ROV mechanical arm for catching underwater marine organisms

Abstract

The utility model belongs to the field of marine organism fishing, and particularly discloses an ROV (remote operated vehicle) mechanical arm for fishing underwater marine organisms, which comprises a main body and a steering engine, the fishing mechanism comprises an aluminum mechanical arm framework I arranged at the bottom of the steering engine, an aluminum mechanical arm framework II arranged at the top of the steering engine, a plurality of U-shaped claws arranged between the aluminum mechanical arm framework I and the aluminum mechanical arm framework II, and an arc-shaped claw arranged between the aluminum mechanical arm framework I and the aluminum mechanical arm framework II; the hook claw is arranged at the front end of the aluminum mechanical arm framework II; the grabbing capacity of the device can be increased through the multiple sets of U-shaped claws, cylindrical marine organisms and objects can be grabbed more conveniently through the arc-shaped claws, the bottom holding claws can play a role in stable grabbing when the arc-shaped claws grab the objects, seabed objects of special structures can be hooked through the hooking claws, the number of steering engines is reduced, and mechanical arm operation is simplified.

Description

Technical Field

[0001] The utility model belongs to the field of marine life fishing, and particularly relates to an ROV mechanical arm for fishing underwater marine life. Background Art

[0002] The process of grabbing and releasing target marine organisms is a repetitive and continuous action. It is required to grab as many target organisms as possible in a short time. At the same time, it is necessary to ensure that the robotic arm structure does not cause damage to the target marine organisms. Therefore, there are certain requirements for the structure of the robotic arm.

[0003] Currently, most ROV robotic arms use a multi-joint design, similar to human arms, including a base, shoulder, elbow, and wrist to achieve a flexible range of motion. However, their structure is complex and involves many operating steps. Precise control of multi-joint robotic arms requires a high level of operational skill and experience, especially in complex underwater environments. Furthermore, the complex robotic arm structure requires multiple servo modules for operation and has a small structural capacity. Therefore, repeated grasping over a long period of time not only consumes a lot of energy but also results in poor operating efficiency. Utility Model Content

[0004] The purpose of the present invention is to provide an ROV mechanical arm for catching underwater marine life, so as to solve the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A ROV robotic arm for catching underwater marine life comprises a main body, a steering gear, and a conducting wire arranged on the steering gear; a catching mechanism comprises an aluminum robotic arm structure 1 arranged at the bottom of the steering gear, an aluminum robotic arm structure 2 arranged at the top of the steering gear, a plurality of U-shaped claws arranged between the aluminum robotic arm structure 1 and the aluminum robotic arm structure 2, an arc-shaped claw arranged between the aluminum robotic arm structure 1 and the aluminum robotic arm structure 2, a bottom claw arranged at the front end of the aluminum robotic arm structure 1, a hook claw arranged at the front end of the aluminum robotic arm structure 2, and a transmission assembly arranged between the steering gear and the aluminum robotic arm structures 1 and 2; the catching mechanism is provided in two groups, and the two groups of catching mechanisms are respectively located on both sides of the steering gear; and a connecting mechanism is respectively arranged on the aluminum robotic arm structure 1 and the aluminum robotic arm structure 2.

[0007] Preferably, the arc-shaped claw is located between the U-shaped claw and the bottom claw.

[0008] Preferably, the transmission assembly includes a limit groove arranged on the servo, a shaft rod arranged in the limit groove, a steering wheel is provided at the conveying end of the shaft rod and the steering wheel, the steering wheel is screwed to the aluminum mechanical arm structure one and the aluminum mechanical arm structure two, and a gear is arranged at the rear end of the aluminum mechanical arm structure one and the aluminum mechanical arm structure two.

[0009] Preferably, the two gears are meshed with each other, and a bearing is provided between the steering wheel and the steering gear.

[0010] Preferably, the connecting mechanism includes a plurality of slots arranged on the aluminum robotic arm structure one and the aluminum robotic arm structure two, limit blocks respectively arranged on the U-shaped claw, arc-shaped claw, hook claw and bottom claw, and a plurality of through holes respectively arranged on the aluminum robotic arm structure one, the aluminum robotic arm structure two and the limit blocks.

[0011] Preferably, the U-shaped claw, arc-shaped claw, hook claw and bottom claw are all adapted to the card slot.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] The utility model can increase the grabbing capacity of the device through multiple sets of U-shaped claws, and can make it more convenient to grab cylindrical marine life and objects through the arc-shaped claws. The bottom claws can play a role in stabilizing the grabbing when the arc-shaped claws are grabbing. The hook claws can hook seabed objects with special structures, thereby increasing the application range of the device, reducing the number of servos, and simplifying the operation of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. Among them:

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 It is a rear view of the utility model;

[0017] Figure 3 This is a schematic diagram of a fishing mechanism structure of the present utility model;

[0018] Figure 4 This is a schematic diagram of another fishing mechanism structure of the present invention.

