CN112917496A - Can carry on contact check out test set's under water arm - Google Patents
Can carry on contact check out test set's under water arm Download PDFInfo
- Publication number
- CN112917496A CN112917496A CN202110311845.2A CN202110311845A CN112917496A CN 112917496 A CN112917496 A CN 112917496A CN 202110311845 A CN202110311845 A CN 202110311845A CN 112917496 A CN112917496 A CN 112917496A
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- CN
- China
- Prior art keywords
- detection
- underwater
- base
- carrying
- contact
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention discloses an underwater detection mechanical arm capable of carrying contact detection equipment, which relates to the technical field of underwater robots and comprises a base, a first detection device, a second detection device and a third detection device, wherein the first detection device is arranged on the base; the detection component comprises a seat body, at least one adsorption component for adsorbing the seat body on a detection target and a fixing component for installing the detection equipment on the seat body, wherein the adsorption component comprises a sucker for adsorbing the detection target, and the fixing component comprises a clamping and abutting plate for clamping the detection equipment; and the adjusting arm component comprises a telescopic arm, one end of the telescopic arm is hinged with the base to realize the swing of the telescopic arm, and the base body of the detection component is hinged with the other end of the telescopic arm to realize the swing of the detection component. The invention realizes the contact detection or observation of the detection target and improves the diversity of the detection items of the underwater robot.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater detection mechanical arm capable of carrying contact type detection equipment.
Background
With the development of science and technology, people start brand new exploration and development of underwater structure detection technology, and the emergence of underwater robots is a great achievement of the underwater robot. At present, an underwater robot is mainly used for detecting an underwater environment, various underwater data are collected in the detection process, for a small part of underwater robots applied to detection work, only underwater image collection can be carried out due to the influence of the underwater environment, and for an ultrasonic device and the like needing contact detection, the underwater robot cannot be used underwater. In addition, due to the influence of water flow, the stability maintaining capability of the underwater robot in the operation process is insufficient, and various detection data are inaccurate.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the embodiment of the invention provides an underwater detection mechanical arm capable of carrying contact detection equipment, which can carry contact detection equipment to carry out stable underwater detection.
The underwater detection mechanical arm capable of carrying the contact detection equipment comprises a base; the detection component comprises a seat body, at least one adsorption component for adsorbing the seat body on a detection target and a fixing component for installing the detection equipment on the seat body, wherein the adsorption component comprises a sucker for adsorbing the detection target, and the fixing component comprises a clamping and abutting plate for clamping the detection equipment; and the adjusting arm component comprises a telescopic arm, one end of the telescopic arm is hinged with the base to realize the swing of the telescopic arm, and the base body of the detection component is hinged with the other end of the telescopic arm to realize the swing of the detection component.
In an alternative or preferred embodiment, the detection member is fitted with at least one propeller for powering the detection member.
In an optional or preferred embodiment, the suction cup is provided with a one-way slit, the base body is provided with a drainage channel at the one-way slit of the suction cup, and the propeller is installed in the drainage channel to discharge moisture in the suction cup outside, so that the suction cup is adsorbed on a detection target.
In an alternative or preferred embodiment, the drain channel is fitted with a protective shell to protect the propeller.
In an optional or preferred embodiment, the seat body is provided with mounting grooves for mounting the detection device, the two clamping abutting plates are oppositely arranged in the mounting grooves, and the mounting surfaces of the clamping abutting plates are mounted on the seat body through elastic pieces, so that the clamping surfaces of the two clamping abutting plates clamp the detection device.
In an optional or preferred embodiment, the base is provided with a hollow groove, the hollow groove is provided with a screw rod, and the screw rod penetrates into the mounting groove to abut against the detection device.
In an alternative or preferred embodiment, a rubber gasket is mounted on the end of the screw rod located in the mounting groove.
In an alternative or preferred embodiment, the underwater detection mechanical arm capable of carrying the contact detection equipment further comprises a base, and the base is rotatably connected to the base.
In an alternative or preferred embodiment, the base is provided with a storage slot for storing the detection device host or the storage device.
In an alternative or preferred embodiment, the base is provided with an underwater signal transmission module for electrical connection with the underwater robot.
Based on the technical scheme, the embodiment of the invention at least has the following beneficial effects: according to the technical scheme, the multi-degree-of-freedom adjustment of the detection part can be realized by adjusting the arm part, the sucker can adsorb a detection target in the detection part, the rear detection equipment can further perform contact detection or observation, and the detection equipment is fixed through the clamping abutting plate, so that the detection device is safe and reliable. The invention realizes the contact detection or observation of the detection target and improves the diversity of the detection items of the underwater robot.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, an underwater inspection robot capable of carrying a contact inspection apparatus includes a base 21, an adjusting arm part, and an inspection part 40. Wherein, the adjusting arm part includes telescopic arm 31, and telescopic arm 31 one end is articulated with base 21 to realize telescopic arm 31 swing, the pedestal of detection part 40 is articulated with telescopic arm 31 other end, in order to realize detection part 40 swing.
