Multi-degree-of-freedom underwater operation mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom underwater operation mechanical arm which comprises a base, a sealing shell is fixedly connected to the top of the base, an extension assembly is arranged in the sealing shell, and the extension assembly comprises a connecting shell arranged in the sealing shell. A connecting rod is rotatably connected into the connecting shell, an extension rod can extend into the water bottom surface through an extension assembly when the base reaches a determined operation range, so that the base is fixed, and the operation precision is improved through cooperative arrangement of a first motor, the connecting shell, the connecting rod, a rotating disc, the extension rod and a sliding rail; the stable mechanical arm can ensure that executive components such as the clamping jaw accurately position a target object, in fine operation such as underwater equipment part installation and underwater archaeological cultural relic extraction, errors such as installation deviation and inaccurate grabbing caused by shaking are greatly reduced, the operation quality is improved, and it is guaranteed that tasks are completed smoothly.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a multi-degree-of-freedom underwater operation robotic arm. Background Technology

[0002] Underwater robotic arms are devices that mimic the movements and functions of human hands and arms to replace manual labor in grasping, moving, and operating tools according to a fixed program. They can be remotely controlled or automatically controlled to complete various underwater tasks and are widely used in fields such as underwater biological sample collection, marine resource development, and deep-sea oil and gas field exploration.

[0003] An existing six-degree-of-freedom underwater manipulator with a feedback system, publicly disclosed under announcement number CN220699612U, comprises a rotating base unit including a base body, a vertical angle feedback device, and a base rotation device; a swing arm unit including a shoulder joint frame, an upper arm joint, a forearm joint, and an extension arm joint connected in sequence by pivots; and a claw unit mounted on the extension arm joint, equipped with a force feedback sensor. This invention's six-degree-of-freedom design provides the entire manipulator system with high flexibility, meeting the spatial movement requirements of underwater operations. Potentiometers ensure timely feedback of the joint movements to the upper control system, achieving real-time and accurate positioning control. The force feedback sensor on the claw allows for adjustment of the gripping force to accommodate various objects, enabling diversified claw-based operations.

[0004] Regarding the aforementioned technologies, existing underwater robotic arms suffer from drawbacks. In complex underwater environments, the robotic arms are susceptible to water flow impacts and cannot effectively stabilize themselves. During delicate operations such as grasping and installation, the swaying of the robotic arm can easily lead to operational errors. Therefore, this invention provides a multi-degree-of-freedom underwater robotic arm. Utility Model Content

[0005] The purpose of this application is to provide a multi-degree-of-freedom underwater robotic arm to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A multi-degree-of-freedom underwater robotic arm includes a base, a sealed shell fixedly connected to the top of the base, an extension assembly disposed inside the sealed shell, the extension assembly including a connecting shell disposed inside the sealed shell, a connecting rod rotatably connected inside the connecting shell, the connecting rod passing through the top of the connecting shell, a first motor fixedly connected to the top of the connecting shell, the output end of the first motor fixedly connected to one end of the connecting rod, a rotating disk fixedly connected to the side wall of the connecting rod, a guide groove formed inside the rotating disk, a slide rail fixedly connected to the inner side wall of the connecting shell, an extension rod slidably connected inside the slide rail, a moving column fixedly connected to the top of the extension rod, and the moving column sliding within the guide groove.

[0008] Preferably, a drill bit is provided at the bottom of the connecting shell, and a movable groove adapted to the connecting shell is provided inside the base.

[0009] Preferably, a second motor is fixedly connected to the inner top wall of the sealing shell, and a threaded rod is rotatably connected inside the sealing shell.

[0010] Preferably, the output end of the second motor is fixedly connected to one end of the threaded rod, and a connecting plate is threadedly connected to the side wall of the threaded rod.

[0011] Preferably, one end of the connecting plate is fixedly connected to the side wall of the connecting shell, and a rotating seat is provided on the top of the base.

[0012] Preferably, a telescopic cylinder is fixedly connected to the top of the rotating seat, and the output end of the telescopic cylinder is fixedly connected to the robotic arm body.

