking component 50 restricts the first cable 31 passing through it. Only when the driving force applied to the first cable 31 exceeds a preset value will the position of the first cable 31 in the locking component 50 change from a restricted state to a freely pullable state.

[0085] Specifically, in one embodiment of this application, such as Figures 5-6 and / or Figures 10-11 As shown, the driving assembly includes a first cable 31, and the locking assembly 50 includes a slot disposed inside the second connector 22 for the first cable 31 to pass through and a plurality of limiting blocks to restrict the movement of the first cable 31. When the driving force applied by the first cable 31 to the corresponding tensioning unit 20 is less than a preset value, the first cable 31 is restricted in the gap 57 between the plurality of limiting blocks, and when the driving force is greater than the preset value, the first cable 31 passes through the gap 57 between the plurality of limiting blocks and enters the slot.

[0086] Specifically, such as Figures 5-6 and / or Figures 10-11As shown, when the corresponding first cable 31 is confined in the gap 57 between the plurality of limiting blocks, the first cable 31 near the proximal end is a tensioned first cable 32, while the first cable 31 far from the proximal end is a slack first cable 33. Similarly, referring to the accompanying drawings, when the limiting assembly includes the second cable 40 and the corresponding tensioning unit is tensioned, the tensioned first segment 41a and tensioned second segment 42a are as shown. When the limiting assembly includes the second cable 40 and the corresponding tensioning unit is in a slack state, the slack first segment 41b and slack second segment 42b are as shown.

[0087] In this embodiment, when the first cable 31 is confined between multiple limiting blocks, the movement of the first cable 31 is preferably confined by mutual contact friction.

[0088] Specifically, in this embodiment, such as Figures 5-6 and / or Figures 10-11 As shown, preferably, the second connector 22, which is provided with the locking component 50, preferably includes a first connecting plate 223 and a second connecting plate 224 that are stacked on top of each other. The two ends of the first connecting plate 223 and the two ends of the second connecting plate 224 are respectively fixedly connected, and pivot shafts are respectively fitted on the two ends of the first connecting plate 223 and the two ends of the second connecting plate 224 to allow the first cable 31 to pass around. In addition, a through groove 225 is formed between the first connecting plate 223 and the second connecting plate 224, and the height of the through groove 225 is h. In other embodiments, the second connector 22 is also preferably an integral plate, with the through groove 225 formed in the middle; for ease of description, the embodiments of this application use the example of the first connecting plate 223 and the second connecting plate 224 for illustration.

[0089] In this embodiment, as Figures 5-6 and Figures 9-11As shown, the locking component 50 includes a first protrusion 51 and a first limiting block 52 protruding from the inner side of the first connecting plate 223 near the second connecting plate 224, the first protrusion 51 and the first limiting block 52 being spaced apart; it also includes a second protrusion 53 and a second limiting block 54 protruding from the inner side of the second connecting plate 224 near the first connecting plate 223, the second protrusion 53 and the second limiting block 54 being spaced apart as well. Meanwhile, the first protrusion 51 and the second protrusion 53 are diagonally arranged, and the first limiting block 52 and the second limiting block 54 are diagonally arranged to form an intersecting first slot 55 and a second slot 56. When the corresponding tensioning unit 20 is tensioned, the intersecting first slot 55 and the second slot 56 are basically consistent with the intersecting state of the first connector 21 and the second connector 22. That is, the connecting line between the first end 211 and the second end 212 of the first connector 21 is basically parallel to the first slot 55, and the connecting line between the third end 221 and the fourth end 222 of the second connector 22 is basically parallel to the second slot 56. Preferably, when the first cable 31 is confined within the locking assembly 50, the first cable 31 is engaged in the gap 57 between the first limiting block 52 and the second limiting block 54. When the first cable 31 passes through the gap 57 between the first limiting block 52 and the second limiting block 54 and is located in the second slot 56, the corresponding tensioning unit 20 can be tensioned. When the corresponding tensioning unit 20 is in a relaxed state, the first cable 31 can be located in the first slot 55 or in the gap 57 between the first limiting block 52 and the second limiting block 54. When the first cable 31 is driven by an external force, the first cable 31 located in the first slot 55 is dragged through the gap 57 between the first limiting block 52 and the second limiting block 54 and finally enters the second slot 56, then the corresponding tensioning unit 20 is tensioned, and then the external force acting on the first cable 31 is further applied to the portion of the first cable 31 in the next adjacent tensioning unit 20.

