Intelligent vision-assisted underwater mechanical arm

Abstract

The utility model relates to the technical field of underwater engineering, and discloses an intelligent vision-assisted underwater mechanical arm which comprises a first shell, a motor is fixedly connected to the outer wall of the first shell, a first connecting rod is fixedly connected to the output end of the motor, a cross shaft is rotationally connected to the inner wall of the first connecting rod, and a second connecting rod is fixedly connected to the inner wall of the cross shaft. A second connecting rod is rotatably connected to the outer wall of the cross shaft, a third connecting rod is slidably connected to the inner wall of the second connecting rod, a driven rod is rotatably connected to the outer wall of the cross shaft, an electric sliding block is rotatably connected to the outer wall of the driven rod, and a sliding rail is slidably connected to the inner wall of the electric sliding block; the inner wall of the electric sliding block is rotationally connected with a clamping jaw. The motor drives the first connecting rod to rotate to enable the cross shaft to rotate, the cross shaft rotates to drive the second connecting rod to rotate to enable the third connecting rod to rotate, the third connecting rod rotates to drive the clamping jaw to rotate, and the electric sliding block slides on the sliding rail to enable the clamping jaw to move.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater engineering, in particular to an intelligent vision-assisted underwater mechanical arm. Background Art

[0002] Intelligent visual assistance is a means of using advanced technology to help improve or enhance human visual ability. It usually combines computer vision, artificial intelligence, sensor technology, etc. In the industrial field, intelligent visual assistance systems can detect product defects, perform dimensional measurements, etc., improve production efficiency and quality, provide people with richer visual information, enhance visual experience, and also provide more convenience and independence in life for people with visual impairments. Underwater manipulators using intelligent visual assistance can improve operation accuracy and efficiency, enhance operation safety, expand operation scope and capabilities, etc. Traditional intelligent visual assistance underwater manipulators have poor visual systems, general manipulator performance, low reliability and high maintenance. In order to achieve the high-precision requirements of modern underwater operations, new intelligent visual assistance underwater manipulators are used.

[0003] In the existing technology, the clamping jaws usually have a simple structure and a single function. The movement mode of the clamping jaws is relatively fixed and cannot flexibly adapt to various complex working scenarios. As a result, the clamping jaws need to be frequently replaced or adjusted in position, which causes the problem of being unable to quickly adapt to the changing needs of different scenarios and low work efficiency. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides an intelligent vision-assisted underwater robotic arm, which aims to improve the problems that the gripper usually has a simple structure, a single function, and a relatively fixed movement mode, which cannot flexibly adapt to various complex working scenarios, resulting in the need to frequently replace the gripper or adjust the gripper position, thereby causing the inability to quickly adapt to the changing needs of different scenarios and low work efficiency.

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

[0006] An intelligent vision-assisted underwater robotic arm includes a first shell, an outer wall of the first shell is fixedly connected to a motor, an output end of the motor is fixedly connected to a first connecting rod, an inner wall of the first connecting rod is rotatably connected to a cross shaft, an outer wall of the cross shaft is rotatably connected to a second connecting rod, an inner wall of the second connecting rod is slidably connected to a third connecting rod, an inner wall of the third connecting rod is rotatably connected to the outer wall of the cross shaft, an outer wall of the cross shaft is rotatably connected to a driven rod, an outer wall of the driven rod is rotatably connected to an electric slider, an inner wall of the electric slider is slidably connected to a slide rail, an outer wall of the slide rail is fixedly connected to a second shell, an inner wall of the electric slider is rotatably connected to a clamp, an upper surface of the clamp is fixedly connected to the lower surface of the driven rod, and an outer wall of the second shell is provided with a sealing assembly, which is used to seal the interior.

[0007] Preferably, the sealing assembly includes a sealing ring, the lower surface of which is fixedly connected to the inner wall of the second shell, the inner wall of the sealing ring is fixedly connected to a plastic waterproof cover, the outer wall of the plastic waterproof cover is fixedly connected to the inner wall of the sealing ring, and the upper surface of the sealing ring is fixedly connected to the lower surface of the first shell.

