阅读说明：本技术 一种用于水下探测设备的展臂结构 (A exhibition arm structure for underwater detection equipment ) 是由 陈升 王洁骞 张培培 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种用于水下探测设备的展臂结构,包括底座,底座的顶部转动连接有第一转动臂,第一转动臂的一端转动连接有第二转动臂,第二转动臂的一端转动连接有第三转动臂,第三转动臂远离第二转动臂的一端转动安装有展臂壳体,展臂壳体远离第三转动臂的一端内凹设有容纳槽,容纳槽的一侧内壁固接有电动伸缩杆,电动伸缩杆远离容纳槽侧壁的端部固接有推动块,推动块内转动安装有延展组件,延展组件的一端固接有连接部,连接部远离延展组件的一端转动连接有电动夹爪,电动夹爪活动安装在容纳槽内。(The invention discloses an expansion arm structure for underwater detection equipment, which comprises a base, wherein the top of the base is rotatably connected with a first rotating arm, one end of the first rotating arm is rotatably connected with a second rotating arm, one end of the second rotating arm is rotatably connected with a third rotating arm, one end of the third rotating arm, which is far away from the second rotating arm, is rotatably provided with an expansion arm shell, one end, which is far away from the third rotating arm, of the expansion arm shell is concavely provided with a containing groove, the inner wall of one side of the containing groove is fixedly connected with an electric telescopic rod, the end, which is far away from the side wall of the containing groove, of the electric telescopic rod is fixedly connected with a pushing block, an expansion assembly is rotatably arranged in the pushing block, one end of the expansion assembly is fixedly connected with a connecting part, one end, which is far away from the expansion assembly, of the connecting part is rotatably connected with an electric clamping jaw, and the electric clamping jaw is movably arranged in the containing groove.)

1. The utility model provides an exhibition arm structure for surveying equipment under water, includes base (1), the top of base (1) is rotated and is connected with first rotor arm (3), the one end of first rotor arm (3) is rotated and is connected with second rotor arm (4), the one end of second rotor arm (4) is rotated and is connected with third rotor arm (5), its characterized in that: third rotor arm (5) keep away from the one end rotation of second rotor arm (4) and install exhibition arm casing (6), the one end indent that third rotor arm (5) were kept away from in exhibition arm casing (6) is equipped with holding tank (61), one side inner wall rigid coupling of holding tank (61) has electric telescopic handle (8), the tip rigid coupling that holding tank (61) lateral wall was kept away from in electric telescopic handle (8) has and promotes piece (7), promote piece (7) internal rotation and install extension subassembly (9), the one end rigid coupling of extension subassembly (9) has connecting portion (10), the one end rotation that extension subassembly (9) were kept away from in connecting portion (10) is connected with electric clamping jaw (2), electric clamping jaw (2) movable mounting is in holding tank (61).

2. The boom structure for underwater exploration equipment according to claim 1, characterized in that: the pushing block (7) is of an Contraband-shaped structure, and one side of the pushing block is provided with an annular sliding groove (71) in a penetrating mode.

3. The boom structure for underwater exploration equipment according to claim 2, characterized in that: keep away from one side rotation of electric telescopic handle (8) in holding tank (61) and install pivot (62), the one end of pivot (62) is rotated and is installed on the inner wall of holding tank (61), the other end slides and passes and rotate behind annular spout (71) and connect extension subassembly (9).

4. The boom structure for underwater exploration equipment according to claim 3, characterized in that: the extension assembly (9) comprises a plurality of parallel connecting rods (91) and a plurality of parallel secondary connecting rods (92), one ends of the connecting rods (91) and the secondary connecting rods (92) are respectively connected to two sides of one end of a connecting block (93) in a rotating mode, the other ends of the connecting blocks (93) are fixedly connected with a connecting portion (10), and the other ends of the connecting rods (91) and the secondary connecting rods (92) are connected to a rotating shaft (62) in a crossed and rotating mode.