[0090] In other embodiments, for ease of processing, the first boss 51, the first limiting block 52, the second boss 53, and the second limiting block 54 may be simultaneously disposed on the inner side of the first connecting plate 223 or the second connecting plate 224; or half of each may be disposed on the opposite inner side of the first connecting plate 223 and the second connecting plate 224.

[0091] To more clearly describe the structural principles described above, the following explanation uses relevant data to quantify the process:

[0092] In this embodiment, the height h1 of the first boss 51 and the second boss 53 is slightly less than or equal to the height h of the through groove 225; that is, the height of the first boss 51 and the second boss 53 is h1. The first boss 51 and the second boss 53, which are diagonally arranged and whose height is approximately equal to the height of the through groove 225, prevent the first cable 31 from passing through the first boss 51 and the second boss 53. As a result, the first cable 31 needs to move from the first slot 55 to the second slot 56 and can only pass through the gap 57 between the first limiting block 52 and the second limiting block 54.

[0093] To ensure the effectiveness of the limiting, the sum of the heights h2 of the first limiting block 52 and the second limiting block 54 is less than h, and the height h3 of the gap 57 between the first limiting block 52 and the second limiting block 54 is less than the diameter d of the first cable 31.

[0094] Please refer to the attached diagram for details. Figure 11 and Figure 12 In the diagram, area A represents the position of the first limiting block 52 and the second limiting block 54, and area B represents the position of the first protrusion 51 and the second protrusion 53.

[0095] In one embodiment of this application, the second connector 22 includes a first connecting plate 223 and a second connecting plate 224 stacked on top of each other. The two ends of the first connecting plate 223 and the two ends of the second connecting plate 224 are fixedly connected, and a through groove 217 is formed between the first connecting plate 223 and the second connecting plate 224. A first bearing 226 and a second bearing 227 are formed at the two ends where the first connecting plate 223 and the second connecting plate 224 are connected. A third bearing 215a and a fourth bearing 216a are respectively provided at the corresponding two ends of the first connector 21. The first cable 31 sequentially passes around the first bearing 226, the third bearing 215a, the locking component 50 disposed in the through groove 225, the fourth bearing 216a, and the second bearing 227 of the plurality of tensioning units 20. Furthermore, when the first cable 31 passes around the ends of the first connector 21 and the second connector 22, it can rotate together with the corresponding bearings, thereby effectively reducing the friction of the first cable 31 at each end.

[0096] In one embodiment of this application, such as Figure 10As shown, the first connecting member 21 preferably includes a third connecting plate 213 and a fourth connecting plate 214, and the second connecting member 22 is sandwiched between the third connecting plate 213 and the fourth connecting plate 214. That is, the second connecting member 22 is sandwiched in the middle by the third connecting plate 213 and the fourth connecting plate 214 of the first connecting member 21, and there is a gap between the third connecting plate 213 and the fourth connecting plate 214 and the second connecting member 22; in other words, the first connecting member 21 and the second connecting member 22 do not contact each other except for their corresponding ends being hinged together.

[0097] In this embodiment, further combined Figure 5-6 As shown, the limiting component preferably includes the second cable 40, which includes a first segment 41 connecting the same end of the two third connecting plates 213 of the two first connectors 21 of the two adjacent tensioning units 20, and a second segment 42 connecting the other end of the two third connecting plates 213 of the two first connectors 21 of the two adjacent tensioning units 20; the first segment 41 is also connected between the same end of the two fourth connecting plates 214 of the two first connectors 21 of the two adjacent tensioning units 20; and the second segment 42 is also connected between the other end of the two fourth connecting plates 214 of the two first connectors 21 of the two adjacent tensioning units 20. By providing multiple first segments 41 and second segments 42, the stability and rigidity of the entire arm assembly 10 after the tensioning unit 20 is tensioned can be guaranteed.

[0098] In another embodiment, further combined Figure 5-6 As shown, the limiting component preferably includes the second cable 40, which includes a first segment 41 connecting the same end of the two third connecting plates 213 of the two first connectors 21 of the two adjacent tensioning units 20, and a second segment 42 connecting the other end of the two third connecting plates 213 of the two first connectors 21 of the two adjacent tensioning units 20; or the first segment 41 is also connected between the same end of the two fourth connecting plates 214 of the two first connectors 21 of the two adjacent tensioning units 20; and the second segment 42 is also connected between the other end of the two fourth connecting plates 214 of the two first connectors 21 of the two adjacent tensioning units 20. By providing multiple first segments 41 and second segments 42, the stability and rigidity of the entire arm assembly 10 after the tensioning unit 20 is tensioned can be guaranteed.