Preferably, the underwater detection mechanical arm capable of carrying the contact detection equipment further comprises a base 11, and the base 21 is rotatably connected to the base 11. It can be understood that the multiple degrees of freedom adjustment of the detection component 40 can be realized by adjusting the arm component, the base 21 can rotate along the central axis of the base 11, the rotation of the detection component 40 is realized, the detection component 40 can be extended or shortened for a certain distance by the telescopic arm 31, and the underwater detection operation can be conveniently and flexibly carried out.
The detecting component 40 includes a base, at least one adsorbing component for adsorbing the base on the detection target, and a fixing component for installing the detecting device on the base, the adsorbing component includes a suction cup 42 for adsorbing on the detection target, and the fixing component includes a clamping and abutting plate 46 for clamping the detecting device. It is understood that in the detecting part 40, the suction cup 42 can suck the detection object, and the post-detection device can further perform contact detection or observation, and the detection device is not shown in the figure, and is fixed by the clamping abutting plate 46. Adopt spherical articulated between flexible arm 31 and the base 21, adopt spherical articulated between flexible arm 31 and the detection part 40, spherical articulated can the multi-angle rotation, can make flexible arm 31 and detection part 40 adjust more in a flexible way, improve the suitability and the flexibility that can carry on contact check out test set's the detection arm under water, the detection part 40 laminating detection object of being convenient for.
The detection member 40 is equipped with at least one propeller 41 for powering the detection member 40. It can be understood that, when detecting underwater, the detection component 40 is firstly adsorbed and fixed, that is, the underwater robot body reaches a designated detection position to keep an underwater suspension state, the propellers 41 on both sides of the detection component 40 provide power to slowly drive the whole underwater robot to approach to a detection target, finally the suckers 42 on both sides adsorb and fix the detection target, and after the detection component 40 is fixed, the detection equipment in the detection component 40 detects.
For the adsorption assembly, the present embodiment is provided with two in total. Specifically, the suction cup 42 is provided with a one-way slit 44, the seat body is provided with a drainage channel at the one-way slit of the suction cup 42, and the propeller 41 is installed in the drainage channel to discharge the moisture in the suction cup 42, so that the suction cup 42 is adsorbed on the detection target, and the stable adsorption effect is achieved. Meanwhile, the suction cup 42 also functions as a buffer when the detection member 40 comes into contact with the detection target. In addition, the protective shell 43 is installed on the drainage channel to protect the propeller 41, and it can be understood that the protective shell 43 is used for storing the propeller motor, the protective shell 43 is hollow, and the protective shell 43 serves as a water outlet and can keep the drainage channel to be circulated. In this embodiment, the propeller 41 is used as the power for discharging water from the suction cup 42 and as the driving force of the robot as a whole during operation, and can eliminate the body rebound due to the reaction force when the robot arm comes into contact with the detection target.
The pedestal is provided with the mounting groove 45 that supplies the check out test set installation, and the centre gripping supports board 46 to set up to two and set up in mounting groove 45 relatively, and the installation face that the centre gripping supported the board passes through elastic component 47 to install on the pedestal to make two centre gripping support board 46's clamping surface press from both sides tight check out test set, specifically, elastic component 47 is the spring. Of course, the clamping surface of the clamping abutting plate 46 can fix the rubber gasket to avoid damage to the detection equipment.
As shown, the seat body is provided with a hollow-out groove 48, the hollow-out groove 48 is provided with a screw 49, and the screw 49 penetrates into the mounting groove 45 to abut against the detection device. Before carrying out the detection operation, the centre gripping that supports the board 46 through its interior both sides in advance in the mounting groove 45 is fixed check out the probe like the supersound, and back fretwork groove 48 department adjusting screw 49 again to screw 49 drives and stretches out and draws back, realizes the fixed and depth regulatory function of check out test set in mounting groove 45, makes check out test set can carry out contact detection to the detection target of difference, improves the adaptability. Further, the screw rod 49 is located the one end of mounting groove 45 and is installed the rubber gasket, and of course, the one end installation that the screw rod 49 is located the mounting groove 45 is supported the clamp plate, supports the clamp plate and installs the rubber gasket again.
