Mechanical arm platform capable of being carried on underwater robot

Abstract

The utility model belongs to the field of underwater mechanical equipment, and particularly relates to a mechanical arm platform capable of being carried on an underwater robot. The mechanical arm platform comprises a platform fixing base, a rotating base, a mechanical arm base, a pitching adjusting assembly, a telescopic adjusting assembly and a rotating adjusting assembly, the platform fixing base is connected with the underwater robot, and a mechanical arm is assembled on the mechanical arm base and connected to the upper portion of the rotating base; the pitching adjusting assembly, the telescopic adjusting assembly and the rotating adjusting assembly achieve adjustment of the mechanical arm base and the mechanical arm by adjusting the rotating base, on one hand, the operation range of the mechanical arm can be guaranteed under the condition that the underwater robot does not move or relocate, and on the other hand, the working efficiency is improved; the operation range, the operation stability, the operation flexibility and the rotation precision of the mechanical arm are greatly expanded; and on the other hand, the operation efficiency of the underwater robot is remarkably improved, and the situation that in the past, rotation and movement of the mechanical arm can only be achieved by means of rotation and movement of the underwater robot is successfully avoided.

Description

Technical Field

[0001] This application belongs to the field of underwater mechanical equipment, and particularly relates to a robotic arm platform that can be carried on an underwater robot. Background Art

[0002] An underwater robot is a robotic device that can perform various tasks underwater. The applications of underwater robots are not limited to traditional deep-sea exploration and resource development, but also include scientific investigations in extreme environments, inspections and maintenance of underwater structures, underwater construction, underwater rescue, and many other aspects. With the continuous progress of technology, the intelligence and autonomy levels of underwater robots have been significantly improved, and their operation capabilities have been continuously expanded, enabling them to perform tasks in environments that were previously difficult to reach or where humans could not work for a long time.

[0003] Underwater operations often face complex environments and harsh conditions. For the robotic arm used in underwater operations, its stability, flexibility, and precise control are crucial. Existing underwater robotic arms usually have problems such as insufficient stability, low flexibility, low rotation accuracy, and small operation range during operation, making it difficult to meet the growing demands of underwater operations.

[0004] Therefore, there is an urgent need for a robotic arm platform that can be carried on an underwater robot and has high stability, high flexibility, high rotation accuracy, and a large operation range. Utility Model Content

[0005] The purpose of this application is to provide a robotic arm platform that can be carried on an underwater robot and has high stability, high flexibility, high rotation accuracy, and a large operation range.

[0006] The embodiments of this application can be realized through the following technical solutions:

[0007] A robotic arm platform that can be carried on an underwater robot, including a platform fixing base, a rotating base, a robotic arm base, a pitch adjustment component, a telescopic adjustment component, and a rotation adjustment component. The platform fixing base is connected to the underwater robot, and the robotic arm base is equipped with a robotic arm and is connected above the rotating base;

[0008] One end of the telescopic adjustment component is rotatably connected to the platform fixing base, and the other end is rotatably connected to the rotating base. The telescopic adjustment component can adjust the position of the rotating base relative to the platform fixing base along its length direction; one end of the pitch adjustment component is connected to the platform fixing base, and the other end is connected to the telescopic adjustment component. The pitch adjustment component can adjust the angle between the telescopic adjustment component, the rotating base, and the platform fixing base; one end of the rotation adjustment component is connected to the robotic arm base, and the other end is connected to the rotating base. The rotation adjustment component can adjust the circumferential rotation of the robotic arm base relative to the rotating base.

[0009] Preferably, it further includes an observation turret, and the observation turret is installed above the robotic arm base.

[0010] Preferably, two robotic arms are assembled on the robotic arm base, and the observation turret is located at the middle position between the two robotic arms.

[0011] Furthermore, the telescopic adjustment assembly includes a first driving mechanism and a telescopic arm. One end of the telescopic arm is connected to the platform fixing seat, and the output end is connected to the rotating base. The first driving mechanism can drive the output end of the telescopic arm to extend or retract along the length direction of the telescopic arm.

[0012] Preferably, the first driving mechanism is a telescopic hydraulic rod, and the movable end of the telescopic hydraulic rod is connected to the movable end of the telescopic arm.

