阅读说明：本技术 一种旋转式可更换机械臂和无人潜水器 (Rotary replaceable mechanical arm and unmanned submersible ) 是由 蔡永飞 邵剑雄 马辉 邵荣雨 袁承洋 王志扬 王虎成 李佳聪 于 2021-08-16 设计创作，主要内容包括：本申请提供一种旋转式可更换机械臂和无人潜水器,包括机械臂关节、安装臂、转接头、主机械手和备用机械手,机械臂关节用于与潜水器本体连接；安装臂设置有容置腔,安装臂与机械臂关节连接,机械臂关节用于带动安装臂运动；转接头与安装臂可转动地连接；主机械手与转接头可拆卸地连接；备用机械手设于容置腔内,转接头用于在主机械手与转接头分离后与备用机械手连接。更换灵活,作业效率高,适用范围广。(The application provides a rotary replaceable mechanical arm and an unmanned submersible, which comprises a mechanical arm joint, a mounting arm, an adapter, a main mechanical arm and a standby mechanical arm, wherein the mechanical arm joint is used for being connected with a submersible body; the mounting arm is provided with an accommodating cavity and is connected with a mechanical arm joint, and the mechanical arm joint is used for driving the mounting arm to move; the adapter is rotatably connected with the mounting arm; the main manipulator is detachably connected with the adapter; the holding intracavity is located to the spare manipulator, and the adapter is used for being connected with the spare manipulator after main machine manipulator and adapter separation. Flexible replacement, high operation efficiency and wide application range.)

1. A rotary changeable robotic arm, comprising:

the mechanical arm joint is used for being connected with the submersible body; the mounting arm is provided with an accommodating cavity, the mounting arm is connected with the mechanical arm joint, and the mechanical arm joint is used for driving the mounting arm to move; the adapter is rotatably connected with the mounting arm; the main manipulator is detachably connected with the adapter; spare manipulator is located the holding intracavity, the adapter is used for main machine manipulator with the adapter separation back with spare manipulator is connected.

2. The rotary changeable robot arm of claim 1, wherein:

be provided with the electro-magnet module on the adapter, the electro-magnet module be used for selectively with main manipulator with spare manipulator detachably connects.

3. The rotary changeable robot arm of claim 2, wherein:

the adapter is provided with an avoidance end and a butt joint end which are oppositely arranged, and the electromagnet module is arranged at the butt joint end; the electro-magnet module have be used for with master manipulator or the end is inhaled to magnetism of reserve manipulator coupling, magnetism inhale the end with distance between the axis of rotation of installation arm is D1, dodge the end with the distance of axis of rotation is D2, D1 is greater than D2, just dodge the end with the holding chamber has the interval, in order to avoid master manipulator with under the state that the adapter is connected, the adapter for when the installation arm rotates dodge the end with reserve manipulator produces the interference.

4. The rotary changeable robot arm of claim 3, wherein:

the accommodating cavity is provided with a butt joint port, and the magnetic suction end can rotate to the butt joint port and is connected with the standby manipulator.

5. The rotary changeable robot arm of claim 4, wherein:

the mounting arm is provided with a pushing module, the pushing module comprises a wedge-shaped driving block, a lever and a rotating shaft, the wedge-shaped driving block is slidably matched with the inner wall of the accommodating cavity, the lever is rotatably connected with the mounting arm through the rotating shaft, the lever is provided with a first end and a second end, the first end is abutted against the wedge-shaped driving block, and the second end is abutted against the standby manipulator;

when the adapter rotates relative to the installation arm, the magnetic suction end is used for abutting against the driving inclined surface of the wedge-shaped driving block, so that the wedge-shaped driving block abuts against the first end, the lever is driven to rotate, and the standby manipulator is pushed towards the magnetic suction end.

6. The rotary changeable robot arm of claim 5, wherein:

the wedge-shaped driving block is connected with the mounting arm through an elastic resetting piece, and the elastic resetting piece is used for enabling the wedge-shaped driving block to have a tendency of sliding close to the adapter.

7. The rotary changeable robot arm of claim 4, wherein:

the holding cavity is provided with a taking and placing opening, the mounting arm is provided with a door body, and the door body is used for opening or closing the taking and placing opening.

