Plug-pull type convenient-to-replace multifunctional manipulator for underwater robot

Abstract

The utility model relates to the technical field of underwater robots, in particular to a pluggable multifunctional manipulator convenient to replace for an underwater robot. The device comprises a driving main body installed at the front end of a robot frame, an air bag, a snorkeling paddle and an advancing and retreating paddle are installed on the robot frame, the driving main body comprises a base, a clamping ring is arranged above the rear side of the base, arc-shaped grooves are formed in the lower portion of the clamping ring and the base respectively, and a cross rod of the robot frame is clamped in the grooves of the clamping ring and the base through the clamping ring; the base is provided with two groups of synchronous action pieces which are matched with each other to work, a motor for driving the synchronous action pieces is arranged above the upper cover, the front ends of the synchronous action pieces are connected with a quick release seat, the front end of the quick release seat is provided with a quick connection slot, and a quick release clamping jaw is mounted through the quick connection slot; the mobile phone fishing device can be quickly assembled on an underwater robot to achieve mobile phone fishing, the clamping jaws can be quickly replaced through the quick-connection inserting grooves to switch functions, and the mobile phone fishing device is light in structure, convenient to carry and diversified in function.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, specifically to a plug-in, easily replaceable multifunctional robotic arm for underwater robots. Background Technology

[0002] With the booming development of tourism in China, tourists are prone to dropping their mobile phones into the water, especially in scenic areas near water. Mobile phones are delicate and expensive, making timely retrieval crucial. Manual searching is very difficult, and the underwater environment is complex and dangerous. Currently, there are some small underwater robots on the market that can perform simple retrieval tasks with their robotic arms. However, existing robotic arms are complex in structure and have limited functionality, so the entire robot needs to be replaced to achieve other functions. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings and deficiencies of existing technologies by providing a reasonably designed plug-in, easily replaceable, multi-functional robotic arm for underwater robots, which can solve the aforementioned defects.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: It includes a drive body installed at the front end of a robot frame. An airbag, a buoyancy propeller, and a forward / backward propeller are installed on the robot frame. The drive body includes a base. A clamping ring is provided on the upper rear side of the base. Arc-shaped grooves are provided below the clamping ring and on the base. The clamping ring clamps the crossbar of the robot frame in the grooves between itself and the base. A top cover is installed on the top of the base. Two sets of synchronously cooperating actuators are provided between the base and the top cover. A motor is provided on the top cover. The motor shaft is connected to one of the synchronously cooperating actuators. A quick-release seat is connected to the front end of each set of synchronously cooperating actuators. The front end of the quick-release seat has an upward-opening quick-connect slot. A quick-release gripper is installed on the quick-release seat through the quick-connect slot. The two quick-release grippers are symmetrically arranged.

[0005] Preferably, the synchronizing action component includes gears, and the gears of the two sets of synchronizing action components mesh with each other. The rotating shaft of the motor is connected to one of the gears. The front end of each gear is laterally connected to the quick-release seat through a connecting rod, and the connecting rod and the quick-release seat are hinged. The upper and lower sides of the quick-release seat are connected to the base by a connecting rod, and both ends of the connecting rod are hinged. The rotation axes of the two ends of the connecting rod connected to the same quick-release seat, the rotation axis of the connecting rod and the quick-release seat, and the rotation axis of the gear form a parallelogram.

[0006] Preferably, the upper cover is provided with a mounting base for installing a motor, and the motor is installed in the mounting base, which has a semi-rectangular frame structure.

[0007] Preferably, the quick-release gripper is a right-angled triangular garbage cleaning gripper, and a connector is provided at the rear hypotenuse of the garbage cleaning gripper. The shape of the connector matches the shape of the quick-connect slot, and the connector is inserted into the quick-connect slot.

[0008] Preferably, the quick-release gripper is a mobile phone gripper, which has a straight "C"-shaped structure with a sloping front end. The tail end of the mobile phone gripper is connected to a connector, the shape of which matches the shape of the quick-connect slot, and the connector is inserted into the quick-connect slot.

[0009] The beneficial effects of this utility model after adopting the above structure are:

[0010] 1. This utility model, through the ingenious design of multiple components, can be quickly assembled onto an underwater robot. The grippers can be quickly replaced via quick-connect slots to switch the robot's functions. It is easy to use, and the robot's structure is lightweight and portable. When using the phone gripper, the "C"-shaped gripper allows the phone to enter the slot, providing vertical support and limiting the phone to prevent it from falling during the underwater robot's movement. The sloping surface facilitates the gripper's forward movement, allowing it to smoothly scoop downwards to the bottom of the phone, placing it into the gripper's slot. Once the gripper clamps the phone, the underwater robot can bring it to the surface.

