Mechanical arm of underwater robot

Abstract

The utility model discloses a mechanical arm of an underwater robot, which comprises a connecting seat, a connecting rod, a connecting rod and a connecting rod, the connecting seat comprises a connecting part and a mounting seat connected with the connecting part, and a mounting groove with an opening at the upper end is arranged in the mounting seat; the joint is connected with the mounting seat; the connecting arm is connected with the joint; the load end is connected with the connecting arm; the joint comprises a waterproof cover arranged on the installation base in a sleeving mode, a power source arranged in the installation base and a rotating block connected with the power source, the rotating block is connected with the connecting arm, a sealing piece is arranged between the waterproof cover and the installation base, and a fastening piece is arranged between the waterproof cover and the installation base. The waterproof cover is used for separating the power source from external water, and it is ensured that the power source is in a dry working environment, so that the stability and the service life of the power source are ensured. The sealing piece is used for preventing water from entering the mounting groove from a gap between the waterproof cover and the mounting base, and the dry environment in the mounting groove is further ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater mechanical arms, in particular to a mechanical arm of an underwater robot. Background Art

[0002] Underwater manipulators are mechanical devices designed specifically for underwater operations. They are typically integrated into underwater robots or submersibles to perform a variety of complex underwater tasks, such as sample collection, equipment maintenance, pipeline inspection, and seabed exploration. Underwater manipulators must be designed to withstand harsh environmental conditions such as high pressure, low temperatures, and corrosive water, while also possessing sufficient flexibility and precision to perform delicate operations.

[0003] The key technologies of underwater manipulators include structural design, material selection, sealing method, drive mechanism (such as hydraulic, electric), control system design, etc. The sealing method of existing underwater manipulators is relatively simple and cannot cope with the complex underwater environment. Utility Model Content

[0004] The technical problem to be solved by the present invention is: the present invention provides a mechanical arm of an underwater robot to solve the problem that the sealing method of the existing underwater mechanical arm is relatively simple and difficult to cope with the complex underwater environment.

[0005] The technical solution adopted by the utility model to solve the technical problem is: a mechanical arm of an underwater robot, comprising: a connecting seat, the connecting seat comprising a connecting part and a mounting seat connected to the connecting part, a mounting groove with an upper end opening being provided in the mounting seat; a joint, the joint being connected to the mounting seat; a connecting arm, the connecting arm being connected to the joint; a load end, the load end being connected to the connecting arm; wherein the joint comprises a waterproof cover mounted on the mounting seat, a power source provided inside the mounting seat and a rotating block connected to the power source, the rotating block being connected to the connecting arm, a sealing member being provided between the waterproof cover and the mounting seat, and a fastener being provided between the waterproof cover and the mounting seat.

[0006] The beneficial effects of the present invention are as follows: the connecting seat is used to connect the robotic arm to the underwater robot. During use, the joint drives the connecting arm to rotate, thereby driving the load end to move, so that the load end reaches a preset position. In detail, the power source is installed on the mounting seat and is located in the mounting groove. The waterproof cover is used to isolate the power source from external water, ensuring that the power source is in a dry working environment to ensure the stability and service life of the power source. The seal is used to prevent water from entering the mounting groove through the gap between the waterproof cover and the mounting seat, further ensuring a dry environment in the mounting groove. The power source drives the rotating block to rotate, thereby driving the connecting arm connected to the rotating block to rotate, driving the load end to move, so that the load end reaches a preset position.

[0007] Preferably, the seal comprises:

[0008] The water pressure bag is provided with a water inlet on the waterproof cover, and the water inlet is connected to the water pressure bag;

[0009] A first annular groove is provided on the waterproof cover and is adapted to fit the water pressure bag;

[0010] The second annular groove is arranged on the mounting seat and is adapted to fit the water pressure bag.

[0011] Preferably, the seal further comprises:

[0012] The first O-ring is arranged between the waterproof cover and the mounting seat.

[0013] Preferably, the seal further comprises:

[0014] The adhesive sealing layer is arranged between the waterproof cover and the mounting seat.

[0015] Preferably, it also includes:

[0016] A supporting member is connected to the connecting seat, and the rotating block is rotatably connected to the supporting member;

[0017] The second O-ring is arranged between the supporting component and the rotating block.

[0018] Preferably, it also includes:

[0019] The mounting plate is arranged on the mounting seat, and the power source is installed on the mounting plate.