8. The rotary changeable robot arm of claim 1, wherein:

the main manipulator or the standby manipulator is set to be a four-claw manipulator.

9. An unmanned submersible vehicle, comprising:

a submersible body and a rotary changeable robot arm of any one of claims 1-8, the robot arm joint coupled to the submersible body.

10. The unmanned submersible of claim 9, wherein:

the submersible body comprises a rack, and a watertight voltage conversion cabin, a watertight control cabin, a main pushing propeller, a vertical propeller, a propeller protection device, a sonar, a camera and a searchlight which are connected with the rack.

Technical Field

The application relates to the field of medical equipment, in particular to a rotary replaceable mechanical arm.

Background

With the development of industry, available resources on land are increasingly exhausted, and oceans contain abundant resources necessary for the development of industries such as petroleum, natural gas, various rare metals and the like. According to statistics, the reserves of the resources in the ocean are several times or even dozens of times of those of the land, so that the more effective development and utilization of the ocean resources have very important significance for the future survival and development of human beings. The unmanned submersible is increasingly becoming an important tool for human beings to develop and utilize ocean resources because of its maneuverability and flexibility and long-term operation in water. Therefore, the development of the unmanned submersible has important strategic significance and practical value. The existing mechanical arm device of the unmanned submersible is provided with a mechanical arm, so that under some special conditions, the claw cannot operate, time and labor are wasted, even the submersible cannot operate, the operation efficiency is reduced, and the operation cost is improved.

Disclosure of Invention

The present application provides a rotary interchangeable robotic arm and an unmanned submersible to ameliorate the above problems.

The invention is particularly such that:

based on the above purpose, the embodiment provides a rotary replaceable mechanical arm, which includes a mechanical arm joint, a mounting arm, an adapter, a main mechanical arm and a spare mechanical arm, wherein the mechanical arm joint is used for connecting with a submersible body; the mounting arm is provided with an accommodating cavity, the mounting arm is connected with the mechanical arm joint, and the mechanical arm joint is used for driving the mounting arm to move; the adapter is rotatably connected with the mounting arm; the main manipulator is detachably connected with the adapter; spare manipulator is located the holding intracavity, the adapter is used for main machine manipulator with the adapter separation back with spare manipulator is connected.

In an embodiment of the present invention, an electromagnet module is disposed on the adaptor, and the electromagnet module is configured to be selectively detachably connected to the main manipulator and the standby manipulator.

In an embodiment of the present invention, the adapter has an avoidance end and a butt end which are oppositely disposed, and the electromagnet module is disposed at the butt end; the electro-magnet module have be used for with master manipulator or the end is inhaled to magnetism of reserve manipulator coupling, magnetism inhale the end with distance between the axis of rotation of installation arm is D1, dodge the end with the distance of axis of rotation is D2, D1 is greater than D2, just dodge the end with the holding chamber has the interval, in order to avoid master manipulator with under the state that the adapter is connected, the adapter for when the installation arm rotates dodge the end with reserve manipulator produces the interference.

In an embodiment of the present invention, the accommodating cavity has a docking port, and the magnetic attraction end can rotate to the docking port and is connected to the standby manipulator.

In an embodiment of the present invention, a pushing module is disposed on the mounting arm, the pushing module includes a wedge-shaped driving block, a lever and a rotating shaft, the wedge-shaped driving block is slidably engaged with an inner wall of the accommodating cavity, the lever is rotatably connected to the mounting arm through the rotating shaft, the lever has a first end and a second end, the first end abuts against the wedge-shaped driving block, and the second end abuts against the spare manipulator;

when the adapter rotates relative to the installation arm, the magnetic suction end is used for abutting against the driving inclined surface of the wedge-shaped driving block, so that the wedge-shaped driving block abuts against the first end, the lever is driven to rotate, and the standby manipulator is pushed towards the magnetic suction end.

In one embodiment of the invention, the wedge drive block is connected to the mounting arm by a resilient return member for providing the wedge drive block with a tendency to slide adjacent the adapter.

In an embodiment of the present invention, the accommodating chamber is provided with a pick-and-place opening, and the mounting arm is provided with a door body for opening or closing the pick-and-place opening.

In one embodiment of the invention, the primary robot or the backup robot is configured as a four-claw robot.

