CN203510208U - Multi-degree of freedom underwater operation mechanical arm - Google Patents

Multi-degree of freedom underwater operation mechanical arm Download PDF

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Publication number
CN203510208U
CN203510208U CN201320640639.7U CN201320640639U CN203510208U CN 203510208 U CN203510208 U CN 203510208U CN 201320640639 U CN201320640639 U CN 201320640639U CN 203510208 U CN203510208 U CN 203510208U
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CN
China
Prior art keywords
arm
forearm
connected
monitoring device
freedom
Prior art date
Application number
CN201320640639.7U
Other languages
Chinese (zh)
Inventor
吴子岳
薛宸楠
祁杰
高亢
Original Assignee
上海海洋大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海海洋大学 filed Critical 上海海洋大学
Priority to CN201320640639.7U priority Critical patent/CN203510208U/en
Application granted granted Critical
Publication of CN203510208U publication Critical patent/CN203510208U/en

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Abstract

The utility model discloses a multi-degree of freedom underwater operation mechanical arm which comprises an installation base, a rotating platform, a large arm, a small arm, a monitoring device, a shoulder joint, an elbow joint, a wrist joint, a stepping motor, a connection rod and a connection part. The base serves as a carrier of the multi-degree of freedom underwater operation mechanical arm, the rotating platform and the base are installed in a matching mode, and the rotating platform can rotate freely in the horizontal plane under the driving of the stepping motor and can go up and down in the vertical plane. The shoulder joint is connected with the rotating platform and the large arm which can move for a certain angle relative to the rotating platform under the driving of the stepping motor. The wrist joint is connected with the small arm and the monitoring device which can move for a certain angle relative to the small arm under the driving of the stepping motor. The connection rod is connected with the connection part connected with the shoulder joint and the tail end of the small arm to aid to control the movement of the small arm. The multi-degree of freedom underwater operation mechanical arm is simple in structure, clean and capable of saving energy by means of power driving, applicable to monitoring the underwater environment, positioning the position of a target object and aiding to install underwater devices during underwater research, fast and accurate in positioning, and capable of increasing research efficiency.

Description

Multiple degrees of freedom underwater operating machine arm

Technical field

The utility model relates to a kind of mechanical arm, especially a kind of six degree of freedom mechanical arm that is applied in underwater operation.

Background technology

In the last few years, mechanical arm development was swift and violent, deserved to be called high-tech automated production equipment, and it is the new device growing up in mechanization, automated production process.Electronic technology is the extensive use of computer especially, has more promoted the development of mechanical arm, makes the mechanical arm combination of realization and mechanization and automation better.Yet submarine mechanical arm automaticity is now not high, and flexibility ratio is not high, and the degree of accuracy is not high, make the utilization of mechanical arm in monitoring under water, studying less.In order to improve under water the efficiency of research, alleviate researcher's labour intensity, accelerate the development of research under water, the development and application of multiple degrees of freedom underwater operating machine arm be very necessary be also necessary.

Summary of the invention

In conjunction with the low problem of current underwater monitoring research automaticity, the purpose of this utility model is to overcome at present by manually carrying out underwater monitoring, image data, the problem of research, when ultrasonic ranging device, RF transmitter, the checkout gears such as Underwater Camera capture while needing the region under water of monitoring or immersed body, researcher can operate multiple degrees of freedom underwater operating machine arm, driving by stepper motor regulates each joint, the motion of each arm, make monitoring device arrive best monitoring observation position, monitoring underwater environment information around, also can assist installation underwater installation, support personnel's safety, improve positioning precision.

In order to realize above-mentioned object, the utility model adopts following technical scheme:

A kind of multiple degrees of freedom underwater operating machine arm comprises mounting base, turntable, large arm, forearm, monitoring device, shoulder joint, elbow joint, wrist joint, stepper motor, connecting rod, connector.Wherein pedestal is as the carrier of multiple degrees of freedom underwater operating machine arm, and turntable coordinates installation with pedestal.Shoulder joint connects turntable and large arm, and elbow joint connects large arm and forearm, and wrist joint connects forearm and monitoring device, and connecting rod connects connector and the forearm end being connected with shoulder joint.