[0099] In one embodiment of this application, the underwater robot's tensioning arm further includes a gimbal (not shown), which allows the underwater robot's tensioning arm to be rotated to multiple angles and dimensions. Furthermore, the gimbal enables the underwater robot's tensioning arm to extend and retract along multiple degrees of freedom. The drive assembly 30 also includes a drive motor mounted on the gimbal. As the gimbal rotates, the drive motor enables the arm assembly 10 of the underwater robot's tensioning arm to extend and retract along multiple degrees of freedom.

[0100] In one embodiment of this application, the underwater robot's tensioning arm also includes a suction cup assembly (not shown) disposed on the distal end 12 of the arm assembly 10. Through the suction cup assembly, combined with the aforementioned gimbal, the underwater robot's tensioning arm can pick up or transfer items in multiple degrees of freedom.

[0101] In one embodiment of this application, the underwater robot's tensioning arm further includes a third cable (not shown) connected between the proximal end 11 and the distal end 12 of the arm assembly 10, and used to rapidly retract all the tensioning units 20 under external force. The third cable enables rapid retraction of the entire arm assembly 10.

[0102] Based on the above statements, the underwater robot tensioning arm provided in this application embodiment can achieve the following:

[0103] Lightweight design: By connecting multiple cross-connected tensioning units 20 in sequence, the overall weight of the arm can be reduced, which can then be used for buoyancy neutralization and simplification of the dynamic model.

[0104] Because the base 34 and other drive components 30 are located at the proximal end 11, low inertia can be ensured during the swinging process of the arm assembly 10, thereby achieving a faster response.

[0105] The number of dynamic seals required for high-pressure (deep-sea) applications is reduced through a single-degree-of-freedom structural design.

[0106] The entire arm assembly 10 is initially in a fully relaxed state, allowing it to deform in accordance with the surrounding space, demonstrating the potential of this robotic arm to move and work in confined spaces.

[0107] Because of its lightweight structure, the tensioning integral arm of this application can also be used as a rapid robotic arm on small machines, and because the entire arm can be quickly swung out in less than 0.3 seconds under the action of a 1Nm motor, it also has a significant improvement in energy saving.

[0108] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A tensioning integral arm for an underwater robot, characterized in that, include: An arm assembly comprising a plurality of tensioning units connected sequentially from the proximal end to the distal end of the arm assembly, wherein the plurality of tensioning units are connected in a linear sequence. A drive assembly, which connects to and passes through the plurality of tensioning units, and is configured to drive the plurality of tensioning units to be tensioned sequentially from the proximal end to the distal end under the action of an external force; as well as A limiting component is configured to be in a relaxed state when the driving component is not tensioned on the corresponding tensioning unit, and in a tensioned state on the corresponding tensioning unit when the driving component is tensioned. Each tensioning unit is provided with a locking component, the driving component passes through the locking component, and when the driving force applied by the driving component to the corresponding tensioning unit is less than a preset value, the driving component is confined in the locking component, and the limiting component on the corresponding tensioning unit is in a relaxed state.

2. The underwater robot tensioning arm according to claim 1, characterized in that, Each tensioning unit includes a first connector and a second connector that intersect each other; in any two adjacent tensioning units, one end of the first connector of the preceding tensioning unit is pivotally connected to one end of the second connector of the following tensioning unit; one end of the second connector of the preceding tensioning unit is pivotally connected to one end of the first connector of the following tensioning unit.

3. The underwater robot tensioning arm according to claim 2, characterized in that, The first connector includes a first end near the proximal end and a second end away from the first end; The second connector includes a third end near the proximal end and a fourth end away from the third end; The limiting component includes a second cable, the second cable including a first segment connected between the first end and the fourth end, and a second segment connected between the second end and the third end; The drive component passes through the first cable sequentially through the fourth end, the first end, the second end, and the third end to drive the first connector and the second connector to move relative to each other.