[0011] 2. This utility model can use triangular garbage-collecting grippers to provide sufficient stability and clamping force, and can be applied to garbage of different shapes, making it convenient for the robotic arm to pick up garbage and bring it out of the water with the movement of the underwater robot, thus achieving garbage collection.

[0012] 3. This utility model adopts a linkage structure design, which makes the quick-release gripper move in parallel during operation without changing the angle, ensuring a stable contact area with the object surface when gripping the item, thereby ensuring stable clamping. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention when the garbage cleaning gripper is installed;

[0014] Figure 2 This is a front view of the present invention when the garbage cleaning gripper is installed;

[0015] Figure 3 This is a schematic diagram of the internal structure of the driving body in this utility model;

[0016] Figure 4 This is a schematic diagram of the installation method of the clamping ring and the motor in this utility model;

[0017] Figure 5 This is an exploded view of the driving body in this utility model;

[0018] Figure 6 This is a schematic diagram of the structure of the garbage cleaning gripper in this utility model;

[0019] Figure 7 This is a schematic diagram of the structure of the mobile phone clamp of this utility model;

[0020] Figure 8 This is a schematic diagram of the mobile phone gripper in this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Robot frame; 2. Advancing / retracting propeller; 3. Snorkeling propeller; 4. Airbag; 5. Drive unit; 501. Base; 502. Quick-release bracket; 50201. Quick-connect slot; 503. Synchronizing action component; 50301. Gear; 50302. Link 1; 504. Link 2; 505. Top cover; 506. Motor; 507. Clamping ring; 508. Mounting base; 6. Garbage cleaning gripper; 7. Connector; 8. Mobile phone gripper. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Example 1: See Figures 1-5 as well as Figures 7-8 As shown, it includes a drive body 5 mounted on the front end of a robot frame 1. An airbag 4, a buoyancy propeller 3, and a forward / reverse propeller 2 are mounted on the robot frame 1. The drive body 5 includes a base 501. A clamping ring 507 is located on the upper rear side of the base 501. Arc-shaped grooves are located below the clamping ring 507 and on the base 501. The clamping ring 507 clamps the crossbar of the robot frame 1 within these grooves. A top cover 505 is mounted above the base 501. Two sets of synchronized action components 5 work in conjunction with each other between the base 501 and the top cover 505. 03. A motor 506 is provided above the upper cover 505. The upper cover 505 is provided with a mounting base 508 for mounting the motor 506. The motor 506 is installed in the mounting base 508. The mounting base 508 has a semi-rectangular frame structure. The rotating shaft of the motor 506 is connected to one of its synchronous action components 503. Each synchronous action component 503 is connected to a quick-release seat 502 at its front end. The quick-release seat 502 has an upward-opening quick-connect slot 50201 at its front end. Quick-release claws are installed on the quick-release seat 502 through the quick-connect slot 50201. The two quick-release claws are symmetrically arranged.

[0025] The synchronizing action component 503 includes a gear 50301. The gears 50301 of the two sets of synchronizing action components 503 mesh with each other. The rotating shaft of the motor 506 is connected to one of its gears 50301. The front end of each gear 50301 is laterally connected to the quick-release seat 502 through a connecting rod 1 50302. The connecting rod 1 50302 and the quick-release seat 502 are hinged. The quick-release seat 502 is connected to the base 501 on both sides of the upper and lower sides by a connecting rod 2 504. Both ends of the connecting rod 2 504 are hinged. The rotation axis of the two ends of the connecting rod 2 504 connected to the same quick-release seat 502, the rotation axis of the connection between the connecting rod 1 50302 and the quick-release seat 502, and the rotation axis of the gear 50301 form a parallelogram.

[0026] The quick-release clamp is a mobile phone clamp 8. The mobile phone clamp 8 has a straight "C"-shaped structure and a sloping front end. The tail end of the mobile phone clamp 8 is connected to a connector 7. The shape of the connector 7 matches the shape of the quick-connect slot 50201. The connector 7 is inserted into the quick-connect slot 50201.

[0027] The clamping ring 507 allows the drive body 5 to be clamped onto the crossbar of the robot frame 1, thus enabling the installation of the drive body 5. The motor 506 drives the gear 50301 to rotate, and the meshing action of the gears 50301 causes the two gears 50301 to rotate synchronously relative to each other. This, in turn, drives the quick-release seat 502 to move via the first link 50302. Since the first link 50302 and the second link 504 form a parallelogram, the quick-release seat 502 will translate during movement without changing its angle. As a result, the quick-release gripper moves in parallel to clamp or open, ensuring a stable contact area with the object during gripping.

