Underwater mechanical arm anti-collision alarm device based on sensor

Abstract

The utility model relates to the technical field of anti-collision alarm devices, and discloses an underwater mechanical arm anti-collision alarm device based on a sensor, which comprises a mechanical arm body, a cross rod is fixedly connected in the mechanical arm body, a motor is fixedly connected on the outer wall of the cross rod, the output end of the motor is fixedly connected with a rotating column, and the rotating column is fixedly connected with the sensor. A rotating disc is fixedly connected to one end of the rotating column, a T-shaped column is fixedly connected to the interior of the rotating disc, a support is slidably connected to the inner wall of the T-shaped column, a frame is rotatably connected to the interior of the support, and the outer wall of the frame is fixedly connected to the outer wall of the cross rod. According to the utility model, the motor is started to drive the rotating column to rotate so as to drive the rotating disc to rotate, the rotating disc rotates to drive the T-shaped column to move circularly, and the T-shaped column moves and drives the bracket to incline through the frame so as to drive the alarm device body and the sensor body to incline, so that the effect that the sensor body covers a wider vertical space is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of anti-collision alarm devices, in particular to an underwater manipulator anti-collision alarm device based on sensors. Background Technique

[0002] There are rich and diverse organisms in the ocean. The research on marine organisms is of great significance for understanding the origin and evolution of life on Earth and protecting the marine ecological environment. The underwater manipulator with sensors can sample, observe and study marine organisms without harming them. There are various naturally formed and man-made obstacles in the underwater environment, such as reefs, shipwrecks, abandoned fishing nets, etc. The positions and shapes of these obstacles are often difficult to accurately predict, which brings great risks to the operation of the underwater manipulator, making it very difficult to rely on vision for anti-collision, and an anti-collision alarm device is needed to assist the operation.

[0003] However, most of the traditional alarm devices relying on sensors are integrated and fixed at a certain position on the robotic arm, which results in a small scanning range. Summary of the Utility Model

[0004] In order to make up for the above deficiencies, the utility model provides an underwater manipulator anti-collision alarm device based on sensors, aiming to improve the problem that most of the alarm devices relying on sensors are integrated and fixed at a certain position on the robotic arm, resulting in a small scanning range.

[0005] To achieve the above object, the utility model provides the following technical solution: An underwater manipulator anti-collision alarm device based on sensors, including a robotic arm body, a cross bar is fixedly connected inside the robotic arm body, a motor is fixedly connected to the outer wall of the cross bar, a rotating column is fixedly connected to the output end of the motor, a turntable is fixedly connected to one end of the rotating column, a T-shaped column is fixedly connected inside the turntable, a bracket is slidably connected to the inner wall of the T-shaped column, a frame is rotatably connected inside the bracket, the outer wall of the frame is fixedly connected to the outer wall of the cross bar, a connecting plate is fixedly connected to the outer wall of the bracket, a support plate is fixedly connected to the outer wall of the connecting plate, and an alarm component is arranged on the outer wall of the support plate, and the alarm component is used for timely warning.

[0006] Preferably, the alarm component includes an alarm device body, the outer wall of the alarm device body is attached to the outer wall of the support plate, and a sensor body is arranged inside the alarm device body.

[0007] Preferably, a double-headed hydraulic cylinder is fixedly connected to the outer wall of the support plate, a fixing plate is fixedly connected to the output end of the double-headed hydraulic cylinder, and a sliding column is fixedly connected to the outer wall of the fixing plate.

[0008] Preferably, a limiting plate is slidably connected to the outer wall of the sliding column, and the outer wall of the limiting plate is fixedly connected to the outer wall of the support plate.

[0009] Preferably, a slider is fixedly connected to the outer wall of the fixing plate, and the outer wall of the slider is slidably connected to the outer wall of the support plate.

[0010] Preferably, a baffle is fixedly connected to the outer wall of the slider, and a support rod is rotatably connected to the outer wall of the slider.

[0011] Preferably, an L-shaped plate is rotatably connected to the outer wall of the support rod, and a limiting rod is slidably connected to the inside of the L-shaped plate.

[0012] Preferably, the outer wall of the limiting rod is fixedly connected to the outer wall of the support plate.

[0013] The utility model has the following beneficial effects:

[0014] 1. In the utility model, when the motor is started to drive the rotating column to rotate, the turntable is driven to rotate. The rotation of the turntable drives the T-shaped column to move in a circular motion. The T-shaped column will move on the outer wall of the bracket. While the T-shaped column moves on the outer wall of the bracket, it will also drive the bracket to tilt through the frame, thereby driving the alarm device body and the sensor body to tilt, so as to achieve the effect of enabling the sensor body to cover a wider vertical space.

