CN211200528U - Mechanical arm connecting rod mechanism of underwater dredging robot - Google Patents
Mechanical arm connecting rod mechanism of underwater dredging robot Download PDFInfo
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- CN211200528U CN211200528U CN201921078659.3U CN201921078659U CN211200528U CN 211200528 U CN211200528 U CN 211200528U CN 201921078659 U CN201921078659 U CN 201921078659U CN 211200528 U CN211200528 U CN 211200528U
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- shaft
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Abstract
The utility model discloses an underwater desilting robot mechanical arm link mechanism, including first section arm shell, second section arm shell, the camera, the connecting axle, first section arm main shaft, first section loose axle, second section arm main shaft, the second loose axle, electric telescopic handle, a controller, first section arm shell top right-hand member is equipped with the controller, first section arm shell top left end is equipped with second section arm shell, second section arm shell top is equipped with the camera, second section arm shell right-hand member is equipped with the connecting axle, be equipped with the second loose axle in the second section arm shell, second loose axle right-hand member is equipped with second section arm main shaft, electric telescopic handle establishes on second section arm main shaft and first section arm main shaft; the underwater remote watching system has the advantages of low cost, capability of performing underwater operation according to the programming in the controller, solving the trouble of manual work, simple operation, capability of realizing remote watching process operation and high working precision.
Description
Technical Field
The utility model relates to a mechanical arm technical field, concretely relates to is a desilting machine man mechanical arm link mechanism under water.
Background
A planar linkage Mechanism is a common transmission Mechanism, and the most widely applied type of the planar linkage Mechanism is a planar four-bar Mechanism consisting of four members.
Disclosure of Invention
An object of the utility model is to provide an underwater dredging robot arm link mechanism, possessed and realized that robotic arm is crooked under water and reached and clear up, with low costs, can carry out underwater operation according to the programming in the controller, solved the trouble of manual work, easy operation, can realize long-range viewing process operation, advantage that the work precision is high, solved prior art's problem.
In order to achieve the above object, the utility model provides a following technical scheme: a mechanical arm link mechanism of an underwater dredging robot comprises a first section of mechanical arm shell, a second section of mechanical arm shell, a camera, a connecting shaft, a first section of mechanical arm main shaft, a first section of movable shaft, a second section of mechanical arm main shaft, a second movable shaft, an electric telescopic rod and a controller, wherein the first section of movable shaft is arranged at the upper end of the first section of mechanical arm main shaft, the second section of mechanical arm main shaft is arranged at the left end of the first section of movable shaft, the second section of mechanical arm main shaft is connected with the first section of mechanical arm main shaft through the first section of movable shaft, the second movable shaft is arranged at the left end of the second section of mechanical arm main shaft, the second section of mechanical arm main shaft is connected with the second section of mechanical shaft through the second movable shaft, the connecting shaft is arranged at the left end of the second movable shaft, the connecting shaft is connected with the second section of mechanical arm main shaft through the second movable shaft, the improved mechanical arm comprises a first section of mechanical arm shell, and is characterized in that a controller is arranged in the right end of the first section of mechanical arm shell, the controller is fixed in the first section of mechanical arm shell through screws, a second section of mechanical arm shell is arranged on the outer side of a second section of mechanical arm main shaft, a camera is arranged at the top of the second section of mechanical arm shell, the camera is fixed on the second section of mechanical arm shell through screws, the first section of mechanical arm shell is connected with the second section of mechanical arm shell through a telescopic rod, and the telescopic rod is fixed on the first section of mechanical arm shell and the second section of mechanical arm.
Preferably, the second movable shaft (8) is provided with an external thread to be connected with the internal thread of the connecting shaft (4).
Preferably, the controller is connected with the power supply through a cable, the controller is connected with the camera through a cable, and the controller is connected with the electric telescopic rod through a cable.
Preferably, the camera model is: SHARPCCD, the electric telescopic rod model is: KM 01.
Preferably, the first section of mechanical arm shell and the second section of mechanical arm shell are both made of waterproof materials, and the camera is subjected to waterproof treatment.
Compared with the prior art, the beneficial effects of the utility model are as follows: the mechanical arm link mechanism of the underwater dredging robot has the advantages of low cost, capability of performing underwater operation according to programming in a controller, solving the trouble of manual work, simplicity in operation, capability of realizing remote watching process operation and high working precision.
Drawings
FIG. 1 is a schematic view of a mechanical arm linkage mechanism of an underwater dredging robot of the present invention;
fig. 2 is a partial schematic view of the mechanical arm link mechanism of the underwater dredging robot.
The figures are labeled as follows: the robot comprises a first section of mechanical arm shell 1, a second section of mechanical arm shell 2, a camera 3, a connecting shaft 4, a first section of mechanical arm main shaft 5, a first section of movable shaft 6, a second section of mechanical arm main shaft 7, a second section of movable shaft 8, an electric telescopic rod 9 and a controller 10.
