Anti-collision structure of underwater mechanical arm with high sealing performance

Abstract

The utility model discloses an anti-collision structure of a high-sealing-performance underwater mechanical arm, and relates to the technical field of mechanical arms. The protective device comprises a protective plate, the side face of the protective plate is fixedly connected with an installation base, the side face of the installation base is fixedly connected with a fixing column, the side face of the fixing column is provided with a mechanical arm, and the top of the mechanical arm is provided with a mechanical claw. And an anti-collision device is arranged at the top of the protection plate. According to the anti-collision device, the force generated by extruding the positioning plate and the mounting block through pulling force generated when the mechanical arm works is matched with a reset spring, a telescopic rod, a damper and other assemblies in the anti-collision device, the effect that the reset spring counteracts vibration force by generating counter-acting force opposite to the vibration direction is achieved, and the cushioning effect is achieved; and the damage risk when the mechanical arm is subjected to external impact is reduced, so that the service life of the mechanical arm is prolonged, and the maintenance and replacement cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, in particular to an anti-collision structure of a highly sealed underwater mechanical arm. Background Art

[0002] An underwater robotic arm is a mechanical device designed specifically for performing various tasks in underwater environments. It is usually composed of robotic arms connected by multiple joints. It has high flexibility and operational precision and can perform complex operations and tasks in the deep sea or other underwater environments.

[0003] According to a disclosed sealing structure of an underwater robotic arm (publication number: CN215093705U), it includes a mounting plate, a protective tube, and a robotic arm. The protective tube is threaded with a sealing cylinder on the inner side of its lower port, and the interior of the sealing cylinder is slidably connected with a movable part, and the movable part is composed of a ring plate, a sealing plate, a sealing gasket, a connecting column, a retaining spring and a limit plate. A sealing gasket is bonded to the plate surface of the sealing plate facing the sealing cylinder, and the side of the sealing plate away from the connecting column is fixedly mounted on the ring plate. However, in the above-mentioned device, it is difficult to achieve a shock-absorbing effect through the mutual cooperation of components such as the mounting plate, the protective tube and the robotic arm, which increases the risk of damage to the robotic arm when it is subjected to external impact, thereby reducing the service life of the robotic arm and increasing the cost of maintenance and replacement, which needs to be improved. Utility Model Content

[0004] The purpose of the utility model is to provide an anti-collision structure for an underwater mechanical arm with high sealing performance. The force of squeezing the positioning plate and the mounting block by the pulling force generated when the mechanical arm is working cooperates with the components such as the return spring, the telescopic rod and the damper in the anti-collision device, so that the return spring can offset the effect of the vibration force by generating a reaction force opposite to the vibration direction, thereby solving the existing problems.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model is an anti-collision structure of a highly sealed underwater mechanical arm, comprising a protective plate, a mounting seat is fixedly connected to the side of the protective plate, a fixing column is fixedly connected to the side of the mounting seat, a mechanical arm is arranged on the side of the fixing column, and a mechanical claw is arranged on the top of the mechanical arm;

[0007] An anti-collision device is arranged on the top of the protective plate, and the anti-collision device includes a fixing plate, and the fixing plate is arranged on the side of the protective plate, and a damper is fixedly connected to the side of the fixing plate, and a mounting block is fixedly connected to the end of the damper away from the fixing plate, and a positioning plate passes through the side of the mounting block.

[0008] Furthermore, a spring is fixedly connected to the bottom of the positioning plate, and one end of the spring away from the positioning plate is fixedly connected to the top of the fixing plate. The side of the mounting block is fixedly connected to the side of the protective plate. The vibration energy is converted into elastic potential energy through the action of the return spring, and then the vibration force is offset by the reaction force, thereby reducing or preventing damage to the robotic arm.

[0009] Furthermore, an extrusion block is fixedly connected to the side of the positioning plate, a mounting plate is fixedly connected to the side of the fixing plate, a hydraulic cylinder is arranged on the side of the mounting plate, one end of the hydraulic cylinder is slidably connected to a force rod via a piston, the other end of the hydraulic cylinder is slidably connected to a hydraulic rod via a piston, one end of the force rod is fixedly connected to the force plate, and one end of the hydraulic rod is fixedly connected to a baffle.

