CN214490606U - Underwater detection robot arm convenient for multi-directional observation - Google Patents
Underwater detection robot arm convenient for multi-directional observation Download PDFInfo
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- CN214490606U CN214490606U CN202120274844.0U CN202120274844U CN214490606U CN 214490606 U CN214490606 U CN 214490606U CN 202120274844 U CN202120274844 U CN 202120274844U CN 214490606 U CN214490606 U CN 214490606U
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Abstract
The utility model discloses an underwater detection robot arm convenient to diversified observation, including base, flexible arm, function arm, hold assembly and observation part. The clamping part comprises a connecting block, an upper clamping jaw, a lower clamping jaw, a first electromagnet and a second electromagnet, and the observation part comprises a first telescopic rod, a second telescopic rod, an underwater camera and a light supplement lamp. Through the frame, flexible arm, function arm and the clamping part that sets up, can realize the regulation of multiposition, make the arm can realize diversified regulation. Simultaneously, an underwater camera and a light supplement lamp are arranged on the function arm, underwater images can be shot through the underwater camera, the underwater camera can move along with the function arm, multi-directional observation can be achieved, and detailed underwater information can be collected. In addition, the motor is matched with the two clamping claws, so that underwater leveling can be conveniently collected, and the diversity of the robot arm functions is improved.
Description
Technical Field
The utility model relates to an underwater robot field, more specifically relates to an underwater detection robot arm convenient to diversified observation.
Background
With the development of science and technology, the cognition of people to underwater is gradually widened, and underwater robots are also developed. The underwater robot is mainly used for detecting underwater environment, and various underwater data are collected in the detection process, so that scientific researchers can conveniently know and research various underwater conditions. However, the existing mechanical arm is single in function and only has the function of grabbing a sample, and meanwhile, the position of the sample is observed by a camera arranged on the body of the far-end underwater robot when the sample is grabbed, so that the observation accuracy is greatly influenced, and the sample cannot be grabbed quickly and accurately when the sample is grabbed.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defect of prior art arm function singleness, the utility model aims to solve the technical problem that an underwater detection robot arm convenient to diversely observe is proposed, its self has the function of video observation to can adjust the position in a flexible way, conveniently snatch the sample.
To achieve the purpose, the utility model adopts the following technical proposal:
the utility model provides an underwater detection robot arm convenient to diversified observation, including base, flexible arm, function arm, hold assembly and observation part. The base is rotatably connected to the base, the fixed end of the telescopic arm is hinged to the base, one end of the functional arm is hinged to the free end of the telescopic arm, the other end of the functional arm is embedded with a motor, a first groove is formed in the top of the functional arm, a second groove is formed in the bottom wall of the functional arm, and the clamping component comprises a connecting block, an upper clamping jaw, a lower clamping jaw, a first electromagnet and a second electromagnet; the upper clamping jaw and the lower clamping jaw are hinged to one side of the connecting block, the other side of the connecting block is fixedly connected with a power output shaft of the motor, the first electromagnet is fixed to the inner side of the upper clamping jaw, and the second electromagnet is fixed to the inner side of the lower clamping jaw. The observation part comprises a first telescopic rod, a second telescopic rod, an underwater camera and a light supplement lamp, the fixed end of the first telescopic rod is hinged to the end portion of the first groove, the underwater camera is hinged to the free end of the first telescopic rod, the fixed end of the second telescopic rod is hinged to the end portion of the second groove, and the light supplement lamp is hinged to the free end of the second telescopic rod.
In the preferred technical solution of the present invention, the end of the upper clamping jaw is set to be a tapered structure.
The utility model discloses in the technical scheme of preferred, the inboard of going up the gripper jaw is provided with first flexible holder, the inboard of gripper jaw is provided with the flexible holder of second down, first flexible holder includes pressure sensor and first rubber slab, pressure sensor is fixed in go up the inboard of gripper jaw, first rubber slab is fixed in pressure sensor is last, the flexible holder of second includes second rubber slab and sponge piece, the sponge piece is fixed in the inboard of gripper jaw down, the second rubber slab is fixed in on the sponge piece.