5. The boom structure for underwater exploration equipment according to claim 4, characterized in that: the number of the connecting rods (91) is the same as that of the secondary connecting rods (92), the connecting rods (91) and the secondary connecting rods (92) are arranged in a one-to-one corresponding crossed mode except for the rotating connecting blocks (93), and the middle portions of the connecting rods (91) and the secondary connecting rods (92) are rotatably connected through pin shafts.

6. The boom structure for underwater exploration equipment according to claim 4, characterized in that: the connecting rod (91) is divided into a first connecting rod (911), a second connecting rod (912), a third connecting rod (913) and a fourth connecting rod (914), the secondary connecting rod (92) is divided into a first secondary connecting rod (921), a second secondary connecting rod (922), a third secondary connecting rod (923) and a fourth secondary connecting rod (924), wherein the first connecting rod (911), the second connecting rod (912), the third connecting rod (913), the first secondary connecting rod (921), the second secondary connecting rod (922) and the third secondary connecting rod (923) are respectively arranged in a crossed manner, one side end of the first connecting rod (911) is rotatably connected with one side end of the second secondary connecting rod (922), the other side end of the first connecting rod (911) is rotatably connected with the end of the first secondary connecting rod (921) through a rotating shaft (62), the other side end of the second secondary connecting rod (922) is rotatably connected with one side end of the third connecting rod (913), the other side end of the third connecting rod (913) is rotatably connected with the end of the fourth secondary connecting rod (924), one side tip of fourth secondary connecting rod (924) is installed on connecting block (93) through the pin rotation, fourth connecting rod (914) is installed through the pin rotation to connecting block (93) one end, the tip rotation that connecting block (93) was kept away from in fourth connecting rod (914) is connected with one side tip of third secondary connecting rod (923), the opposite side tip rotation of third secondary connecting rod (923) is connected with one side tip of second connecting rod (912), the opposite side tip rotation of second connecting rod (912) connects the one end of first secondary connecting rod (921), the round pin axle both ends that second connecting rod (912) and second secondary connecting rod (922) rotate respectively and install in the one end that promotes piece (7).

7. The boom structure for underwater exploration equipment according to claim 1, characterized in that: the connecting part (10) is internally provided with a waterproof motor which drives the electric clamping jaw (2) to rotate.

Technical Field

The invention relates to the technical field of underwater detection, in particular to an arm expanding structure for underwater detection equipment.

Background

The underwater detector is an intelligent underwater device, is generally distributed in water within dozens of meters by an underwater vehicle, and can be convenient for a user to detect the underwater condition and obtain required information. The conventional underwater detection equipment is often provided with a manipulator which is used for grabbing objects underwater, cutting underwater, collecting underwater samples and the like or fixedly mooring a robot in a mother ship through the manipulator.

The exhibition arm of traditional manipulator is the reciprocating structure of straight line mostly, and the limitation is great, has some complicated manipulators simultaneously, can carry out the multi-angle and adjust, but the volume of complicated manipulator is great for the exhibition arm of adjusting is great, is not suitable for narrow environment under water, can't stretch into narrow gap or coral crowd, for this reason we propose an exhibition arm structure that is used for detecting equipment under water and be used for solving above-mentioned problem.

Disclosure of Invention

The present invention is directed to a cantilever structure for underwater exploration equipment, which solves the above problems of the related art.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an exhibition arm structure for surveying equipment under water, includes the base, the top of base is rotated and is connected with first rotor arm, the one end of first rotor arm is rotated and is connected with the second rotor arm, the one end of second rotor arm is rotated and is connected with the third rotor arm, the one end that the second rotor arm was kept away from to the third rotor arm is rotated and is installed exhibition arm casing, the one end indent that the third rotor arm was kept away from to exhibition arm casing is equipped with the holding tank, one side inner wall rigid coupling of holding tank has electric telescopic handle, electric telescopic handle keeps away from the tip rigid coupling of holding tank lateral wall has and promotes the piece, it installs the extension subassembly to promote the piece internal rotation, the one end rigid coupling of extension subassembly has connecting portion, the one end rotation that the extension subassembly was kept away from to connecting portion is connected with electric clamping jaw, electric clamping jaw movable mounting is in the holding tank.