[0020] Preferably, it also includes:

[0021] A first sponge plate is provided between the waterproof cover and the mounting seat and is located on the top of the mounting seat;

[0022] The second sponge board is arranged on the mounting seat adjacent to the mounting plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention is a three-dimensional structural diagram of a mechanical arm of an underwater robot;

[0024] Figure 2 A cross-sectional view of a robotic arm of an underwater robot;

[0025] Figure 3 for Figure 2 A partial enlarged view of point A in the middle;

[0026] Figure 4 for Figure 2 A partial enlarged view of point B in the middle;

[0027] Figure 5 for Figure 2 A partial enlarged view of point C in the middle.

[0028] In the figure: connecting seat 1, waterproof cover 2, fastener 3, water inlet 4, mounting seat 5, rotating block 6, connecting arm 7, load end 8, supporting member 9, mounting plate 10, second sponge plate 12, first sponge plate 13, second O-ring 14, first O-ring 15, water pressure bag 16, and adhesive sealing layer 17. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods.

[0030] In this article, terms such as "upper, lower, inside, outside" are established based on the positional relationships shown in the drawings. Depending on the different drawings, the corresponding positional relationships may also change accordingly. Therefore, they cannot be understood as absolute limitations on the scope of protection; moreover, relational terms such as "first" and "second" are only used to distinguish one component from another with the same name, and do not necessarily require or imply any actual relationship or order between these components.

[0031] Example

[0032] like Figure 1-5 As shown, a mechanical arm of an underwater robot includes: a connecting base 1, the connecting base 1 includes a connecting part and a mounting base 5 connected to the connecting part, and a mounting groove with an upper end opening is provided in the mounting base 5; a joint, the joint is connected to the mounting base 5; a connecting arm 7, the connecting arm 7 is connected to the joint; a load end 8, the load end 8 is connected to the connecting arm 7; wherein, the joint includes a waterproof cover 2 mounted on the outside of the mounting base 5, a power source provided inside the mounting base 5 and a rotating block 6 connected to the power source, the rotating block 6 is connected to the connecting arm 7, a seal is provided between the waterproof cover 2 and the mounting base 5, and a fastener 3 is provided between the waterproof cover 2 and the mounting base 5.

[0033] Specifically, the connecting seat 1 is used to connect the robotic arm to the underwater robot. During use, the joint drives the connecting arm 7 to rotate, thereby driving the load end 8 to move, so that the load end 8 reaches a preset position. In detail, the power source is installed on the mounting seat 5 and is located in the mounting groove. The waterproof cover 2 is used to isolate the power source from external water, ensuring that the power source is in a dry working environment to ensure the stability and service life of the power source. The seal is used to prevent water from entering the mounting groove through the gap between the waterproof cover 2 and the mounting seat 5, further ensuring a dry environment in the mounting groove. The power source drives the rotating block 6 to rotate, thereby driving the connecting arm 7 connected to the rotating block 6 to rotate, driving the load end 8 to move, so that the load end 8 reaches a preset position. The fastener 3 is used to firmly mount the waterproof cover 2 on the mounting seat 5. The fastener 3 is preferably a screw, and waterproof glue is provided between the fastener 3 and the waterproof cover 2, and between the fastener 3 and the mounting seat 5.

[0034] Preferably, the connecting arm 7 does not need to be directly connected to the load end 8. The connecting arm 7 also forms a connecting arm seat. The structure of the connecting arm seat is exactly the same as that of the mounting seat 5. A second joint is provided in the connecting arm seat. The structure of the second joint is exactly the same as that of the joint. The second joint is connected to the second connecting arm 7. The second connecting arm is connected to the load end 8 through the second connecting arm, thereby achieving an indirect connection between the connecting arm 7 and the load end 8. Of course, there can also be a third joint between the second connecting arm and the load end 8, which is not specifically limited here.

[0035] Furthermore, the sealing component includes: a water pressure bladder 16, a water inlet 4 is provided on the waterproof cover 2, and the water inlet 4 is connected to the water pressure bladder 16; a first annular groove, the first annular groove is provided on the waterproof cover 2 and is adapted to the water pressure bladder 16; a second annular groove, the second annular groove is provided on the mounting seat 5 and is adapted to the water pressure bladder 16. The first annular groove and the second annular groove are used to limit the position of the water pressure bladder 16 and increase the contact area between the water pressure bladder 16 and the waterproof cover 2 and the mounting seat 5 to enhance the sealing effect. Preferably, the first annular groove or the second annular groove is provided with an adhesive to adhere the water pressure bladder 16 to the first annular groove or the second annular groove. When the water robot is in a deep water area, due to the increase in water pressure, the pressure inside the water pressure bladder 16 also increases, thereby enhancing the sealing effect between the waterproof cover 2 and the mounting seat 5 and offsetting the effect of the water pressure on the seal.