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. 1-2, a mechanical arm link mechanism of an underwater dredging robot comprises a first section of mechanical arm shell 1, a second section of mechanical arm shell 2, a camera 3, a connecting shaft 4, a first section of mechanical arm main shaft 5, a first section of movable shaft 6, a second section of mechanical arm main shaft 7, a second movable shaft 8, an electric telescopic rod 9 and a controller 10, wherein the first section of movable shaft 6 is arranged at the upper end of the first section of mechanical arm main shaft 5, the second section of mechanical arm main shaft 7 is arranged at the left end of the first section of movable shaft 6, the second section of mechanical arm main shaft 7 is connected with the first section of mechanical arm main shaft 5 through the first section of movable shaft 6, the second movable shaft 8 is arranged at the left end of the second section of mechanical arm main shaft 7, the second section of mechanical arm main shaft 7 is connected through the second movable shaft 8, the connecting shaft 4 is arranged at the left end of the second movable shaft 8, the connecting shaft 4 is connected with the second section, first section arm main shaft 5 outside is equipped with first section arm shell 1, be equipped with controller 10 in the 1 right-hand member of first section arm shell, controller 10 passes through the screw fixation in first section arm shell 1, the 7 outsides of second section arm main shaft are equipped with second section arm shell 2, 2 tops of second section arm shell are equipped with camera 3, camera 3 passes through the screw fixation on second section arm shell 2, first section arm shell 1 passes through telescopic link 9 and second section arm shell 2 connects, telescopic link 9 passes through welded fastening on first section arm shell 1 and second section arm shell 2.
The working principle is as follows: a mechanical arm link mechanism of an underwater dredging robot is connected to a controller 10 through a cable, the controller 10 is connected with an electric telescopic rod 9 and a camera 3 through the cable to ensure the normal operation of the robot, the mechanical gripper is connected to the device by a connecting shaft 4, programmed by a computer into a controller 10, because the waterproof materials are arranged outside the first section of mechanical arm shell 1, the second section of mechanical arm shell 2 and the camera 3 to work under water, the controller 10 controls the electric telescopic rods 9 on the first mechanical arm main shaft and the second mechanical arm main shaft 2 under water, the controller 10 controls the expansion degree of the electric telescopic rods 9 according to the programming of a computer to control the angle of the second mechanical arm main shaft 7, objects under water can be cleared from time to time, and the controller 10 is connected with the camera 3 and is used for monitoring the underwater clearing condition and feeding the condition back to water workers.
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 (5)
1. The utility model provides an underwater dredging robot mechanical arm link mechanism which characterized in that: comprises a first section of mechanical arm shell (1), a second section of mechanical arm shell (2), a camera (3), a connecting shaft (4), a first section of mechanical arm main shaft (5), a first section of loose shaft (6), a second section of mechanical arm main shaft (7), a second loose shaft (8), an electric telescopic rod (9) and a controller (10), wherein the first section of loose shaft (6) is arranged at the upper end of the first section of mechanical arm main shaft (5), the second section of mechanical arm main shaft (7) is arranged at the left end of the first section of loose shaft (6), the second section of mechanical arm main shaft (7) is connected with the first section of mechanical arm main shaft (5) through the first section of loose shaft (6), the second loose shaft (8) is arranged at the left end of the second section of mechanical arm main shaft (7), the connecting shaft (4) is connected with the second section of mechanical arm main shaft (7) through the second loose shaft (8), first section arm main shaft (5) outside is equipped with first section arm shell (1), be equipped with controller (10) in first section arm shell (1) right-hand member, controller (10) pass through the screw fixation in first section arm shell (1), second section arm main shaft (7) outside is equipped with second section arm shell (2), second section arm shell (2) top is equipped with camera (3), camera (3) pass through the screw fixation on second section arm shell (2), first section arm shell (1) is connected through telescopic link (9) and second section arm shell (2), telescopic link (9) are through welded fastening on first section arm shell (1) and second section arm shell (2).
2. The mechanical arm linkage mechanism of the underwater dredging robot as claimed in claim 1, wherein: the second movable shaft (8) is provided with external threads and is connected with the internal threads of the connecting shaft (4).
3. The mechanical arm linkage mechanism of the underwater dredging robot as claimed in claim 1, wherein: the controller (10) is connected with a power supply through a cable, the controller (10) is connected with the camera (3) through a cable, and the controller (10) is connected with the electric telescopic rod (9) through a cable.
4. The mechanical arm linkage mechanism of the underwater dredging robot as claimed in claim 1, wherein: the camera (3) model is as follows: SHARPCCD, electric telescopic link (9) model is: KM 01.
5. The mechanical arm linkage mechanism of the underwater dredging robot as claimed in claim 1, wherein: first section arm shell (1) and second section arm shell (2) all adopt waterproof material outward, camera (3) adopt water repellent outward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921078659.3U CN211200528U (en) | 2019-07-11 | 2019-07-11 | Mechanical arm connecting rod mechanism of underwater dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921078659.3U CN211200528U (en) | 2019-07-11 | 2019-07-11 | Mechanical arm connecting rod mechanism of underwater dredging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211200528U true CN211200528U (en) | 2020-08-07 |
Family
ID=71885096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921078659.3U Expired - Fee Related CN211200528U (en) | 2019-07-11 | 2019-07-11 | Mechanical arm connecting rod mechanism of underwater dredging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211200528U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110439050A (en) * | 2019-07-11 | 2019-11-12 | 广西万鑫源环境科技工程有限公司 | A kind of underwater desilting machine man-machine tool arm link mechanism |
-
2019
- 2019-07-11 CN CN201921078659.3U patent/CN211200528U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110439050A (en) * | 2019-07-11 | 2019-11-12 | 广西万鑫源环境科技工程有限公司 | A kind of underwater desilting machine man-machine tool arm link mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200807 Termination date: 20210711 |
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| CF01 | Termination of patent right due to non-payment of annual fee |