[0019] In the figure: 1. Main body; 101. Servo; 102. Wire; 2. Fishing mechanism; 201. Aluminum robotic arm structure 1; 202. Aluminum robotic arm structure 2; 203. U-shaped claw; 204. Arc-shaped claw; 205. Hook claw; 206. Bottom claw; 207. Transmission assembly; 2071. Gear; 2072. Steering wheel; 2073. Shaft; 2074. Bearing; 2075. Limit slot; 3. Connecting mechanism; 301. Through hole; 302. Slot; 303. Limit block. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0022] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0023] As attached Figure 1 To the attached Figure 4 As shown:

[0024] Embodiment 1: This embodiment provides an ROV manipulator for catching underwater marine life, comprising a main body 1, a steering gear 101, and a wire 102 arranged on the steering gear 101; a fishing mechanism 2, comprising an aluminum manipulator frame 1 201 arranged at the bottom of the steering gear 101, an aluminum manipulator frame 2 202 arranged at the top of the steering gear 101, a plurality of U-shaped claws 203 arranged between the aluminum manipulator frame 1 201 and the aluminum manipulator frame 2 202, an arc-shaped claw 204 arranged between the aluminum manipulator frame 1 201 and the aluminum manipulator frame 2 202, a bottom claw 206 arranged at the front end of the aluminum manipulator frame 1 201, and a bottom claw 207 arranged at the front end of the aluminum manipulator frame 202. The hook claw 205 at the end, and the transmission component 207 arranged between the servo 101 and the aluminum mechanical arm structure 1 201 and the aluminum mechanical arm structure 2 202; there are two groups of fishing mechanisms 2, and the two groups of fishing mechanisms 2 are respectively located on both sides of the servo 101; the connecting mechanism 3 is respectively arranged on the aluminum mechanical arm structure 1 201 and the aluminum mechanical arm structure 2 202, among which the aluminum mechanical arm structure 1 201 and the aluminum mechanical arm structure 2 202 of the fishing mechanism 2 are made of aluminum 6061 material to ensure the strength of the device, and the other claw body structures are made of pom material, which can effectively prevent the device from damaging the marine ecology. The arc claws 204 on the two groups of fishing mechanisms 2 are staggered to increase the grasping stability.

[0025] Specifically, the arc-shaped claw 204 is located between the U-shaped claw 203 and the bottom claw 206 .

[0026] Specifically, the transmission assembly 207 includes a limiting groove 2075 set on the servo 101, a shaft 2073 set in the limiting groove 2075, a steering wheel 2072 is set at the conveying end of the shaft 2073 and the steering wheel 2072, the steering wheel 2072 is screwed to the aluminum robotic arm structure 1 201 and the aluminum robotic arm structure 2 202, and a gear 2071 is set at the rear end of the aluminum robotic arm structure 1 201 and the aluminum robotic arm structure 2 202.

[0027] Specifically, the two gears 2071 are meshed with each other, and a bearing 2074 is provided between the steering wheel 2072 and the steering gear 101 .

[0028] As can be seen from the above, when the servo 101 is activated during operation, it drives one set of aluminum mechanical arm structures 201 and aluminum mechanical arm structures 202 to swing, and then drives the other set of aluminum mechanical arm structures 201 and aluminum mechanical arm structures 202 to swing synchronously through the engagement of gear 2071, and the swing directions are opposite, so that the device is opened. When the device is covered on the marine life, the servo 101 is controlled to drive the aluminum mechanical arm structures 201 and aluminum mechanical arm structures 202 to swing in the opposite directions, so that the device is closed and grasped;

[0029] The hook 205 at the front end of the device can be used to clamp smaller marine objects and can also hook seabed objects with special structures. Multiple sets of U-shaped claws 203 are used to increase the fishing capacity of the device, which can capture a large number of marine organisms and objects. The arc-shaped claws 204 adapted to cylindrical marine organisms and objects are provided, which can make the gripping of cylindrical marine organisms and objects more secure. The bottom claws 206 can lift and support the bottom of cylindrical marine organisms and objects when the arc-shaped claws 204 grip them, so as to achieve a stable grip.

[0030] Example 2: This example is basically the same as the previous example, except that the connecting mechanism 3 includes a plurality of slots 302 arranged on the aluminum robotic arm structure 1 201 and the aluminum robotic arm structure 2 202, limit blocks 303 respectively arranged on the U-shaped claw 203, the arc-shaped claw 204, the hook claw 205 and the bottom claw 206, and a plurality of through holes 301 respectively arranged on the aluminum robotic arm structure 1 201, the aluminum robotic arm structure 2 202 and the limit blocks 303.

[0031] Specifically, the U-shaped claw 203 , the arc-shaped claw 204 , the hook claw 205 and the bottom claw 206 are all adapted to the slot 302 .