Based on the above object, the present embodiment also provides an unmanned submersible vehicle, including:

the submersible comprises a submersible body and the rotary replaceable mechanical arm, wherein the mechanical arm joint is connected with the submersible body.

In one embodiment of the invention, the submersible body comprises a frame and a watertight voltage conversion compartment, a watertight control compartment, a main thrust propeller, a vertical propeller, a propeller protection device, a sonar, a camera and a searchlight, all connected to the frame.

The invention has the beneficial effects that:

in summary, the replaceable rotary mechanical arm and the unmanned submersible vehicle provided by the embodiment are connected with the main mechanical arm by the adapter in the initial state, the submersible vehicle main body is submerged into a set position, the mechanical arm joint and the adapter are matched to drive the main mechanical claw to move, and the main mechanical claw per se performs grabbing and releasing actions, so that underwater operation is realized. When the card appears in the main machinery claw use when trouble such as dead, main machinery claw can not normal use, because main machinery claw and adapter are detachably connected mode, at this moment, can dismantle main machinery claw from the adapter and directly will locate reserve machinery claw in the holding chamber and adapter assembly, so, arm joint and adapter can drive reserve machinery claw and continue the operation, improve the operating efficiency, reduce the operating cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic diagram of a rotary interchangeable robot arm according to the present application;

FIG. 2 is a schematic structural view of a mounting arm provided herein;

FIG. 3 is a schematic diagram of a portion of a rotary exchangeable robot arm as provided herein;

fig. 4 is a schematic structural diagram of the unmanned submersible provided by the present application.

Icon:

100-mechanical arm joint; 200-a mounting arm; 210-a housing chamber; 211-pair of interfaces; 212-pick and place port; 220-a splint; 230-a door body; 300-an adapter; 310-an avoidance end; 320-butt end; 400-a primary manipulator; 500-a spare manipulator; 600-a push module; 610-a wedge drive block; 620-lever; 630-a rotating shaft; 640-a resilient return member; 700-an electromagnet module; 710-magnetic attraction end; 800-an adsorption seat; 001-a frame; 101-frame type side plates; 102-a buoyancy plate; 002-watertight voltage conversion cabin; 003-watertight control cabin; 004-main pusher; 005-vertical thruster; 006-propeller protection; 007-binocular vision ranging system; 008-sonar; 009-camera; 010-searchlight.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing and simplifying the description, but does not indicate or imply that the referred rotary replaceable mechanical arm or element must have a specific orientation, be configured and operated in a specific orientation, and therefore, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

At present, when the unmanned submersible vehicle operates underwater, a manipulator on the unmanned submersible vehicle is used for grabbing objects, and after the manipulator breaks down in the using process, the manipulator cannot continue to operate, needs to float out of the water surface, and is subjected to overhaul and maintenance operation, time and labor are wasted, the operating efficiency is low, and the operating cost is high.

In view of this, the designer has designed a rotation type removable arm and unmanned underwater vehicle, can realize the change operation of manipulator under water, labour saving and time saving, and the operating efficiency is high, reduce cost.

Referring to fig. 1 and 2, in the present embodiment, the rotary-type replaceable robot arm includes a robot joint 100, a mounting arm 200, an adapter 300, a main robot 400, and a spare robot 500, wherein the robot joint 100 is configured to be connected to a vehicle body; the mounting arm 200 is provided with a containing cavity 210, the mounting arm 200 is connected with the mechanical arm joint 100, and the mechanical arm joint 100 is used for driving the mounting arm 200 to move; the adapter 300 is rotatably connected with the mounting arm 200; the main manipulator 400 is detachably connected with the adapter 300; the spare manipulator 500 is arranged in the accommodating cavity 210, and the adapter 300 is used for connecting the main manipulator 400 and the adapter 300 after being separated with the spare manipulator 500.

The removable arm of rotation type and unmanned submersible that this embodiment provided, during initial condition, utilize adapter 300 and main manipulator 400 to be connected, dive the submersible main part and set for the position, utilize arm joint 100 and adapter 300 cooperation to drive the motion of main gripper to main gripper self snatchs and releases the action, thereby realizes underwater operation. When the card appears in the main machinery claw use and waits the trouble, main machinery claw can not normal use, because main machinery claw and adapter 300 are detachably connected, at this moment, can dismantle main machinery claw from adapter 300 and directly will locate the reserve machinery claw in the holding chamber 210 and assemble with adapter 300, so, arm joint 100 and adapter 300 can drive reserve machinery claw and continue the operation, improve the operating efficiency, reduce the operating cost.