[0010] Furthermore, a return spring is fixedly connected to the bottom of the positioning plate, and one end of the return spring away from the positioning plate is fixedly connected to the side of the fixed plate. The initial state of the return spring is a relaxed state, which reduces the risk of damage to the robotic arm when it is subjected to external impact, thereby extending the service life of the robotic arm and reducing maintenance and replacement costs.

[0011] Furthermore, a telescopic rod is fixedly connected to the bottom of the positioning plate, and one end of the telescopic rod away from the positioning plate is fixedly connected to the side of the fixed plate. The implementation of the anti-collision structure improves the safety of underwater operations, reduces the possibility of accidents and injuries, and protects the safety of operators and the surrounding environment.

[0012] Furthermore, the initial state of the spring is a relaxed state, the number of the telescopic rods is set to two, and they are symmetrical with each other along the vertical center axis of the fixed plate. When the robotic arm is subjected to external impact or collision, the protective structure can respond quickly and effectively protect the side of the robotic arm through the baffle, thereby reducing the possibility of damage to the robotic arm.

[0013] Furthermore, a compression spring is fixedly connected to the circumferential surface of the stress-bearing rod, and one end of the compression spring away from the stress-bearing rod is fixedly connected to the side of the hydraulic cylinder, which can reduce the risk of accidents and protect operators and the surrounding environment from potential damage and risks.

[0014] Furthermore, the initial state of the compression spring is a relaxed state, the number of the hydraulic cylinders is set to two, and they are symmetrical with each other along the vertical center axis of the fixed plate. The effective protective structure reduces the loss and wear of the robotic arm during operation, thereby extending the service life of the robotic arm and reducing maintenance and replacement costs.

[0015] The utility model has the following beneficial effects:

[0016] 1. The utility model uses the tensile force generated when the mechanical arm is working to squeeze the positioning plate and the mounting block, and cooperates with the components such as the reset spring, telescopic rod and damper in the anti-collision device, so that the reset spring offsets the effect of the vibration force by generating a reaction force opposite to the vibration direction, thereby achieving a shock absorbing effect, reducing the risk of damage to the mechanical arm when it is subjected to external impact, thereby extending the service life of the mechanical arm and reducing the cost of maintenance and replacement.

[0017] 2. The utility model achieves the effect of driving the extrusion block to move by the displacement of the positioning plate, and cooperates with the components such as the hydraulic rod, baffle plate and force plate in the anti-collision device, thereby realizing the effect of driving the baffle plate to move by the displacement of the hydraulic rod, and protecting the side of the mechanical arm by the baffle plate, thereby achieving the effect of protecting the mechanical arm. When the mechanical arm is subjected to external impact or collision, the protective structure can respond quickly and effectively protect the side of the mechanical arm through the baffle plate, thereby reducing the possibility of damage to the mechanical arm.

[0018] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the three-dimensional appearance structure of the utility model;

[0021] Figure 2 It is a three-dimensional side view structural schematic diagram of the spring of the utility model;

[0022] Figure 3 It is a three-dimensional side view structural schematic diagram of the baffle of the utility model;

[0023] Figure 4 It is a three-dimensional enlarged structural schematic diagram of the hydraulic rod of the utility model;

[0024] Figure 5 For the utility model Figure 3 Schematic diagram of the three-dimensional enlarged structure of A in the middle.

