CN210910030U

CN210910030U - Underwater mechanical arm

Info

Publication number: CN210910030U
Application number: CN201921078657.4U
Authority: CN
Inventors: 孙翠芳; 劳英夫; 郭辰; 黄蓉; 劳一兵; 柯利佳
Original assignee: Guangxi Wanxinyuan Environmental Science And Technology Engineering Co ltd
Current assignee: Guangxi Wanxinyuan Environmental Science And Technology Engineering Co ltd
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2020-07-03
Anticipated expiration: 2029-07-11

Abstract

The utility model discloses an underwater manipulator, including waterproof dish and electric telescopic handle, the electric telescopic handle top is equipped with the cable, waterproof dish below circumference evenly is equipped with three fixed axle b, fixed axle b all fixes on waterproof dish through the welding mode, fixed axle b periphery all is equipped with the pivot, the pivot all is installed on fixed axle b through the bearing, the pivot below all is equipped with the connecting rod, the connecting rod all fixes on the pivot through the welding mode, the connecting rod lower extreme all is equipped with fixed axle a, fixed axle a all installs on the connecting rod through the bearing, fixed axle a lower extreme all is equipped with robotic arm, robotic arm lateral wall middle part all is equipped with the fixed block, the fixed block apex angle all is equipped with spring assembly, the robotic arm lower extreme all is equipped with the manipulator, the manipulator lower extreme all is equipped with anti-disengaging structure, the circumference evenly is; the utility model relates to a manipulator provides power through electric telescopic handle under water, guarantees that power is stable, transmits power through spring unit.

Description

Underwater mechanical arm

Technical Field

The utility model relates to a manipulator technical field specifically is a manipulator under water.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The underwater manipulator has the characteristics that various expected operations can be completed through programming, the respective advantages of human and manipulator machines are realized in structure and performance, the mechanical and automatic manipulator can replace heavy labor of human to realize mechanization and automation of production, can be operated under harmful environment to protect personal safety, and can also be operated underwater, but the current underwater manipulator has the problems of too complex structure and inconvenient installation.

Disclosure of Invention

An object of the utility model is to provide an underwater manipulator, have reasonable in design, simple structure, power take off stable, be difficult for droing, simple to operate, advantage easy and simple to handle, solved the problem among the prior art.

In order to achieve the above object, the utility model provides a following technical scheme: an underwater manipulator comprises a waterproof disc and an electric telescopic rod, wherein the bottom of the electric telescopic rod is provided with a mounting disc, the mounting disc is installed on the electric telescopic rod through threads, the top of the electric telescopic rod is provided with a cable, three fixed shafts b are uniformly arranged on the periphery of the lower side of the waterproof disc, the fixed shafts b are all fixed on the waterproof disc in a welding mode, rotating shafts are all arranged on the peripheries of the fixed shafts b, the rotating shafts are all installed on the fixed shafts b through bearings, connecting rods are all arranged below the rotating shafts, the connecting rods are all fixed on the rotating shafts in a welding mode, fixed shafts a are all arranged at the lower ends of the connecting rods, the fixed shafts a are all installed on the connecting rods through bearings, the lower ends of the fixed shafts a are all provided with mechanical arms, the mechanical arms are all installed on the fixed shafts a through bearings, the fixed blocks are fixed on the mechanical arm in a welding mode, the vertex angles of the fixed blocks are provided with spring assemblies, the spring assemblies are fixed on the fixed blocks in a welding mode, the lower ends of the mechanical arms are provided with mechanical hands, the mechanical hands are fixed on the mechanical arms in a welding mode, the lower ends of the mechanical hands are provided with anti-falling structures, the anti-falling structures are fixed on the mechanical hands in a welding mode, the inner circumference of the bottom of the waterproof plate is uniformly provided with four limit blocks, the limit blocks are fixed on the waterproof plate in a welding mode, the upper end and the lower end of the right end of the connecting plate a are provided with fixed columns, the fixed columns are installed on the connecting plate a in a welding mode, the right end of the top of the upper end fixed column is provided with a motor a, the motor a is fixed on the fixed columns through, the motor B is fixed on the fixing frame through screws, a drilling head is arranged at the right end of the motor b, and the drilling head is installed on the motor b through a rotating shaft.

