Mechanical arm device for cabin operation

Abstract

The utility model provides a mechanical arm device for cabin operation, and relates to the field of mechanical arms of wall-climbing robots, the mechanical arm device comprises a first joint mechanism, a second joint mechanism and an executing mechanism, the first joint mechanism drives the second joint mechanism and the executing mechanism to rotate around a first axis, and the second joint mechanism drives the executing mechanism to rotate around a second axis. The second joint mechanism drives the executing mechanism to rotate around a second axis, and the first axis is perpendicular to the second axis, so that the flexibility of the mechanical arm device is effectively improved, the executing mechanism can effectively cover the whole cabin area, and the automatic operation level of a rib plate area and a transverse bulkhead area of the bulk carrier is greatly improved; according to different operation functions, the flexible deformation or metamorphic capacity and the pitching and transverse rolling switching capacity are achieved, the inner cabin wall area is covered more flexibly, flexible operation can be conducted, and multi-purpose operation is achieved.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms of wall-climbing robots, in particular to a mechanical arm device for cabin operations. Background Art

[0002] Internal work on a ship's hull includes cleaning, painting, sanding, and rust removal. Most operations require personnel using handheld tools from aerial platforms, a dangerous process that can result in inconsistent results and quality. Therefore, our company has developed a wall-climbing robot equipped with fixed tools to replace manual labor. However, the currently compatible robotic arms have a limited operating surface area and cannot effectively cover the ribs and transverse bulkheads within bulk carriers. Furthermore, cleaning, painting, sanding, or rust removal often require replacing different modules to achieve different functions, making replacement a relatively cumbersome process. Utility Model Content

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and to provide a mechanical arm device for cabin operations. This patent can greatly improve the level of automated operations in the rib plate area and transverse bulkhead area of ​​bulk carriers.

[0004] The utility model is realized through the following technical solutions:

[0005] A robotic arm device for cabin operations includes a first joint mechanism, a second joint mechanism and an actuator. The first joint mechanism is fixedly connected to the free end of a carrier. The first joint mechanism drives the second joint mechanism and the actuator to rotate around a first axis. The second joint mechanism drives the actuator to rotate around a second axis. The first axis is perpendicular to the second axis.

[0006] It can be seen that in the above technical solution, the first joint mechanism of this patent drives the second joint mechanism and the actuator to rotate around the first axis, and the second joint mechanism drives the actuator to rotate around the second axis. The first axis is perpendicular to the second axis, thereby effectively improving the flexibility of the robotic arm device, so that the actuator can effectively cover the entire cabin area, greatly improving the level of automated operation in the rib plate area and the transverse bulkhead area of ​​the bulk carrier; this patent can have the ability to flexibly deform or metamorphose according to different operating functions, switch pitch and roll operations, more flexibly cover the inner bulkhead area, perform smooth operations, and realize multi-purpose operations.

[0007] According to the above technical solution, preferably, the first joint mechanism includes a first joint housing, a first motor, and a first joint external component. The first motor is fixedly arranged in the first joint housing, the output shaft of the first motor is fixedly connected to the central axis of the first joint external component, the first motor drives the first joint external component to rotate, and the first joint housing is fixedly connected to the free end of the carrier.

[0008] It can be seen that in the above technical solution, the first motor is sealed and fixedly arranged in the first joint housing, and the first motor drives the first joint external component to rotate, thereby causing the first joint mechanism to drive the second joint mechanism and the actuator to rotate around the first axis.

[0009] According to the above technical solution, preferably, the second joint mechanism includes a second joint housing, a second motor, and a second joint external component. The second motor is fixedly arranged in the second joint housing, the second joint housing is coaxially fixedly connected to the first joint external component, the output shaft of the second motor is fixedly connected to the central axis of the second joint external component, the second motor drives the second joint external component to rotate, and the actuator is fixedly connected to the second joint external component.

