High-stability underwater mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a high-stability underwater mechanical arm. The mechanical arm comprises a mechanical arm body, a base is installed on the surface of the mechanical arm body, a groove is formed in the surface of the mechanical arm body, a dismounting device is arranged on the inner surface of the groove of the mechanical arm body, the dismounting device comprises a sliding block, and the sliding block is in sliding connection with the inner surface of the groove of the mechanical arm body. The surface of the sliding block is fixedly connected with a mechanical claw, the surface of the mechanical arm body is fixedly connected with two fixing rods, the arc surfaces of the fixing rods are slidably connected with an operation plate, the side, close to the mechanical arm body, of the operation plate is fixedly connected with an inserting rod, and two inserting grooves are formed in the surface of the sliding block. The problem that when a worker needs to replace different types of mechanical claws, the mechanical claws are difficult to detach from the surface of the mechanical arm body, and the detaching efficiency of the worker is low is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a high-stability underwater robotic arm. Background Art

[0002] An underwater robotic arm is a mechanical device specifically designed for underwater environments, featuring high stability, strong waterproof performance, and corrosion resistance. Most robotic arms and mechanical claws are generally fixed with screws and nuts, which are rather troublesome to disassemble. When different types of mechanical claws are needed to complete different types of work, the disassembly is time-consuming. Therefore, a high-stability underwater robotic arm is proposed according to the above problems.

[0003] A Chinese patent of Chinese Patent Application CN201720400385.X discloses an underwater robotic arm. The key points of its technical solution are as follows: reasonable structure, convenient use, stable performance. It adopts a combined waterproof sealing device, which can not only achieve the flexible performance of six degrees of freedom but also meet the sealing performance in the underwater environment, suitable for applications such as underwater operation and training. At the same time, it is equipped with a dual-drive device, which greatly reduces the risks in actual applications. In addition, it adopts a modular design structure, which is convenient for function expansion and maintenance.

[0004] Regarding the above and existing related technologies, the inventor believes that there are often the following defects: Different types of mechanical claws can handle different situations. When staff need to replace different types of mechanical claws, it is difficult to disassemble the mechanical claws from the surface of the robotic arm body, resulting in a low disassembly efficiency for the staff. Therefore, a high-stability underwater robotic arm is proposed for the above problems. Content of the Utility Model

[0005] The purpose of the utility model is to solve the defect in the prior art that when staff need to replace different types of mechanical claws, it is difficult to disassemble the mechanical claws from the surface of the robotic arm body, resulting in a low disassembly efficiency for the staff, and to propose a high-stability underwater robotic arm.

[0006] To achieve the above purpose, the utility model adopts the following technical scheme: A high-stability underwater robotic arm includes a robotic arm body. A base is installed on the surface of the robotic arm body. A groove is formed on the surface of the robotic arm body. A disassembly device is provided on the inner surface of the groove of the robotic arm body. The disassembly device includes a sliding block, which is slidably connected to the inner surface of the groove of the robotic arm body. A mechanical claw is fixedly connected to the surface of the sliding block. Two fixing rods are fixedly connected to the surface of the robotic arm body. An operation plate is slidably connected to the arc surface of the fixing rod. A plug rod is fixedly connected to the side of the operation plate close to the robotic arm body. Two slots are formed on the surface of the sliding block. The size of the plug rod is adapted to the size of the slots.

[0007] The effects achieved by the above components are as follows: By setting the disassembly device, the effect of facilitating the staff to disassemble the robotic arm body and the robotic claw is achieved, avoiding the situation that it is difficult for the staff to disassemble the robotic claw from the surface of the robotic arm body when different types of robotic claws need to be replaced, resulting in a low disassembly efficiency of the staff, and improving the practicability of the equipment.

[0008] Preferably, a connection groove is provided at one end of the fixed rod away from the robotic arm body, and a blocking block is fixedly connected to the inner surface of the connection groove of the fixed rod.

[0009] The effects achieved by the above components are as follows: The blocking block achieves the effect of blocking the operation plate, avoiding the situation that when the staff moves the operation plate, excessive force causes the operation plate to slip off the arc surface of the fixed rod.

[0010] Preferably, two fixed blocks are fixedly connected to the surface of the robotic arm body. A limiting rod is slidably inserted into the fixed block. One end of the limiting rod is fixedly connected to a limiting block. A limiting groove is provided on the surface of the limiting block. The end of the limiting rod away from the limiting block is fixedly connected to an operation block.