Described turntable can freely rotate in horizontal plane, also can in perpendicular, do oscilaltion, and is connected with shaft hole matching by axle with large arm, and described large arm is connected with axis hole by axle with forearm, and described forearm is connected with axis hole by axle with monitoring device.

Described monitoring device adopts waterproof sealing protection, by retainer ring, is arranged on cramp bar, and cramp bar is fixed on substrate by nut.

The utility model is by adopting this technical scheme, by monitoring device, catch the position that need to monitor waters or object, carry out computer data coordinate setting, under the driving of stepper motor, turntable, large arm, forearm, monitoring device run to corresponding position, gather the data that need.Adopt articulated type coordinate form, working range is large, and positioning precision is high, and the free degree is high, flexible movements, highly versatile, good waterproof performance, can monitor the object near pedestal, and energy cut-through thing go to monitor, and this is the incomparable advantage of other submarine mechanical arm.

Accompanying drawing explanation

Fig. 1 is the complete layout of the utility model multiple degrees of freedom underwater operating machine arm.

Fig. 2 is the main apparent direction structural representation of the utility model multiple degrees of freedom underwater operating machine arm.

The specific embodiment

Below in conjunction with accompanying drawing, the utility model is described further.

As shown in Figure 1 and Figure 2, multiple degrees of freedom underwater operating machine arm, comprises mounting base 1, turntable 3, large arm 4, forearm 6, monitoring device 7, shoulder joint 31, elbow joint 41, wrist joint 62, stepper motor 2, connecting rod 5, connector 32; Pedestal 1 is as the carrier of multiple degrees of freedom underwater operating machine arm, and turntable 3 coordinates installation with pedestal 1, and under the driving of stepper motor 2, turntable can freely rotate in horizontal plane, also can in perpendicular, do oscilaltion campaign; Shoulder joint 31 connects turntable 3 and large arm 4, and elbow joint 41 connects large arm 4 and forearm 6, and wrist joint 62 connects forearm 6 and monitoring device 7; Telescopic mounting 61 is installed on forearm 6.Monitoring device 7 heads are provided with the sniffers 71 such as Underwater Camera, ultrasonic ranging device, RF transmitter.The connector 32 that connecting rod 5 connections are connected with shoulder joint 31 and the axle 51 of forearm 6 ends.

The multiple degrees of freedom underwater operating machine arm course of work: first, the position detecting device on backstage detects the coordinate position that needs surveyed area, transfers data signal to the signal of telecommunication by computer, Driving Stepping Motor 2 work; Under the driving of stepper motor 2, turntable 3 is around pedestal 1 rotation in horizontal plane, if vertically stroke is larger, turntable 3 can oscilaltion, and large arm 4 rotates around axle 31, and forearm 6 is around axle 41, the motion of connector 32 coupler link 5 assistive drive forearms 6 simultaneously; Retractor device 61 on forearm 6 is according to physical location demand free-extension.Monitoring device 7 is around axle 62 rotations, monitoring device 7 arrives at behind target area under researcher's operation, the sniffers 71 such as Underwater Camera, ultrasonic ranging device, RF transmitter are started working, the coordinate position of localizing objects object, surperficial sign, physical characteristic etc., and data are passed to computer, thereby reach the function of underwater monitoring research; In research, be applicable to monitor underwater environment and aquatic organism under water, also can be for the auxiliary underwater installation of installing, location is accurately quick, improves research work efficiency.