Preferably, the pushing block is in an Contraband-shaped structure, and one side of the pushing block is provided with an annular sliding groove in a penetrating mode.

Preferably, one side of keeping away from electric telescopic handle in the holding tank rotates and installs the pivot, the one end of pivot is rotated and is installed on the inner wall of holding tank, the other end slides and passes behind the annular spout and rotate and connect the extension subassembly.

Preferably, the extension subassembly includes a plurality of connecting rods that are parallel to each other and a plurality of secondary connecting rod that are parallel to each other, the one end of connecting rod and secondary connecting rod rotates respectively and connects in the one end both sides of connecting block, the other end rigid coupling connecting portion of connecting block, the other end cross rotation of connecting rod and secondary connecting rod is connected in the pivot.

Preferably, the connecting rods and the secondary connecting rods are the same in number and are arranged in a one-to-one corresponding crossed manner except for the rotary connecting blocks, and the connecting rods and the secondary connecting rods are rotatably connected in the middle through pin shafts.

Preferably, the connecting rod is divided into a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the secondary connecting rod is divided into a first secondary connecting rod, a second secondary connecting rod, a third secondary connecting rod and a fourth secondary connecting rod, wherein the first connecting rod, the second connecting rod, the third connecting rod, the first secondary connecting rod, the second secondary connecting rod and the third secondary connecting rod are respectively arranged in a crossed manner, one side end part of the first connecting rod is rotatably connected with one side end part of the second secondary connecting rod, the other side end part of the first connecting rod is rotatably connected with the end part of the first secondary connecting rod through a rotating shaft, the other side end part of the second secondary connecting rod is rotatably connected with one side end part of the third connecting rod, the other side end part of the third connecting rod is rotatably connected with the end part of the fourth secondary connecting rod, one side end part of the fourth secondary connecting rod is rotatably installed on the connecting block through a pin, one end of the connecting block is rotatably installed with the fourth connecting rod through a pin, the end part of the fourth connecting rod far away from the connecting block rotates and is connected with one side end part of a third secondary connecting rod, the other side end part of the third secondary connecting rod rotates and is connected with one side end part of a second connecting rod, the other side end part of the second connecting rod rotates and is connected with one end of the first secondary connecting rod, and two ends of a pin shaft at the rotating intersection of the second connecting rod and the second secondary connecting rod are respectively rotatably installed in one end of the pushing block.

Preferably, the connecting part is internally provided with a waterproof motor which drives the electric clamping jaw to rotate.

Compared with the prior art, the invention has the beneficial effects that: the flexible displacement that drives the promotion piece through electric telescopic handle, promote the piece and then drive internally mounted's extension subassembly and stretch out and draw back the operation, and then can carry out certain exhibition arm extension to electric clamping jaw, when the extension subassembly stretches out simultaneously, the structure narrows down, and whole volume is less to can be suitable for comparatively constrictive environment under water, make things convenient for electric clamping jaw to press from both sides the article in the constrictive gap and get, the scope of being suitable for is more extensive.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a cross-sectional view of the present invention showing the arm housing;

FIG. 3 is a view showing the internal structure of the arm-expanding housing according to the present invention;

FIG. 4 is an enlarged view of the structure at A in FIG. 3 according to the present invention;

fig. 5 is a schematic structural view of the pushing block of the present invention.