In this embodiment, it should be noted that the mechanical arm joint 100 may include a plurality of joint arms and a plurality of bearings, the joint arms are connected in sequence, and two adjacent joint arms are hinged through the bearings, and the joint arms may be folded and unfolded, so as to adapt to operations in different areas.

Referring to fig. 2, in the present embodiment, optionally, the mounting arm 200 is a bar-shaped arm, the mounting arm 200 has a proximal end and a distal end, the proximal end is connected to the mechanical arm joint 100, the distal end is provided with two clamping plates 220, the two clamping plates 220 are arranged in a central symmetry, and the adapter 300 is arranged between the two clamping plates 220 and rotatably connected to the two clamping plates 220. The receiving cavity 210 is configured as a strip-shaped cavity, and a side of the receiving cavity 210 near the distal end of the mounting arm 200 is configured as an opening, which may also be referred to as a docking interface 211. The side wall of the mounting arm 200 is provided with another opening, which may also be referred to as a pick-and-place opening 212, in communication with the receiving cavity 210. The mounting arm 200 is provided with a door body 230, and the door body 230 may be a single door or a double door, for example, in this embodiment, the number of the door bodies 230 is two, that is, the double door. The two door bodies 230 are rotatably connected to the mounting arm 200, and the two door bodies 230 are engaged to open or close the access opening 212.

It should be understood that each door 230 can be independently controlled by a motor, and the motor drives the door 230 to rotate relative to the mounting arm 200, so as to open or close the pick-and-place port 212.

Further, the inner wall surface of the mounting arm 200 is provided with a guide groove extending in the longitudinal direction of the mounting arm 200.

Referring to fig. 3, optionally, a pushing module 600 is further disposed in the accommodating cavity 210, and the pushing module 600 includes a wedge-shaped driving block 610, a lever 620, a rotating shaft 630 and an elastic restoring member 640. The wedge drive block 610 has a drive ramp that faces the distal end of the mounting arm 200. The wedge-shaped driving block 610 is slidably disposed in the guiding groove, one end of the elastic reset piece 640 abuts against the inner wall of the mounting arm 200, and the other end abuts against the wedge-shaped driving block 610, so that the wedge-shaped driving block 610 has a tendency to slide close to the distal end of the mounting arm 200. The lever 620 is rotatably coupled to the mounting arm 200 by a rotating shaft 630. The lever 620 has a first end that abuts a side of the wedge drive block 610 distal from the distal end of the mounting arm 200 and a second end that abuts the standby robot 500. The push module 600 is used to push the standby robot 500 towards the distal end of the mounting arm 200.

It should be understood that the number of the pushing modules 600 may be two, and the two pushing modules 600 are distributed in a central symmetry.

In addition, the elastic restoring member 640 may be provided as a spring, a resilient sheet, a rubber member, or the like.