[0011] The effects achieved by the above components are as follows: The effect of restricting the sliding of the operation plate is achieved, thus facilitating the staff to install and disassemble the robotic claw.

[0012] Preferably, a spring is sleeved on the arc surface of the limiting rod, and the two ends of the spring are respectively fixedly connected to the fixed block and the operation block.

[0013] The effects achieved by the above components are as follows: The resilience of the spring achieves the effect of automatically bringing back the limiting block, and at the same time can restrict the movement of the limiting block, improving the stability of the limiting block during limiting.

[0014] Preferably, a fixing device is provided on the surface of the base. The fixing device includes four U-shaped frames. All four U-shaped frames are fixedly connected to the surface of the base. A rotating rod is rotatably connected to the surface of the U-shaped frame. A rotating block is fixedly connected to the arc surface of the rotating rod. A round rod is fixedly connected to the surface of the rotating block.

[0015] The effects achieved by the above components are as follows: By setting the fixing device, the effect of fixing the base is achieved, avoiding the situation that when the staff places the base in the sediment, due to the soft sediment, the base shakes when placed on the sediment surface, resulting in a reduction in the accuracy when the staff uses the robotic arm body, and improving the stability of the base.

[0016] Preferably, a connecting rod is fixedly connected to the surface of the U-shaped frame. One end of the connecting rod away from the U-shaped frame is fixedly connected to a connecting plate. A screw rod is inserted into the connecting plate in a threaded manner. A threaded groove is formed on the arc surface of the round rod, and the size of the threaded groove of the round rod is adapted to the size of the screw rod.

[0017] The effect achieved by the above components is as follows: The effect of fixing the round rod is achieved, avoiding the situation that the round rod shakes when inserted into the sediment, resulting in the round rod not being able to be inserted vertically into the sediment and making it difficult to insert the round rod.

[0018] Preferably, two torsion springs are sleeved on the arc surface of the rotating rod, and the two ends of the torsion springs are respectively fixedly connected to the rotating block and the U-shaped frame.

[0019] The effect achieved by the above components is as follows: The torsion force of the torsion spring achieves the effect of automatically bringing back the round rod, and at the same time restricts the round rod from driving the rotating block to rotate, thus facilitating the staff to move the manipulator body.

[0020] In summary, the beneficial effects of the present utility model are as follows:

[0021] 1. In the present utility model, by setting the disassembly device, the effect of facilitating the staff to disassemble the manipulator body and the mechanical claw is achieved, avoiding the situation that it is difficult for the staff to disassemble the mechanical claw from the surface of the manipulator body when different types of mechanical claws need to be replaced, resulting in low disassembly efficiency of the staff, and improving the practicability of the equipment.

[0022] 2. In the present utility model, by setting the fixing device, the effect of fixing the base can be achieved, avoiding the situation that when the staff places the base in the sediment, due to the soft sediment, the base shakes when placed on the sediment surface, resulting in a decrease in the accuracy when the staff uses the manipulator body, and improving the stability of the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0024] Figure 2 is a structural schematic diagram of the disassembly device in the present utility model;

[0025] Figure 3 is in the present utility model Figure 2 partial structural schematic diagram;

[0026] Figure 4 is a structural schematic diagram of the fixing device in the present utility model;

[0027] Figure 5 is in the present utility model Figure 4 enlarged view of part A.

[0028] Legend: 1. Manipulator body; 2. Base; 3. Dismantling device; 4. Fixing device; 301. Slide block; 302. Mechanical claw; 303. Fixed rod; 304. Operation board; 305. Insert rod; 306. Blocking block; 307. Fixed block; 308. Limiting rod; 309. Limiting block; 310. Operation block; 311. Spring; 41. U-shaped frame; 42. Rotating rod; 43. Rotating block; 44. Round rod; 45. Connecting rod; 46. Connecting plate; 47. Screw; 48. Torsion spring. Detailed implementation mode