In the figure: 1. a base; 2. an electric jaw; 3. a first rotation arm; 4. a second rotating arm; 5. a third rotating arm; 6. an arm-expanding housing; 61. accommodating grooves; 62. a rotating shaft; 7. a pushing block; 71. a chute; 8. an electric telescopic rod; 9. an extension assembly; 91. a connecting rod; 911. a first link; 912. a second link; 913. a third link; 914. a fourth link; 92. a secondary connecting rod; 921. a first secondary link; 922. a second secondary link; 923. a third secondary link; 924. a fourth secondary link; 93. connecting blocks; 10. a connecting portion.

Detailed Description

The technical solutions 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 a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.

Referring to fig. 1-5, the present invention provides a technical solution: an arm spreading structure for underwater detection equipment comprises a base 1, wherein the top of the base 1 is rotatably connected with a first rotating arm 3, one end of the first rotating arm 3 is rotatably connected with a second rotating arm 4, one end of the second rotating arm 4 is rotatably connected with a third rotating arm 5, one end of the third rotating arm 5, which is far away from the second rotating arm 4, is rotatably provided with an arm spreading shell 6, one end of the arm spreading shell 6, which is far away from the third rotating arm 5, is concavely provided with an accommodating groove 61, the inner wall of one side of the accommodating groove 61 is fixedly connected with an electric telescopic rod 8, the end part of the electric telescopic rod 8, which is far away from the side wall of the accommodating groove 61, is fixedly connected with a pushing block 7, the pushing block 7 is in an Contraband-shaped structure, one side of the pushing block is provided with an annular chute 71 in a penetrating manner, one side, which is far away from the electric telescopic rod 8, in the accommodating groove 61 is rotatably provided with a rotating shaft 62, one end of the rotating shaft 62 is rotatably arranged on the inner wall of the accommodating groove 61, the other end of the connecting rod slides through the annular sliding groove 71 and then is rotatably connected with the extension assembly 9. When the underwater electric clamping jaw is used, the base 1 is fixedly arranged on the underwater detection equipment, and the first rotating arm 3, the second rotating arm 4 and the third rotating arm 5 are matched with each other, so that the electric clamping jaw 2 can be rotationally adjusted at multiple angles, and the applicable angle is wider;

as shown in fig. 2-4, the pushing block 7 is rotatably mounted with the extending assembly 9, the extending assembly 9 includes a plurality of parallel connecting rods 91 and a plurality of parallel secondary connecting rods 92, one end of each of the connecting rods 91 and the secondary connecting rods 92 is rotatably connected to two sides of one end of each of the connecting blocks 93, the other end of each of the connecting blocks 93 is fixedly connected to the connecting portion 10, and the other ends of the connecting rods 91 and the secondary connecting rods 92 are rotatably connected to the rotating shaft 62 in a crossed manner.

As shown in fig. 2 to 4, the links 91 and the secondary links 92 are equal in number and are arranged in a one-to-one correspondence in a crossing manner except for the rotary connection connecting blocks 93, and the middle portions of the links 91 and the secondary links 92 are rotatably connected by a pin. The link 91 is divided into a first link 911, a second link 912, a third link 913 and a fourth link 914, the secondary link 92 is divided into a first secondary link 921, a second secondary link 922, a third secondary link 923 and a fourth secondary link 924, wherein the first link 911, the second link 912, the third link 913 and the first secondary link 921, the second secondary link 922 and the third secondary link 923 are respectively arranged in a crossing manner, one side end of the first link 911 is rotatably connected with one side end of the second secondary link 922, the other side end is rotatably connected with an end of the first secondary link 921 through the rotating shaft 62, the other side end of the second secondary link 922 is rotatably connected with one side end of the third link 913, the other side end of the third link 913 is rotatably connected with an end of the fourth secondary link 924, one side end of the fourth secondary link 924 is rotatably mounted on the connecting block 93 through a pin, one end of the connecting block 93 is rotatably mounted with the fourth link 914 through a pin, the end part of the fourth connecting rod 914 far away from the connecting block 93 is rotatably connected with one side end part of a third secondary connecting rod 923, the other side end part of the third secondary connecting rod 923 is rotatably connected with one side end part of a second connecting rod 912, the other side end part of the second connecting rod 912 is rotatably connected with one end of a first secondary connecting rod 921, and the two ends of a pin shaft at the rotating intersection of the second connecting rod 912 and the second secondary connecting rod 922 are respectively rotatably installed in one end of a pushing block 7.

