Mechanical arm system capable of being used underwater

Abstract

The utility model discloses a mechanical arm system capable of being used underwater, and a mechanical arm of the mechanical arm system has a waterproof design and can stably work in a high-pressure and corrosive underwater environment. The mechanical arm triggers the water pump to start and stop through the touch sensor, the water pumping hole in the front end of the mechanical arm is connected with the water pumping pipe and the water pump, water is pumped out to form negative pressure to adsorb objects, and the efficiency and safety of underwater operation are improved. The mechanical arm is designed to be used for executing underwater operation tasks, and particularly has wide application prospects in the fields of ocean engineering, underwater construction and the like.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, specifically a robotic arm system that can be used underwater. Background Technology

[0002] In underwater operations, robotic arms need to be waterproof to withstand high-pressure and corrosive environments. Traditional robotic arms, lacking effective gripping devices and waterproof designs, often struggle to stably grasp and manipulate objects underwater. Furthermore, the high pressure and corrosiveness of the underwater environment place higher demands on the sealing and materials used in robotic arms. Existing robotic arms frequently suffer damage underwater due to insufficient sealing, or are unable to grasp objects with the same precision as on land due to the humid underwater environment, resulting in low efficiency and compromised safety in underwater operations. Utility Model Content

[0003] This utility model aims to solve one of the technical problems existing in the prior art or related technologies.

[0004] Therefore, the technical solution adopted by this utility model is as follows:

[0005] This invention provides a robotic arm suitable for underwater use. Its waterproof design includes a multi-layered sealing structure, corrosion-resistant materials, internal waterproof encapsulation, a pressure balancing system, and a regular maintenance and testing module, ensuring the stability and reliability of the robotic arm in underwater environments. Furthermore, the robotic arm uses negative pressure created by suction holes at the fingertips to attract objects, and the attraction force is precisely controlled by tactile sensors. This robotic arm can perform underwater operations safely and efficiently, greatly reducing the intensity of manual labor.

[0006] Specifically, it is a robotic arm system that can be used underwater, characterized by including: a robotic arm body; multiple joints; a multi-layer sealing structure disposed at the joint connections; its internal circuitry is waterproof encapsulated; and it includes multiple high-waterproof electronic components and sensors;

[0007] The robotic arm has a water inlet at the tip of its finger and a water pipe connected to the water inlet. The water pipe extends backward along the robotic arm to a water pump placed on the water surface. The water pump is controlled by a land control terminal.

[0008] A tactile sensor, also located at the tip of the robotic finger, transmits the contact force value to the land control terminal when it comes into contact with a target object. When the contact force value is greater than a preset value, the land control terminal controls the water pump to draw water, creating a negative pressure at the tip of the robotic arm's finger to attract the object, thus achieving precise control of the object.

[0009] As a preferred embodiment, the robotic arm's housing and key components are made of corrosion-resistant materials, such as stainless steel or special alloys, to resist seawater corrosion.

[0010] As a preferred embodiment, the sealing material is selected from rubber or silicone with good elasticity and durability to ensure long-term sealing performance.

[0011] As a preferred embodiment, the robotic arm also has a pressure balancing module, which adjusts the internal air pressure of the robotic arm to adapt to changes in external water pressure by introducing gas or water into the water pipe, thereby preventing damage to the robotic arm structure due to pressure differences.

[0012] As a preferred implementation, the robotic arm also has a maintenance and inspection module that monitors the wear and tear of the equipment through waterproof sensors installed at various locations to ensure the integrity and effectiveness of the sealing structure. If the construction requirements are not met, an alarm signal is sent, and the relevant maintenance personnel are notified through the ground control terminal to check the aging of the sealing material and replace worn parts.

[0013] In one preferred embodiment, the tail of the robotic arm also includes a valve system that, upon receiving a command from the land control terminal after the work is completed, opens the valve to inject water into the pumping pipe and release the adsorbed object.

[0014] In one preferred embodiment, the robotic arm is also equipped with a vision sensor to identify target objects in the underwater environment. The identification results are sent to a land-based control terminal for image recognition. The image recognition algorithm built into the land-based control terminal determines whether the object is a target. If it is identified as a target, the robotic arm is controlled to move towards it. Once within a preset range of the target object, the land-based terminal controls the robotic arm's fingers to move above the target object, preparing for contact.

[0015] When a finger touches an object's surface, tactile sensors integrated into the finger detect the contact force. These sensors can sense even slight pressure changes, ensuring the robotic arm doesn't damage the object. A water-pumping port at the fingertip makes close contact with the object's surface, forming a temporary sealed space. When the contact force exceeds a preset value, the tactile sensor sends a contact signal to the robotic arm's control system. Upon receiving the signal, the land-based control terminal activates a water pump connected to the water-pumping port, creating negative pressure at the robotic arm's fingertip to attract the object. The water pump works, drawing water from the water-pumping port, reducing the air pressure within the sealed space, thus creating negative pressure between the object and the water-pumping port. Due to the pressure difference between the external water pressure in the underwater environment and the negative pressure created at the water-pumping port, the object is tightly adhered to the robotic arm's finger. This pressure difference ensures the object remains firmly attached to the robotic arm, maintaining stability even in turbulent underwater environments.

