Underwater manipulator and underwater robot
By designing an underwater robot with a rotary drive mechanism and a telescopic arm, the problem of small working range in the prior art is solved, multi-degree-of-free operation is achieved, and the flexibility and adaptability of the underwater robot are improved.
Patent Information
- Application Number
- CN202422466268.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-11
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-10-11
AI Technical Summary
Existing underwater robots usually use translational single-degree-of-freedom end-effectors, which have a small working range and are difficult to adapt to complex underwater operation tasks.
An underwater robotic hand including a rotary drive mechanism, a telescopic arm and an actuator is designed. The telescopic arm is driven to rotate through the rotary drive mechanism, and combined with the telescopic action of the hydraulic cylinder, multiple degrees of freedom are realized. The actuator can clamp or cut the pipe cable.
It greatly increases the working range of underwater robots, improves overall flexibility, and can adapt to complex underwater operation tasks.
Smart Images
Figure CN223147169U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulators, in particular to an underwater manipulator and an underwater robot. Background Technique
[0002] The underwater manipulator is a main tool for ocean development or underwater operations. The underwater manipulator grabs and clamps underwater cables, oil pipes and other pipelines underwater or cuts them when repairing pipelines. However, the existing underwater manipulators usually use a translational single-degree-of-freedom end effector to clamp or cut workpieces, and their working range is too small to adapt to the increasingly complex underwater operation tasks. Content of the Utility Model
[0003] The purpose of the utility model is to provide an underwater manipulator and an underwater robot, which have multiple degrees of freedom, can greatly increase the working range and improve the overall flexibility.
[0004] To achieve the above object, the utility model provides an underwater manipulator, which comprises a rotary drive mechanism, a telescopic arm, a first hydraulic cylinder and an actuator for clamping or cutting pipelines. The rotary drive mechanism is connected to the robot. The rotary drive mechanism is connected to the first end of the telescopic arm and can drive the telescopic arm to rotate. The second end of the telescopic arm is provided with a base arranged along the length of the telescopic arm. The actuator comprises a mounting seat, an actuator driver, a first actuator and a second actuator. The cylinder body of the first hydraulic cylinder is rotatably connected to the second end of the telescopic arm, the rod body of the first hydraulic cylinder is rotatably connected to the top of the mounting seat, the middle part of the mounting seat is rotatably connected to the base, the first actuator and the second actuator are respectively rotatably connected to both sides of the bottom of the mounting seat, the first actuator and the second actuator are respectively connected to the actuator driver, and the actuator driver can drive the first actuator and the second actuator to move towards or away from each other.
[0005] As a preferred scheme of the utility model, the rotary drive mechanism comprises a connecting rod, a connecting seat and a second hydraulic cylinder. The first end of the connecting rod is fixedly connected to the telescopic arm, the second end of the connecting rod is rotatably connected to the robot, the connecting seat is fixedly connected to the connecting rod, the rod body of the second hydraulic cylinder is rotatably connected to the connecting seat, and the cylinder body of the second hydraulic cylinder is rotatably connected to the robot.
[0006] As a preferred embodiment of the present utility model, the telescopic arm includes a hydraulic cylinder assembly, a fixed arm, a first movable arm, and a second movable arm that are nested and slide step by step. The base is connected to the end of the second movable arm. The hydraulic cylinder assembly includes a third hydraulic cylinder and a fourth hydraulic cylinder. The cylinder bodies of the third hydraulic cylinder and the fourth hydraulic cylinder are connected side by side. The rod body of the third hydraulic cylinder is connected to the end of the fixed arm far from the base, and the rod body of the fourth hydraulic cylinder is connected to the end of the first movable arm close to the base.
[0007] As a preferred embodiment of the present utility model, a first self-lubricating slider is provided on the inner side wall of the end of the fixed arm close to the base, a second self-lubricating slider is provided on the outer side wall of the end of the first movable arm far from the base, a third self-lubricating slider is provided on the inner side wall of the end of the first movable arm close to the base, and a fourth self-lubricating slider is provided on the outer side wall of the end of the second movable arm far from the base.