The utility model discloses in the technical scheme of preferred, be provided with communication module under water in the base, communication module under water with the camera electricity is connected under water.
The utility model discloses in the technical scheme of preferred, one side of camera under water still is fixed with infrared distance meter.
The utility model discloses among the technical scheme of preferred, the underwater detection robot arm convenient to diversified observation still includes the signalling part, the signalling part includes buoy, signalling needle, signal line and runner, the breach is seted up to one side of base, the runner rotate connect in the breach, the signal line is around locating on the runner, the one end of signal line with the communication module electricity is connected under water, the other end of signal line with the signalling needle electricity is connected, the signalling needle is fixed in on the buoy.
The utility model has the advantages that:
the utility model provides a pair of inspection robot arm under water convenient to diversified observation through frame, flexible arm, function arm and the clamping part that sets up, can realize the regulation of multiposition, makes the arm can realize diversified regulation. Simultaneously, an underwater camera and a light supplement lamp are arranged on the function arm, underwater images can be shot through the underwater camera, the underwater camera moves along with the function arm, multi-directional observation can be achieved, and detailed underwater information can be collected. In addition, the motor is matched with the two clamping claws, so that some hard samples can be smashed, the collection is convenient, and the diversity of the functions of the robot arm is improved.
Drawings
Fig. 1 is a schematic structural view of an underwater detection robot arm convenient for multi-directional observation provided by the embodiment of the present invention.
In the figure:
1-base, 11-gap, 2-base, 3-telescopic arm, 4-functional arm, 41-first groove, 42-second groove, 43-first telescopic rod, 44-underwater camera, 45-infrared distance meter, 46-second telescopic rod, 47-light supplement lamp, 51-motor, 52-connecting block, 53-upper clamping claw, 54-lower clamping claw, 55-first electromagnet, 56-second electromagnet, 57-pressure sensor, 58-first rubber plate, 59-second rubber plate, 50-sponge block, 61-underwater communication module, 62-rotating wheel, 63-signal line, 64-buoy and 65-signal transmitting needle.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
As shown in fig. 1, an embodiment provides an underwater detection robot arm convenient for multi-directional observation, which includes a base 1, a base 2, a telescopic arm 3, a functional arm 4, a clamping component and an observation component. The base 2 is rotatably connected to the base 1, the fixed end of the telescopic arm 3 is hinged to the base 2, one end of the functional arm 4 is hinged to the free end of the telescopic arm 3, the motor 51 is embedded at the other end of the functional arm 4, the first groove 41 is formed in the top of the functional arm 4, the second groove 42 is formed in the bottom wall of the functional arm 4, and the clamping component comprises a connecting block 52, an upper clamping claw 53, a lower clamping claw 54, a first electromagnet 55 and a second electromagnet 56; the upper clamping jaw 53 and the lower clamping jaw 54 are hinged to one side of the connecting block 52, the other side of the connecting block 52 is fixedly connected with a power output shaft of the motor 51, the first electromagnet 55 is fixed to the inner side of the upper clamping jaw 53, and the second electromagnet 56 is fixed to the inner side of the lower clamping jaw 54. The observation part includes first telescopic link 43, second telescopic link 46, camera 44 and light filling lamp 47 under water, and the stiff end of first telescopic link 43 articulates in the tip of first recess 41, and camera 44 under water articulates in the free end of first telescopic link 43, and the stiff end of second telescopic link 46 articulates in the tip of second recess 42, and light filling lamp 47 articulates in the free end of second telescopic link 46.