In some of these embodiments, the base 11 is provided with a storage slot 12 for storing a host computer or a storage device of the detection device. The object placing groove 12 is used for placing a main machine of the detection equipment when an underwater detection mechanical arm which can carry contact detection equipment is used for ultrasonic detection; when the underwater detection mechanical arm capable of carrying the contact detection equipment is used for image data acquisition, the underwater detection mechanical arm can be used for storing storage equipment. The storage groove 12 is a sealed waterproof storage space, but a channel is left for electrical connection with the detection equipment in the mounting groove 45.
In addition, the base 11 is provided with an underwater signal transmission module 13 which is used for being electrically connected with the underwater robot, and the underwater signal transmission module 13 can realize the wired connection between an underwater detection mechanical arm which can carry contact detection equipment and an underwater robot main body, so that the underwater robot can be controlled, and meanwhile, the underwater detection mechanical arm which can carry contact detection equipment and the detection equipment are controlled.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. The utility model provides a can carry on contact check out test set's detection arm under water which characterized in that: comprises that
A base (21);
the detection device comprises a detection part (40), wherein the detection part (40) comprises a base body, at least one adsorption component for adsorbing the base body to a detection target and a fixing component for installing the detection device on the base body, the adsorption component comprises a sucker (42) for adsorbing to the detection target, and the fixing component comprises a clamping and abutting plate (46) for clamping the detection device; and
adjusting arm part, adjusting arm part includes flexible arm (31), flexible arm (31) one end with base (21) are articulated to realize flexible arm (31) swing, the pedestal of detection part (40) with flexible arm (31) other end is articulated, in order to realize detection part (40) swing.
2. The underwater detection robot arm capable of carrying a contact detection apparatus according to claim 1, characterized in that: the detection component (40) is provided with at least one propeller (41) for providing power for the detection component (40).
3. The underwater detection robot arm capable of carrying a contact detection apparatus according to claim 2, characterized in that: one-way split (44) have been seted up to sucking disc (42), the pedestal is in the one-way split department of sucking disc (42) installs drainage channel, screw (41) are installed in the drainage channel to discharge the moisture in sucking disc (42) outward, thereby make sucking disc (42) adsorb on detecting the target.
4. The underwater detection robot arm capable of carrying a contact detection apparatus according to claim 3, characterized in that: the drain passage is mounted with a protective case (43) to protect the propeller (41).
5. The underwater detection robot arm capable of carrying a contact detection apparatus according to claim 1, characterized in that: the seat body is provided with mounting grooves (45) for mounting the detection equipment, the clamping abutting plates (46) are arranged in the mounting grooves (45) in two opposite directions, and mounting surfaces of the clamping abutting plates are mounted on the seat body through elastic pieces (47) so that clamping surfaces of the two clamping abutting plates (46) clamp the detection equipment.
6. The underwater detection robot arm capable of carrying a contact detection apparatus according to claim 5, wherein: fretwork groove (48) are installed to the pedestal, screw rod (49) are installed in fretwork groove (48), screw rod (49) wear extremely in mounting groove (45) in order to support and lean on check out test set.
7. The underwater detection mechanical arm capable of carrying the contact detection equipment according to claim 6, wherein: and a rubber gasket is arranged at one end of the screw rod (49) positioned in the mounting groove (45).
8. The underwater detection robot arm on which a contact detection apparatus can be mounted according to any one of claims 1 to 7, characterized in that: the underwater detection mechanical arm capable of carrying the contact detection equipment further comprises a base (11), and the base (21) is rotatably connected to the base (11).
9. The underwater detection robot arm capable of carrying a contact detection apparatus according to claim 8, wherein: the base (11) is provided with a storage groove (12) for storing a detection device host or a storage device.
10. The underwater detection robot arm capable of carrying a contact detection apparatus according to claim 8, wherein: the base (11) is provided with an underwater signal transmission module (13) which is electrically connected with the underwater robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110311845.2A CN112917496A (en) | 2021-03-24 | 2021-03-24 | Can carry on contact check out test set's under water arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110311845.2A CN112917496A (en) | 2021-03-24 | 2021-03-24 | Can carry on contact check out test set's under water arm |
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| Publication Number | Publication Date |
|---|---|
| CN112917496A true CN112917496A (en) | 2021-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110311845.2A Pending CN112917496A (en) | 2021-03-24 | 2021-03-24 | Can carry on contact check out test set's under water arm |
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| CN (1) | CN112917496A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590378A (en) * | 2022-03-25 | 2022-06-07 | 南通大学 | Underwater adsorption device with water flow impact buffering function and adsorption method |
-
2021
- 2021-03-24 CN CN202110311845.2A patent/CN112917496A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590378A (en) * | 2022-03-25 | 2022-06-07 | 南通大学 | Underwater adsorption device with water flow impact buffering function and adsorption method |
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