CN114750169A - Underwater cooperative mechanical arm control device - Google Patents
Underwater cooperative mechanical arm control device Download PDFInfo
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- CN114750169A CN114750169A CN202210674482.3A CN202210674482A CN114750169A CN 114750169 A CN114750169 A CN 114750169A CN 202210674482 A CN202210674482 A CN 202210674482A CN 114750169 A CN114750169 A CN 114750169A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 34
- 238000003825 pressing Methods 0.000 claims description 22
- 244000309464 bull Species 0.000 claims description 6
- 230000009182 swimming Effects 0.000 abstract description 13
- 230000002035 prolonged effect Effects 0.000 abstract description 7
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 10
- 230000005611 electricity Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000000670 limiting effect Effects 0.000 description 5
- 230000002349 favourable effect Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention belongs to the technical field of mechanical arms, and particularly relates to an underwater cooperative type mechanical arm control device which comprises a base device, wherein main force arms are symmetrically arranged on two sides of the inner wall of the base device, the top end of the inner wall of each main force arm is rotatably connected with a connecting rotating rod, one side of the outer surface of each connecting rotating rod is fixedly connected with a hollow force arm, an upper bolt of the inner wall of each hollow force arm is connected with an adjusting threaded rod, and the top end of each adjusting threaded rod is fixedly connected with an underwater camera. When the device is in a folded state, a user can carry the device on the back through the lower surface of the base table to swim under water for displacement, and the whole device is approximately kept in a parallel state with the swimming direction of the user, so that the resistance received by the device is extremely small, the resistance action of water on the connecting rod part is also extremely small, the risk that the connecting rod is possibly deformed due to large impact force and possibly broken in serious conditions is avoided, and the service life of the device is prolonged.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to an underwater cooperative type mechanical arm control device.
Background
Along with the land resource is increasingly scarce, many resources face to develop and are totally lost, the development to ocean resource becomes the trend in recent years, but in the environment abominable, the narrow place in underwater operation space, it is obviously unable to be competent by human self alone, in order to assist relevant personnel to carry out the underwater operation better, the human has developed auxiliary type arm, help people to collect data or gather marine product under water, the development of ocean resource does not leave the underwater arm, high adaptability, high stability, high precision, shock resistance, high continuation of the journey become the development trend of underwater arm performance under the complex environment.
The auxiliary mechanical arm used underwater can be influenced by resistance of water when working, and can move underwater along with a user at any time, the connecting rod part of the auxiliary mechanical arm can always be influenced by the resistance of the water, the connecting rod part of the general mechanical arm is fragile, and if the user moves at an excessively high speed underwater, the connecting rod can be deformed due to large impact force possibly and can be broken when the connecting rod is serious.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an underwater cooperative type mechanical arm control device, which solves the problem that a mechanical arm is broken due to the resistance of water when the mechanical arm is used underwater.
(II) technical scheme
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an underwater cooperative mechanical arm control device, which comprises a base device, wherein main force arms are symmetrically arranged on two sides of the inner wall of the base device, the top end of the inner wall of each main force arm is rotatably connected with a connecting rotating rod, one side of the outer surface of the connecting rotating rod is fixedly connected with a hollow force arm, an adjusting threaded rod is connected with the upper part of the inner wall of the hollow force arm through a bolt, an underwater camera is fixedly connected with the top end of the adjusting threaded rod, when the device is not used, the device is in a retracted state shown in a figure two, when a user uses the device to carry out underwater operation shooting work, fixing devices on two sides are pressed downwards, then the fixing devices remove the clamping effect on the adjusting threaded rod, at the moment, the user rotates the main force arms on two sides to a vertical state, as shown in a figure one, the user adjusts the rotating angle of the hollow force arms and the extension length of the adjusting threaded rod according to the actual use condition, the shooting requirements of the underwater camera are met, the underwater camera can only carry out one-way shooting due to the self structure of the underwater camera, so that two groups of underwater cameras are used for finishing two-way shooting, after the shooting is finished, a user rotates the main force arm to be in a horizontal state, then rotates the hollow force arm, the adjusting threaded rods on the two sides are respectively clamped into the fixing devices on the two sides, and at the moment, the device is in a retracted state shown in the second drawing.
Preferably, the base device includes the base platform, the bilateral symmetry of base bench surface is provided with vertical connecting plate, one side fixedly connected with control power box of vertical connecting plate surface, the top of control power box is provided with the adjustment bull stick, vertical spout has been seted up to the opposite side of vertical connecting plate surface, vertical connecting plate's surface has side position fixing device through vertical spout sliding connection, one side fixedly connected with pressure spring group of side position fixing device lower surface, the bilateral symmetry of base bench surface is provided with the magnetic path.
Preferably, the lateral fixing device comprises a hollow grooving shell, one side of the outer surface of the hollow grooving shell is fixedly connected with an external sliding block, trapezoidal push blocks are symmetrically arranged on two sides of the inner wall of the hollow grooving shell, one side of the outer surface of each trapezoidal push block is slidably connected with a concave clamping strip, one side of the lower surface of each concave clamping strip is fixedly connected with an external baffle, one side of the outer surface of the external baffle is fixedly connected with a thrust spring band, the lower surface of each trapezoidal push block is fixedly connected with a polar magnetic plate, the middle part of the lower surface of the polar magnetic plate is provided with a circular groove, the middle part of the lower surface of the polar magnetic plate is fixedly connected with a spring push rod through the circular groove, in the process of clamping the adjusting threaded rod into the fixing device, a user firstly vertically presses the hollow grooving shell downwards, after the hollow grooving shell is pressed, the pressure spring group is compressed downwards by the external sliding block, and the hollow grooving shell slides downwards along the vertical sliding groove of the vertical connecting plate through the external sliding block, when the lower surface of the hollow grooving shell is connected with the magnetic block, the polar magnetic plates on the two sides attract the magnetic block, the polar magnetic plates move downwards under the action of magnetic force, the trapezoidal push block moves downwards under the action of pulling force of the polar magnetic plates, the spring push rod is compressed, and after the trapezoidal push block moves downwards, gaps appear on the side surfaces of the concave surface clamping strips, at the moment, the thrust spring band pulls the concave surface clamping strips towards the inside of the hollow grooving shell through the external baffle plate, and the concave surface clamping strips on the two sides are opened.