[0013] Furthermore, the pitching adjustment assembly includes a second driving mechanism, a first mounting seat, and a second mounting seat. The two first mounting seats are symmetrically connected to one side of the platform fixing seat facing the telescopic arm. The two second mounting seats are symmetrically connected to both sides of the telescopic arm and correspond to the two first mounting seats in position. One end of the second driving mechanism is rotatably connected to the first mounting seat, and the movable end is rotatably connected to the second mounting seat.

[0014] Preferably, the second driving mechanism includes two parallel telescopic hydraulic rods, and the movable ends of the telescopic hydraulic rods are rotatably connected to the second mounting seat.

[0015] Furthermore, the rotation adjustment assembly includes a third driving mechanism and a rotating device. The output end of the third driving mechanism is connected to the rotating device, and the rotating device is connected between the rotating base and the robotic arm base. The third driving mechanism realizes the circumferential rotation of the robotic arm base relative to the rotating base through the rotating device.

[0016] Preferably, the third driving mechanism is a telescopic hydraulic rod.

[0017] Preferably, a fourth driving mechanism is further provided between the rotating base and the telescopic arm. One end of the fourth driving mechanism is rotatably connected to the rotating base, and the other end is rotatably connected to the telescopic arm. The fourth driving mechanism can adjust the included angle between the rotating base and the telescopic arm.

[0018] The robotic arm platform provided by the embodiment of the present application that can be carried on an underwater robot has at least the following beneficial effects:

[0019] In this application, by setting the rotating base, the pitching adjustment component, the telescopic adjustment component, and the rotating adjustment component can adjust the base of the robotic arm and the robotic arm by adjusting the rotating base. On the one hand, it can ensure the working range of the robotic arm without the underwater robot moving or repositioning, greatly expanding the working range, working stability, working flexibility, and rotation accuracy of the robotic arm; on the other hand, it significantly improves the working efficiency of the underwater robot and successfully avoids the situation where the rotation and movement of the robotic arm had to be achieved by relying on the rotation and movement of the underwater robot in the past.

[0020] In this application, the pitching adjustment, telescopic adjustment, and rotating adjustment are all driven by hydraulic pressure, which has the advantages of smooth and stable movement without jamming gaps, ensuring the accuracy and precision of the operation.

[0021] In this application, by installing an observation cloud platform on the base of the robotic arm, the observation cloud platform can not only observe the operation process in real time but also move synchronously with the robotic arm, ensuring the accuracy and precision of the operation. Moreover, the distance between the observation cloud platform and the robotic arm is appropriate, avoiding the problem of reducing the operation accuracy and precision caused by being too close or too far.

[0022] A fourth driving mechanism for adjusting the angle between the rotating base and the telescopic arm is provided in this application, which can adjust the base of the robotic arm to be always parallel to the horizontal plane, thereby further ensuring the accuracy and precision of the robotic arm operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the overall structure of a robotic arm platform that can be carried on an underwater robot in this application Figure One ;

[0024] Figure 2 is the overall structure of a robotic arm platform that can be carried on an underwater robot in this application Figure Two ;

[0025] Figure 3 is the overall structure of a robotic arm platform that can be carried on an underwater robot in this application Figure Three ;

[0026] Figure 4 is a side view of a robotic arm platform that can be carried on an underwater robot in this application;

[0027] Figure 5 is the overall structure diagram of the connection between the robotic arm platform and the suspended robot in this application;

[0028] Figure 6 is the overall structure diagram of the connection between the robotic arm platform and the tracked underwater robot in this application;

[0029] Reference numerals: 1, platform fixing base; 2, rotating base; 3, robotic arm base; 41, second driving mechanism; 42, first mounting base; 42, second mounting base; 51, telescopic arm; 61, third driving mechanism; 7, observation cloud platform; 8, fourth driving mechanism. Detailed implementation manners

[0030] Hereinafter, the present application will be further described based on preferred implementation manners with reference to the accompanying drawings.

[0031] The terms used in this specification are for the purpose of describing the embodiments of the present application, but are not intended to limit the present application. Unless otherwise clearly defined and limited, if the terms "arranged", "connected" and "coupled" are used, they 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, a direct connection, or an indirect connection through an intermediate medium, and it may be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be specifically understood.

