CN114516040B

CN114516040B - Long-distance underwater mechanical arm type operation platform

Info

Publication number: CN114516040B
Application number: CN202011307243.1A
Authority: CN
Inventors: 李庆杰; 皮景峰; 高世卿; 赵子旭; 赵亚川; 张强; 吴孟侗; 杨立志; 康亚彪; 张沂阳
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2023-06-27
Anticipated expiration: 2040-11-20
Also published as: CN114516040A

Abstract

The invention relates to the field of marine operation automation equipment, in particular to a long-distance underwater mechanical arm type operation platform which comprises a rotary supporting mechanism, a tail end arm, an underwater hard connecting mechanism and a plurality of joint arms, wherein the last joint arm is connected with the tail end arm, the tail end arm is connected with the underwater hard connecting mechanism through a rotary arm, the underwater hard connecting mechanism is connected with an underwater operation tool bag, a soft connecting component and a rotary component are arranged in the tail end arm, the soft connecting component is provided with a soft connecting rope which passes through the rotary arm and the underwater hard connecting mechanism and then is connected with the underwater operation tool bag, the rotary component is provided with a lifting pulley which is matched with a spiral groove at the upper end of the rotary arm, a swinging rod in the underwater hard connecting mechanism drives and swings through a pushing block, a bottom lock torsion slider drives and moves through the swinging rod on the bottom lock at the lower side of a bottom lock seat which is driven and locked through the corresponding bottom lock torsion slider. The invention can realize long-distance underwater operation, can change soft connection and hard connection states, and has flexible use and simple control.

Description

Long-distance underwater mechanical arm type operation platform

Technical Field

The invention relates to the field of marine operation automation equipment, in particular to a long-distance underwater mechanical arm type operation platform.

Background

In the field of marine operation automation, an underwater robot is a common solution, but in the prior art, the pipeline cable and the like are usually utilized to fixedly bind the underwater robot, so that the problem that the pipeline cable and the underwater robot are wound is difficult to avoid, in addition, the floating underwater robot can scour the seabed, not only weakens the foundation of an underwater wellhead, but also causes cloudiness of sea water, and the underwater robot is utilized to operate and control relatively complex, so that the operation cost is high and the operation efficiency is low, and therefore, a new automatic device is needed to replace the underwater robot to operate at present.

Disclosure of Invention

The invention aims to provide a long-distance underwater mechanical arm type operation platform which can realize long-distance underwater operation, can change soft connection and hard connection states according to requirements, and is flexible to use and simple to operate and control.

The aim of the invention is realized by the following technical scheme:

the utility model provides a long distance underwater mechanical arm formula operation platform, includes rotary support mechanism, terminal arm, underwater hard link mechanism and articulated a plurality of festival arms that link to each other in proper order, wherein first festival arm pass through first festival arm pneumatic cylinder drive swing, and first festival arm lower extreme and first festival arm pneumatic cylinder lower extreme all articulate in on the rotary support mechanism, all the other each festival arms all drive the swing through the festival arm pneumatic cylinder that locates on the adjacent festival arm, last festival arm with terminal arm links to each other, terminal arm lower extreme links to each other with underwater hard link mechanism through a swinging boom, underwater hard link mechanism lower extreme links to each other with the operation tool package under water, be equipped with soft coupling assembling and rotating component in terminal arm, soft coupling assembling is equipped with soft coupling rope pass behind swinging boom and the hard link mechanism under water links to each other with the operation tool package under water, rotating component be equipped with liftable pulley with the spiral groove cooperation on the swinging boom, the hard link mechanism under water includes the lock seat, twists reverse slider and liftable push block, wherein the pendulum rod passes through the push block lift drive swing block, twists reverse slider, twists reverse lock slider and twist lock slider and lock seat and the corresponding lock seat that is equipped with the corresponding lock down along the bottom seat of the lock seat that the bottom is equipped with the slider and the lower side of the tool package is rotated by the corresponding to the lock seat.