[0010] It can be seen that in the above technical solution, the second motor is sealed and fixedly arranged in the second joint housing, the second joint housing is coaxially fixedly connected to the first joint external component, the output shaft of the second motor is fixedly connected to the central axis of the second joint external component, and the second motor drives the second joint external component to rotate, so that the second joint mechanism drives the actuator to rotate around the second axis.

[0011] According to the above technical solution, preferably, the second joint mechanism further includes a positioning assembly, the positioning assembly includes a zero position sensor, the zero position sensor is fixedly connected to the side of the second joint housing, and the side of the second joint external component is provided with a protrusion for positioning the zero position sensor.

[0012] It can be seen that in the above technical solution, when the second joint external component rotates, the zero position sensor can achieve positioning by sensing the protrusion on the side surface of the second joint external component.

[0013] According to the above technical solution, preferably, the actuator is a medium-pressure water cleaning mechanism, which includes a robotic arm connector, a robotic arm tube, a quick-installation part, a medium-pressure water joint and a self-rotating nozzle. The robotic arm connector is coaxially fixedly connected to the second joint external connector, and the two ends of the robotic arm tube are respectively fixedly connected to the robotic arm connector and the quick-installation part. The self-rotating nozzle is connected to the quick-installation part through the medium-pressure water joint.

[0014] According to the above technical solution, preferably, the actuator is a spraying mechanism, which includes a robotic arm connector, a robotic arm tube, a quick-installation part, a paint support rod, a spray gun and a spray gun connector. The robotic arm connector is coaxially fixedly connected to the second joint external connector, the two ends of the robotic arm tube are respectively fixedly connected to the robotic arm connector and the quick-installation part, the spray gun connector is fixedly connected to the quick-installation part, and the spray gun is connected to the spray gun connector through the paint support rod.

[0015] According to the above technical solution, preferably, the actuator is a grinding mechanism, which includes a right-angle connector, a robotic arm connector, a robotic arm tube, a quick-installation part and a grinding assembly. The robotic arm connector is coaxially fixedly connected to the second joint external connector, and the two ends of the robotic arm tube are respectively fixedly connected to the robotic arm connector and the quick-installation part, and the grinding assembly is connected to the quick-installation part.

[0016] According to the above technical solution, preferably, the grinding assembly includes a grinding motor, a grinding disc connector and a grinding disc, the motor is fixedly connected to the quick installation part, the grinding disc connector is coaxially fixedly connected to the output shaft of the grinding motor, and the grinding disc is coaxially fixedly connected to the grinding disc connector.

[0017] The beneficial effects of the utility model are:

[0018] (1) The first joint mechanism of the present invention drives the second joint mechanism and the actuator to rotate around the first axis, and the second joint mechanism drives the actuator to rotate around the second axis. The first axis is perpendicular to the second axis, thereby effectively improving the flexibility of the manipulator device, enabling the actuator to effectively cover the entire cabin area, and greatly improving the level of automation in the frame plate area and transverse bulkhead area of ​​the bulk carrier;

[0019] (2) This patent can be equipped with the ability to flexibly deform or change cells according to different operating functions, switch between pitch and roll operations, and more flexibly cover the built-in area, allowing for smooth operations and multi-purpose operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It shows an isometric structural diagram of embodiment 1 of the present utility model;

[0021] Figure 2 It shows an isometric structural diagram of the first joint mechanism in the present invention;

[0022] Figure 3 It shows a schematic diagram of the internal structure of the first joint mechanism in the present invention;

[0023] Figure 4 It shows an isometric structural diagram of the second joint mechanism in the present invention;

[0024] Figure 5 Shows an isometric structural diagram of the medium-pressure water cleaning mechanism of the present invention;

[0025] Figure 6 Shows an isometric structural diagram of the spraying mechanism of the present invention;

[0026] Figure 7 Shows an isometric structural diagram of the grinding mechanism of the present invention;

[0027] Figure 8 Shows a working schematic diagram of the utility model;

[0028] Description of reference numerals:

[0029] 1. First joint mechanism; 2. Second joint mechanism; 3. Actuator; 4. First joint housing; 5. First motor; 6. First joint external component; 7. Second joint housing; 8. Second motor; 9. Second joint external component; 10. Robot arm connector; 11. Robot arm tube; 12. Quick-install parts; 13. Medium-pressure water connector; 14. Self-rotating nozzle; 15. Zero position sensor; 16. Paint spraying support rod; 17. Spray gun; 18. Spray gun connector; 19. Grinding motor; 20. Grinding disc connector; 21. Grinding disc; 22. Right-angle connector; 23. Carrier. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described in detail below with reference to the accompanying drawings and the best embodiment. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without making any creative work shall fall within the scope of protection of the utility model.

[0031] In the description of the utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as a limitation on the utility model.

[0032] Example 1

[0033] As shown in the figure, this embodiment provides a robotic arm device for cabin operations, including a first joint mechanism 1, a second joint mechanism 2 and an actuator 3. The first joint mechanism 1 is fixedly connected to the free end of a carrier 23. The carrier 23 here can be a wall-climbing robot. The first joint mechanism 1 drives the second joint mechanism 2 and the actuator 3 to rotate around a first axis, and the second joint mechanism 2 drives the actuator 3 to rotate around a second axis. The first axis is perpendicular to the second axis, wherein the first joint mechanism 1 includes a first joint housing 4, a first motor 5, and a first joint external component 6. The first motor 5 is fixedly arranged in the first joint housing 4, and the output shaft of the first motor 5 is fixedly connected to the central axis of the first joint external component 6. The first motor 5 drives the first joint external component 6 to rotate. The first joint housing 4 is fixedly connected to the free end of the carrier 23, and the second joint mechanism 2 includes The second joint housing 7, the second motor 8, the second joint external part 9, the second motor 8 is fixedly arranged in the second joint housing 7, the second joint housing 7 is coaxially fixedly connected to the first joint external part 6, the output shaft of the second motor 8 is fixedly connected to the central axis of the second joint external part 9, the second motor 8 drives the second joint external part 9 to rotate, the actuator 3 is fixedly connected to the second joint external part 9, the actuator 3 here is a medium-pressure water cleaning mechanism, the medium-pressure water cleaning mechanism includes a robotic arm connector 10, a robotic arm tube 11, a quick installation part 12, a medium-pressure water joint 13 and a self-rotating nozzle 14, the robotic arm connector 10 is coaxially fixedly connected to the second joint external part 9, the two ends of the robotic arm tube 11 are respectively fixedly connected to the robotic arm connector 10 and the quick installation part 12, and the self-rotating nozzle 14 is connected to the quick installation part 12 through the medium-pressure water joint 13.

[0034] The first joint mechanism 1 of this patent drives the second joint mechanism 2 and the actuator 3 to rotate around the first axis, and the second joint mechanism 2 drives the actuator 3 to rotate around the second axis. The first axis is perpendicular to the second axis, thereby effectively improving the flexibility of the robotic arm device, so that the actuator 3 can effectively cover the entire cabin area, greatly improving the level of automated operation in the rib plate area and transverse bulkhead area of ​​the bulk carrier; this patent can have the ability to flexibly deform or metamorphose according to different operating functions, switch pitch and roll operations, more flexibly cover the inner bulkhead area, perform smooth operations, and realize multi-purpose operations.

[0035] Optionally, in a possible embodiment, the second joint mechanism 2 further includes a positioning component, the positioning component includes a zero position sensor 15, the zero position sensor 15 is fixedly connected to the side of the second joint housing 7, and the side of the second joint external component 9 is provided with a protrusion for positioning the zero position sensor 15. When the second joint external component 9 rotates, the zero position sensor 15 can be positioned by sensing the protrusion on the side of the second joint external component 9.