[0008] Preferably, the inner wall of the first shell is fixedly connected to a motor, the output end of the motor is fixedly connected to a connecting shaft, the outer wall of the connecting shaft is fixedly connected to a first gear, the outer wall of the first gear is meshedly connected to the second gear, the outer wall of the connecting shaft is fixedly connected to a rotating rod, the inner wall of the rotating rod is rotatably connected to a rotating shaft, the outer wall of the rotating shaft is rotatably connected to the inner wall of the second gear, the outer wall of the first gear is rotatably connected to the inner wall of the first shell, and the outer wall of the second gear is rotatably connected to the inner wall of the second shell.

[0009] Preferably, the outer wall of the first shell is fixedly connected to a base, the inner wall of the base is fixedly connected to a spring rod, the lower surface of the spring rod is fixedly connected to a clamping block, and the clamping block is slidably connected to the inner wall of the base.

[0010] Preferably, the outer wall of the clamping block is slidably connected to a limiting block, the inner wall of the limiting block is fixedly connected to a sliding rod, and the outer wall of the sliding rod is slidably connected to a reset block.

[0011] Preferably, the right outer wall of the sliding rod is fixedly connected to a drive shaft, the drive shaft is slidably connected to the inner wall of the base, the right outer wall of the drive shaft is fixedly connected to a spring body, and the right outer wall of the spring body is fixedly connected to a third shell.

[0012] Preferably, the inner wall of the driving shaft is slidably connected to a driving block, the outer wall of the driving block is slidably connected to the inner wall of the third shell, and the driving block is slidably connected to a bearing block.

[0013] Preferably, the inner wall of the bearing block is slidably connected to the outer wall of the drive shaft, the inner wall of the bearing block is slidably connected to the outer wall of the third shell, and the left outer wall of the bearing block is slidably connected to the right outer wall of the base.

[0014] The utility model has the following beneficial effects:

[0015] 1. In the utility model, the motor drives the first connecting rod to rotate to rotate the cross shaft, the rotation of the cross shaft drives the second connecting rod to rotate to rotate the third connecting rod, the rotation of the third connecting rod drives the clamping claw to rotate, and the electric slider slides on the slide rail to move the clamping claw. This device can make the clamping claw suitable for different scenarios.

[0016] 2. In the present invention, the motor drives the rotating shaft to rotate so that the rotating rod rotates, the rotating rod rotates to drive the second housing to move, and the second housing drives the second gear to rotate so that the second gear and the first gear rotate, thereby achieving the change of the horizontal gripping angle of the clamping claw.

[0017] 3. In the utility model, pressing the third shell downward compresses the spring and moves the driving block, which drives the driving rod to move, and the driving rod drives the sliding rod to move, and the moving rod drives the limit block to move, so that the clamping block slides on the surface of the limit block and clamps the limit block. Pressing the third shell downward again, the reset block slides and returns to its original position under the action of the spring. This device can quickly disassemble and assemble the waterproof cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional diagram of an intelligent vision-assisted underwater robotic arm proposed in the present invention;

[0019] Figure 2 This is a schematic diagram of the cross axis of an intelligent vision-assisted underwater robotic arm proposed in the present invention;

[0020] Figure 3 This is a cross-sectional view of an intelligent vision-assisted underwater robotic arm proposed in the present invention;

[0021] Figure 4 This is a schematic diagram of a driving block of an intelligent vision-assisted underwater robotic arm proposed in the present invention.