The soft connecting assembly comprises a soft connecting hydraulic cylinder and a soft connecting rope, and the upper end of the soft connecting rope is connected with the end part of the cylinder rod of the soft connecting hydraulic cylinder.

The rotating assembly comprises a rotating hydraulic cylinder, a sliding seat and a sliding rail, the sliding seat is driven by the rotating hydraulic cylinder to lift and slide along the sliding rail, and the pulley is arranged on the sliding seat.

The tail end arm comprises a tail end arm shell, the upper end of the tail end arm shell is connected with the last section of arm, the lower end of the tail end arm shell is rotationally connected with the rotating arm, and the soft connecting component and the rotating component are both arranged in the tail end arm shell.

The lower end of the tail end arm shell is provided with a rotating arm shaft sleeve, a rotating arm shaft collar and a rotating arm shaft cover, wherein a flange is arranged on the rotating arm and is arranged between the rotating arm shaft sleeve and the rotating arm shaft collar, and the flange and the rotating arm shaft collar are limited through the rotating arm shaft cover.

The underwater hard connection mechanism comprises a hard connection shell and a connection hydraulic cylinder, wherein the upper end of the hard connection shell is fixedly connected with the lower end of the rotary arm, the lower end of the hard connection shell is fixedly connected with the bottom lock seat, the push block, the swing rod and the connection hydraulic cylinder are all arranged in the hard connection shell, the push block is driven to lift by the connection hydraulic cylinder, one end of the swing rod is hinged with the push block, and the other end of the swing rod is hinged with the corresponding bottom lock torsion slide block.

A guide seat is arranged in the hard connection shell, and the push block is lifted along the guide seat.

The rotary supporting mechanism comprises a base body, a rotary driving device, a driving gear and a slewing bearing, wherein the rotary driving device, the driving gear and the slewing bearing are arranged on the base body, and the driving gear is meshed with external teeth of the slewing bearing and drives the rotary driving device to rotate.

The slewing bearing is provided with a connecting seat and a first hydraulic cylinder hinged seat, the lower end of the first arm is hinged with the connecting seat, the lower end of the cylinder body of the first arm hydraulic cylinder is connected with the first hydraulic cylinder hinged seat, and the end part of the cylinder rod of the first arm hydraulic cylinder is hinged with the middle part of the first arm.

Each of the other section arms except the first section arm comprises a section arm hydraulic cylinder, a section arm hinge frame and a section arm connecting rod, wherein one end of the section arm hinge frame is hinged with the end part of the adjacent section arm, the other end of the section arm hinge frame is hinged with the corresponding section arm connecting rod, the other end of the section arm connecting rod is hinged with the end part of the corresponding section arm body, the lower end of a cylinder body of the section arm hydraulic cylinder is hinged on the adjacent section arm, and the end part of the cylinder body is hinged with the corresponding section arm hinge frame.

The invention has the advantages and positive effects that:

1. the underwater operation device comprises a plurality of sequentially extensible section arms, long-distance underwater operation can be realized, in addition, a soft connecting assembly is arranged in the tail end arm, the soft connecting assembly is provided with a soft connecting rope and is connected with an underwater operation tool bag, meanwhile, the lower end of the tail end arm is provided with an underwater hard connecting mechanism, the hard connecting mechanism can be used for realizing hard connection by controlling a bottom lock to lock container corner fittings on the underwater operation tool bag, and the use is flexible.

2. The invention realizes long-distance operation by utilizing the plurality of knuckle arms, compared with a floating underwater robot, the problem of winding of a pipeline cable and the underwater robot can not occur, and in addition, the scouring on the seabed is small, and the underwater wellhead foundation can not be weakened or the seawater turbidity can not be caused.