[0032] As can be seen from the above, when working, the U-shaped claw 203, the arc-shaped claw 204, the hook claw 205 and the bottom claw 206 are first clamped in the clamping groove 302, which can guide and limit the claw structure, have a fool-proof effect, and facilitate personnel to perform subsequent fixed connections. At this time, the through hole 301 on the limit block 303 will be aligned with the through holes 301 on the aluminum mechanical arm structure 1 201 and the aluminum mechanical arm structure 2 202. At this time, the claw structure can be fixed to the aluminum mechanical arm structure 1 by passing the bolt through the through hole 301. Between the aluminum mechanical arm structure 201 and the aluminum mechanical arm structure 202, when the device needs to be maintained or replaced, it is only necessary to remove the bolts to remove the U-shaped claw 203, the arc-shaped claw 204, the hook claw 205 and the bottom claw 206 from the aluminum mechanical arm structure 1 201 and the aluminum mechanical arm structure 2 202, and then use screws to remove the aluminum mechanical arm structure 1 201 and the aluminum mechanical arm structure 2 202 from the servo 101, so that the device can be separated, which is convenient for personnel to carry out cleaning, maintenance or partial replacement.

[0033] This design application is used in the scene of grabbing and fishing marine life. The grabbing capacity of the device can be increased by multiple sets of U-shaped claws 203. The arc-shaped claws 204 can make it more convenient to grab cylindrical marine life and objects. The bottom claws 206 can play a role in stabilizing the grabbing when the arc-shaped claws 204 grab. The hook claws 205 can hook seabed objects with special structures, increase the scope of application of the device, reduce the number of servos 101, simplify the operation of the robotic arm, and can toggle the underwater switch to control the opening and closing of underwater equipment, conduct intelligence collection and data transmission, and at the same time conduct line inspections to assist military work, so that it has a wide range of application potential in the fields of military and scientific research.

[0034] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, directional changes, etc.) without departing substantially from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also an equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0035] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0036] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will, for those of ordinary skill having the benefit of this disclosure, be a routine undertaking of design, fabrication, and production without undue experimentation.

[0037] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, and all of these should be included in the scope of the claims of the present invention.

Claims

1. An ROV robotic arm for catching underwater marine life, characterized by: include, The main body (1) includes a steering engine (101) and a wire (102) arranged on the steering engine (101); The fishing mechanism (2) comprises an aluminum mechanical arm structure (201) arranged at the bottom of the steering gear (101), an aluminum mechanical arm structure (202) arranged at the top of the steering gear (101), a plurality of U-shaped claws (203) arranged between the aluminum mechanical arm structure (201) and the aluminum mechanical arm structure (202), an arc-shaped claw (204) arranged between the aluminum mechanical arm structure (201) and the aluminum mechanical arm structure (202), a bottom claw (206) arranged at the front end of the aluminum mechanical arm structure (201), a hook claw (205) arranged at the front end of the aluminum mechanical arm structure (202), and a transmission assembly (207) arranged between the steering gear (101) and the aluminum mechanical arm structure (201) and the aluminum mechanical arm structure (202); The fishing mechanism (2) is provided in two groups, and the two groups of fishing mechanisms (2) are respectively located on both sides of the steering engine (101); The connecting mechanism (3) is respectively arranged on the aluminum mechanical arm structure 1 (201) and the aluminum mechanical arm structure 2 (202).

2. The ROV robotic arm for catching underwater marine life according to claim 1, characterized in that: The arc-shaped claw (204) is located between the U-shaped claw (203) and the bottom claw (206).

3. The ROV robotic arm for catching underwater marine life according to claim 1, characterized in that: The transmission assembly (207) comprises a limiting groove (2075) provided on the steering gear (101), a shaft (2073) provided in the limiting groove (2075), a steering wheel (2072) provided at the conveying end of the shaft (2073) and the steering wheel (2072), the steering wheel (2072) being screw-connected to the aluminum mechanical arm structure 1 (201) and the aluminum mechanical arm structure 2 (202), and a gear (2071) provided at the rear end of the aluminum mechanical arm structure 1 (201) and the aluminum mechanical arm structure 2 (202).

4. The ROV robotic arm for catching underwater marine life according to claim 3, characterized in that: The two gears (2071) are meshed with each other, and a bearing (2074) is provided between the steering wheel (2072) and the steering engine (101).

5. The ROV robotic arm for catching underwater marine life according to claim 1, characterized in that: The connecting mechanism (3) comprises a plurality of slots (302) provided on the aluminum mechanical arm structure 1 (201) and the aluminum mechanical arm structure 2 (202), a limiting block (303) respectively provided on the U-shaped claw (203), the arc-shaped claw (204), the hook claw (205) and the bottom claw (206), and a plurality of through holes (301) respectively provided on the aluminum mechanical arm structure 1 (201), the aluminum mechanical arm structure 2 (202) and the limiting block (303).

6. The ROV robotic arm for catching underwater marine life according to claim 5, characterized in that: The U-shaped claw (203), the arc-shaped claw (204), the hook claw (205) and the bottom claw (206) are all adapted to the clamping slot (302).

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