[0016] After the object is adsorbed, the pump continues to operate to maintain negative pressure, or adjusts the pumping rate as needed to adapt to different operating conditions. At this time, the land control terminal monitors the adsorption force and sets an appropriate force to ensure the object is securely fixed in place, preventing damage. Once the object is confirmed to be firmly adsorbed, the robotic arm can perform the required operations, such as handling, assembly, or other tasks. Throughout the process, the adsorption mechanism ensures the object will not fall off.

[0017] After the operation is complete, the object needs to be released. The land control terminal sends a command to the water pump to stop working and injects water into the pumping port through the valve system to balance the pressure inside and outside the sealed space. As the negative pressure disappears, the external water pressure no longer holds the object tightly against the robotic arm, and the object is thus released.

[0018] Compared with the prior art, the beneficial effects achieved by this utility model are as follows:

[0019] This robotic arm employs a multi-layered sealing structure and corrosion-resistant materials, enhancing its stability and reliability in high-pressure and corrosive underwater environments and reducing the risk of equipment damage. Furthermore, the negative pressure adsorption mechanism created by the water-drawing holes at the fingertips, combined with tactile sensors to precisely control the adsorption force, improves the stability and flexibility of the robotic arm in grasping objects. This allows for more accurate and precise execution of delicate operations, improving work quality, reducing risks in underwater operations, and enhancing overall safety. Attached Figure Description

[0020] Figure 1 This is a schematic diagram illustrating the use of this utility model;

[0021] Figure 2 This is a schematic diagram of the robotic arm of this utility model;

[0022] Figure 3 This is an enlarged schematic diagram of the robotic arm of this utility model;

[0023] Figure 4 This is a schematic diagram of the finger tip of the robotic arm of this utility model;

[0024] Figure label:

[0025] 1. Robotic arm; 2. Base; 3. Water pump pipe; 4. Valve system; 5. Waterproof joint of robotic arm; 6. Water pump hole; 7. Motor. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features of the present utility model can be combined with each other.

[0027] It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this invention.

[0028] This utility model provides a robotic arm system that can be used underwater, which includes a robotic arm, a water pump and a land control terminal. The robotic arm system includes a robotic arm 1 and a valve system 4 submerged in water, a base 2, a water pump 3 and a water pump and a land control terminal on the water surface. The water pump hole is set to either protrude from the robotic arm's fingers or be attached to the fingers according to the actual working needs.

[0029] The robotic arm 1 includes a multi-layered sealing structure, corrosion-resistant materials, a waterproof design with internal waterproof encapsulation, a pressure balancing system, and a regular maintenance and testing module to ensure the stability and reliability of the robotic arm in underwater environments. Furthermore, the robotic arm uses negative pressure created by suction holes at the fingertips to attract objects, and the attraction force is precisely controlled by tactile sensors. This robotic arm can perform underwater operations safely and efficiently, greatly reducing the intensity of manual labor.

[0030] The following describes, with reference to the accompanying drawings, some embodiments of the present invention, providing a robotic arm system that can be used underwater.

[0031] Example 1:

[0032] Combination Figures 1-4 As shown, an underwater robotic arm system is characterized by comprising: a robotic arm body 1; multiple waterproof joints 5; a multi-layer sealing structure disposed at the joint connections; its internal circuitry is waterproof encapsulated; and it includes multiple high-waterproof electronic components and sensors.

[0033] The robotic arm finger has a water inlet 6 at its tip and a water pipe 3 connected to the water inlet 6. The water pipe 3 is located inside the robotic arm and extends backward to a water pump placed on the water surface. The water pump is controlled by a land control terminal.

[0034] A tactile sensor, also located at the tip of the robotic finger (not shown in the attached diagram), is used to transmit the contact force value to the land control terminal when it comes into contact with a target object. When the contact force value is greater than a preset value, the land control terminal controls the water pump to draw water, forming a negative pressure at the water pumping hole of the robotic arm finger to adsorb the object, thereby achieving precise control of the object.

[0035] The robotic arm's outer shell and key components are made of corrosion-resistant materials, such as stainless steel or special alloys, to resist seawater corrosion.

[0036] The sealing material is selected from rubber or silicone with good elasticity and durability to ensure long-term sealing performance.

[0037] The robotic arm also has a pressure balancing module (not shown in the attached diagram), which adjusts the internal air pressure of the robotic arm by introducing gas or water into the pumping pipe to adapt to changes in external water pressure and prevent damage to the robotic arm structure caused by pressure difference.