3. According to the invention, the relative position and the motion track can be automatically calculated according to the determined GPS coordinates of the comprehensive operation ship and the GPS coordinates (or beacon coordinates) of the operation point, the operation point is expanded and moved nearby by one key, the long-distance underwater mechanical arm type operation platform stops moving and is locked after the underwater operation tool bag is in place, and after the underwater operation tool bag is connected with an underwater operation object, the long-distance underwater mechanical arm type operation platform is in soft connection with the underwater operation tool bag, so that the influence of ocean currents on an operation system is reduced, and the whole operation is simpler.

Drawings

Figure 1 is a schematic overall view of the present invention,

figure 2 is another angular schematic view of the invention of figure 1,

figure 3 is an enlarged view at a in figure 2,

figure 4 is an enlarged view at B in figure 2,

figure 5 is an enlarged view at C in figure 2,

figure 6 is an enlarged view at D in figure 2,

figure 7 is an enlarged view at E in figure 2,

figure 8 is an enlarged view at F in figure 2,

figure 9 is an enlarged view at G in figure 2,

figure 10 is an enlarged view at H in figure 2,

figure 11 is a schematic view of the end arm of figure 2,

figure 12 is an enlarged view of figure 11 at I,

figure 13 is a schematic view of the subsea hard-connection mechanism of figure 11,

fig. 14 is an enlarged view at J in fig. 13.

Wherein 1 is a rotary supporting mechanism, 101 is a base, 102 is a rotary motor, 103 is a speed reducer, 104 is a driving gear, 105 is a slewing bearing, 106 is a connecting seat, and 107 is a connecting flange; 2 is a first arm, 201 is a first arm hydraulic cylinder, 202 is a first hydraulic cylinder hinged support, 203 is a first arm lower hinged shaft, 204 is a first cylinder rod hinged shaft; 3 is a second knuckle arm, 301 is a second knuckle arm hydraulic cylinder, 302 is a second hydraulic cylinder hinged support, 303 is a second knuckle arm hinged support, 304 is a second knuckle arm connecting rod, 305 is a first hinge shaft, 306 is a second hinge shaft, 307 is a third hinge shaft, 308 is a fourth hinge shaft, 309 is a fifth hinge shaft; 4 is a third section arm, 401 is a third section arm hydraulic cylinder, 402 is a third hydraulic cylinder hinged support, 403 is a third section arm hinged support, 404 is a third section arm connecting rod, 405 is a hinge six, 406 is a hinge seven, 407 is a hinge eight, 408 is a hinge nine, 409 is a hinge ten; 5 is a fourth section arm, 501 is a fourth section arm hydraulic cylinder, 502 is a fourth hydraulic cylinder hinged support, 503 is a fourth section arm hinged support, 504 is a fourth section arm connecting rod, 505 is a hinge eleven, 506 is a hinge twelve, 507 is a hinge thirteen, 508 is a hinge fourteen, 509 is a hinge fifteen; 6 is a fifth-section arm, 601 is a fifth-section arm hydraulic cylinder, 602 is a fifth hydraulic cylinder hinged support, 603 is a fifth-section arm hinged frame, 604 is a fifth-section arm connecting rod, 605 is a hinge sixteen, 606 is a hinge seventeen, 607 is a hinge eighteen, 608 is a hinge nineteen, and 609 is a hinge twenty; 7 is a sixth section arm, 701 is a sixth section arm hydraulic cylinder, 702 is a sixth hydraulic cylinder hinged support, 703 is a sixth section arm hinged support, 704 is a sixth section arm connecting rod, 705 is a hinge twenty-one, 706 is a hinge twenty-two, 707 is a hinge twenty-three, 708 is a hinge twenty-four, 709 is a hinge twenty-five; 8 is a seventh section arm, 801 is a seventh section arm hydraulic cylinder, 802 is a seventh hydraulic cylinder hinged support, 803 is a seventh section arm hinged support, 804 is a seventh section arm connecting rod, 805 is a hinge twenty-six, 806 is a hinge twenty-seven, 807 is a hinge twenty-eight, 808 is a hinge twenty-nine, and 809 is a hinge thirty; 9 is an eighth section arm, 901 is an eighth section arm hydraulic cylinder, 902 is an eighth hydraulic cylinder hinged support, 903 is an eighth section arm hinged support, 904 is an eighth section arm connecting rod, 905 is a hinge thirty-one, 906 is a hinge thirty-two, 907 is a hinge thirty-three, 908 is a hinge thirty-four; 10 is an underwater operation tool bag; 11 is an end arm, 111 is a soft connection component, 1111 is a soft connection hydraulic cylinder, 1112 is a soft connection rope, 1113 is a soft connection hydraulic cylinder hinged support, 1114 is a soft connection rope shaft, 1115 is a tool kit joint, 112 is a rotating component, 1121 is a rotating hydraulic cylinder, 1122 is a rotating arm, 1123 is a pulley, 1124 is a spiral groove, 1125 is a sliding rail, 1126 is a sliding seat, 1127 is a rotating arm shaft sleeve, 1128 is a rotating arm shaft cover, 1129 is a rotating arm shaft ring, 113 is an end arm shell, 1131 is a connection shaft, 12 is an underwater hard connection mechanism, 1201 is a connection hydraulic cylinder, 1202 is a guide seat, 1203 is a push block, 1204 is a bottom lock torsion slider, 1205 is a swinging rod, 1206 is a bottom lock seat, 1207 is a hard connection shell; 13 is an operation table, 14 is a system assembly, 15 is a bottom lock, 151 is a lock rod, and 16 is a container corner fitting.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