Preferably, the diameter of the electric telescopic rod is smaller than that of the waterproof disc, the electric telescopic rod can freely slide in the waterproof disc, and the limit block can limit the sliding distance of the electric telescopic rod in the waterproof disc.

Preferably, the fixed block is triangular, the limiting block is circular, internal threads are formed in the mounting disc, and the connecting disc a and the connecting disc b can be mounted in the mounting disc in a threaded mode.

Preferably, the number of the connecting rods, the fixing shaft a, the mechanical arm, the anti-falling structure, the fixing block, the spring assembly, the rotating shaft and the fixing shaft b is three.

Preferably, one end of the spring assembly is connected with the fixed block in a welding mode, and the other end of the spring assembly is connected with the lower end of the electric telescopic rod in a welding mode.

Preferably, the electric telescopic rod is KM 01.

Preferably, the motor a, the motor b and the cable are respectively connected with a power supply.

Compared with the prior art, the beneficial effects of the utility model are as follows: the utility model relates to a manipulator provides power through electric telescopic handle under water, guarantees that power is stable, transmits power through spring unit, restricts electric telescopic handle sliding distance in waterproof dish through the stopper, prevents the roll-off, makes manipulator and robotic arm rotate on waterproof dish through pivot and fixed axle cooperation, realizes snatching the target.

Drawings

Fig. 1 is a schematic view of the overall structure of an underwater manipulator of the present invention;

fig. 2 is a schematic view of a fixing box of the underwater manipulator of the present invention;

fig. 3 is a schematic view of a mounting position of a transmission shaft of an underwater manipulator of the present invention;

fig. 4 is a schematic view of the inside of a fixed box of the underwater manipulator of the present invention;

fig. 5 is a schematic view of the mounting plate mounting position of the underwater manipulator of the present invention;

fig. 6 is a schematic view of the installation position of the cutting blade of the underwater manipulator of the present invention;

fig. 7 is the utility model relates to a drilling head mounted position schematic diagram of manipulator under water.