[0036] Example 2

[0037] As shown in the figure, this embodiment provides a manipulator device for cabin operation, including a first joint mechanism 1, a second joint mechanism 2 and an actuator 3. The first joint mechanism 1 is fixedly connected to the free end of a carrier 23. The carrier 23 here can be a wall-climbing robot. The first joint mechanism 1 drives the second joint mechanism 2 and the actuator 3 to rotate around the first axis, and the second joint mechanism 2 drives the actuator 3 to rotate around the second axis. The first axis is perpendicular to the second axis, wherein the first joint mechanism 1 includes a first joint housing 4, a first motor 5, and a first joint external component 6. The first motor 5 is fixedly arranged in the first joint housing 4, and the output shaft of the first motor 5 is fixedly connected to the central axis of the first joint external component 6. The first motor 5 drives the first joint external component 6 to rotate, and the first joint housing 4 is fixedly connected to the free end of the carrier 23, and the second joint mechanism 2 includes a second joint housing 7, a second Motor 8, second joint external part 9, the second motor 8 is fixedly arranged in the second joint housing 7, the second joint housing 7 is coaxially fixedly connected to the first joint external part 6, the output shaft of the second motor 8 is fixedly connected to the central axis of the second joint external part 9, the second motor 8 drives the second joint external part 9 to rotate, the actuator 3 is fixedly connected to the second joint external part 9, the actuator 3 here is a spraying mechanism, the spraying mechanism includes a robotic arm connector 10, a robotic arm tube 11, a quick installation part 12, a paint support rod 16, a spray gun 17 and a spray gun connector 18, the robotic arm connector 10 is coaxially fixedly connected to the second joint external part 9, the two ends of the robotic arm tube 11 are respectively fixedly connected to the robotic arm connector 10 and the quick installation part 12, the spray gun connector 18 is fixedly connected to the quick installation part 12, and the spray gun 17 is connected to the spray gun connector 18 through the paint support rod 16.

[0038] Optionally, in a possible embodiment, the second joint mechanism 2 further includes a positioning component, the positioning component includes a zero position sensor 15, the zero position sensor 15 is fixedly connected to the side of the second joint housing 7, and the side of the second joint external component 9 is provided with a protrusion for positioning the zero position sensor 15. When the second joint external component 9 rotates, the zero position sensor 15 can be positioned by sensing the protrusion on the side of the second joint external component 9.

[0039] Example 3

[0040] As shown in the figure, this embodiment provides a robotic arm device for cabin operations, including a first joint mechanism 1, a second joint mechanism 2 and an actuator 3. The first joint mechanism 1 is fixedly connected to the free end of a carrier 23. The carrier 23 here can be a wall-climbing robot. The first joint mechanism 1 drives the second joint mechanism 2 and the actuator 3 to rotate around a first axis, and the second joint mechanism 2 drives the actuator 3 to rotate around a second axis. The first axis is perpendicular to the second axis, wherein the first joint mechanism 1 includes a first joint housing 4, a first motor 5, and a first joint external component 6. The first motor 5 is fixedly arranged in the first joint housing 4, and the output shaft of the first motor 5 is fixedly connected to the central axis of the first joint external component 6. The first motor 5 drives the first joint external component 6 to rotate. The first joint housing 4 is fixedly connected to the free end of the carrier 23, and the second joint mechanism 2 includes a second joint housing 7, a second motor 8, and a second joint external component 9. The second motor 8 is fixedly arranged in the second joint housing 4. In the joint housing 7, the second joint housing 7 is coaxially fixedly connected to the first joint external component 6, the output shaft of the second motor 8 is fixedly connected to the central axis of the second joint external component 9, the second motor 8 drives the second joint external component 9 to rotate, and the actuator 3 is fixedly connected to the second joint external component 9. The actuator 3 here is a grinding mechanism, which includes a right-angle connector 22, a robotic arm connector 10, a robotic arm tube 11, a quick-mounting component 12 and a grinding assembly. The robotic arm connector 10 is coaxially fixedly connected to the second joint external component 9, and the two ends of the robotic arm tube 11 are respectively fixedly connected to the robotic arm connector 10 and the quick-mounting component 12. The grinding assembly is connected to the quick-mounting component 12, and the grinding assembly includes a grinding motor 19, a grinding disc connector 20 and a grinding disc 21. The motor is fixedly connected to the quick-mounting component 12, the grinding disc connector 20 is coaxially fixedly connected to the output shaft of the grinding motor 19, and the grinding disc 21 is coaxially fixedly connected to the grinding disc connector 20.