[0022] Legend:

[0023] 1. First housing; 2. Motor; 3. First connecting rod; 4. Cross shaft; 5. Second connecting rod; 6. Third connecting rod; 7. Follower rod; 8. Slide rail; 9. Electric slider; 10. Clamp; 11. Second housing; 12. Sealing ring; 13. Plastic waterproof cover; 14. Motor; 15. Connecting shaft; 16. First gear; 17. Second gear; 18. Rotating rod; 19. Base; 20. Spring rod; 21. Block; 22. Limit block; 23. Sliding rod; 24. Reset block; 25. Drive shaft; 26. Spring body; 27. Third housing; 28. Drive block; 29. ​​Bearing block; 30. Rotating shaft. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings of the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Reference Figures 1-4, an embodiment of the present utility model provides: an intelligent vision-assisted underwater robotic arm, comprising a first shell 1, the outer wall of the first shell 1 is fixedly connected to a motor 2, the output end of the motor 2 is fixedly connected to a first connecting rod 3, the inner wall of the first connecting rod 3 is rotatably connected to a cross shaft 4, the outer wall of the cross shaft 4 is rotatably connected to a second connecting rod 5, the inner wall of the second connecting rod 5 is slidably connected to a third connecting rod 6, the inner wall of the third connecting rod 6 is rotatably connected to the outer wall of the cross shaft 4, the outer wall of the cross shaft 4 is rotatably connected to a driven rod 7, the outer wall of the driven rod 7 is rotatably connected to an electric slider 9, the inner wall of the electric slider 9 is slidably connected to a slide rail 8, the outer wall of the slide rail 8 is fixedly connected to a second shell 11, the inner wall of the electric slider 9 is rotatably connected to a clamp 10, the upper surface of the clamp 10 is fixedly connected to the lower surface of the driven rod 7, and the outer wall of the second shell 11 is provided with a sealing assembly for sealing the interior ; The sealing assembly includes a sealing ring 12, the lower surface of the sealing ring 12 is fixedly connected to the inner wall of the second shell 11, the inner wall of the sealing ring 12 is fixedly connected to a plastic waterproof cover 13, the outer wall of the plastic waterproof cover 13 is fixedly connected to the inner wall of the sealing ring 12, and the upper surface of the sealing ring 12 is fixedly connected to the lower surface of the first shell 1; the inner wall of the first shell 1 is fixedly connected to a motor 14, the output end of the motor 14 is fixedly connected to a connecting shaft 15, the outer wall of the connecting shaft 15 is fixedly connected to a first gear 16, the outer wall of the first gear 16 is meshed with the second gear 17, the outer wall of the connecting shaft 15 is fixedly connected to a rotating rod 18, the inner wall of the rotating rod 18 is rotatably connected to a rotating shaft 30, the outer wall of the rotating shaft 30 is rotatably connected to the inner wall of the second gear 17, the outer wall of the first gear 16 is rotatably connected to the inner wall of the first shell 1, and the outer wall of the second gear 17 is rotatably connected to the inner wall of the second shell 11;

[0026] Specifically, the starting motor 2 drives the first connecting rod 3 to rotate, the rotation of the first connecting rod 3 drives the cross shaft 4 to rotate, and the second connecting rod 5 is rotated, the rotation of the second connecting rod 5 drives the third connecting rod 6 to rotate and the connected cross shaft 4 is rotated, and at the same time drives the driven rod 7 and the clamping jaw 10 to rotate, the movement of the electric slider 9 causes the clamping jaw 10 to move in the longitudinal direction, the starting motor 14 causes the rotating rod 18 to rotate and drives the second gear 17 to rotate, the second gear 17 rotates on the first gear 16 and drives the second housing 11 to rotate, thereby causing the clamping jaw 10 to move in the lateral direction.