[0029] Refer to Figure 1 As shown in the figure, the present utility model provides a technical solution: a highly stable underwater manipulator, including a manipulator body 1, a base 2 is installed on the surface of the manipulator body 1, a groove is provided on the surface of the manipulator body 1, and a dismantling device 3 is provided on the inner surface of the groove of the manipulator body 1. By setting the dismantling device 3, the effect of facilitating the staff to dismantle the manipulator body 1 and the mechanical claw 302 is achieved, avoiding the situation that it is difficult for the staff to dismantle the mechanical claw 302 from the surface of the manipulator body 1 when different types of mechanical claws 302 need to be replaced, resulting in a low dismantling efficiency of the staff, and improving the practicability of the equipment. A fixing device 4 is provided on the surface of the base 2. By setting the fixing device 4, the effect of fixing the base 2 is achieved, avoiding the situation that when the base 2 is placed in the sediment, due to the soft sediment, the base 2 shakes when placed on the sediment surface, resulting in a reduction in the accuracy of the staff when using the manipulator body 1, and improving the stability of the base 2.

[0030] Next, specifically describe the specific settings and functions of its dismantling device 3 and fixing device 4.

[0031] Refer to Figure 2 And Figure 3As shown in the figure, in this implementation: The disassembly device 3 includes a sliding block 301, which is slidably connected to the inner surface of the groove of the robotic arm body 1. A robotic claw 302 is fixedly connected to the surface of the sliding block 301. Two fixed rods 303 are fixedly connected to the surface of the robotic arm body 1. An operating plate 304 is slidably connected to the arc surface of the fixed rod 303. A plug rod 305 is fixedly connected to the side of the operating plate 304 close to the robotic arm body 1. Two slots are provided on the surface of the sliding block 301, and the size of the plug rod 305 is adapted to the size of the slots. A connecting groove is provided at one end of the fixed rod 303 away from the robotic arm body 1, and a blocking block 306 is fixedly connected to the inner surface of the connecting groove of the fixed rod 303. When the staff needs to replace different types of robotic claws 302, pull the operating plate 304, and the operating plate 304 slides on the arc surface of the fixed rod 303. The operating plate 304 drives the plug rod 305 to move. When the surface of the operating plate 304 touches the blocking block 306, the plug rod 305 releases the fixation of the sliding block 301. Move the sliding block 301, and the sliding block 301 drives the robotic claw 302 to move. When the sliding block 301 completely disengages from the inner surface of the groove of the robotic arm body 1, the staff can replace another type of robotic claw 302. When placing the new robotic claw 302 on the inner surface of the groove of the robotic arm body 1, push the operating plate 304, and the operating plate 304 drives the plug rod 305 to move. When the plug rod 305 is inserted into the inner surface of the slot of the sliding block 301, the plug rod 305 fixes the sliding block 301. The blocking block 306 achieves the effect of blocking the operating plate 304, avoiding the situation where the operating plate 304 slips off the arc surface of the fixed rod 303 due to excessive force when the staff moves the operating plate 304. Two fixing blocks 307 are fixedly connected to the surface of the robotic arm body 1. A limiting rod 308 is slidably inserted into the fixing block 307. One end of the limiting rod 308 is fixedly connected to a limiting block 309. A limiting groove is provided on the surface of the limiting block 309. The other end of the limiting rod 308 away from the limiting block 309 is fixedly connected to an operating block 310. When the staff needs to replace the robotic claw 302, pull the operating plate 304. When the surface of the operating plate 304 touches the blocking block 306, the plug rod 305 completely disengages from the inner surface of the slot of the sliding block 301. Push the operating block 310, and the operating block 310 drives the limiting rod 308 to move. The limiting rod 308 drives the limiting block 309 to slide on the surface of the robotic arm body 1. When the limiting block 309 moves between the operating plate 304 and the robotic arm body 1, the limiting block 309 fixes the operating plate 304. At this time, the staff can disassemble the robotic claw 302, achieving the effect of restricting the sliding of the operating plate 304, thus facilitating the staff to install and disassemble the robotic claw 302. A spring 311 is sleeved on the arc surface of the limiting rod 308, and both ends of the spring 311 are fixedly connected to the fixing block 307 and the operating block 310 respectively. After the staff installs the new robotic claw 302, pull the operating block 310, and the spring 311 is stretched.The operation block 310 drives the limit rod 308 to slide within the fixed block 307, and the limit rod 308 drives the limit block 309 to move. When the limit block 309 completely disengages from the surface of the operation plate 304, the fixation of the operation plate 304 by the limit block 309 is released. Move the operation plate 304, and the operation plate 304 drives the insertion rod 305 to move. After moving the operation plate 304 back to its original position, release the operation block 310. The resilience of the spring 311 drives the operation block 310 to move, the operation block 310 drives the limit rod 308 to move, and the limit rod 308 drives the limit block 309 to move until the inner surface of the groove of the limit block 309 contacts the operation plate 304. The resilience of the spring 311 achieves the effect of automatically bringing back the limit block 309, and at the same time, it can limit the movement of the limit block 309, improving the stability of the limit block 309 during positioning.