[0025] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0026] 101. Protective plate; 102. Mounting seat; 103. Fixed column; 104. Mechanical arm; 105. Mechanical claw; 2. Anti-collision device; 201. Fixed plate; 202. Damper; 203. Spring; 204. Mounting block; 205. Return spring; 206. Positioning plate; 207. Telescopic rod; 208. Mounting plate; 209. Hydraulic cylinder; 210. Force rod; 211. Compression spring; 212. Force plate; 213. Hydraulic rod; 214. Baffle; 215. Extrusion block. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figure 1-5 The utility model is an anti-collision structure of a highly sealed underwater mechanical arm, comprising a protective plate 101, a mounting seat 102 is fixedly connected to the side of the protective plate 101, a fixing column 103 is fixedly connected to the side of the mounting seat 102, a mechanical arm 104 is arranged on the side of the fixing column 103, and a mechanical claw 105 is arranged on the top of the mechanical arm 104;

[0029] An anti-collision device 2 is arranged on the top of the protective plate 101, and the anti-collision device 2 includes a fixed plate 201, and the fixed plate 201 is arranged on the side of the protective plate 101. A damper 202 is fixedly connected to the side of the fixed plate 201, and an end of the damper 202 away from the fixed plate 201 is fixedly connected to a mounting block 204, and a positioning plate 206 passes through the side of the mounting block 204.

[0030] A spring 203 is fixedly connected to the bottom of the positioning plate 206, and one end of the spring 203 away from the positioning plate 206 is fixedly connected to the top of the fixing plate 201. The side of the mounting block 204 is fixedly connected to the side of the protective plate 101. The vibration energy is converted into elastic potential energy through the action of the reset spring 205, and then the vibration force is offset by the reaction force, thereby reducing or preventing damage to the robot arm 104.

[0031] The side of the positioning plate 206 is fixedly connected with an extrusion block 215, the side of the fixing plate 201 is fixedly connected with a mounting plate 208, a hydraulic cylinder 209 is arranged on the side of the mounting plate 208, one end of the hydraulic cylinder 209 is connected with a force rod 210 through a piston sliding connection, the other end of the hydraulic cylinder 209 is connected with a hydraulic rod 213 through a piston sliding connection, one end of the force rod 210 is fixedly connected with a force plate 212, and one end of the hydraulic rod 213 is fixedly connected with a baffle 214.

[0032] A return spring 205 is fixedly connected to the bottom of the positioning plate 206, and one end of the return spring 205 away from the positioning plate 206 is fixedly connected to the side of the fixed plate 201. The initial state of the return spring 205 is a relaxed state, which reduces the risk of damage to the robotic arm 104 when it is subjected to external impact, thereby extending the service life of the robotic arm 104 and reducing the cost of maintenance and replacement.

[0033] A telescopic rod 207 is fixedly connected to the bottom of the positioning plate 206, and one end of the telescopic rod 207 away from the positioning plate 206 is fixedly connected to the side of the fixed plate 201. The implementation of the anti-collision structure improves the safety of underwater operations, reduces the possibility of accidents and injuries, and protects the safety of operators and the surrounding environment.

[0034] The initial state of the spring 203 is a relaxed state, the number of telescopic rods 207 is set to two, and they are symmetrical with each other along the vertical center axis of the fixed plate 201. When the robotic arm 104 is subjected to external impact or collision, the protective structure can respond quickly and effectively protect the side of the robotic arm 104 through the baffle 214, thereby reducing the possibility of damage to the robotic arm 104.

[0035] A compression spring 211 is fixedly connected to the circumferential surface of the stress rod 210, and one end of the compression spring 211 away from the stress rod 210 is fixedly connected to the side of the hydraulic cylinder 209, which can reduce the risk of accidents and protect operators and the surrounding environment from potential damage and risks.

[0036] The initial state of the compression spring 211 is a relaxed state. The number of hydraulic cylinders 209 is set to two, and they are symmetrical with each other along the vertical center axis of the fixed plate 201. The effective protective structure reduces the loss and wear of the robotic arm 104 during operation, thereby extending the service life of the robotic arm 104 and reducing maintenance and replacement costs.