[0008] As a preferred embodiment of the present utility model, the actuating driver is a fifth hydraulic cylinder. The cylinder body of the fifth hydraulic cylinder is rotatably connected to the first actuator, and the rod body of the fifth hydraulic cylinder is rotatably connected to the second actuator.
[0009] As a preferred embodiment of the present utility model, when the actuating mechanism performs a clamping action, the first actuator and the second actuator are grippers, and the actuating driver can drive the two grippers to close and the two grippers form a pipe clamping cavity for clamping a pipe cable; when the actuating mechanism performs a shearing action, the first actuator and the second actuator are scissor blades.
[0010] The present utility model also provides an underwater robot, including the underwater manipulator described above.
[0011] Compared with the prior art, an underwater manipulator and an underwater robot according to an embodiment of the present utility model have the following beneficial effects:
[0012] Through the rotation drive mechanism, the present utility model can drive the telescopic arm and the actuating mechanism provided on the telescopic arm to rotate as a whole, can drive the actuating mechanism to rotate through the telescopic action of the first hydraulic cylinder, and at the same time, in cooperation with the telescopic action of the telescopic arm, the underwater manipulator has multiple degrees of freedom, can greatly increase the working range, and improve the overall flexibility; the actuating mechanism can be selected according to actual needs to realize grasping and clamping a pipe cable or cutting the pipe cable. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings of the embodiments will be briefly introduced below.
[0014] Figure 1Schematic three-dimensional structure diagram of an underwater manipulator provided by the present utility model;
[0015] Figure 2 Front view of an underwater manipulator provided by the present utility model;
[0016] Figure 3 Schematic structure diagram of the telescopic arm provided by the present utility model;
[0017] Figure 4 Front view of an underwater manipulator when using scissor blades;
[0018] In the figure, rotation drive mechanism 1; connecting rod 11; connecting seat 12; second hydraulic cylinder 13; telescopic arm 2; fixed arm 21; first movable arm 22; second movable arm 23; base 231; third hydraulic cylinder 24; fourth hydraulic cylinder 25; first self-lubricating slider 26; second self-lubricating slider 27; third self-lubricating slider 28; fourth self-lubricating slider 29; first hydraulic cylinder 3; actuator 4; mounting seat 41; actuator driver 42; first actuator 43; second actuator 44. Detailed implementation manners
[0019] The following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present utility model. The following embodiments are used to illustrate the present utility model, but are not used to limit the scope of the present utility model.
[0020] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.
[0021] Such as Figures 1 to 4As shown in the figure, an underwater manipulator according to a preferred embodiment of the present utility model includes a rotary drive mechanism 1, a telescopic arm 2, a first hydraulic cylinder 3, and an actuator 4 for clamping or cutting a pipe cable. The rotary drive mechanism 1 is connected to a robot. The rotary drive mechanism 1 is connected to the first end of the telescopic arm 2 and can drive the telescopic arm 2 to rotate. A base 231 is provided at the second end of the telescopic arm 2 along the length of the telescopic arm 2. The actuator 4 includes a mounting seat 41, an actuator driver 42, a first actuator 43, and a second actuator 44. The cylinder body of the first hydraulic cylinder 3 is rotatably connected to the second end of the telescopic arm 2. The rod body of the first hydraulic cylinder 3 is rotatably connected to the top of the mounting seat 41. The middle part of the mounting seat 41 is rotatably connected to the base 231. When the first hydraulic cylinder 3 performs a telescopic action, the actuator 4 can rotate around the connection point between the mounting seat 41 and the base 231. The first actuator 43 and the second actuator 44 are respectively rotatably connected to both sides of the bottom of the mounting seat 41. The first actuator 43 and the second actuator 44 are respectively connected to the actuator driver 42. The actuator driver 42 can drive the first actuator 43 and the second actuator 44 to move towards or away from each other.