[0015] 2. In the utility model, when the double-headed hydraulic cylinder is started to drive the fixing plate and the slider to move, the movement of the slider drives the baffle to move, and will also drive the support rod to rotate, thereby pulling the L-shaped plate to move, so that the baffle and the L-shaped plate clamp and fix the alarm device body, achieving the effect of facilitating the disassembly and maintenance of the alarm device body. Description of the Drawings

[0016] Figure 1 is a three-dimensional view of an underwater manipulator anti-collision alarm device based on a sensor proposed by the utility model;

[0017] Figure 2 is a sectional view of the manipulator body of an underwater manipulator anti-collision alarm device based on a sensor proposed by the utility model;

[0018] Figure 3 is a schematic diagram of the motor of an underwater manipulator anti-collision alarm device based on a sensor proposed by the utility model;

[0019] Figure 4 is a diagram of the double-headed hydraulic cylinder of an underwater manipulator anti-collision alarm device based on a sensor proposed by the utility model;

[0020] Figure 5 is a schematic diagram of the baffle of an underwater manipulator anti-collision alarm device based on a sensor proposed by the utility model.

[0021] Legend Explanation:

[0022] 1. Manipulator body; 2. Cross bar; 3. Motor; 4. Rotating column; 5. Turntable; 6. T-shaped column; 7. Bracket; 8. Frame; 9. Connecting plate; 10. Support plate; 11. Alarm device body; 12. Sensor body; 13. Double-headed hydraulic cylinder; 14. Fixed plate; 15. Sliding column; 16. Limiting plate; 17. Slide block; 18. Baffle; 19. Support rod; 20. L-shaped plate; 21. Limiting rod. Specific Embodiment

[0023] Next, in combination with the accompanying drawings of this utility model, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0024] Referring to Figures 1 - 3 , an embodiment provided by the present invention: An underwater manipulator anti-collision alarm device based on a sensor, including a manipulator body 1, a cross bar 2 is fixedly connected inside the manipulator body 1, a motor 3 is fixedly connected to the outer wall of the cross bar 2, the output end of the motor 3 is fixedly connected to a rotating column 4, one end of the rotating column 4 is fixedly connected to a turntable 5, a T-shaped column 6 is fixedly connected inside the turntable 5, a bracket 7 is slidably connected to the inner wall of the T-shaped column 6, a frame 8 is rotatably connected inside the bracket 7, the outer wall of the frame 8 is fixedly connected to the outer wall of the cross bar 2, a connecting plate 9 is fixedly connected to the outer wall of the bracket 7, a support plate 10 is fixedly connected to the outer wall of the connecting plate 9, and an alarm component is arranged on the outer wall of the support plate 10, and the alarm component is used for timely warning;

[0025] Specifically, start the motor 3 to drive the rotating column 4 to rotate, thereby driving the turntable 5 to rotate. The rotation of the turntable 5 drives the T-shaped column 6 to perform a circular motion. The T-shaped column 6 will move on the outer wall of the bracket 7. While the T-shaped column 6 moves on the outer wall of the bracket 7, it will also drive the bracket 7 to tilt through the frame 8. Through the connection between the connecting plate 9 and the support plate 10, the alarm device body 11 and the sensor body 12 are driven to tilt, so as to achieve the effect of enabling the sensor body 12 to cover a wider vertical space.

[0026] Referring to Figure 1 , Figure 2 and Figure 5 , the alarm component includes an alarm device body 11, the outer wall of the alarm device body 11 is attached to the outer wall of the support plate 10, and a sensor body 12 is arranged inside the alarm device body 11;

[0027] Specifically, it is detected by the sensor body 12, and the data is fed back into the alarm device body 11 to play a monitoring role.

[0028] Refer to Figure 1 、 Figure 4 and Figure 5 , a double-headed hydraulic cylinder 13 is fixedly connected to the outer wall of the support plate 10. The output end of the double-headed hydraulic cylinder 13 is fixedly connected to a fixing plate 14, and a sliding column 15 is fixedly connected to the outer wall of the fixing plate 14; a limiting plate 16 is slidably connected to the outer wall of the sliding column 15, and the outer wall of the limiting plate 16 is fixedly connected to the outer wall of the support plate 10; a slider 17 is fixedly connected to the outer wall of the fixing plate 14, and the outer wall of the slider 17 is slidably connected to the outer wall of the support plate 10; a baffle 18 is fixedly connected to the outer wall of the slider 17, and a support rod 19 is rotatably connected to the outer wall of the slider 17; the outer wall of the support rod 19 is rotatably connected to an L-shaped plate 20, and a limiting rod 21 is slidably connected to the inside of the L-shaped plate 20; the outer wall of the limiting rod 21 is fixedly connected to the outer wall of the support plate 10.

[0029] Specifically, start the double-headed hydraulic cylinder 13 to drive the fixing plate 14 to move, thereby driving the slider 17 to move. The movement of the slider 17 drives the baffle 18 to move, and will also drive the support rod 19 to rotate, thereby pulling the L-shaped plate 20 to move, so that the baffle 18 and the L-shaped plate 20 clamp and fix the alarm device body 11, achieving the effect of facilitating the disassembly and maintenance of the alarm device body 11.