Preferably, the number of the main force arms is two, the number of the connecting rotating rods is two, the number of the hollow force arms is two, the number of the adjusting threaded rods is two, the lower parts of the outer surfaces of the adjusting threaded rods are connected with the upper parts of the inner walls of the hollow force arms through threaded grooves in a bolt mode, the bottom ends of the adjusting threaded rods extend into the hollow force arms, and the number of the underwater cameras is two.
Preferably, the number of the vertical connecting plates is two, the two ends of the outer surface of the adjusting rotating rod are rotatably connected with the outer surface of the vertical connecting plates, the lower surface of the control power box is fixedly connected with the upper surface of the base table, the number of the side position fixing devices is two, the number of the pressure spring groups is two, the bottom ends of the pressure spring groups are fixedly connected with the inner cavity of the base table through vertical sliding grooves, and the outer surface of the pressure spring groups is slidably connected with the inner wall surface of the base table through vertical sliding grooves.
Preferably, the outer surface of the external sliding block is connected with the inner wall of the vertical connecting plate in a sliding manner through a vertical sliding chute, the lower surface of the external sliding block is fixedly connected with the top end of the pressure spring group, the number of the concave surface clamping strips is two, the upper surface of the concave surface clamping strips is connected with the upper part of the inner wall of the groove-cutting hollow shell in a sliding manner, the number of the trapezoidal push blocks is two, the outer surface of the trapezoidal push block is connected with the inner wall of the groove-cutting hollow shell in a sliding manner, one side of the outer surface of the trapezoidal push block is connected with one side of the outer surface of the concave surface clamping strips in a sliding manner, the lower surface of the spring push rod is fixedly connected with the bottom of the inner wall of the groove-cutting hollow shell, the number of the thrust spring belts is two, one end of each thrust spring belt is fixedly connected with the inner cavity of the groove-cutting hollow shell, the other end of each thrust spring belt is fixedly connected with one side of the outer surface of the external baffle, and the number of the external baffles is two, the lower surface of the external baffle is connected with the middle of the inner wall of the groove-cutting hollow shell in a sliding mode, a user places the adjusting threaded rod between the concave clamping strips on the two sides, pressure on the groove-cutting hollow shell is released, the pressure spring group pushes the external sliding block to slide upwards, the magnetic force of the magnetic block on the polar magnetic plate is gradually reduced along with gradual rising of the groove-cutting hollow shell, the trapezoidal push block is pushed upwards by the extension of the spring push rod, the gap between the concave clamping strips and the groove-cutting hollow shell is filled by the trapezoidal push block, the concave clamping strips on the two sides are gradually closed, and the adjusting threaded rod is tightly clamped.
Preferably, the adjusting rotating rod comprises a hollow rotating shaft, the outer surface of the hollow rotating shaft is rotatably connected with a threaded pipe sleeve, the upper part of the outer surface of the hollow rotating shaft is fixedly connected with a round-head push block, the upper part of the inner cavity of the threaded pipe sleeve is uniformly provided with a cylindrical groove, the upper part of the inner cavity of the threaded pipe sleeve is uniformly provided with a clamping cylindrical head through the cylindrical groove, one side of the outer surface of the clamping cylindrical head is fixedly connected with a fixed snap ring, one side of the outer surface of the fixed snap ring is fixedly connected with a small reset spring, the outer surface of the threaded pipe sleeve is connected with an adjusting rotating sleeve through a threaded groove bolt, when the main force arm is rotated, the bottom end of the main force arm controls the longer side of the outer surface of the hollow rotating shaft to rotate, and the top end of the threaded pipe sleeve is fixedly connected with the outer surface of the vertical connecting plate, so that the hollow rotating shaft and the inner wall of the threaded pipe sleeve slide relatively, the round-head push block pushes the bottom end of the clamping cylindrical head to the outside when rotating, after the main force arm is adjusted, a user rotates the adjusting rotating sleeve clockwise, the adjusting rotating sleeve spirally rises along the outer surface of the threaded pipe sleeve, when the inner wall of the adjusting rotating sleeve is connected with the clamping cylindrical head, the inner wall of the adjusting rotating sleeve extrudes the clamping cylindrical head to the inside of the threaded pipe sleeve, and under the limiting action of the adjusting rotating sleeve, the round-head push block cannot push the clamping cylindrical head, so that the hollow rotating shaft cannot rotate, the main force arm cannot deflect, and the locking work of the main force arm is further completed; after shooting is finished, a user rotates the adjusting rotating sleeve anticlockwise, the limiting effect of the adjusting rotating sleeve is relieved, the main force arm can deflect normally, and the resetting process is finished.
Preferably, the both ends of hollow rotating shaft all are connected with the surface rotation of vertical connecting plate, the inner wall of screw thread pipe box rotates with one side of hollow rotating shaft surface and is connected, the top of screw thread pipe box is connected with the surface fixed connection of vertical connecting plate, one side of button head ejector pad surface and one side swing joint of joint cylinder head surface, the one end of little spring that resets is connected with the surface fixed connection of screw thread pipe box, and the adjustment is changeed the inner wall of cover and the surface swing joint of joint cylinder head.
Preferably, the number of the hollow rotating shafts is two, the bottom of the inner wall of the hollow rotating shaft is rotatably connected with the connecting rods, the number of the threaded pipe sleeves is two, and the bottom end of the inner wall of the main force arm is fixedly connected with the lower portion of the outer surface of the hollow rotating shaft.