[0041] Optionally, in a possible embodiment, the second joint mechanism 2 further includes a positioning component, the positioning component includes a zero position sensor 15, the zero position sensor 15 is fixedly connected to the side of the second joint housing 7, and the side of the second joint external component 9 is provided with a protrusion for positioning the zero position sensor 15. When the second joint external component 9 rotates, the zero position sensor 15 can be positioned by sensing the protrusion on the side of the second joint external component 9.

[0042] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A robotic arm device for cabin operations, characterized in that: It includes a first joint mechanism, a second joint mechanism and an actuator. The first joint mechanism is fixedly connected to the free end of the carrier. The first joint mechanism drives the second joint mechanism and the actuator to rotate around a first axis. The second joint mechanism drives the actuator to rotate around a second axis. The first axis is perpendicular to the second axis.

2. A manipulator arm device for cabin operations according to claim 1, characterized in that: The first joint mechanism includes a first joint housing, a first motor, and a first joint external component. The first motor is fixedly arranged in the first joint housing. The output shaft of the first motor is fixedly connected to the central axis of the first joint external component. The first motor drives the first joint external component to rotate. The first joint housing is fixedly connected to the free end of the carrier.

3. A manipulator arm device for cabin operations according to claim 2, characterized in that: The second joint mechanism includes a second joint housing, a second motor, and a second joint external component. The second motor is fixedly arranged in the second joint housing. The second joint housing is coaxially fixedly connected to the first joint external component. The output shaft of the second motor is fixedly connected to the central axis of the second joint external component. The second motor drives the second joint external component to rotate. The actuator is fixedly connected to the second joint external component.

4. A manipulator arm device for cabin operations according to claim 3, characterized in that: The second joint mechanism further includes a positioning assembly, which includes a zero position sensor fixedly connected to the side of the second joint housing. The side of the second joint external component is provided with a protrusion for positioning the zero position sensor.

5. A manipulator arm device for cabin operations according to claim 4, characterized in that: The actuator is a medium-pressure water cleaning mechanism, which includes a robotic arm connector, a robotic arm tube, a quick-installation part, a medium-pressure water joint and a self-rotating nozzle. The robotic arm connector is coaxially fixedly connected to the second joint external connector, and the two ends of the robotic arm tube are respectively fixedly connected to the robotic arm connector and the quick-installation part. The self-rotating nozzle is connected to the quick-installation part through the medium-pressure water joint.

6. A manipulator arm device for cabin operations according to claim 4, characterized in that: The actuator is a spraying mechanism, which includes a robotic arm connector, a robotic arm tube, a quick-installation part, a paint spraying support rod, a spray gun and a spray gun connector. The robotic arm connector is coaxially fixedly connected to the second joint external connector, the two ends of the robotic arm tube are respectively fixedly connected to the robotic arm connector and the quick-installation part, the spray gun connector is fixedly connected to the quick-installation part, and the spray gun is connected to the spray gun connector through the paint spraying support rod.

7. A manipulator arm device for cabin operations according to claim 4, characterized in that: The actuator is a grinding mechanism, which includes a right-angle connector, a robotic arm connector, a robotic arm tube, a quick-installation component and a grinding assembly. The robotic arm connector is coaxially fixedly connected to the second joint external connector, and the two ends of the robotic arm tube are respectively fixedly connected to the robotic arm connector and the quick-installation component. The grinding assembly is connected to the quick-installation component.

8. A manipulator arm device for cabin operations according to claim 7, characterized in that: The grinding assembly includes a grinding motor, a grinding disc connector and a grinding disc, the motor is fixedly connected to the quick mounting part, the grinding disc connector is coaxially fixedly connected to the output shaft of the grinding motor, and the grinding disc is coaxially fixedly connected to the grinding disc connector.

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