[0030] Working principle: When the device needs to be used, first place the alarm device body 11 containing the sensor body 12 on the surface of the support plate 10. Then start the double-headed hydraulic cylinder 13. The double-headed hydraulic cylinder 13 drives the fixed plate 14 to move. The movement of the fixed plate 14 drives the sliding column 15 to move inside the limiting plate 16 to ensure that the moving direction of the fixed plate 14 is horizontal. When the fixed plate 14 moves, it also drives the slider 17 to move. The movement of the slider 17 drives the baffle 18 to move and also drives the support rod 19 to rotate. The rotation of the support rod 19 pulls the L-shaped plate 20 to move on the outer wall of the limiting rod 21. The limiting rod 21 ensures that the movement track of the L-shaped plate 20 is certain, so that the baffle 18 and the L-shaped plate 20 clamp and fix the alarm device body 11, achieving the effect of facilitating the disassembly and maintenance of the alarm device body 11. After the support plate 10 is installed, when the robotic arm body 1 needs to work, start the alarm device body 11 for monitoring. Then start the motor 3 on the outer wall of the cross bar 2. The motor 3 drives the rotating column 4 to rotate. The rotation of the rotating column 4 drives the turntable 5 to rotate. The rotation of the turntable 5 drives the T-shaped column 6 to perform a circular motion. When the T-shaped column 6 performs a circular motion, the T-shaped column 6 will move on the outer wall of the bracket 7. When the T-shaped column 6 moves and deviates from the horizontal axis, it will drive the bracket 7 to tilt through the frame 8. Through the connection between the connecting plate 9 and the support plate 10, the alarm device body 11 starts to tilt, thereby driving the sensor body 12 to tilt. When the T-shaped column 6 moves to the other side, the bracket 7 tilts in the opposite direction, so as to achieve the effect of enabling the sensor body 12 to cover a wider vertical space. That is, the device can not only achieve the effect of facilitating the disassembly and maintenance of the support plate 10, but also achieve the effect of enabling the sensor body 12 to cover a wider vertical space.

[0031] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anti-collision alarm device for an underwater manipulator based on sensors, comprising a manipulator body (1), characterized in that: Inside the robotic arm body (1), a cross bar (2) is fixedly connected. On the outer wall of the cross bar (2), a motor (3) is fixedly connected. The output end of the motor (3) is fixedly connected to a rotating column (4). One end of the rotating column (4) is fixedly connected to a turntable (5). Inside the turntable (5), a T-shaped column (6) is fixedly connected. Inside the T-shaped column (6), a bracket (7) is slidably connected. Inside the bracket (7), a frame (8) is rotatably connected. The outer wall of the frame (8) is fixedly connected to the outer wall of the cross bar (2). On the outer wall of the bracket (7), a connecting plate (9) is fixedly connected. On the outer wall of the connecting plate (9), a support plate (10) is fixedly connected. An alarm component is arranged on the outer wall of the support plate (10), and the alarm component is used for timely warning.

2. The anti-collision alarm device for an underwater manipulator based on sensors according to claim 1, characterized in that: The alarm component includes an alarm device body (11). The outer wall of the alarm device body (11) is attached to the outer wall of the support plate (10). Inside the alarm device body (11), a sensor body (12) is arranged.

3. The anti-collision alarm device for an underwater manipulator based on a sensor according to claim 2, characterized in that: On the outer wall of the support plate (10), a double-headed hydraulic cylinder (13) is fixedly connected. The output end of the double-headed hydraulic cylinder (13) is fixedly connected to a fixing plate (14). On the outer wall of the fixing plate (14), a sliding column (15) is fixedly connected.

4. The anti-collision alarm device for an underwater manipulator based on sensors according to claim 3, wherein: On the outer wall of the sliding column (15), a limiting plate (16) is slidably connected. The outer wall of the limiting plate (16) is fixedly connected to the outer wall of the support plate (10).

5. The anti-collision alarm device for an underwater manipulator based on a sensor according to claim 4, characterized in that: On the outer wall of the fixing plate (14), a slider (17) is fixedly connected. The outer wall of the slider (17) is slidably connected to the outer wall of the support plate (10).

6. The anti-collision alarm device for an underwater manipulator based on a sensor according to claim 5, characterized in that: On the outer wall of the slider (17), a baffle (18) is fixedly connected. On the outer wall of the slider (17), a support rod (19) is rotatably connected.

7. The anti-collision alarm device for an underwater manipulator based on a sensor according to claim 6, characterized in that: On the outer wall of the support rod (19), an L-shaped plate (20) is rotatably connected. Inside the L-shaped plate (20), a limiting rod (21) is slidably connected.

8. The anti-collision alarm device for an underwater manipulator based on a sensor according to claim 7, characterized in that: The outer wall of the limiting rod (21) is fixedly connected to the outer wall of the support plate (10).

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