Preferably, the control power box comprises a square box shell, the lower part of the inner wall of the square box shell is fixedly connected with a collecting electric box, the inner wall of the collecting electric box is uniformly and fixedly connected with a storage battery, the top end of the storage battery is fixedly connected with a collecting electric plate through a waterproof wire, the upper surface of the collecting electric plate is movably connected with a conductive plate, the two sides of the upper surface of the square box shell are symmetrically provided with sliding groove openings, the two sides of the upper surface of the square box shell are symmetrically provided with lower pressing blocks through sliding groove openings, the lower surface of the lower pressing blocks is movably connected with a balance plate, the upper part of the outer surface of the balance plate is fixedly connected with a balance spring, one side of the outer surface of the balance plate is fixedly connected with a middle position hollow rod, the top end of the conductive plate extends to the inside of the middle position hollow rod, the top end of the conductive plate is fixedly connected with an extension wire, and when the device is in a picture two state, the device is in idle state, the main arm of force is in the horizontality, briquetting under the side of the main arm of force can extrude downwards this moment, the lower briquetting of arbitrary one side can be extruded to the main arm of force, no matter extrude the lower briquetting of which one side, only one lower briquetting can receive the extrusion effect of the main arm of force, the briquetting lapse, push down the balance plate, the balance of meso position hollow rod both sides is broken, the balance plate of pressurized one side rotates downwards, balance spring is elongated, the balance plate of unpressurized one side upwards rotates, balance spring is compressed, the hollow pole of meso position takes place the rotation, the current conducting plate of under rotates, the bottom of current conducting plate breaks away from the collecting electroplax, the extension wire outage, so camera also can cut off the power supply stop work under water.
Preferably, the upper surface of the lower pressing block is movably connected with one side of the outer surface of the main force arm, two ends of the middle position hollow rod are respectively connected with two sides of the inner wall of the square box shell in a rotating mode, the top end of the balance spring is fixedly connected with the upper portion of the inner wall of the square box shell, the bottom end of the extension wire is fixedly connected with the upper portion of the inner cavity of the conductive plate, the top end of the extension wire is fixedly connected with the inner cavity of the underwater camera, when the device is in the first state, the device is in a working state, the pressing blocks on two sides cannot be squeezed by the main force arm at the moment, the balance plates on two sides of the middle position hollow rod are kept in a horizontal state under the effect of the balance spring, the conductive plate is in a relatively vertical state and is in contact with the upper surface of the collecting plate, the extension wire is electrified, and the underwater camera can be automatically electrified.
The invention has the following beneficial effects:
1. when the device is in a folded state, a user can carry the device on the back through the lower surface of the base table to swim under water for displacement, and the whole device is approximately kept in a parallel state with the swimming direction of the user, so that the resistance received by the device is extremely small, the resistance action of water on the connecting rod part is also extremely small, the risk that the connecting rod is possibly deformed due to large impact force and possibly broken in serious conditions is avoided, and the service life of the device is prolonged.
2. Because the device receives the resistance of water minimum under the state of packing up, so the user bears the device under water and receives the resistance of water also can reduce by a wide margin when swimming, and the user is lighter when swimming, and the speed of swimming also can be faster, and user's removal is more nimble, more is favorable to user's underwater operation work.
3. The mode of semi-automatic joint can prevent that the adjustment threaded rod from throwing away the hollow shell of grooving because of shaking force or inertia effect under idle state, and the control part of joint is located the inside of the hollow shell of grooving moreover, and the possibility that receives external factor influence is less, and is fixed more reliably.
4. Because the main force arms on the two sides can rotate and self-lock through respective adjusting rotating rods, when the underwater camera is used for shooting at a fixed position point, the main force arms cannot deflect due to the gravity of the underwater camera, the adjusting threaded rods and the hollow force arms, so that the vertical state is stably kept, and images shot by the underwater camera can be more stable.
5. The device can save electricity through the cutting off circuit under idle state because of the function of switching on and off electricity, and then increases the operating time of camera under water, can automatic switch on circuit at operating condition, can not delay the normal use shooting work of camera under water, and the degree of automation is higher when using.
6. Because the inside installation of collection electronic box has multiunit battery, this kind of outage environment under water can provide more electric quantity for the camera under water, increases the shooting time of camera under water, has solved the problem that the camera under water cuts off the power supply because of the not enough time of endurance of power supply is shorter to a certain extent.
Drawings
FIG. 1 is a front view of the present invention in its operating condition;
FIG. 2 is a front view of the present invention in an idle state;
FIG. 3 is a schematic view of the base unit of the present invention;
FIG. 4 is a cross-sectional view of the fastening device of the present invention;
FIG. 5 is a partial cross-sectional view of the adjustment lever of the present invention;
FIG. 6 is a schematic view of a partial structure of an adjusting rotating rod according to the present invention;
fig. 7 is a cross-sectional view of the control power box of the present invention.
In the figure: 1. a base unit; 2. a main force arm; 3. connecting the rotating rod; 4. a hollow force arm; 5. adjusting the threaded rod; 6. an underwater camera; 11. a base table; 12. a vertical connecting plate; 13. a magnetic block; 14. a pressure spring set; 7. a fixing device; 71. cutting a groove into the hollow shell; 72. a sliding block is externally connected; 73. concave surface clamping strips; 74. a trapezoidal push block; 75. a polar magnetic plate; 76. a spring push rod; 77. a thrust spring band; 78. a baffle is externally connected; 8. adjusting the rotating rod; 81. a hollow rotating shaft; 82. a round head push block; 83. a threaded pipe sleeve; 84. clamping the cylindrical head; 85. fixing the snap ring; 86. a small return spring; 87. adjusting the rotating sleeve; 9. controlling the power box; 91. a square box shell; 92. pressing the block; 93. a balance plate; 94. a balance spring; 95. a hollow bar having a central position; 96. extending the lead; 97. an integrated electric board; 98. an electricity collecting box; 99. a storage battery; 100. and a conductive plate.
Detailed Description
An underwater cooperative type robot control device according to an embodiment of the present invention will be described below with reference to fig. 1 to 7.