4. The underwater robot tensioning integral arm according to claim 2, characterized in that, The first connector includes a first end near the proximal end and a second end away from the first end; The second connector includes a third end near the proximal end and a fourth end away from the third end; The drive component passes through the first cable sequentially through the fourth end, the first end, the second end, and the third end to drive the first connector and the second connector to move relative to each other; as well as The limiting component includes a limiting member disposed on the first connector, the limiting member being disposed on the first end and the second end of the first connector; along the proximal end to the distal end, the third end of the second connector abuts against the limiting member at the second end of the first connector of the preceding tensioning unit, and the fourth end of the second connector abuts against the limiting member at the first end of the first connector of the following tensioning unit.

5. The underwater robot tensioning integral arm according to claim 3 or 4, characterized in that, Any two adjacent tensioning units are respectively a first tensioning unit and a second tensioning unit, and the second end of the first connector of the first tensioning unit is pivotally connected to the third end of the second connector of the second tensioning unit; The fourth end of the second connector of the first tensioning unit is pivotally connected to the first end of the second connector of the second tensioning unit.

6. The underwater robot tensioning integral arm according to claim 3 or 4, characterized in that, The locking component is disposed on the second connector, and the driving component passes through the fourth end, the first end, the locking component, the second end, and the third end in sequence to drive the first connector and the second connector to move relative to each other.

7. The underwater robot tensioning integral arm according to any one of claims 1-4, characterized in that, The driving component includes a first cable, and the locking component includes a slot disposed inside the second connector for the first cable to pass through and a plurality of limiting blocks to restrict the movement of the first cable. When the driving force applied by the first cable to the corresponding tensioning unit is less than a preset value, the first cable is restricted in the gap between the plurality of limiting blocks, and when the driving force is greater than the preset value, the first cable passes through the gap between the plurality of limiting blocks and enters the slot.

8. The underwater robot tensioning arm according to claim 7, characterized in that, The second connector includes a first connecting plate and a second connecting plate stacked on top of each other. The two ends of the first connecting plate and the two ends of the second connecting plate are fixedly connected, and a through groove is formed between the first connecting plate and the second connecting plate. The height of the through groove is h. The first connecting plate has a first protrusion and a first limiting block protruding on its inner side near the second connecting plate, and the second connecting plate has a second protrusion and a second limiting block protruding on its inner side near the first connecting plate, wherein the first protrusion and the second protrusion are arranged diagonally, and the first limiting block and the second limiting block are arranged diagonally, so as to form an intersecting first slot and second slot. The height h1 of the first boss and the second boss is slightly less than or equal to h; the sum of the heights h2 of the first limiting block and the second limiting block is less than h, and the gap height h3 between the first limiting block and the second limiting block is less than the diameter d of the first cable.

9. The underwater robot tensioning arm according to claim 7, characterized in that, The second connector includes a first connecting plate and a second connecting plate stacked on top of each other. The two ends of the first connecting plate and the two ends of the second connecting plate are fixedly connected, and a through groove is formed between the first connecting plate and the second connecting plate. A first bearing and a second bearing are provided on the two ends where the first connecting plate and the second connecting plate are connected. The first cable passes around the first bearing on the second connecting plate of the plurality of tensioning units in sequence. The locking component and the second bearing are provided in the groove.

10. The underwater robot tensioning integral arm according to any one of claims 1-4, characterized in that, The first connector includes a third connecting plate and a fourth connecting plate, and the second connector passes through the third connecting plate and the fourth connecting plate; The second cable includes a first segment connecting the same end of the two third connecting plates of the two first connectors of the two adjacent tensioning units, and a second segment connecting the other end of the two third connecting plates of the two first connectors of the two adjacent tensioning units; and / or The first line segment is also connected between the same end of the two fourth connecting plates of the two first connecting members of the two adjacent tensioning units; the second line segment is also connected between the other end of the two fourth connecting plates of the two first connecting members of the two adjacent tensioning units.

11. The underwater robot tensioning integral arm according to any one of claims 1-4, characterized in that, It also includes a gimbal for driving the underwater robot to extend and retract its integral arm along multiple degrees of freedom, and the driving assembly also includes a drive motor mounted on the gimbal.

12. The underwater robot tensioning integral arm according to any one of claims 1-4, characterized in that, The drive assembly also includes a third cable connected between the proximal end and the distal end of the arm assembly, for rapidly contracting all the tensioning units under external force.

13. The underwater robot tensioning integral arm according to any one of claims 1-4, characterized in that, It also includes a suction cup assembly disposed on the distal end.

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