In this embodiment, optionally, the adapter 300 is rotatably connected to the two clamping plates 220 through a rotating shaft. The adapter 300 has an escape end 310 and a docking end 320 disposed opposite to each other, and the docking end 320 is provided with an electromagnet module 700. The electromagnet module 700 can generate magnetism under the condition of being electrified, so as to be coupled with the main manipulator 400 or the standby manipulator 500, that is, after the electromagnet module 700 is electrified, the electromagnet module 700 can be magnetically attracted and connected with the main manipulator 400 or the standby manipulator 500. Specifically, the electromagnet module 700 has a magnetic attraction end 710 for coupling with the main manipulator 400 or the spare manipulator 500, a distance between the magnetic attraction end and the rotation axis 630 of the mounting arm 200 is D1, a distance between the avoidance end 310 and the rotation axis 630 is D2, D1 is greater than D2, and the avoidance end 310 and the accommodation cavity 210 have a distance therebetween, so as to avoid interference between the avoidance end 310 and the spare manipulator 500 when the adapter 300 rotates relative to the mounting arm 200 in a state where the main manipulator 400 is connected to the adapter 300. Moreover, after the main manipulator 400 is separated from the magnetic attraction end 710, the adaptor 300 drives the electromagnet module 700 to rotate until the magnetic attraction end corresponds to the docking port 211 of the accommodating cavity 210, the magnetic attraction end has a distance from the docking port 211, and the adaptor 300 does not interfere with the standby manipulator 500 in the accommodating cavity 210. It should be appreciated that due to the structural design of the push module 600, when the primary manipulator 400 on the adapter 300 is detached from the adapter 300, the adapter 300 can be driven by a motor or other driving members to rotate relative to the mounting arm 200, so that the magnetic attraction end 710 rotates to the interface 211, and during the rotation process, the magnetic attraction end 710 can abut against the driving inclined surface of the wedge-shaped driving block 610, the wedge-shaped driving block 610 slides close to the proximal end of the mounting arm 200, the elastic reset piece 640 is compressed, and the first end rotates along the first direction, thereby rotating the second end in a second direction opposite to the first direction, the second end pushing the standby robot 500 close to the distal end of the mounting arm 200, i.e., the standby robot 500 close to the magnetically attracted end 710, the end of the standby robot 500 protruding from the docking port 211, and is attached to the magnetic attraction end 710, and the electromagnet module 700 is energized to generate magnetism, so that the standby manipulator 500 is attracted and fixed. Then, the door 230 is opened, the adapter 300 is rotated, the standby manipulator 500 is rotated to leave the accommodating cavity 210, and the elastic reset piece 640 resets the wedge-shaped driving block 610. The door 230 is closed, and normal operation is not affected. So, realized the automatic switch-over of manipulator, labour saving and time saving, the practicality is strong.

It should be understood that the separation of the main robot 400 from the magnetic attraction end 710 is performed in such a way that when the main robot 400 is stuck, the electromagnet module 700 is powered off and the magnetism disappears, so that the main robot 400 can automatically fall off. In addition, can set up the device of retrieving main manipulator 400, avoid main manipulator 400 polluted environment, can directly use after main manipulator 400 retrieves the restoration, reduce cost.

In this embodiment, the main robot 400 or the standby robot 500 is a four-claw robot, and is stable in gripping and wide in application range.

For example, in the present embodiment, the main robot 400 and the standby robot 500 are both four-claw robots.

In addition, in order to facilitate magnetic coupling of the electromagnet module 700 with the main robot 400 or the standby robot 500, the main robot 400 and the standby robot 500 are each provided with an adsorption socket 800 made of a metal material.

The removable arm of rotation type that this embodiment provided, the dead damage back of main manipulator 400 card, main manipulator 400 can follow adapter 300 and drop automatically, and reserve manipulator 500 can realize with adapter 300's accurate automatic butt joint, labour saving and time saving, application scope is wide, the operating efficiency height, the running cost is low.

Referring to fig. 4, the present embodiment further provides an unmanned submersible vehicle, which includes a submersible vehicle body and the rotary replaceable robot arm mentioned in the above embodiments, wherein the robot arm joint 100 is connected to the submersible vehicle body.

In this embodiment, optionally, the submersible body includes a rack 001, and a watertight voltage conversion cabin 002, a watertight control cabin 003, a main thruster 004, a vertical thruster 005, a thruster protection device 006, a binocular vision ranging system 007, a sonar 008, a camera 009, and a searchlight 010, all of which are connected to the rack 001.

Specifically, the frame 001 includes two frame-type side plates 101 and a buoyancy plate 102 positioned on top of the two frame-type side plates 101, and the buoyancy plate 102 is simultaneously connected to the two frame-type side plates 101. The watertight voltage conversion cabin 002 and the watertight control cabin 003 are both arranged in the area enclosed by the machine frame 001. The number of the main thrusters 004 is two, which are respectively provided on the outer sides of the two frame-type side plates 101, and a thruster protector 006 is provided on the outer side of each main thruster 004, for example, the thruster protector 006 is a protective plate. The vertical thrusters 005 are provided on the buoyancy plate 102. Binocular vision ranging system 007, camera 009 and searchlight 010 are all located in the place ahead of frame 001. Sonar 008 is provided on the buoyancy plate 102.

The unmanned submersible provided by the embodiment has the advantages of wide operation range, strong adaptability, high operation efficiency and low operation cost.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.