As shown in fig. 1-7, the underwater cooperative type mechanical arm control device comprises a base device 1, main force arms 2 are symmetrically arranged on two sides of the inner wall of the base device 1, a connecting rotating rod 3 is rotatably connected to the top end of the inner wall of each main force arm 2, a hollow force arm 4 is fixedly connected to one side of the outer surface of the connecting rotating rod 3, an adjusting threaded rod 5 is connected to the upper portion of the inner wall of each hollow force arm 4 through a bolt, an underwater camera 6 is fixedly connected to the top end of each adjusting threaded rod 5, when the device is not used, the device is in a retracted state shown in fig. two, when a user uses the device to perform underwater operation shooting work, the fixing devices 7 on two sides are pressed downwards, then the fixing devices 7 remove clamping effect on the adjusting threaded rods 5, at the moment, the user rotates the main force arms 2 on two sides to a vertical state, as shown in fig. one, the user adjusts the rotating angle of the hollow force arms 4 and the extension length of the adjusting threaded rods 5 according to actual use conditions, the shooting requirements of the underwater camera 6 are met, only one-way shooting can be carried out due to the self structure of the underwater camera 6, so that two groups of underwater cameras 6 are used for finishing two-way shooting, after the shooting is finished, a user rotates the main force arm 2 to be in a horizontal state, then rotates the hollow force arm 4, the adjusting threaded rods 5 on two sides are respectively clamped into the fixing devices 7 on two sides, at the moment, the device is in a retracted state shown in a figure two, when the device is in the retracted state, the user carries the device to swim underwater through the lower surface of the base platform 11, the whole device is approximately parallel to the swimming direction of the user, the resistance received by the device is extremely small, the resistance effect of water on the connecting rod part is also extremely small, and the risk that the connecting rod is possibly deformed due to large impact force and possibly broken when the connecting rod is serious is avoided, the service life of the device is prolonged.
The base device 1 comprises a base platform 11, wherein vertical connecting plates 12 are symmetrically arranged on two sides of the upper surface of the base platform 11, a control power box 9 is fixedly connected to one side of the outer surface of the vertical connecting plate 12, an adjusting rotating rod 8 is arranged above the control power box 9, a vertical sliding chute is formed in the other side of the outer surface of the vertical connecting plate 12, a side fixing device 7 is slidably connected to the outer surface of the vertical connecting plate 12 through the vertical sliding chute, a pressure spring group 14 is fixedly connected to one side of the lower surface of the side fixing device 7, magnetic blocks 13 are symmetrically arranged on two sides of the upper surface of the base platform 11, and because the device is extremely small in resistance to water in a folded state, so the user bears the device under water and receives the resistance of water also can reduce by a wide margin when swimming, and the user is lighter when swimming, and the speed of swimming also can be faster, and user's removal is more nimble, more is favorable to user's underwater operation work.
The side fixing device 7 comprises a grooving hollow shell 71, one side of the outer surface of the grooving hollow shell 71 is fixedly connected with an external sliding block 72, two sides of the inner wall of the grooving hollow shell 71 are symmetrically provided with trapezoidal push blocks 74, one side of the outer surface of each trapezoidal push block 74 is slidably connected with a concave clamping strip 73, one side of the lower surface of each concave clamping strip 73 is fixedly connected with an external baffle 78, one side of the outer surface of each external baffle 78 is fixedly connected with a thrust spring belt 77, the lower surface of each trapezoidal push block 74 is fixedly connected with a polar magnetic plate 75, the middle of the lower surface of each polar magnetic plate 75 is provided with a circular groove, the middle of the lower surface of each polar magnetic plate 75 is fixedly connected with a spring push rod 76 through the circular groove, in the process of clamping the adjusting threaded rod 5 into the fixing device 7, a user firstly vertically presses the grooving hollow shell 71 downwards, after the grooving hollow shell 71 is pressed, the pressure spring group 14 is compressed downwards by the external sliding block 72, and the grooving hollow shell 71 slides downwards along the vertical sliding groove of the vertical connecting plate 12 through the external sliding block 72, when the lower surface of the grooved hollow shell 71 is connected with the magnetic block 13, the polar magnetic plates 75 on the two sides attract the magnetic block 13, the polar magnetic plates 75 move downwards under the action of magnetic force, the trapezoidal push block 74 moves downwards under the action of the pulling force of the polar magnetic plates 75, the spring push rod 76 is compressed, after the trapezoidal push block 74 moves downwards, gaps appear on the side surfaces of the concave clamping strips 73, at the moment, the concave clamping strips 73 are pulled towards the inside of the grooved hollow shell 71 through the external baffle plate 78 by the push spring belt 77, and the concave clamping strips 73 on the two sides are opened.
The number of the main force arms 2 is two, the number of the connecting rotating rods 3 is two, the number of the hollow force arms 4 is two, the number of the adjusting threaded rods 5 is two, the lower parts of the outer surfaces of the adjusting threaded rods 5 are connected with the upper parts of the inner walls of the hollow force arms 4 through threaded grooves in a bolt mode, the bottom ends of the adjusting threaded rods 5 extend to the inner parts of the hollow force arms 4, and the number of the underwater cameras 6 is two.
The quantity of vertical connecting plate 12 is two, the both ends of 8 surfaces of adjustment bull sticks all are connected with vertical connecting plate 12's surface rotation, the lower surface of control power box 9 is connected with the last fixed surface of base platform 11, the quantity of side position fixing device 7 is two, pressure spring group 14's quantity is two, the bottom of pressure spring group 14 is through the inner chamber fixed connection of vertical spout with base platform 11, the internal face sliding connection of vertical spout with base platform 11 is passed through to pressure spring group 14's surface.