[0028] In this embodiment, a mobile phone gripper 8 is used. During installation, simply align the connector 7 of the mobile phone gripper 8 with the quick-connect slot 50201 and insert it. Pulling it out completes the disassembly. During use, the "C"-shaped gripper allows the mobile phone to enter the slot, thereby providing vertical support and limiting the mobile phone and preventing it from falling during the movement of the underwater robot. On the other hand, the sloping surface facilitates the gripper to smoothly scoop down to the bottom of the mobile phone when it moves forward, so that the mobile phone enters the slot of the mobile phone gripper 8. After the mobile phone gripper 8 clamps the mobile phone, the underwater robot can bring the mobile phone out of the water.

[0029] Example 2: See Figures 1-6 As shown, the difference between this embodiment and the first embodiment above is that: the quick-release gripper is a right-angled triangular garbage cleaning gripper 6, and a connector 7 is provided at the rear hypotenuse of the garbage cleaning gripper 6. The shape of the connector 7 matches the shape of the quick-connect slot 50201, and the connector 7 is inserted into the quick-connect slot 50201.

[0030] In this embodiment, during installation, simply align the connector 7 of the garbage cleaning gripper 6 with the quick-connect slot 50201 and insert it. Disassembly is completed by pulling it out. The triangular garbage cleaning gripper 6 can provide sufficient stability and clamping force, and can be used to grip garbage of different shapes, making it convenient for the robotic arm to grip the garbage and bring it out of the water with the movement of the underwater robot, thus achieving garbage cleaning.

[0031] It should be understood that the above-described specific embodiments of this utility model are merely illustrative or explanatory of the principles of this utility model and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this utility model should be included within the protection scope of this utility model. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A pluggable, easily replaceable multifunctional manipulator for underwater robots, comprising a drive body (5) mounted on the front end of a robot frame (1), wherein an airbag (4), a buoyancy propeller (3), and a forward / backward propeller (2) are mounted on the robot frame (1), characterized in that: The drive body (5) includes a base (501), a clamping ring (507) is provided on the upper rear side of the base (501), and arc-shaped grooves are provided below the clamping ring (507) and on the base (501). The clamping ring (507) clamps the crossbar of the robot frame (1) in the groove between itself and the base (501). A top cover (505) is installed on the top of the base (501), and two sets of mutually cooperating working parts are provided between the base (501) and the top cover (505). The synchronous action component (503) has a motor (506) above the cover (505). The shaft of the motor (506) is connected to one of the synchronous action components (503). Each synchronous action component (503) has a quick-release seat (502) connected to its front end. The quick-release seat (502) has an upward-opening quick-connect slot (50201) at its front end. The quick-release seat (502) is equipped with a quick-release claw through the quick-connect slot (50201). The two quick-release claws are symmetrically arranged.

2. The plug-in, easily replaceable, multi-functional manipulator for underwater robots according to claim 1, characterized in that: The synchronous action component (503) includes a gear (50301). The gears (50301) of the two sets of synchronous action components (503) mesh with each other. The rotating shaft of the motor (506) is connected to one of its gears (50301). The front end of each gear (50301) is connected to the quick-release seat (502) through a connecting rod (50302). The connecting rod (50302) and the quick-release seat (502) are hinged. The quick-release seat (502) is connected to the base (501) on both sides of the upper and lower sides by a connecting rod (504). Both ends of the connecting rod (504) are hinged. The rotation axis of the two ends of the connecting rod (504) connected to the same quick-release seat (502), the rotation axis of the connecting rod (50302) and the quick-release seat (502) and the rotation axis of the gear (50301) form a parallelogram.

3. The plug-in, easily replaceable, multi-functional manipulator for underwater robots according to claim 1, characterized in that: The upper cover (505) is provided with a mounting base (508) for installing a motor (506). The motor (506) is installed in the mounting base (508), which has a semi-rectangular frame structure.

4. The plug-in, easily replaceable, multi-functional manipulator for underwater robots according to claim 1, characterized in that: The quick-release gripper is a mobile phone gripper (8). The mobile phone gripper (8) is a straight "C"-shaped structure with a sloping front end. The tail end of the mobile phone gripper (8) is connected to a connector (7). The shape of the connector (7) matches the shape of the quick-connect slot (50201). The connector (7) is inserted into the quick-connect slot (50201).

5. A plug-in, easily replaceable, multi-functional manipulator for underwater robots according to claim 1, characterized in that: The quick-release gripper is a right-angled triangular garbage cleaning gripper (6). A connector (7) is provided at the rear hypotenuse of the garbage cleaning gripper (6). The shape of the connector (7) matches the shape of the quick-connect slot (50201). The connector (7) is inserted into the quick-connect slot (50201).

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