[0036] Furthermore, the sealing member further comprises: a first O-ring, which is arranged between the waterproof cover 2 and the mounting seat 5. The first O-ring is used for sealing.

[0037] Furthermore, the sealing element includes a sealant layer 17 disposed between the waterproof cover 2 and the mounting base 5. This sealant layer 17 further enhances the sealing effect. Preferably, the hydraulic bladder 16, the first O-ring, the fastener 3, and the sealant layer 17 are sequentially arranged along the height of the waterproof cover 2. This arrangement further enhances the sealing effect of the sealing element.

[0038] Furthermore, it includes a support member 9 connected to the connecting base 1, and the rotating block 6 is rotatably connected to the support member 9. The support member 9 is used to bear the weight of the connecting arm 7 and the load end 8, protecting the power source from direct force and extending its service life. The second O-ring is positioned between the support member 9 and the rotating block 6. The second O-ring is used for sealing to prevent water from seeping into the mounting groove.

[0039] Furthermore, it also includes: a mounting plate 10, the mounting plate 10 is arranged on the mounting seat 5, and the power source is installed on the mounting plate 10. The mounting plate 10 is used to raise the power source, and the power source is preferably a motor.

[0040] The system further includes a first sponge board 13, which is disposed between the waterproof cover 2 and the mounting seat 5 and located on top of the mounting seat 5. When water enters the mounting groove through the gap between the waterproof cover 2 and the mounting seat 5, it is absorbed by the first sponge board 13. This prevents water from directly impacting the power source and causing safety accidents. A second sponge board 12 is disposed on the mounting seat 5 adjacent to the mounting plate 10. When water seeps into the mounting groove through the gap between the support member 9 and the rotating block 6, it is absorbed by the second sponge board 12.

[0041] The above-mentioned technical features can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A robotic arm of an underwater robot, characterized in that: include: A connecting seat (1), the connecting seat (1) comprising a connecting portion and a mounting seat (5) connected to the connecting portion, wherein a mounting groove with an upper end opening is provided in the mounting seat (5); a joint connected to the mounting seat (5); A connecting arm (7), wherein the connecting arm (7) is connected to the joint; A load end (8), the load end (8) being connected to the connecting arm (7); The joint comprises a waterproof cover (2) mounted on the mounting seat (5), a power source arranged inside the mounting seat (5), and a rotating block (6) connected to the power source, wherein the rotating block (6) is connected to the connecting arm (7), a sealing member is provided between the waterproof cover (2) and the mounting seat (5), and a fastener (3) is provided between the waterproof cover (2) and the mounting seat (5).

2. The mechanical arm of an underwater robot according to claim 1, characterized in that: The sealing member comprises: A water pressure bag (16), wherein the waterproof cover (2) is provided with a water inlet (4), and the water inlet (4) is connected to the water pressure bag (16); a first annular groove, the first annular groove being provided on the waterproof cover (2) and adapted to fit the water pressure bag (16); A second annular groove is provided on the mounting seat (5) and is adapted to fit the water pressure bag (16).

3. The mechanical arm of an underwater robot according to claim 2, characterized in that: The seal also includes: A first O-ring is provided between the waterproof cover (2) and the mounting seat (5).

4. The mechanical arm of an underwater robot according to claim 2, characterized in that: The seal also includes: A glue sealing layer (17), the glue sealing layer (17) is arranged between the waterproof cover (2) and the mounting seat (5).

5. The mechanical arm of an underwater robot according to claim 1, characterized in that: Also includes: A supporting member (9), the supporting member (9) is connected to the connecting seat (1), and the rotating block (6) is rotatably connected to the supporting member (9); A second O-ring is provided between the supporting member (9) and the rotating block (6).

6. The mechanical arm of an underwater robot according to claim 5, characterized in that: Also includes: A mounting plate (10) is provided on the mounting seat (5), and the power source is mounted on the mounting plate (10).

7. The mechanical arm of an underwater robot according to claim 6, characterized in that: Also includes: a first sponge plate (13), the first sponge plate (13) being arranged between the waterproof cover (2) and the mounting seat (5), and being located on top of the mounting seat (5); A second sponge plate (12), the second sponge plate (12) is arranged on the mounting seat (5) adjacent to the mounting plate (10).

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