[0027] Reference Figure 2 and Figure 4 The outer wall of the first housing 1 is fixedly connected to a base 19, the inner wall of the base 19 is fixedly connected to a spring rod 20, the lower surface of the spring rod 20 is fixedly connected to a clamping block 21, and the clamping block 21 is slidably connected to the inner wall of the base 19; the outer wall of the clamping block 21 is slidably connected to a limit block 22, the inner wall of the limit block 22 is fixedly connected to a sliding rod 23, and the outer wall of the sliding rod 23 is slidably connected to a reset block 24;

[0028] Specifically, by pressing the third shell 27 downward to push the drive shaft 25 to move downward, the reset block 24 slides on the outer wall of the blocking block 21. Under the action of the spring body 26, the drive shaft 25 can move upward and drive the drive block 28 to move on the third shell 27 and the supporting block 29, thereby separating the base 19 and the supporting block 29.

[0029] Reference Figure 4 The right outer wall of the sliding rod 23 is fixedly connected to the driving shaft 25, and the driving shaft 25 is slidably connected to the inner wall of the base 19. The right outer wall of the driving shaft 25 is fixedly connected to the spring body 26, and the right outer wall of the spring body 26 is fixedly connected to the third shell 27; the inner wall of the driving shaft 25 is slidably connected to the driving block 28, and the outer wall of the driving block 28 is slidably connected to the inner wall of the third shell 27, and the driving block 28 is slidably connected to the bearing block 29; the inner wall of the bearing block 29 is slidably connected to the outer wall of the driving shaft 25, and the inner wall of the bearing block 29 is slidably connected to the outer wall of the third shell 27, and the left outer wall of the bearing block 29 is slidably connected to the right outer wall of the base 19;

[0030] Specifically, after the sliding rod 23 is inserted into the inner wall of the base 19, pressing the third shell 27 downward can make the limit block 22 slide on the outer wall of the clamping block 21, and by compressing the spring rod 20, the spring rod 20 pops out and the clamping block 21 clamps the limit block 22.

[0031] Working principle: When the device needs to be used, the motor 2 is started to drive the first connecting rod 3 to rotate, and the rotation of the first connecting rod 3 drives the cross shaft 4 to rotate to rotate the second connecting rod 5, and the rotation of the second connecting rod 5 drives the third connecting rod 6 to rotate to rotate the connected cross shaft 4 and drive the driven rod 7 and the clamping jaw 10 to rotate, and the clamping jaw 10 is moved in the longitudinal direction by the movement of the electric slider 9. When the clamping jaw 10 needs to rotate, the motor 14 is started to rotate the rotating rod 18 and drive the second gear 17 to rotate. The second gear 17 rotates on the first gear 16 and drives the second shell 11 to rotate, thereby moving the clamping jaw 10 in the transverse direction. When the plastic waterproof cover 13 needs to be replaced, the third shell 27 is pressed down to push the drive shaft 25 downward, so that the reset block 24 slides on the outer wall of the block 21. Under the action of the spring body 26, the drive shaft 25 moves upward and The driving block 28 is driven to move on the third shell 27 and the supporting block 29, thereby separating the base 19 and the supporting block 29, removing the plastic waterproof cover 13, and inserting the sliding rod 23 into the inner wall of the base 19 after replacement. Then, the third shell 27 is pressed downward to make the limit block 22 slide on the outer wall of the clamping block 21, and the spring rod 20 is compressed. Then, the spring rod 20 pops out to make the clamping block 21 clamp the limit block 22, thereby fixing the plastic waterproof cover 13. This device not only solves the problem that the jaws 10 usually have a simple structure and a single function, and the movement mode of the jaws 10 is relatively fixed, and cannot flexibly adapt to various complex working scenes, resulting in the need to frequently replace the jaws 10 or adjust the position of the jaws 10, thereby causing the inability to quickly adapt to the changes in demand in different scenes and low work efficiency, but also solves the problem that the complicated operation of replacing the sealing component leads to low efficiency in underwater operations.