[0038] The robotic arm also has a maintenance and inspection module. It monitors the wear and tear of the equipment through waterproof sensors installed in various locations to ensure the integrity and effectiveness of the sealing structure. If the construction requirements are not met, it sends an alarm signal and notifies the relevant maintenance personnel through the ground control terminal to check the aging of the sealing material and replace worn parts.

[0039] The robotic arm also includes a valve system at its tail. After the work is completed, it receives instructions from the land control terminal to open the valve, inject water into the pumping pipe, and release the adsorbed object.

[0040] The robotic arm is also equipped with vision sensors to identify target objects in the underwater environment. The results are sent to a land-based control terminal for image recognition. The terminal uses an image recognition algorithm built into it to determine if an object is a target. If a target object is identified, the robotic arm moves towards it. Once within a preset range of the target object, the land terminal controls the robotic arm's fingers to move above the object, preparing for contact.

[0041] When the finger touches the object's surface, tactile sensors integrated into the finger detect the contact force. These sensors can sense slight pressure changes, ensuring the robotic arm does not damage the object. A water-pumping port at the fingertip makes close contact with the object's surface, forming a temporary sealed space. When the contact force exceeds a preset value, it indicates that the robotic arm has grasped the target object, and the tactile sensor sends a contact signal to the robotic arm's control system. Upon receiving the signal, the land-based control terminal activates a water pump connected to the water-pumping port, creating negative pressure at the robotic arm's fingertip to adhere the object. The water pump works, drawing water from the water-pumping port to reduce the air pressure within the sealed space, thus creating negative pressure between the object and the water-pumping port. Due to the pressure difference between the external water pressure in the underwater environment and the negative pressure created at the water-pumping port, the object is tightly adhered to the robotic arm's finger. This pressure difference ensures the object remains firmly attached to the robotic arm, maintaining stability even in turbulent underwater environments.

[0042] After the object is adsorbed, the pump continues to operate to maintain negative pressure, or adjusts the pumping rate as needed to adapt to different operating conditions. At this time, the land control terminal monitors the adsorption force and sets an appropriate force to ensure the object is securely fixed in place, preventing damage. Once the object is confirmed to be firmly adsorbed, the robotic arm can perform the required operations, such as handling, assembly, or other tasks. Throughout the process, the adsorption mechanism ensures the object will not fall off.

[0043] After the operation is complete, the object needs to be released. The land control terminal sends a command to the water pump to stop working and injects water into the pumping port through the valve system to balance the pressure inside and outside the sealed space. As the negative pressure disappears, the external water pressure no longer holds the object tightly against the robotic arm, and the object is thus released.

[0044] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robotic arm system usable underwater, characterized in that... include: Robotic arm body; multiple waterproof joints; A multi-layer sealing structure is installed at the waterproof joint connection; Its internal circuitry is waterproof. It includes multiple highly waterproof electronic components and sensors; The robotic arm has a water inlet at the tip of its finger and a water pipe connected to the water inlet. The water pipe is located inside the robotic arm and extends backward to a water pump placed on the water surface. The water pump is controlled by a land control terminal. A tactile sensor, also located at the tip of the robotic finger, transmits the contact force value to the land control terminal when it comes into contact with a target object. When the contact force value is greater than a preset value, the land control terminal controls the water pump to pump water, creating a negative pressure at the tip of the robotic arm finger to attract the object. The valve system, upon receiving instructions from the land control terminal after the work is completed, opens the valve to inject water into the pumping pipe and release the adsorbed object.

2. The underwater robotic arm system according to claim 1, characterized in that, The size of the water extraction hole is adjustable to accommodate the adsorption of different objects.

3. The underwater robotic arm system according to claim 1, characterized in that, The robotic arm is also equipped with a vision sensor to identify target objects in the underwater environment. The identification results are sent to the land control terminal for image recognition. The image recognition algorithm built into the land control terminal determines whether it is a target object. When it is determined to be a target object, the robotic arm is controlled to move towards the target object.

4. The underwater robotic arm system according to claim 1, characterized in that, The robotic arm includes a pressure balancing module that adjusts the internal air pressure of the robotic arm to adapt to changes in external water pressure by introducing gas or water into the pumping pipe.

5. A robotic arm system for underwater use according to claim 1, characterized in that, The robotic arm includes a maintenance and inspection module that monitors the wear and tear of the equipment using waterproof sensors installed at various locations. If construction requirements are not met, an alarm signal is sent, and the relevant maintenance personnel are notified via a ground control terminal to check the aging of the sealing material and replace worn parts.

6. A robotic arm system for underwater use according to claim 1, characterized in that, The robotic arm's outer shell and key components are made of stainless steel as a corrosion-resistant material.

7. A robotic arm system for underwater use according to claim 1, characterized in that, The sealing material for the robotic arm is rubber.

8. A robotic arm system for underwater use according to claim 1, characterized in that, The valve system is located at the tail of the robotic arm, underwater.

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