[0022] Exemplarily, the rotary drive mechanism 1 includes a connecting rod 11, a connecting seat 12, and a second hydraulic cylinder 13. The first end of the connecting rod 11 is fixedly connected to the telescopic arm 2. A bearing is provided at the second end of the connecting rod 11 and is rotatably connected to the robot. The connecting seat 12 is fixedly connected to the connecting rod 11. The rod body of the second hydraulic cylinder 13 is rotatably connected to the connecting seat 12. The cylinder body of the second hydraulic cylinder 13 is rotatably connected to the robot, effectively improving the stability of the telescopic arm 2 during rotation and avoiding shaking of the telescopic arm 2 during rotation.
[0023] Exemplarily, as Figure 3 shown, the telescopic arm 2 includes a hydraulic cylinder assembly and a fixed arm 21, a first movable arm 22, and a second movable arm 23 that are nested and slide step by step. Specifically, the connecting rod 11 is fixedly connected to the side wall of the end of the fixed arm 21. The base 231 is connected to the end of the second movable arm 23. The hydraulic cylinder assembly includes a third hydraulic cylinder 24 and a fourth hydraulic cylinder 25. The cylinder bodies of the third hydraulic cylinder 24 and the fourth hydraulic cylinder 25 are connected side by side. The rod body of the third hydraulic cylinder 24 is connected to the end of the fixed arm 21 far from the base 231. The rod body of the fourth hydraulic cylinder 25 is connected to the end of the first movable arm 22 close to the base 231. The telescopic arm 2 being a three-stage telescopic arm 2 can effectively expand the working range of the underwater manipulator. Moreover, when the telescopic arm 2 is in the retracted state, it occupies a small space and has a wide application range.
[0024] Furthermore, as Figure 3As shown, a first self-lubricating slider 26 is provided on the inner side wall of one end of the fixed arm 21 close to the base 231, a second self-lubricating slider 27 is provided on the outer side wall of one end of the first movable arm 22 far from the base 231, a third self-lubricating slider 28 is provided on the inner side wall of one end of the first movable arm 22 close to the base 231, and a fourth self-lubricating slider 29 is provided on the outer side wall of one end of the second movable arm 23 far from the base 231. By providing the self-lubricating sliders, the smoothness of the telescopic movement of the telescopic arm 2 can be improved, and at the same time, the self-lubricating sliders can cooperate with each other to play a limiting role.
[0025] In this embodiment, the actuating driver 42 is a fifth hydraulic cylinder. The cylinder body of the fifth hydraulic cylinder is rotatably connected to the first actuator 43, and the rod body of the fifth hydraulic cylinder is rotatably connected to the second actuator 44. The underwater manipulator as a whole uses hydraulic cylinders, and the overall reliability is high. The fifth hydraulic cylinder performs telescopic movement, the first actuator 43 rotates around the connection point between the first actuator 43 and the mounting seat 41, and the second actuator 44 rotates around the connection point between the second actuator 44 and the mounting seat 41, so as to realize the opening and closing between the first actuator 43 and the second actuator 44; when the actuating mechanism 4 performs a clamping action, as Figures 1 to 2 shown, the first actuator 43 and the second actuator 44 are grippers. The actuating driver 42 can drive the two grippers to close, and the two grippers form a pipe clamping cavity for clamping the pipe cable, ensuring high stability and large lifting force when the underwater manipulator clamps the pipe cable, and being applicable to pipe cables of different pipe diameters; when the actuating mechanism 4 performs a shearing action, as Figure 4 shown, the first actuator 43 and the second actuator 44 are scissor blades. According to the clamping or cutting requirements, the grippers or scissor blades on the mounting seat 41 are replaced.
[0026] In addition, this embodiment also provides an underwater robot. The underwater robot is provided with the above-mentioned underwater manipulator, and thus has all the beneficial effects of the above-mentioned underwater manipulator, which will not be elaborated one by one here.