[0032] In addition, in the description of the embodiments of the present application, for the convenience of understanding, various components in the drawings are enlarged or reduced, but this approach is not intended to limit the protection scope of the present application.

[0033] The present application provides a robotic arm platform that can be carried on an underwater robot. Figures 1 - 6 The overall structure diagrams of the robotic platform from different angles and the overall structure diagrams of the connection between the robotic platform and different types of underwater robots are respectively shown. As Figures 1 - 6 shown, the robotic arm platform includes a platform fixing base 1, a rotating base 2, a robotic arm base 3, a pitch adjustment assembly, a telescopic adjustment assembly, and a rotation adjustment assembly. Among them, the platform fixing base 1 is used to realize the connection between the robotic arm platform and the underwater robot; the robotic arm base 3 is used to realize the connection between the robotic arm platform and the robotic arm, so as to realize the degree-of-freedom adjustment of the robotic arm by adjusting the robotic arm base 3; the telescopic adjustment assembly, the pitch adjustment assembly, and the rotation adjustment assembly are used to respectively realize the adjustment of the telescopic degree, pitch angle, and steering angle of the rotating base 2, so as to realize the multi-degree-of-freedom rotation and telescoping of the rotating base 2, the telescopic arm base 3, and the robotic arm. On the one hand, it can ensure the working range of the robotic arm without the underwater robot moving or repositioning, greatly expanding the working range, working stability, working flexibility, and rotation accuracy of the robotic arm; on the other hand, it significantly improves the working efficiency of the underwater robot and successfully avoids the situation where the rotation and movement of the robotic arm need to be realized by means of the rotation and movement of the underwater robot in the past.

[0034] Specifically, the platform fixing base 1 is connected to the underwater robot, thereby realizing the connection between the robotic arm platform and the underwater robot. The platform fixing base 1 can be quickly and detachably connected to the underwater robot through connection methods such as threaded connection and snap connection, achieving easy assembly and disassembly of the robotic arm platform and the underwater robot while ensuring the firmness and reliability of the connection.

[0035] Specifically, a robotic arm is assembled on the robotic arm base 3 and is connected above the rotating base 2. The robotic arm base 3 is used to realize the connection between the robotic arm platform and the robotic arm, and to adjust the degrees of freedom of the robotic arm by adjusting the rotating base 2 and the robotic arm base 3.

[0036] Specifically, as Figures 1 - 3 shown, one end of the telescopic adjustment component is rotatably connected to the platform fixing base 1, and the other end is rotatably connected to the rotating base 2. The telescopic adjustment component can adjust the position of the rotating base 2 relative to the platform fixing base 1 along its length direction, thereby realizing the horizontal distance between the robotic arm base 3, the robotic arm and the underwater robot, so as to realize operations within different radius ranges.

[0037] Furthermore, the telescopic adjustment component includes a first driving mechanism and a telescopic arm 51. One end of the telescopic arm 51 is connected to the platform fixing base 1, and the output end is connected to the rotating base 2. The first driving mechanism can drive the output end of the telescopic arm 51 to extend or retract along the length direction of the telescopic arm 51.

[0038] In some specific embodiments of the present application, the end of the telescopic arm 51 away from the platform fixing base 1 is a movable end.

[0039] In some preferred embodiments of the present application, the first driving mechanism is a telescopic hydraulic rod. The movable end of the telescopic hydraulic rod is connected to the movable end of the telescopic arm 51. When the movable end of the telescopic hydraulic rod extends or retracts, it will drive the movable end of the telescopic arm 51 to extend or retract relative to the platform fixing base 1, thereby smoothly and stably adjusting the distance between the robotic arm and the underwater robot without jamming gaps.

[0040] Specifically, as Figures 1 - 3 shown, one end of the pitch adjustment component is connected to the platform fixing base 1, and the other end is connected to the telescopic adjustment component. The pitch adjustment component can adjust the angle between the telescopic adjustment component and the platform fixing base 1, thereby realizing the pitch angle adjustment of the rotating base 2 and the robotic arm base 3, and further realizing the pitch angle adjustment of the robotic arm, so as to realize operations within different height ranges.