The outer surface of the external sliding block 72 is connected with the inner wall of the vertical connecting plate 12 in a sliding mode through a vertical sliding groove, the lower surface of the external sliding block 72 is fixedly connected with the top end of the pressure spring group 14, the number of the concave clamping strips 73 is two, the upper surface of each concave clamping strip 73 is connected with the upper portion of the inner wall of the groove-cutting hollow shell 71 in a sliding mode, the number of the trapezoidal push blocks 74 is two, the outer surface of each trapezoidal push block 74 is connected with the inner wall of the groove-cutting hollow shell 71 in a sliding mode, one side of the outer surface of each trapezoidal push block 74 is connected with one side of the outer surface of each concave clamping strip 73 in a sliding mode, the lower surface of the spring push rod 76 is fixedly connected with the bottom portion of the inner wall of the groove-cutting hollow shell 71, the number of the two thrust spring belts 77, one end of each thrust spring belt 77 is fixedly connected with the inner cavity of the groove-cutting hollow shell 71, the other end of each thrust spring belt 77 is fixedly connected with one side of the outer surface of the external baffle plate 78, and the number of the external baffle plates 78 is two, the lower surface of the external baffle 78 is connected with the middle part of the inner wall of the grooving hollow shell 71 in a sliding manner, a user puts the adjusting threaded rod 5 between the concave clamping strips 73 on both sides, then releases the pressure on the grooving hollow shell 71, the pressure spring group 14 pushes the external sliding block 72 to slide upwards, as the grooving hollow shell 71 gradually rises, the magnetic force of the magnetic block 13 on the polar magnetic plate 75 is also gradually reduced, the spring push rod 76 extends to push the trapezoidal push block 74 upwards, the gap between the trapezoidal push block 74 and the grooving hollow shell 71 is filled up by the concave clamping strips 73 of the trapezoidal push block 74, the concave clamping strips 73 on both sides are gradually closed, and then the adjusting threaded rod 5 is clamped and clamped, the semi-automatic clamping manner can prevent the adjusting threaded rod 5 from being thrown out of the grooving hollow shell 71 under the vibration force or inertia effect in the idle state, and the clamping control part is positioned in the grooving hollow shell 71, so that the possibility of being influenced by external factors is low, the fixation is more reliable.
The adjusting rotating rod 8 comprises a hollow rotating shaft 81, the outer surface of the hollow rotating shaft 81 is rotatably connected with a threaded pipe sleeve 83, the upper part of the outer surface of the hollow rotating shaft 81 is fixedly connected with a round head push block 82, the upper part of the inner cavity of the threaded pipe sleeve 83 is uniformly provided with a cylindrical groove, the upper part of the inner cavity of the threaded pipe sleeve 83 is uniformly provided with a clamping cylindrical head 84 through the cylindrical groove, one side of the outer surface of the clamping cylindrical head 84 is fixedly connected with a fixed snap ring 85, one side of the outer surface of the fixed snap ring 85 is fixedly connected with a small reset spring 86, the outer surface of the threaded pipe sleeve 83 is connected with an adjusting rotating sleeve 87 through a threaded groove bolt, because the main force arm 2 bears the largest force when in use, the main force arm 2 needs to be fixed when in use, the main force arm 2 is prevented from being inclined and deflected, when the main force arm 2 is rotated, the bottom end of the main force arm 2 controls the longer side of the outer surface of the hollow rotating shaft 81 to rotate, because the top end of the threaded pipe sleeve 83 is fixedly connected with the outer surface of the vertical connecting plate 12, the hollow rotating shaft 81 and the inner wall of the threaded pipe sleeve 83 slide relatively, at the moment, the round-head push block 82 pushes the bottom end of the clamping cylindrical head 84 outwards when rotating, after the adjustment of the main force arm 2 is finished, a user rotates the adjusting rotating sleeve 87 clockwise, the adjusting rotating sleeve 87 spirally rises along the outer surface of the threaded pipe sleeve 83, when the inner wall of the adjusting rotating sleeve 87 is connected with the clamping cylindrical head 84, the inner wall of the adjusting rotating sleeve 87 extrudes the clamping cylindrical head 84 towards the inside of the threaded pipe sleeve 83, and under the limiting action of the adjusting rotating sleeve 87, the round-head push block 82 cannot push the clamping cylindrical head 84, so that the hollow rotating shaft 81 cannot rotate, the main force arm 2 cannot deflect, and the locking work of the main force arm 2 is finished; after the shooting is finished, the user rotates the adjustment anticlockwise and changes the cover 87, remove the restriction effect that the adjustment changes the cover 87, main power arm 2 can normally deflect, accomplish the flow that resets, because the main power arm 2 of both sides can rotate the auto-lock through respective adjustment bull stick 87, so when fixed position point shooting under water, main power arm 2 can not deflect because of camera 6 under water, the gravity of adjustment threaded rod 5 and the hollow power arm, and then stably keep vertical state, the image that the camera shot under water also can be more steady.
Both ends of the hollow rotating shaft 81 are rotatably connected with the outer surface of the vertical connecting plate 12, the inner wall of the threaded pipe sleeve 83 is rotatably connected with one side of the outer surface of the hollow rotating shaft 81, the top end of the threaded pipe sleeve 83 is fixedly connected with the outer surface of the vertical connecting plate 12, one side of the outer surface of the round-head push block 82 is movably connected with one side of the outer surface of the clamping cylindrical head 84, one end of a small reset spring 86 is fixedly connected with the outer surface of the threaded pipe sleeve 83, and the inner wall of the adjusting rotating sleeve 87 is movably connected with the outer surface of the clamping cylindrical head 84.
The number of the hollow rotating shafts 81 is two, the bottom of the inner wall of the hollow rotating shaft 81 is rotatably connected with connecting rods, the number of the threaded pipe sleeves 83 is two, and the bottom end of the inner wall of the main force arm 2 is fixedly connected with the lower part of the outer surface of the hollow rotating shaft 81.