[0032] Refer to Figure 4 and Figure 5 As shown in the figure, specifically, the fixing device 4 includes four U-shaped frames 41. All four U-shaped frames 41 are fixedly connected to the surface of the base 2. A rotating rod 42 is rotatably connected to the surface of the U-shaped frame 41. A rotating block 43 is fixedly connected to the arc surface of the rotating rod 42. A round rod 44 is fixedly connected to the surface of the rotating block 43. A connecting rod 45 is fixedly connected to the surface of the U-shaped frame 41. One end of the connecting rod 45 away from the U-shaped frame 41 is fixedly connected to a connecting plate 46. A screw rod 47 is inserted into the connecting plate 46 in a threaded manner. A threaded groove is formed on the arc surface of the round rod 44, and the size of the threaded groove of the round rod 44 is adapted to the size of the screw rod 47. When the staff needs to fix the base 2, rotate the round rod 44. The round rod 44 drives the rotating block 43 to rotate, and the rotating block 43 drives the rotating rod 42 to rotate on the surface of the U-shaped frame 41. When the round rod 44 rotates to a suitable position, rotate the screw rod 47. The screw rod 47 rotates within the connecting plate 46. When the screw rod 47 rotates to the inner surface of the threaded groove of the round rod 44, the screw rod 47 fixes the round rod 44, achieving the effect of being able to fix the round rod 44, avoiding the situation where the round rod 44 shakes when inserted into the sediment, resulting in the round rod 44 not being able to be inserted vertically into the sediment and making it difficult to insert the round rod 44. Two torsion springs 48 are sleeved on the arc surface of the rotating rod 42. The two ends of the torsion spring 48 are respectively fixedly connected to the rotating block 43 and the U-shaped frame 41. When the staff needs to retract the round rod 44, rotate the screw rod 47. When the screw rod 47 completely disengages from the threaded groove of the round rod 44, the screw rod 47 releases the fixation of the round rod 44. The torsion of the torsion spring 48 drives the rotating block 43 to rotate, and the rotating block 43 drives the rotating rod 42 to rotate on the surface of the U-shaped frame 41 until the round rod 44 returns to its original position. The torsion of the torsion spring 48 achieves the effect of automatically bringing back the round rod 44, and at the same time, it limits the rotation of the round rod 44 driving the rotating block 43, thus facilitating the staff to move the manipulator body 1.

[0033] Working principle: When the staff needs to replace different types of robotic claws 302, they pull the operation block 310, stretching the spring 311. The operation block 310 drives the limit rod 308 to move, and the limit rod 308 drives the limit block 309 to slide on the surface of the robotic arm body 1. When the limit block 309 moves to a suitable position, the operation plate 304 is pulled. The operation plate 304 slides on the arc surface of the fixed rod 303, and the operation plate 304 drives the insertion rod 305 to move. When the surface of the operation plate 304 touches the blocking block 306, the insertion rod 305 releases the fixation of the sliding block 301. Releasing the operation block 310, the resilience of the spring 311 drives the operation block 310 to move. The operation block 310 drives the limit rod 308 to move, and the limit rod 308 drives the limit block 309 to move until the limit block 309 moves between the operation plate 304 and the robotic arm body 1. Moving the sliding block 301, the sliding block 301 drives the robotic claw 302 to move. When the sliding block 301 completely disengages from the inner surface of the groove of the robotic arm body 1, the staff can replace it with another type of robotic claw 302. After placing the new robotic claw 302 on the inner surface of the groove of the robotic arm body 1, the operation block 310 is pulled, stretching the spring 311. The operation block 310 drives the limit rod 308 to move, and the limit rod 308 drives the limit block 309 to move. When the limit block 309 completely disengages from the surface of the operation plate 304, the operation plate 304 is pushed. The operation plate 304 drives the insertion rod 305 to move. When the insertion rod 305 inserts into the inner surface of the slot of the sliding block 301, the insertion rod 305 fixes the sliding block 301. Releasing the operation block 310, the resilience of the spring 311 drives the operation block 310 to move. The operation block 310 drives the limit rod 308 to move, and the limit rod 308 drives the limit block 309 to move until the inner surface of the groove of the limit block 309 touches the operation plate 304.