Claims (3)

1. multiple degrees of freedom underwater operating machine arm, comprises mounting base, turntable, large arm, forearm, monitoring device, shoulder joint, elbow joint, wrist joint, stepper motor, connecting rod, connector; Wherein pedestal is as the carrier of multiple degrees of freedom underwater operating machine arm, and turntable coordinates installation with pedestal; Shoulder joint connects turntable and large arm, and elbow joint connects large arm and forearm, and wrist joint connects forearm and monitoring device, and connecting rod connects connector and the forearm end being connected with shoulder joint.
2. multiple degrees of freedom underwater operating machine arm as claimed in claim 1, it is characterized in that, described turntable can freely rotate and be connected with shaft hole matching by axle with large arm in horizontal plane, described large arm is connected with axis hole by axle with forearm, and described forearm is connected with axis hole by axle with monitoring device.
3. multiple degrees of freedom underwater operating machine arm as claimed in claim 1, it is characterized in that, described monitoring device critical piece is Underwater Camera, ultrasonic ranging device, RF transmitter, by retainer ring, is arranged on cramp bar, and cramp bar is fixed on substrate by nut.
CN201320640639.7U 2013-10-17 2013-10-17 Multi-degree of freedom underwater operation mechanical arm CN203510208U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320640639.7U CN203510208U (en) 2013-10-17 2013-10-17 Multi-degree of freedom underwater operation mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320640639.7U CN203510208U (en) 2013-10-17 2013-10-17 Multi-degree of freedom underwater operation mechanical arm

Publications (1)

Publication Number Publication Date
CN203510208U true CN203510208U (en) 2014-04-02

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Family Applications (1)

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CN201320640639.7U CN203510208U (en) 2013-10-17 2013-10-17 Multi-degree of freedom underwater operation mechanical arm

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CN (1) CN203510208U (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103552057A (en) * 2013-10-17 2014-02-05 上海海洋大学 Multi-degree of freedom underwater operation mechanical arm
CN103863534A (en) * 2014-04-04 2014-06-18 中国船舶重工集团公司第七○二研究所 Butt joint opening and closing mechanism for movable type single atmospheric diving apparatus
CN103913133A (en) * 2014-04-14 2014-07-09 王金桥 Deep-hole detection manipulator
CN105350918A (en) * 2015-11-24 2016-02-24 岳文智 Mechanical arm of rock drill
CN105818134A (en) * 2016-05-12 2016-08-03 南京理工大学 Intelligent mechanical arm with automatic button pressing function
CN106044249A (en) * 2016-06-23 2016-10-26 安庆联泰电子科技有限公司 Energy-saving type stacking mechanical arm
CN108860527A (en) * 2018-07-09 2018-11-23 哈尔滨工程大学 A kind of underwater robot-submarine mechanical arm system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103552057A (en) * 2013-10-17 2014-02-05 上海海洋大学 Multi-degree of freedom underwater operation mechanical arm
CN103863534A (en) * 2014-04-04 2014-06-18 中国船舶重工集团公司第七○二研究所 Butt joint opening and closing mechanism for movable type single atmospheric diving apparatus
CN103863534B (en) * 2014-04-04 2016-05-18 中国船舶重工集团公司第七○二研究所 Portable single normobaric diving harness is with docking and mechanism for opening/closing
CN103913133A (en) * 2014-04-14 2014-07-09 王金桥 Deep-hole detection manipulator
CN105350918A (en) * 2015-11-24 2016-02-24 岳文智 Mechanical arm of rock drill
CN105818134A (en) * 2016-05-12 2016-08-03 南京理工大学 Intelligent mechanical arm with automatic button pressing function
CN106044249A (en) * 2016-06-23 2016-10-26 安庆联泰电子科技有限公司 Energy-saving type stacking mechanical arm
CN106044249B (en) * 2016-06-23 2018-05-11 海蓝旭阳(青岛)科技发展有限公司 A kind of energy-saving palletizing mechanical arm
CN108860527A (en) * 2018-07-09 2018-11-23 哈尔滨工程大学 A kind of underwater robot-submarine mechanical arm system

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GR01 Patent grant
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140402

Termination date: 20141017