The control power box 9 comprises a square box shell 91, a collecting electric box 98 is fixedly connected to the lower portion of the inner wall of the square box shell 91, storage batteries 99 are uniformly and fixedly connected to the inner wall of the collecting electric box 98, a collecting electric plate 97 is fixedly connected to the top end of the storage batteries 99 through a waterproof conducting wire, a connecting conducting plate 100 is movably connected to the upper surface of the collecting electric plate 97, sliding groove openings are symmetrically formed in two sides of the upper surface of the square box shell 91, lower pressing blocks 92 are symmetrically arranged on two sides of the upper surface of the square box shell 91 through the sliding groove openings, a balancing plate 93 is movably connected to the lower surface of the lower pressing blocks 92, a balancing spring 94 is fixedly connected to the upper portion of the outer surface of the balancing plate 93, a middle position hollow rod 95 is fixedly connected to one side of the outer surface of the balancing plate 93, the top end of the hollow conducting plate 100 extends to the inside of the middle position hollow rod 95, an extension conducting wire 96 is fixedly connected to the top end of the conducting plate 100, and when the device is in a second state, the main force arm 2 is in a horizontal state, at the moment, the side surface of the main force arm 2 can downwards extrude the lower pressing block 92, the main force arm 2 can extrude the lower pressing block 92 on any side, no matter which side of the lower pressing block 92 is extruded, only one lower pressing block 92 can be extruded by the main force arm 2, the lower pressing block 92 slides downwards, the balance plate 93 is pressed downwards, the balance on two sides of the middle hollow rod 95 is broken, the balance plate 93 on the pressed side rotates downwards, the balance spring 94 is lengthened, the balance plate 93 on the non-pressed side rotates upwards, the balance spring 94 is compressed, the middle hollow rod 95 rotates automatically, the conductive plate 100 right below rotates, the bottom end of the conductive plate 100 is separated from the collecting electric plate 91, the power failure of the lead 96 is prolonged, the underwater camera 6 can also be powered off and stopped, the device has the power on-off function, the electricity can be saved by cutting off a circuit in an idle state, and the working time of the underwater camera 6 is further increased, the circuit can be automatically connected in a working state, the normal use shooting work of the underwater camera 6 cannot be delayed, and the automation degree is higher when the underwater camera is used.
The upper surface of the lower pressing block 92 is movably connected with one side of the outer surface of the main force arm 2, two ends of a middle hollow rod 95 are respectively rotatably connected with two sides of the inner wall of the square box shell 91, the top end of a balance spring 94 is fixedly connected with the upper part of the inner wall of the square box shell 91, the bottom end of an extension lead 96 is fixedly connected with the upper part of the inner cavity of a connecting conductive plate 100, the top end of the extension lead 96 is fixedly connected with the inner cavity of the underwater camera 6, when the device is in a figure one state, the device is in a working state, the lower pressing blocks 92 at two sides cannot be extruded by the main force arm 2, the balance plates 93 at two sides of the middle hollow rod 95 are kept in a horizontal state under the action of the balance spring 94, the conductive plate 100 is in a relatively vertical state and is contacted with the upper surface of the collecting electric plate 91, the extension lead 96 is electrified, the underwater camera 6 is automatically electrified and started, and a plurality of groups of storage batteries 98 are arranged in the collecting box 98, in the underwater power-off environment, more electric quantity can be provided for the underwater camera 6, the shooting time of the underwater camera 6 is prolonged, and the problem that the underwater camera 6 is powered off due to insufficient power supply and short endurance time is solved to a certain extent.
The specific working process is as follows:
when the device is not used, the device is in a folding state shown in a figure two, when a user uses the device to carry out underwater operation shooting work, the fixing devices 7 on the two sides are pressed downwards, then the fixing devices 7 remove the clamping effect on the adjusting threaded rods 5, at the moment, the user rotates the main force arms 2 on the two sides to be in a vertical state, as shown in the figure one, the user adjusts the rotating angle of the hollow force arm 4 and the extension length of the adjusting threaded rods 5 according to the actual use condition to meet the shooting requirement of the underwater camera 6, because the underwater camera 6 can only carry out one-way shooting due to the self structure of the underwater camera 6, the two groups of underwater cameras 6 are used for completing two-way shooting work, after the shooting is finished, the user rotates the main force arms 2 to be in a horizontal state, then rotates the hollow force arms 4 to clamp the adjusting threaded rods 5 on the two sides into the fixing devices 7 on the two sides respectively, the device is now in the stowed condition shown in figure two.
When the device is in a folded state, a user can swim underwater by carrying the device on the back through the lower surface of the base table 11, and the whole device is kept in a parallel state with the swimming direction of the user, so that the resistance received by the device is extremely small, the resistance action of water on the connecting rod part is also extremely small, the risk that the connecting rod is possibly deformed due to large impact force and possibly broken in serious conditions is avoided, and the service life of the device is prolonged.
Because the device receives the resistance of water minimum under the state of packing up, so the user bears the device under water and receives the resistance of water also can reduce by a wide margin when swimming, and the user is lighter when swimming, and the speed of swimming also can be faster, and user's removal is more nimble, more is favorable to user's underwater operation work.
In the process of clamping the adjusting threaded rod 5 into the fixing device 7, a user firstly vertically presses the grooving hollow shell 71 downwards, after the grooving hollow shell 71 is pressed, the pressure spring group 14 is compressed downwards by the external slider 72, the grooving hollow shell 71 slides downwards along the vertical sliding groove of the vertical connecting plate 12 through the external slider 72, when the lower surface of the grooving hollow shell 71 is connected with the magnetic block 13, the polar magnetic plates 75 on the two sides attract each other with the magnetic block 13, the polar magnetic plates 75 move downwards under the action of magnetic force, the trapezoidal push block 74 moves downwards under the action of the pulling force of the polar magnetic plates 75, the spring push rod 76 is compressed, after the trapezoidal push block 74 moves downwards, gaps appear on the side surfaces of the concave clamping strips 73, at the moment, the push spring belts 77 pull the concave clamping strips 73 towards the inside of the grooving hollow shell 71 through the external baffle plates 78, the concave clamping strips 73 on the two sides are opened, and the user puts the adjusting threaded rod 5 between the concave clamping strips 73 on the two sides, then the pressure on the grooving hollow shell 71 is released, the pressure spring set 14 pushes the external sliding block 72 to slide upwards, as the grooving hollow shell 71 gradually rises, the magnetic force of the magnetic block 13 on the polar magnetic plate 75 also gradually decreases, the spring push rod 76 extends to push the trapezoidal push block 74 upwards, the trapezoidal push block 74 fills the gap between the concave clamping strips 73 and the grooving hollow shell 71, the concave clamping strips 73 on the two sides are gradually closed, and the adjusting threaded rod 5 is clamped and clamped.
The semi-automatic clamping mode can prevent the adjusting threaded rod 5 from being thrown out of the groove-cutting hollow shell 71 under the idle state due to vibration force or inertia effect, and the clamping control part is located inside the groove-cutting hollow shell 71, so that the possibility of being influenced by external factors is low, and the fixing is more reliable.