[0027] The utility model can drive the telescopic arm 2 and the actuating mechanism 4 provided on the telescopic arm 2 to rotate as a whole through the rotation driving mechanism 1, can drive the actuating mechanism 4 to rotate through the telescopic movement of the first hydraulic cylinder 3, and at the same time, cooperate with the telescopic movement of the telescopic arm 2 to make the underwater manipulator have multiple degrees of freedom, which can greatly increase the working range and improve the overall flexibility; select the actuating mechanism 4 according to actual needs to realize grasping and clamping the pipe cable or cutting the pipe cable.
[0028] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can 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 according to specific situations.
[0029] The above are only the preferred embodiments of the present utility model. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present utility model, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present utility model.
Claims
1. An underwater manipulator, characterized in that, It includes a rotary drive mechanism, a telescopic arm, a first hydraulic cylinder, and an actuator for clamping or cutting pipe cables. The rotary drive mechanism is connected to the robot. The rotary drive mechanism is connected to the first end of the telescopic arm and can drive the telescopic arm to rotate. A base is provided at the second end of the telescopic arm along the length of the telescopic arm. The actuator includes a mounting seat, an actuator driver, a first actuator member, and a second actuator member. The cylinder body of the first hydraulic cylinder is rotatably connected to the second end of the telescopic arm. The rod body of the first hydraulic cylinder is rotatably connected to the top of the mounting seat. The middle part of the mounting seat is rotatably connected to the base. The first actuator member and the second actuator member are respectively rotatably connected to both sides of the bottom of the mounting seat. The first actuator member and the second actuator member are respectively connected to the actuator driver. The actuator driver can drive the first actuator member and the second actuator member to move towards or away from each other.
2. The underwater manipulator according to claim 1, characterized in that, The rotary drive mechanism includes a connecting rod, a connecting seat, and a second hydraulic cylinder. The first end of the connecting rod is fixedly connected to the telescopic arm. The second end of the connecting rod is rotatably connected to the robot. The connecting seat is fixedly connected to the connecting rod. The rod body of the second hydraulic cylinder is rotatably connected to the connecting seat. The cylinder body of the second hydraulic cylinder is rotatably connected to the robot.
3. The underwater manipulator according to claim 1, characterized in that, The telescopic arm includes a hydraulic cylinder assembly and a fixed arm, a first movable arm, and a second movable arm that are slidably nested step by step. The base is connected to the end of the second movable arm. The hydraulic cylinder assembly includes a third hydraulic cylinder and a fourth hydraulic cylinder. The cylinder bodies of the third hydraulic cylinder and the fourth hydraulic cylinder are connected side by side. The rod body of the third hydraulic cylinder is connected to the end of the fixed arm far from the base. The rod body of the fourth hydraulic cylinder is connected to the end of the first movable arm close to the base.
4. The underwater manipulator according to claim 3, characterized in that, A first self-lubricating slider is provided on the inner side wall of the end of the fixed arm close to the base. A second self-lubricating slider is provided on the outer side wall of the end of the first movable arm far from the base. A third self-lubricating slider is provided on the inner side wall of the end of the first movable arm close to the base. A fourth self-lubricating slider is provided on the outer side wall of the end of the second movable arm far from the base.
5. The underwater manipulator according to claim 1, characterized in that, The actuator driver is a fifth hydraulic cylinder. The cylinder body of the fifth hydraulic cylinder is rotatably connected to the first actuator member. The rod body of the fifth hydraulic cylinder is rotatably connected to the second actuator member.
6. The underwater manipulator according to any one of claims 1 to 5, characterized in that When the actuator performs a clamping action, the first actuator member and the second actuator member are grippers. The actuator driver can drive the two grippers to close and the two grippers form a pipe clamping cavity for clamping pipe cables. When the actuator performs a cutting action, the first actuator member and the second actuator member are scissor blades.
7. An underwater robot, characterized in that, It includes an underwater manipulator as described in any one of claims 1 to 6.