As shown in fig. 1 and 3, one end of the extension assembly 9 is fixedly connected with a connecting portion 10, one end of the connecting portion 10, which is far away from the extension assembly 9, is rotatably connected with the electric clamping jaw 2, the connecting portion 10 is internally provided with a waterproof motor for driving the electric clamping jaw 2 to rotate, and the electric clamping jaw 2 is movably installed in the accommodating groove 61. The end of the third rotating arm 5 is rotatably installed with the display arm housing 6, when detecting under water, the narrow environment needs to be clamped, the third rotating arm 5 cannot extend, at this time, the controller starts the electric telescopic rod 8, the electric telescopic rod 8 extends to drive the pushing block 7 to displace, the pushing block 7 drives the end to rotate and extend through the pin shaft to rotate the second connecting rod 912 and the second secondary connecting rod 922 which are cross-connected, the second connecting rod 912 and the second secondary connecting rod 922 drive the first connecting rod 911 and the first secondary connecting rod 921 to rotate, the end where the first connecting rod 911 and the first secondary connecting rod 921 intersect is rotatably connected to the rotating shaft 62, the rotating shaft 62 is rotatably installed in the accommodating groove 61 of the display arm housing 6, the rotating shaft 62 slides in the pushing time delay chute 71 of the pushing block 7, the pushing block 7 continues to be pushed out under the extending acting force of the electric telescopic rod 8 to drive the cross-connected connecting rod 91 and the secondary connecting rod 92 to extend, and then drive electronic clamping jaw 2 and stretch out, when connecting rod 91 and secondary connecting rod 92 stretch out, the volume of cross connection department diminishes, can stretch into narrow environment under water, then presss from both sides article through electronic clamping jaw 2 of tip.

The working principle is as follows: when the underwater electric clamping jaw is used, the base 1 is fixedly arranged on the underwater detection equipment, and the first rotating arm 3, the second rotating arm 4 and the third rotating arm 5 are matched with each other, so that the electric clamping jaw 2 can be rotationally adjusted at multiple angles, and the applicable angles are wider; the end part of the third rotating arm 5 is rotatably provided with an arm-unfolding shell

6, when detecting under water, the clamping operation needs to be performed on a narrow environment, the third rotating arm 5 cannot extend, at this time, the controller starts the electric telescopic rod 8, the electric telescopic rod 8 extends to drive the pushing block 7 to displace, the pushing block 7 drives the second connecting rod 912 and the second secondary connecting rod 922, the ends of which are connected in a cross manner through the pin shaft rotation, to extend in a rotation manner, meanwhile, the second connecting rod 912 and the second secondary connecting rod 922 drive the first connecting rod 911 and the first secondary connecting rod 921 in a rotation manner, the end of the first connecting rod 911, which is intersected with the first secondary connecting rod 921, is connected to the rotating shaft 62 in a rotation manner, the rotating shaft 62 is installed in the accommodating groove 61 of the display arm shell 6 in a rotation manner, meanwhile, the rotating shaft 62 slides in the pushing delay chute 71 of the pushing block 7, the pushing block 7 continues to be pushed out under the driving action force of the electric telescopic rod 8, so as to drive the connecting rod 91 and the secondary connecting rod 92 connected in a cross manner to extend, and further drive the electric clamping jaw 2 to extend out, when the connecting rod 91 and the secondary connecting rod 92 are extended out, the volume of the cross connection part is reduced, the cross connection part can be extended into a narrow underwater environment, and then the electric clamping jaw 2 at the end part is used for clamping objects.

In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.