[0041] Further, the pitch adjustment assembly includes a second driving mechanism 41, a first mounting seat 42, and a second mounting seat 43. The two first mounting seats 42 are symmetrically connected to one side of the platform fixing seat 1 facing the telescopic arm 51. The two second mounting seats 43 are symmetrically connected to both sides of the telescopic arm 51 and correspond to the two first mounting seats 42 in position. One end of the second driving mechanism 41 is rotatably connected to the first mounting seat 42, and the movable end is rotatably connected to the second mounting seat 43. When the second driving mechanism 41 extends or retracts along its length direction, while the two ends of the second driving mechanism 41 rotate relative to the first mounting seat 42 and the second mounting seat 43, they can drive the telescopic arm 51 to rotate relative to the platform fixing seat 1.

[0042] In some preferred embodiments of the present application, the second driving mechanism 41 includes two telescopic hydraulic rods arranged in parallel. The movable end of the telescopic hydraulic rod is rotatably connected to the second mounting seat 43. The telescopic hydraulic rod has the advantages of smooth and stable movement without jamming gaps.

[0043] In some preferred embodiments of the present application, the second driving mechanism 41, the first mounting seat 42, and the second mounting seat 43 are installed on both sides in the width direction of the telescopic arm 51 to achieve uniform, stable, and smooth movement.

[0044] Specifically, as Figure 1 shown, one end of the rotation adjustment assembly is connected to the robotic arm base 3, and the other end is connected to the rotating base 2. The rotation adjustment assembly can adjust the circumferential rotation of the robotic arm base 3 relative to the rotating base 2.

[0045] Further, the rotation adjustment assembly includes a third driving mechanism 61 and a rotating device. The output end of the third driving mechanism 61 is connected to the rotating device. The rotating device is connected between the rotating base 2 and the robotic arm base 3. The third driving mechanism 61 realizes the circumferential rotation of the robotic arm base 3 relative to the rotating base 2 through the rotating device, so as to realize the circumferential rotation of the telescopic arm 51 relative to the rotating base 2 and achieve operations in different angular ranges.

[0046] In some specific embodiments of the present application, the rotating device is a bearing. The outer ring of the bearing is connected to the rotating base 2, and the inner ring is connected to the robotic arm base 3. The third driving mechanism 61 can drive the inner ring of the bearing to rotate, thereby driving the circumferential rotation of the robotic arm base 3 relative to the rotating base 2.

[0047] In some preferred embodiments of the present application, the third driving mechanism 61 is a telescopic hydraulic rod, which has the advantages of smooth and stable movement without jamming gaps.

[0048] In some preferred embodiments of the present application, the robotic arm platform further includes an observation pan-tilt 7, which is installed above the robotic arm base 3 on the side close to the platform fixing seat 1. The observation pan-tilt 7 can not only observe the operation process in real time, but also move synchronously with the robotic arm, ensuring the accuracy and precision of the operation. Moreover, the distance between the observation pan-tilt 7 and the robotic arm is appropriate, avoiding the problem of reducing the operation accuracy and precision caused by being too close or too far away.

[0049] In some preferred embodiments of the present application, for efficient operation, two symmetrically arranged robotic arms are assembled on the robotic arm base 3, and the observation pan-tilt 7 is located at the middle position between the two robotic arms to achieve the positioning of the robotic arm through the observation pan-tilt 7 and ensure the accuracy of the operation.

[0050] In some preferred embodiments of the present application, as Figure 4 shown, a fourth driving mechanism 8 is further provided between the rotating base 2 and the telescopic arm 51. One end of the fourth driving mechanism 8 is rotatably connected to the bottom end of the rotating base 2, and the other end is rotatably connected to the telescopic arm 51. The fourth driving mechanism 8 can adjust the angle between the rotating base 2 and the telescopic arm 51, so as to adjust the angle between the rotating base 2, the robotic arm base 3 and the horizontal plane, and further ensure that the robotic arm base 3 is always parallel to the horizontal plane, thereby further ensuring the accuracy and precision of the robotic arm operation.

[0051] In some specific embodiments of the present application, the fourth driving mechanism 8 is a telescopic hydraulic rod, and the angle between the rotating base 2 and the telescopic arm 51 is adjusted by extending or retracting along its length direction. The telescopic hydraulic rod has the advantages of smooth and stable movement.