[0037] A specific application of this embodiment is: the tension generated by the mechanical arm 104 when working squeezes the positioning plate 206 and the mounting block 204, so that the mounting block 204 moves downward, and then the mounting block 204 moves downward to squeeze the telescopic rod 207, and the mounting block 204 is reset by the elastic force of the reset spring 205. The reset spring 205 is compressed to convert the vibration energy into elastic potential energy. The reset spring 205 offsets the vibration force by generating a reaction force opposite to the vibration direction, thereby protecting the mechanical arm 104. The displacement of the positioning plate 206 drives the extrusion block 215 to move The force plate 212 is displaced, and then the force plate 212 is displaced by squeezing the squeezing block 215. The force plate 212 is squeezed by squeezing the force rod 210, so that the force rod 210 is displaced inward to squeeze the piston inside the hydraulic cylinder 209. The piston inside the hydraulic cylinder 209 pushes the liquid inside it. The liquid inside the hydraulic cylinder 209 pushes another piston to displace. The piston pushes the hydraulic rod 213 to displace. The displacement of the hydraulic rod 213 drives the baffle 214 to displace. The baffle 214 protects the side of the robot arm 104, thereby achieving the function of protecting the robot arm 104.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0039] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A high-sealing underwater robot arm anti-collision structure, comprising a protective plate (101), characterized in that: A mounting seat (102) is fixedly connected to the side of the protective plate (101), a fixing column (103) is fixedly connected to the side of the mounting seat (102), a mechanical arm (104) is arranged on the side of the fixing column (103), and a mechanical claw (105) is arranged on the top of the mechanical arm (104); An anti-collision device (2) is arranged on the top of the protective plate (101), and the anti-collision device (2) comprises a fixing plate (201), and the fixing plate (201) is arranged on the side of the protective plate (101), and a damper (202) is fixedly connected to the side of the fixing plate (201), and an end of the damper (202) away from the fixing plate (201) is fixedly connected to a mounting block (204), and a positioning plate (206) passes through the side of the mounting block (204).

2. The anti-collision structure of a highly sealed underwater robotic arm according to claim 1, characterized in that: The bottom of the positioning plate (206) is fixedly connected with a spring (203), one end of the spring (203) away from the positioning plate (206) is fixedly connected to the top of the fixing plate (201), and the side of the mounting block (204) is fixedly connected to the side of the protective plate (101).

3. The anti-collision structure of a highly sealed underwater robotic arm according to claim 2, characterized in that: The side of the positioning plate (206) is fixedly connected to an extrusion block (215), the side of the fixing plate (201) is fixedly connected to a mounting plate (208), a hydraulic cylinder (209) is arranged on the side of the mounting plate (208), one end of the hydraulic cylinder (209) is slidably connected to a force-bearing rod (210) via a piston, the other end of the hydraulic cylinder (209) is slidably connected to a hydraulic rod (213) via a piston, one end of the force-bearing rod (210) is fixedly connected to a force-bearing plate (212), and one end of the hydraulic rod (213) is fixedly connected to a baffle (214).

4. The anti-collision structure of a highly sealed underwater robotic arm according to claim 3, characterized in that: A return spring (205) is fixedly connected to the bottom of the positioning plate (206), one end of the return spring (205) away from the positioning plate (206) is fixedly connected to the side of the fixing plate (201), and the initial state of the return spring (205) is a relaxed state.

5. The anti-collision structure of a highly sealed underwater robotic arm according to claim 4, characterized in that: A telescopic rod (207) is fixedly connected to the bottom of the positioning plate (206), and one end of the telescopic rod (207) away from the positioning plate (206) is fixedly connected to the side of the fixing plate (201).

6. The anti-collision structure of a highly sealed underwater robotic arm according to claim 5, characterized in that: The initial state of the spring (203) is a relaxed state, and the number of the telescopic rods (207) is set to two, and they are symmetrical to each other along the vertical center axis of the fixed plate (201).

7. The anti-collision structure of a highly sealed underwater robotic arm according to claim 6, characterized in that: A compression spring (211) is fixedly connected to the circumferential surface of the force-bearing rod (210), and one end of the compression spring (211) away from the force-bearing rod (210) is fixedly connected to the side surface of the hydraulic cylinder (209).

8. The anti-collision structure of a highly sealed underwater robotic arm according to claim 7, characterized in that: The initial state of the compression spring (211) is a relaxed state, and the number of the hydraulic cylinders (209) is set to two, and they are symmetrical to each other along the vertical center axis of the fixed plate (201).

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