[0034] When the staff needs to fix the base 2, they rotate the round rod 44. The round rod 44 drives the rotating block 43 to rotate, and the rotating block 43 drives the rotating rod 42 to rotate on the surface of the U-shaped frame 41. When the round rod 44 rotates to a suitable position, the screw rod 47 is rotated. The screw rod 47 rotates within the connecting plate 46. When the screw rod 47 rotates to the inner surface of the thread groove of the round rod 44, the screw rod 47 fixes the round rod 44. When the staff needs to retract the round rod 44, they rotate the screw rod 47. When the screw rod 47 completely disengages from the thread groove of the round rod 44, the screw rod 47 releases the fixation of the round rod 44. The torsion of the torsion spring 48 drives the rotating block 43 to rotate, and the rotating block 43 drives the rotating rod 42 to rotate on the surface of the U-shaped frame 41 until the round rod 44 returns to its original position.

[0035] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood through specific circumstances.

Claims

1. A highly stable underwater manipulator, comprising a manipulator body (1), characterized in that: A base (2) is mounted on the surface of the robotic arm body (1). A groove is formed on the surface of the robotic arm body (1). A disassembly device (3) is provided on the inner surface of the groove of the robotic arm body (1). The disassembly device (3) includes a sliding block (301). The sliding block (301) is slidably connected to the inner surface of the groove of the robotic arm body (1). A robotic claw (302) is fixedly connected to the surface of the sliding block (301). Two fixing rods (303) are fixedly connected to the surface of the robotic arm body (1). An operating plate (304) is slidably connected to the arc surface of the fixing rod (303). A plug rod (305) is fixedly connected to the side of the operating plate (304) close to the robotic arm body (1). Two insertion slots are formed on the surface of the sliding block (301). The size of the plug rod (305) is adapted to the size of the insertion slots.

2. The high-stability underwater manipulator according to claim 1, wherein: A connection groove is formed at one end of the fixing rod (303) away from the robotic arm body (1). A blocking block (306) is fixedly connected to the inner surface of the connection groove of the fixing rod (303).

3. The high-stability underwater manipulator according to claim 1, wherein: Two fixing blocks (307) are fixedly connected to the surface of the robotic arm body (1). A limiting rod (308) is slidably inserted into the fixing block (307). A limiting block (309) is fixedly connected to one end of the limiting rod (308). A limiting groove is formed on the surface of the limiting block (309). An operating block (310) is fixedly connected to the end of the limiting rod (308) away from the limiting block (309).

4. The highly stable underwater manipulator according to claim 3, characterized in that: A spring (311) is sleeved on the arc surface of the limiting rod (308). The two ends of the spring (311) are respectively fixedly connected to the fixing block (307) and the operating block (310).

5. The high-stability underwater robotic arm according to claim 1, characterized in that: A fixing device (4) is provided on the surface of the base (2). The fixing device (4) includes four U-shaped frames (41). All four U-shaped frames (41) are fixedly connected to the surface of the base (2). A rotating rod (42) is rotatably connected to the surface of the U-shaped frame (41). A rotating block (43) is fixedly connected to the arc surface of the rotating rod (42). A round rod (44) is fixedly connected to the surface of the rotating block (43).

6. The highly stable underwater manipulator according to claim 5, characterized in that: A connecting rod (45) is fixedly connected to the surface of the U-shaped frame (41). A connecting plate (46) is fixedly connected to the end of the connecting rod (45) away from the U-shaped frame (41). A screw rod (47) is threadedly inserted into the connecting plate (46). A thread groove is formed on the arc surface of the round rod (44). The size of the thread groove of the round rod (44) is adapted to the size of the screw rod (47).

7. The highly stable underwater manipulator according to claim 5, characterized in that: Two torsion springs (48) are sleeved on the arc surface of the rotating rod (42). The two ends of the torsion springs (48) are respectively fixedly connected to the rotating block (43) and the U-shaped frame (41).

Images