[0013] In summary, the technical effects and advantages of this utility model are as follows:

[0014] The extension component allows the extension rod to extend into the bottom surface when the base reaches the defined working range, thus fixing the base in place. The coordinated design of the first motor, connecting shell, connecting rod, rotating disk, extension rod, and slide rail improves the accuracy of the operation. The stable robotic arm ensures that the gripper and other actuators accurately position the target object. In delicate operations such as the installation of underwater equipment parts and the extraction of underwater archaeological artifacts, it greatly reduces errors such as installation deviations and inaccurate gripping caused by shaking, improves the quality of operation, and ensures the successful completion of the task. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a first-view axial side view of the structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the base of this utility model;

[0018] Figure 3 This is a schematic diagram of the connecting shell of this utility model;

[0019] Figure 4 This is a schematic diagram of the threaded rod of this utility model;

[0020] Figure 5 This is a schematic diagram of the rotating disk of this utility model.

[0021] In the diagram: 1. Base; 2. Guide groove; 3. Rotating seat; 4. Sealing shell; 5. Telescopic cylinder; 6. Robotic arm body; 7. Second motor; 8. Threaded rod; 9. Connecting plate; 10. Drill bit; 11. Moving groove; 12. First motor; 13. Rotating disk; 14. Connecting shell; 15. Connecting rod; 16. Moving column; 17. Extension rod; 18. Slide rail. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. 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.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] Example 1: Reference Figure 1-5The illustrated multi-degree-of-freedom underwater robotic arm includes a base 1, which supports the entire robotic arm and provides a stable foundation for underwater operations. A sealing shell 4 is fixedly connected to the top of the base 1. The sealing shell 4 protects its internal mechanical structure and electronic components from seawater intrusion and damage. An extension assembly is housed inside the sealing shell 4, including a connecting shell 14 located within the sealing shell 4. The connecting shell 14 accommodates and supports other components of the extension assembly, providing installation and operating space. A connecting rod 15 is rotatably connected inside the connecting shell 14, allowing it to rotate and drive connected components. The connecting rod 15 extends through the top of the connecting shell 14, and a first motor 12 is fixedly connected to the top of the connecting shell 14. The first motor 12 serves as a power source, with its output end fixedly connected to one end of the connecting rod 15, driving the connecting rod 15 to rotate upon startup. A rotating disk 13 is fixedly connected to the side wall of the connecting rod 15. The rotating disk 13 rotates with the connecting rod 15 and has a guide groove 2 inside, which guides the movement trajectory of the moving column 16. A slide rail 18 is fixedly connected to the inner side wall of the connecting shell 14. The slide rail 18 provides a sliding track for the extension rod 17, enabling it to move stably. The extension rod 17 is slidably connected inside the slide rail 18. The extension rod 17 can extend during operation to enhance the fixation effect between the robotic arm base 1 and the underwater ground. A moving column 16 is fixedly connected to the top of the extension rod 17. The moving column 16 slides in the guide groove 2. When the rotating disk 13 rotates, it drives the moving column 16 through the guide groove 2, thereby causing the extension rod 17 to move along the slide rail 18.

[0025] Example 2: Reference Figure 1-5Based on the same concept as in Embodiment 1 above, this embodiment further proposes that a drill bit 10 be provided at the bottom of the connecting shell 14. After the robotic arm reaches the working position, the drill bit 10 is used to drill into the underwater surface, assisting the connecting shell 14 in firmly entering the underwater ground and enhancing the fixation effect between the robotic arm base 1 and the underwater surface. The base 1 has an internal moving groove 11 adapted to the connecting shell 14. The moving groove 11 provides a moving track for the connecting shell 14, allowing it to move up and down within the base 1, facilitating its extension out of the base 1 for fixation when needed. A second motor 7 is fixedly connected to the internal top wall of the sealing shell 4. The second motor 7 serves as a power source, providing driving force for the up and down movement of the connecting shell 14. A threaded rod 8 is rotatably connected inside the sealing shell 4. The output end of the second motor 7 is fixedly connected to one end of the threaded rod 8. After the second motor 7 starts, it drives the threaded rod 8 to rotate. A connecting plate 9 is threadedly connected to the side wall of the threaded rod 8. One end of the connecting plate 9 is fixedly connected to the side wall of the connecting shell 14. When the threaded rod 8 rotates, due to the threaded connection, the connecting plate 9 moves along the axial direction of the threaded rod 8, thereby driving the connecting shell 14 to move up and down within the moving groove 11. A rotating seat 3 is provided on the top of the base 1. The rotating seat 3 enables the robotic arm body 6 to rotate in the horizontal direction, expanding the working angle range of the robotic arm. A telescopic cylinder 5 is fixedly connected to the top of the rotating seat 3. The telescopic cylinder 5 can adjust the height position of the robotic arm body 6 by extending or shortening its output end. The output end of the telescopic cylinder 5 is fixedly connected to the robotic arm body 6, which is the main body for performing various underwater operations, such as grasping, transporting, and installing.