The arm is installed on the existing underwater robot or underwater robot equipment carrying platform through the base 1. The base 2 can rotate along the base 1 to realize the rotation of the clamping part. The clamping part can be extended or shortened for a certain distance through the telescopic arm 3, and the grabbing is convenient. When the light supplement and the video shooting are not required, the first telescopic rod 43 is retracted, the first telescopic rod 43 and the underwater camera 44 are accommodated in the first groove 41, and similarly, the second telescopic rod 46 and the light supplement lamp 47 are accommodated in the second groove 42. When video shooting is required, the first telescopic rod 43 rotates and extends, the underwater camera 44 extends out of the first groove 41, and underwater conditions are shot. Similarly, a fill light 47 also extends from the second recess 42 to provide fill light for the underwater camera 44. In normal material gripping, the upper gripper jaw 53 cooperates with the lower gripper jaw 54 to grip a sample of material. Wherein, the first electromagnet 55 and the second electromagnet 56 are wrapped with insulating sleeves. When snatching some metal material, two electro-magnets circular telegrams adsorb the material, improve the success rate of snatching. When meeting some materials attached to the riverbed or the stone, the materials are inconvenient to directly grab. The upper jaw 53 and the lower jaw 54 are now closed to form a cone. One of the two electromagnets is electrified to attract the other electromagnet. The motor 51 is started to drive the cone formed by the upper clamping claw 53 and the lower clamping claw 54 to drill the material, so that the material is crushed, and the material can be grabbed after the material is crushed. When grabbing the material, camera 44 under water can provide good view for the control personnel on the water to operate because of being close to clamping part, improves the efficiency of snatching.
Specifically, the distal end of the upper holding claw 53 and the distal end of the lower holding claw 54 are each provided in a tapered configuration. The conical structure is favorable for stronger impact force when the material is drilled, and the material is easier to crush.
Specifically, the inner side of the upper clamping jaw 53 is provided with a first flexible clamping piece, the inner side of the lower clamping jaw 54 is provided with a second flexible clamping piece, the first flexible clamping piece comprises a pressure sensor 57 and a first rubber plate 58, the pressure sensor 57 is fixed on the inner side of the upper clamping jaw 53, the first rubber plate 58 is fixed on the pressure sensor 57, the second flexible clamping piece comprises a second rubber plate 59 and a sponge block 50, the sponge block 50 is fixed on the inner side of the lower clamping jaw 54, and the second rubber plate 59 is fixed on the sponge block 50. Pressure sensor 57 can detect the pressure size of centre gripping to the material, and when pressure was too big, can adjust the dynamics of catching between last gripper jaw 53 and the gripper jaw 54 down, avoids damaging the material. The simultaneous provision of the first rubber sheet 58 and the second rubber sheet 59 also provides a buffer for the material sample from rigidly contacting the upper gripper jaw 53 or the lower gripper jaw 54.
Specifically, an underwater communication module 61 is arranged in the base 1, and the underwater communication module 61 is electrically connected with the underwater camera 44. The underwater communication module 61 is an underwater signal transmitter, which arranges the video information collected by the underwater camera 44 into an electric signal for transmission, and the underwater communication module 61 may be a 5G, 4G or GPRS communication chip.
Specifically, the underwater detection robot arm convenient to diversified observation still includes signal transmission part, signal transmission part includes buoy 64, signal transmission needle 65, signal line 63 and runner 62, breach 11 has been seted up to one side of base 1, runner 62 rotates to be connected in breach 11, signal line 63 is around locating on runner 62, the one end and the underwater communication module 61 electricity of signal line 63 are connected, the other end and the signal transmission needle 65 electricity of signal line 63 are connected, signal transmission needle 65 is fixed in on the buoy 64. The buoy 64 floats on the water surface, the underwater communication module 61 transmits the communication signals to the signal transmitting needle 65 through the signal wire 63 to be transmitted out, information transmission is carried out on the water surface, and the reliability of communication is improved.
Specifically, an infrared range finder 45 is further fixed to one side of the underwater camera 44. The infrared rangefinder 45 can detect the approximate distance between the robot arm and the target object, which is beneficial for remote control personnel to estimate the position for clamping operation. The infrared distance meter 45 in this embodiment is an infrared distance meter 45 for underwater use.
Other techniques of the present embodiment employ the prior art
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. The present invention is not to be limited by the specific embodiments disclosed herein, and other embodiments that fall within the scope of the claims of the present application are intended to be within the scope of the present invention.