[0052] The specific embodiments of the present application have been described in detail above. For those skilled in the art of this technology, without departing from the principle of the present application, several improvements and modifications can still be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A robotic arm platform that can be mounted on an underwater robot, characterized in that: It includes a platform fixing base (1), a rotating base (2), a robotic arm base (3), a pitch adjustment component, a telescopic adjustment component, and a rotation adjustment component. The platform fixing base (1) is connected to the underwater robot, and a robotic arm is assembled on the robotic arm base (3) and is connected above the rotating base (2); One end of the telescopic adjustment component is rotatably connected to the platform fixing base (1), and the other end is rotatably connected to the rotating base (2). The telescopic adjustment component can adjust the position of the rotating base (2) relative to the platform fixing base (1) along its length direction; one end of the pitch adjustment component is connected to the platform fixing base (1), and the other end is connected to the telescopic adjustment component. The pitch adjustment component can adjust the angle between the telescopic adjustment component, the rotating base (2) and the platform fixing base (1); one end of the rotation adjustment component is connected to the robotic arm base (3), and the other end is connected to the rotating base (2). The rotation adjustment component can adjust the circumferential rotation of the robotic arm base (3) relative to the rotating base (2).

2. The robotic arm platform that can be mounted on an underwater robot according to claim 1, characterized in that: It further includes an observation cloud platform (7), and the observation cloud platform (7) is installed above the robotic arm base (3).

3. The robotic arm platform that can be mounted on an underwater robot according to claim 2, characterized in that: Two robotic arms are assembled on the robotic arm base (3), and the observation cloud platform (7) is located at the middle position between the two robotic arms.

4. The robotic arm platform that can be mounted on an underwater robot according to claim 1, characterized in that: The telescopic adjustment component includes a first driving mechanism and a telescopic arm (51). One end of the telescopic arm (51) is connected to the platform fixing base (1), and the output end is connected to the rotating base (2). The first driving mechanism can drive the output end of the telescopic arm (51) to extend or retract along the length direction of the telescopic arm (51).

5. The robotic arm platform that can be mounted on an underwater robot according to claim 4, characterized in that: The first driving mechanism is a telescopic hydraulic rod, and the movable end of the telescopic hydraulic rod is connected to the movable end of the telescopic arm (51).

6. The robotic arm platform that can be mounted on an underwater robot according to claim 4, characterized in that: The pitch adjustment component includes a second driving mechanism (41), a first mounting seat (42), and a second mounting seat (43). Two first mounting seats (42) are symmetrically connected to one side of the platform fixing base (1) facing the telescopic arm (51). Two second mounting seats (43) are symmetrically connected to both sides of the telescopic arm (51) and correspond to the positions of the two first mounting seats (42). One end of the second driving mechanism (41) is rotatably connected to the first mounting seat (42), and the movable end is rotatably connected to the second mounting seat (43).

7. The robotic arm platform that can be carried on an underwater robot according to claim 6, characterized in that: The second driving mechanism (41) includes two telescopic hydraulic rods arranged in parallel, and the movable end of the telescopic hydraulic rod is rotatably connected to the second mounting seat (43).

8. The robotic arm platform that can be carried on an underwater robot according to claim 4, characterized in that: The rotation adjustment assembly includes a third driving mechanism (61) and a rotating device. The output end of the third driving mechanism (61) is connected to the rotating device. The rotating device is connected between the rotating base (2) and the robotic arm base (3). The third driving mechanism (61) enables the robotic arm base (3) to rotate circumferentially relative to the rotating base (2) through the rotating device.

9. The robotic arm platform that can be carried on an underwater robot according to claim 8, characterized in that: The third driving mechanism (61) is a telescopic hydraulic rod.

10. The robotic arm platform that can be carried on an underwater robot according to claim 4, characterized in that: A fourth driving mechanism (8) is further provided between the rotating base (2) and the telescopic arm (51). One end of the fourth driving mechanism (8) is rotatably connected to the rotating base (2), and the other end is rotatably connected to the telescopic arm (51). The fourth driving mechanism (8) can adjust the angle between the rotating base (2) and the telescopic arm (51).

Images