Because the main force arm 2 is stressed maximally when in use, the main force arm 2 needs to be fixed when in use, so as to prevent the main force arm 2 from tilting and deflecting, when the main force arm 2 is rotated, the bottom end of the main force arm 2 controls the longer side of the outer surface of the hollow rotating shaft 81 to rotate, because the top end of the threaded sleeve 83 is fixedly connected with the outer surface of the vertical connecting plate 12, the hollow rotating shaft 81 and the inner wall of the threaded sleeve 83 slide relatively, at the moment, the round head push block 82 pushes the bottom end of the clamping cylindrical head 84 outwards when rotating, after the main force arm 2 is adjusted, a user rotates the adjusting rotating sleeve 87 clockwise, the adjusting rotating sleeve 87 spirally rises along the outer surface of the threaded sleeve 83, when the inner wall of the adjusting rotating sleeve 87 is connected with the clamping cylindrical head 84, the inner wall of the adjusting rotating sleeve 87 extrudes the clamping cylindrical head 84 towards the inside of the threaded sleeve 83, under the limiting action of the adjusting rotating sleeve 87, at the moment, the round-head push block 82 cannot push the clamping cylindrical head 84, so that the hollow rotating shaft 81 cannot rotate, the main force arm 2 cannot deflect, and the locking work of the main force arm 2 is further completed; after the shooting is finished, the user rotates the adjusting rotary sleeve 87 counterclockwise, the limiting function of the adjusting rotary sleeve 87 is removed, the main force arm 2 can deflect normally, and the resetting process is finished.
Because the main force arms 2 on the two sides can rotate and self-lock through the respective adjusting rotating rods 87, when the underwater fixed position point is shot, the main force arms 2 cannot deflect due to the gravity of the underwater camera 6, the adjusting threaded rod 5 and the hollow force arm, so that the vertical state is stably kept, and images shot by the underwater camera are more stable.
When the device is in the second state, the device is in an idle state, the main force arm 2 is in a horizontal state, at the moment, the side surface of the main force arm 2 can downwards extrude the lower pressing block 92, the main force arm 2 can extrude the lower pressing block 92 on any side, only one lower pressing block 92 can be extruded by the main force arm 2 no matter which side of the lower pressing block 92 is extruded, the lower pressing block 92 downwards slides, the balance plate 93 is downwards pressed, the balance at two sides of the middle hollow rod 95 is broken, the balance plate 93 at the pressed side downwards rotates, the balance spring 94 is stretched, the balance plate 93 at the non-pressed side upwards rotates, the balance spring 94 is compressed, the middle hollow rod 95 automatically rotates, the conductive plate 100 right below rotates, the bottom end of the conductive plate 100 is separated from the collecting electric plate 91, the extension lead 96 is powered off, and the underwater camera 6 can also be powered off and stops working; when the device is in the first state, the device is in a working state, the pressing blocks 92 on the two sides are not squeezed by the main force arm 2, the balance plates 93 on the two sides of the middle hollow rod 95 are kept in a horizontal state under the action of the balance springs 94, so that the conductive plates 100 are in a relatively vertical state and are in contact with the upper surface of the electricity collecting plate 91, the extension wires 96 are electrified, and the underwater camera 6 can be automatically electrified and started.
The device can save electricity through the cutting off circuit under idle state because of the function of switching on and off electricity, and then increases the operating time of camera 6 under water, can automatic switch on the circuit at operating condition, can not delay camera 6's normal use shooting work under water, and the degree of automation is higher when using.
Because the multiple groups of storage batteries 98 are arranged inside the electric collection box 98, more electric quantity can be provided for the underwater camera 6 in the underwater power-off environment, the shooting time of the underwater camera 6 is prolonged, and the problem that the underwater camera 6 is powered off due to short endurance time caused by insufficient power supply is solved to a certain extent.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides an under water cooperative type arm control device, includes base device (1), its characterized in that: main force arms (2) are symmetrically arranged on two sides of the inner wall of the base device (1), the top end of the inner wall of each main force arm (2) is rotatably connected with a connecting rotating rod (3), one side of the outer surface of each connecting rotating rod (3) is fixedly connected with a hollow force arm (4), the upper part of the inner wall of each hollow force arm (4) is connected with an adjusting threaded rod (5) through a bolt, and the top end of each adjusting threaded rod (5) is fixedly connected with an underwater camera (6);
the base device (1) comprises a base table (11), vertical connecting plates (12) are symmetrically arranged on two sides of the upper surface of the base table (11), a control power box (9) is fixedly connected to one side of the outer surface of the vertical connecting plate (12), an adjusting rotating rod (8) is arranged above the control power box (9), a vertical sliding groove is formed in the other side of the outer surface of the vertical connecting plate (12), a side fixing device (7) is connected to the outer surface of the vertical connecting plate (12) in a sliding mode through the vertical sliding groove, a pressure spring group (14) is fixedly connected to one side of the lower surface of the side fixing device (7), and magnetic blocks (13) are symmetrically arranged on two sides of the upper surface of the base table (11);
the lateral fixing device (7) comprises a grooving hollow shell (71), an external sliding block (72) is fixedly connected to one side of the outer surface of the grooving hollow shell (71), trapezoidal push blocks (74) are symmetrically arranged on two sides of the inner wall of the grooving hollow shell (71), a concave clamping strip (73) is slidably connected to one side of the outer surface of each trapezoidal push block (74), an external baffle (78) is fixedly connected to one side of the lower surface of each concave clamping strip (73), a thrust spring strip (77) is fixedly connected to one side of the outer surface of the external baffle (78), a polar magnetic plate (75) is fixedly connected to the lower surface of each trapezoidal push block (74), a circular groove is formed in the middle of the lower surface of the polar magnetic plate (75), and a spring push rod (76) is fixedly connected to the middle of the lower surface of the polar magnetic plate (75).