[0026] The working principle of this practical application is as follows: When using this robotic arm, first place the device in the designated location in the water, start the second motor 7 to rotate the threaded rod 8, the threaded rod 8 causes the connecting plate 9 to move up and down, driving the connecting shell 14 to extend out from the moving groove 11. Use the drill bit 10 to bring the connecting shell 14 into the bottom of the water. Then start the first motor 12, the first motor 12 drives the connecting rod 15 to rotate the rotating disk 13. Due to the setting of the guide groove 2, the moving column 16 moves in the guide groove 2. At the same time, the moving column 16 drives the extension rod 17 to extend out from the inside of the connecting shell 14 along the slide rail 18. Then fix the base 1 to the ground. After the base 1 is fixed, the rotating seat 3 is remotely controlled to rotate the robotic arm body 6. The telescopic cylinder 5 adjusts the height of the robotic arm body 6 to complete the underwater operation.

[0027] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-degree-of-freedom underwater operating manipulator arm comprising a base (1), characterized in that: A sealing shell (4) is fixedly connected to the top of the base (1). An extension assembly is provided inside the sealing shell (4). The extension assembly includes a connecting shell (14) disposed inside the sealing shell (4). A connecting rod (15) is rotatably connected inside the connecting shell (14). The connecting rod (15) passes through the top of the connecting shell (14). A first motor (12) is fixedly connected to the top of the connecting shell (14). The output end of the first motor (12) is fixedly connected to one end of the connecting rod (15). A rotating disk (13) is fixedly connected to the side wall of the connecting rod (15). A guide groove (2) is provided inside the rotating disk (13). A slide rail (18) is fixedly connected to the inner side wall of the connecting shell (14). An extension rod (17) is slidably connected inside the slide rail (18). A moving column (16) is fixedly connected to the top of the extension rod (17). The moving column (16) slides in the guide groove (2).

2. The multi-degree-of-freedom underwater operating mechanical arm according to claim 1, characterized in that: A drill bit (10) is provided at the bottom of the connecting shell (14), and a movable groove (11) adapted to the connecting shell (14) is provided inside the base (1).

3. The multi-degree-of-freedom underwater operational robotic arm according to claim 1, characterized in that: The inner top wall of the sealing shell (4) is fixedly connected to a second motor (7), and the inner wall of the sealing shell (4) is rotatably connected to a threaded rod (8).

4. The multi-degree-of-freedom underwater operational robotic arm according to claim 3, characterized in that: The output end of the second motor (7) is fixedly connected to one end of the threaded rod (8), and the side wall of the threaded rod (8) is threadedly connected to a connecting plate (9).

5. The multi-degree-of-freedom underwater operational robotic arm according to claim 4, characterized in that: One end of the connecting plate (9) is fixedly connected to the side wall of the connecting shell (14), and a rotating seat (3) is provided on the top of the base (1).

6. The multi-degree-of-freedom underwater operational robotic arm according to claim 5, characterized in that: The top of the rotating seat (3) is fixedly connected to a telescopic cylinder (5), and the output end of the telescopic cylinder (5) is fixedly connected to the robotic arm body (6).

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