[0032] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent vision-assisted underwater robotic arm, comprising a first housing (1), characterized in that: The outer wall of the first housing (1) is fixedly connected to a motor (2), the output end of the motor (2) is fixedly connected to a first connecting rod (3), the inner wall of the first connecting rod (3) is rotatably connected to a cross shaft (4), the outer wall of the cross shaft (4) is rotatably connected to a second connecting rod (5), the inner wall of the second connecting rod (5) is slidably connected to a third connecting rod (6), the inner wall of the third connecting rod (6) is rotatably connected to the outer wall of the cross shaft (4), the outer wall of the cross shaft (4) is rotatably connected to a driven rod (7), the outer wall of the driven rod (7) is rotatably connected to an electric slider (9), the inner wall of the electric slider (9) is slidably connected to a slide rail (8), the outer wall of the slide rail (8) is fixedly connected to a second housing (11), the inner wall of the electric slider (9) is rotatably connected to a clamping claw (10), the upper surface of the clamping claw (10) is fixedly connected to the lower surface of the driven rod (7), and the outer wall of the second housing (11) is provided with a sealing assembly, which is used to seal the interior.

2. The intelligent vision-assisted underwater robotic arm according to claim 1, characterized in that: The sealing assembly comprises a sealing ring (12), the lower surface of the sealing ring (12) is fixedly connected to the inner wall of the second housing (11), the inner wall of the sealing ring (12) is fixedly connected to a plastic waterproof cover (13), the outer wall of the plastic waterproof cover (13) is fixedly connected to the inner wall of the sealing ring (12), and the upper surface of the sealing ring (12) is fixedly connected to the lower surface of the first housing (1).

3. The intelligent vision-assisted underwater robotic arm according to claim 2, characterized in that: The inner wall of the first housing (1) is fixedly connected to a motor (14), the output end of the motor (14) is fixedly connected to a connecting shaft (15), the outer wall of the connecting shaft (15) is fixedly connected to a first gear (16), the outer wall of the first gear (16) is meshedly connected to a second gear (17), the outer wall of the connecting shaft (15) is fixedly connected to a rotating rod (18), the inner wall of the rotating rod (18) is rotatably connected to a rotating shaft (30), the outer wall of the rotating shaft (30) is rotatably connected to the inner wall of the second gear (17), the outer wall of the first gear (16) is rotatably connected to the inner wall of the first housing (1), and the outer wall of the second gear (17) is rotatably connected to the inner wall of the second housing (11).

4. The intelligent vision-assisted underwater robotic arm according to claim 3, characterized in that: The outer wall of the first shell (1) is fixedly connected to a base (19), the inner wall of the base (19) is fixedly connected to a spring rod (20), the lower surface of the spring rod (20) is fixedly connected to a clamping block (21), and the clamping block (21) is slidably connected to the inner wall of the base (19).

5. The intelligent vision-assisted underwater robotic arm according to claim 4, characterized in that: The outer wall of the clamping block (21) is slidably connected to a limit block (22), the inner wall of the limit block (22) is fixedly connected to a sliding rod (23), and the outer wall of the sliding rod (23) is slidably connected to a reset block (24).

6. The intelligent vision-assisted underwater robotic arm according to claim 5, characterized in that: The right outer wall of the sliding rod (23) is fixedly connected to a driving shaft (25), the driving shaft (25) is slidably connected to the inner wall of the base (19), the right outer wall of the driving shaft (25) is fixedly connected to a spring body (26), and the right outer wall of the spring body (26) is fixedly connected to a third housing (27).

7. The intelligent vision-assisted underwater robotic arm according to claim 6, characterized in that: The inner wall of the driving shaft (25) is slidably connected to a driving block (28), the outer wall of the driving block (28) is slidably connected to the inner wall of the third housing (27), and the driving block (28) is slidably connected to a bearing block (29).

8. The intelligent vision-assisted underwater robotic arm according to claim 7, characterized in that: The inner wall of the bearing block (29) is slidably connected to the outer wall of the drive shaft (25), the inner wall of the bearing block (29) is slidably connected to the outer wall of the third shell (27), and the left outer wall of the bearing block (29) is slidably connected to the right outer wall of the base (19).

Images