2. The underwater cooperative-type robot arm control device according to claim 1, characterized in that: the quantity of the main force arm (2) is two, the quantity of connecting bull stick (3) is two, the quantity of the hollow force arm (4) is two, the quantity of adjustment threaded rod (5) is two, the upper portion bolted connection of thread groove and hollow force arm (4) inner wall is passed through to the lower part of adjustment threaded rod (5) surface, the bottom of adjustment threaded rod (5) extends to the inside of the hollow force arm (4), the quantity of camera (6) under water is two.
3. The underwater cooperative-type robot arm control device according to claim 1, characterized in that: the quantity of vertical connecting plate (12) is two, the both ends of adjustment bull stick (8) surface all are rotated with the surface of vertical connecting plate (12) and are connected, the lower surface of control power box (9) is connected with the last fixed surface of base platform (11), the quantity of side position fixing device (7) is two, the quantity of pressure spring group (14) is two, the bottom of pressure spring group (14) is through the inner chamber fixed connection of vertical spout with base platform (11), the surface of pressure spring group (14) is through the internal face sliding connection of vertical spout with base platform (11).
4. The underwater cooperative-type robot arm control device according to claim 1, characterized in that: the outer surface of the external sliding block (72) is in sliding connection with the inner wall of the vertical connecting plate (12) through a vertical sliding groove, the lower surface of the external sliding block (72) is fixedly connected with the top end of the pressure spring group (14), the number of the concave clamping strips (73) is two, the upper surface of each concave clamping strip (73) is in sliding connection with the upper portion of the inner wall of the groove-cutting hollow shell (71), the number of the trapezoidal push blocks (74) is two, the outer surface of each trapezoidal push block (74) is in sliding connection with the inner wall of the groove-cutting hollow shell (71), one side of the outer surface of each trapezoidal push block (74) is in sliding connection with one side of the outer surface of each concave clamping strip (73), the lower surface of each spring push rod (76) is fixedly connected with the bottom of the inner wall of the groove-cutting hollow shell (71), the number of the two thrust spring belts (77) is provided, and one end of each thrust spring belt (77) is fixedly connected with the inner cavity of the groove-cutting hollow shell (71), the other end of the thrust spring belt (77) is fixedly connected with one side of the outer surface of the external baffle (78), the number of the external baffles (78) is two, and the lower surface of the external baffle (78) is in sliding connection with the middle of the inner wall of the grooving hollow shell (71).
5. The underwater cooperative-type robot arm control device according to claim 1, characterized in that: adjustment bull stick (8) are including hollow pivot (81), the surface of hollow pivot (81) is rotated and is connected with screw thread pipe box (83), upper portion fixedly connected with button head ejector pad (82) of hollow pivot (81) surface, the cylinder groove has evenly been seted up on the upper portion of screw thread pipe box (83) inner chamber, the upper portion of screw thread pipe box (83) inner chamber evenly is provided with joint cylinder head (84) through the cylinder groove, one side fixedly connected with retaining clip (85) of joint cylinder head (84) surface, one side fixedly connected with reset small spring (86) of retaining clip (85) surface, there is adjustment through screw thread groove bolted connection and changes cover (87) the surface of screw thread pipe box (83).
6. The underwater cooperative-type robot arm control device according to claim 5, characterized in that: the both ends of hollow rotating shaft (81) all are connected with the surface rotation of vertical connecting plate (12), the inner wall of screw thread pipe box (83) is rotated with one side of hollow rotating shaft (81) surface and is connected, the top of screw thread pipe box (83) is connected with the surface fixed connection of vertical connecting plate (12), one side of button head ejector pad (82) surface and one side swing joint of joint cylinder head (84) surface, the one end of little reset spring (86) is connected with the surface fixed connection of screw thread pipe box (83), and the inner wall of cover (87) and the surface swing joint of joint cylinder head (84) are changeed in the adjustment.
7. The underwater cooperative-type robot arm control device according to claim 6, characterized in that: the number of the hollow rotating shafts (81) is two, the bottom of the inner wall of each hollow rotating shaft (81) is rotatably connected with a connecting rod, the number of the threaded pipe sleeves (83) is two, and the bottom end of the inner wall of the main force arm (2) is fixedly connected with the lower portion of the outer surface of each hollow rotating shaft (81).
8. The underwater cooperative-type robot arm control device according to claim 1, characterized in that: the control power box (9) comprises a square box shell (91), the lower part of the inner wall of the square box shell (91) is fixedly connected with an electric collecting box (98), the inner wall of the electric collecting box (98) is uniformly and fixedly connected with a storage battery (99), the top end of the storage battery (99) is fixedly connected with an electric collecting plate (97) through a waterproof wire, the upper surface of the electric collecting plate (97) is movably connected with a conductive plate (100), the two sides of the upper surface of the square box shell (91) are symmetrically provided with sliding groove openings, the two sides of the upper surface of the square box shell (91) are symmetrically provided with lower pressing blocks (92) through the sliding groove openings, the lower surface of the lower pressing blocks (92) is movably connected with a balance plate (93), the upper part of the outer surface of the balance plate (93) is fixedly connected with a balance spring (94), one side of the outer surface of the balance plate (93) is fixedly connected with a middle position hollow rod (95), the top end of the conductive plate (100) extends to the inside of the middle hollow rod (95), and the top end of the conductive plate (100) is fixedly connected with an extension lead (96).
9. The underwater cooperative-type robot arm control device according to claim 8, characterized in that: the upper surface of briquetting (92) and one side swing joint of main force arm (2) surface down, the both ends of the hollow pole of meso position (95) are rotated with the both sides of square case shell (91) inner wall respectively and are connected, the top of balance spring (94) and the upper portion fixed connection of square case shell (91) inner wall, the bottom of extension wire (96) and the upper portion fixed connection of connecting current conducting plate (100) inner chamber, the top of extension wire (96) and the inner chamber fixed connection of camera (6) under water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210674482.3A CN114750169A (en) | 2022-06-15 | 2022-06-15 | Underwater cooperative mechanical arm control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210674482.3A CN114750169A (en) | 2022-06-15 | 2022-06-15 | Underwater cooperative mechanical arm control device |
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| CN202210674482.3A Pending CN114750169A (en) | 2022-06-15 | 2022-06-15 | Underwater cooperative mechanical arm control device |
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Application publication date: 20220715 |