The figures are labeled as follows: the anti-drop device comprises a waterproof disc 1, an electric telescopic rod 2, a cable 3, a connecting rod 4, a fixing shaft a5, a mechanical arm 6, a mechanical arm 7, an anti-drop structure 8, a fixing block 9, a spring assembly 10, a rotating shaft 11, a fixing shaft b12, a limiting block 13, a mounting disc 14, a cutting blade 15, a motor a16, a connecting disc a17, a fixing column 18, a connecting disc b19, a fixing frame 20, a motor b21 and a drilling head 22.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Referring to fig. 1-7, an underwater manipulator comprises a waterproof plate and an electric telescopic rod 2, the model of the electric telescopic rod 2 is KM01, a mounting plate 14 is arranged at the bottom of the electric telescopic rod 2, the mounting plate 14 is mounted on the electric telescopic rod 2 through threads, a cable 3 is arranged at the top of the electric telescopic rod 2, three fixing shafts b12 are uniformly arranged on the circumference below the waterproof plate, fixing shafts b12 are fixed on the waterproof plate through welding, rotating shafts 1 are arranged on the peripheries of the fixing shafts b12, the rotating shafts 1 are mounted on the fixing shafts b12 through bearings, connecting rods 4 are arranged below the rotating shafts 1, the connecting rods 4 are fixed on the rotating shafts 1 through welding, fixing shafts a5 are arranged at the lower ends of the connecting rods, fixing shafts a5 are mounted on the connecting rods through bearings, mechanical arms 6 are arranged at the lower ends of the fixing shafts a5, the mechanical arms 6 are mounted on the fixing shafts a5 through bearings, fixing, fixing blocks 9 are fixed on a mechanical arm 6 in a welding mode, spring assemblies 10 are arranged at top corners of the fixing blocks 9, the spring assemblies 10 are fixed on the fixing blocks 9 in a welding mode, mechanical arms 7 are arranged at the lower ends of the mechanical arms 6, the mechanical arms 7 are fixed on the mechanical arms 6 in a welding mode, anti-disengaging structures 8 are arranged at the lower ends of the mechanical arms 7, the anti-disengaging structures 8 are fixed on the mechanical arms 7 in a welding mode, four limiting blocks 13 are uniformly arranged on the inner circumference of the bottom of a waterproof plate, the limiting blocks 13 are fixed on the waterproof plate 1 in a welding mode, fixing columns 18 are arranged at the upper end and the lower end of the right end of a connecting plate a17, the fixing columns 18 are installed on a connecting plate a17 in a welding mode, a motor a16 is arranged at the right end of the top of the upper fixing column 18, a16 is, the right end of a connecting disc b19 is provided with a fixing frame 20, the fixing frame 20 is installed on a connecting disc b19 through welding, the middle part of the right end of the fixing frame 20 is provided with a motor b21, a motor b21 is fixed on the fixing frame 20 through screws, the right end of a motor b21 is provided with a drilling head 22, the drilling head 22 is installed on a motor b21 through a rotating shaft, the diameter of an electric telescopic rod 2 is smaller than that of a waterproof disc, the electric telescopic rod 2 can freely slide in the waterproof disc, a limiting block 13 can limit the sliding distance of the electric telescopic rod 2 in the waterproof disc, the fixing block 9 is triangular, the limiting block 13 is circular, an internal thread is arranged in a mounting disc 14, a connecting disc a 5639 and a connecting disc b19 can be installed in the mounting disc 14 through threads, three connecting rods 4, a fixing shafts 5, mechanical arms 6, mechanical arms 7, anti-release structures 8, the fixing blocks 9, spring assemblies 10, three rotating shafts, the other end is connected with the lower end of the electric telescopic rod 2 in a welding mode, and the motor a16, the motor b21 and the cable 3 are respectively connected with a power supply.

The working principle is as follows: the utility model relates to an underwater manipulator, which can be installed on a robot arm or used independently, the device is put into water, when a certain object block needs to be grabbed, a cable 3 is connected with a power supply, an electric telescopic rod 2 is powered on, the electric telescopic rod 2 starts to contract and drives a spring assembly 10 to pull upwards, the spring assembly 10 drives a mechanical arm 6 and a mechanical arm 7 to move inwards, the object block is grabbed, an anti-falling structure 8 on the mechanical arm 7 can grab the object block to prevent the object block from falling off, a limiting block 13 can block the spring assembly 10 at the lower end of the electric telescopic rod 2 in the process of the upward movement of the electric telescopic rod 2, thereby limiting the sliding distance of the electric telescopic rod 2 in a waterproof disc 1, when the object block needs to be loosened, the cable 3 is connected with the power supply, the electric telescopic rod 2 is powered on, the electric telescopic rod 2 starts to expand, afterwards, drive spring unit 10 downstream, and then control the manipulator and loosen the thing piece, realize loosening the operation to the thing piece, when needs carry out cutting operation, install connection pad a17 in mounting disc 14, motor a16 connects the power, turn on the power, motor a16 drives the cutting piece through the pivot and rotates, realize cutting operation, if need drill, can install connection pad b19 in mounting disc 14, motor b21 connects the power, turn on the power, motor b21 drives the drilling head 22 through the pivot and rotates, realize drilling operation, if want to close this device, only need the disconnection power can.