Claims (6)
1. The utility model provides an underwater detection robot arm convenient to diversified observation which characterized in that: comprises a base (1), a base (2), a telescopic arm (3), a functional arm (4), a clamping component and an observation component;
the base (2) is rotatably connected on the base (1), the fixed end of the telescopic arm (3) is hinged on the base (2), one end of the functional arm (4) is hinged on the free end of the telescopic arm (3), the other end of the functional arm (4) is embedded with a motor (51), the top of the functional arm (4) is provided with a first groove (41), the bottom wall of the functional arm (4) is provided with a second groove (42),
the clamping component comprises a connecting block (52), an upper clamping claw (53), a lower clamping claw (54), a first electromagnet (55) and a second electromagnet (56);
the upper clamping jaw (53) and the lower clamping jaw (54) are hinged to one side of the connecting block (52), the other side of the connecting block (52) is fixedly connected with a power output shaft of the motor (51), the first electromagnet (55) is fixed to the inner side of the upper clamping jaw (53), and the second electromagnet (56) is fixed to the inner side of the lower clamping jaw (54);
the observation part comprises a first telescopic rod (43), a second telescopic rod (46), an underwater camera (44) and a light supplement lamp (47), the fixed end of the first telescopic rod (43) is hinged to the end part of the first groove (41), the underwater camera (44) is hinged to the free end of the first telescopic rod (43), the fixed end of the second telescopic rod (46) is hinged to the end part of the second groove (42), and the light supplement lamp (47) is hinged to the free end of the second telescopic rod (46).
2. The underwater detection robot arm convenient for multi-azimuth observation according to claim 1, wherein:
the tail end of the upper clamping claw (53) and the tail end of the lower clamping claw (54) are both provided with a conical structure.
3. The underwater detection robot arm convenient for multi-azimuth observation according to claim 1, wherein:
the inner side of the upper clamping claw (53) is provided with a first flexible clamping piece, the inner side of the lower clamping claw (54) is provided with a second flexible clamping piece, the first flexible clamping piece comprises a pressure sensor (57) and a first rubber plate (58), the pressure sensor (57) is fixed on the inner side of the upper clamping claw (53), the first rubber plate (58) is fixed on the pressure sensor (57), the second flexible clamping piece comprises a second rubber plate (59) and a sponge block (50), the sponge block (50) is fixed on the inner side of the lower clamping claw (54), and the second rubber plate (59) is fixed on the sponge block (50).
4. The underwater detection robot arm convenient for multi-azimuth observation according to claim 1, wherein:
an underwater communication module (61) is arranged in the base (1), and the underwater communication module (61) is electrically connected with the underwater camera (44).
5. An underwater detection robot arm for facilitating multi-aspect observation according to claim 4, wherein:
still include signal emission part, signal emission part includes buoy (64), signal emission needle (65), signal line (63) and runner (62), breach (11) are seted up to one side of base (1), runner (62) rotate connect in breach (11), signal line (63) are around locating on runner (62), the one end of signal line (63) with communication module (61) electricity is connected under water, the other end of signal line (63) with signal emission needle (65) electricity is connected, signal emission needle (65) are fixed in on buoy (64).
6. The underwater detection robot arm convenient for multi-azimuth observation according to claim 1, wherein:
and an infrared distance meter (45) is further fixed on one side of the underwater camera (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120274844.0U CN214490606U (en) | 2021-01-29 | 2021-01-29 | Underwater detection robot arm convenient for multi-directional observation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120274844.0U CN214490606U (en) | 2021-01-29 | 2021-01-29 | Underwater detection robot arm convenient for multi-directional observation |
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| CN214490606U true CN214490606U (en) | 2021-10-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824413A (en) * | 2023-02-14 | 2023-03-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
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2021
- 2021-01-29 CN CN202120274844.0U patent/CN214490606U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824413A (en) * | 2023-02-14 | 2023-03-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
| CN115824413B (en) * | 2023-02-14 | 2023-04-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
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