Having shown and described the basic principles and principal features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An underwater manipulator, characterized in that: the waterproof structure comprises a waterproof disc (1), a connecting disc a (17), a connecting disc b (19) and an electric telescopic rod (2), wherein a mounting disc (14) is arranged at the bottom of the electric telescopic rod (2), the mounting disc (14) is installed on the electric telescopic rod (2) through threads, a cable (3) is arranged at the top of the electric telescopic rod (2), three fixing shafts b (12) are uniformly arranged on the circumference of the lower side of the waterproof disc (1), the fixing shafts b (12) are all fixed on the waterproof disc (1) through welding, rotating shafts (11) are arranged on the circumference of the fixing shafts b (12), the rotating shafts (11) are all installed on the fixing shafts b (12) through bearings, connecting rods (4) are arranged below the rotating shafts (11), the connecting rods (4) are all fixed on the rotating shafts (11) through welding, and fixing shafts a (5) are arranged at the lower ends of the connecting rods (4), the mechanical arm is characterized in that the fixed shaft a (5) is mounted on the connecting rod (4) through bearings, the lower end of the fixed shaft a (5) is provided with a mechanical arm (6), the mechanical arm (6) is mounted on the fixed shaft a (5) through bearings, the middle part of the side wall of the mechanical arm (6) is provided with a fixed block (9), the fixed block (9) is fixed on the mechanical arm (6) through a welding mode, the vertex angle of the fixed block (9) is provided with a spring assembly (10), the spring assembly (10) is fixed on the fixed block (9) through a welding mode, the lower end of the mechanical arm (6) is provided with a mechanical arm (7), the mechanical arm (7) is fixed on the mechanical arm (6) through a welding mode, the lower end of the mechanical arm (7) is provided with an anti-falling structure (8), and the anti-falling structure (8) is fixed on, the inner circumference of the bottom of the waterproof disc (1) is uniformly provided with four limiting blocks (13), the limiting blocks (13) are fixed on the waterproof disc (1) in a welding mode, the upper end and the lower end of the right end of the connecting disc a (17) are respectively provided with a fixing column (18), the fixing columns (18) are respectively arranged on the connecting disc a (17) in a welding mode, the right end of the top of each fixing column (18) is provided with a motor a (16), the motor a (16) is fixed on the fixing columns (18) through screws, a cutting piece (15) is arranged between the two fixing columns (18), the cutting piece is arranged on the fixing columns (18) through a rotating shaft, the right end of the connecting disc b (19) is provided with a fixing frame (20), the fixing frame (20) is arranged on the connecting disc b (19) through welding, the middle part of the right end of the fixing frame (20) is provided with a, the right end of the motor b (21) is provided with a drilling head (22), and the drilling head (22) is installed on the motor b (21) through a rotating shaft.

2. An underwater robot as claimed in claim 1, wherein: the diameter ratio of electric telescopic handle (2) is little than the diameter of waterproof dish (1), electric telescopic handle (2) can freely slide in waterproof dish (1), stopper (13) can restrict the sliding distance of electric telescopic handle (2) in waterproof dish (1).

3. An underwater robot as claimed in claim 1, wherein: fixed block (9) shape is the triangle form, stopper (13) shape is circular, be equipped with the internal thread in mounting disc (14), connection pad a (17) and connection pad b (19) homoenergetic threaded mounting are in mounting disc (14).

4. An underwater robot as claimed in claim 1, wherein: the mechanical arm is characterized in that the number of the connecting rods (4), the number of the fixed shafts a (5), the number of the mechanical arms (6), the number of the mechanical arms (7), the anti-falling structure (8), the number of the fixed blocks (9), the number of the spring assemblies (10), the number of the rotating shafts (11) and the number of the fixed shafts b (12) are three.

5. An underwater robot as claimed in claim 1, wherein: one end of the spring assembly (10) is connected with the fixing block (9) in a welding mode, and the other end of the spring assembly is connected with the lower end of the electric telescopic rod (2) in a welding mode.

6. An underwater robot as claimed in claim 1, wherein: the model of the electric telescopic rod (2) is KM 01.

7. An underwater robot as claimed in claim 1, wherein: the motor a (16), the motor b (21) and the cable (3) are respectively connected with a power supply.