As shown in fig. 1 to 14, the invention comprises a rotary supporting mechanism 1, a tail end arm 11, a plurality of articulated arm segments connected in turn, wherein as shown in fig. 3, a first arm 2 of the plurality of arm segments is driven to swing by a first arm hydraulic cylinder 201, the lower ends of the first arm 2 and the first arm hydraulic cylinder 201 are both articulated on the rotary supporting mechanism 1, as shown in fig. 1 to 2, each arm segment is articulated in turn and is driven to swing by an arm hydraulic cylinder arranged on the adjacent arm segment, the last arm segment is connected with the tail end arm 11, as shown in fig. 11 to 14, the lower end of the tail end arm 11 is connected with the underwater hard connecting mechanism 12 by a rotary arm 1122, the lower end of the underwater hard connecting mechanism 12 is connected with the underwater operation tool bag 10, a soft connecting component 111 and a rotary component 112 are arranged in the tail end arm 11, as shown in fig. 11, the flexible connection assembly 111 is provided with a flexible connection rope 1112, and the flexible connection rope 1112 is connected with the underwater operation tool bag 10 after passing through the rotating arm 1122 and the underwater hard connection mechanism 12, as shown in fig. 12, the rotating assembly 112 is provided with a pulley 1123 capable of lifting, and the pulley 1123 is matched with a spiral groove 1124 at the upper end of the rotating arm 1122, when the pulley 1123 lifts, the pulley rolls along the spiral groove 1124 to drive the rotating arm 1122 to rotate, as shown in fig. 13, the underwater hard connection mechanism 12 comprises a bottom lock seat 1206, a bottom lock torsion slider 1204, a swinging rod 1205 and a lifting pushing block 1203, the swinging rod 1205 drives to swing through the pushing block 1203, the bottom lock torsion slider 1204 drives to move along a corresponding sliding groove on the bottom lock seat 1206, the bottom lock 15 is arranged in a corresponding container corner piece 16 on the underwater operation tool bag 10, and the lock rod 151 on the bottom lock 15 is arranged in a notch corresponding to the lower side of the bottom lock torsion slider 1204, and the bottom lock torsion slider 1204 moves, i.e. drives the lock rod 151 to rotate, so as to lock the base 15. The subsea work kit 10, bottom lock 15 and container corner fitting 16 are all well known in the art.

As shown in fig. 11 to 12, the tail end arm 11 includes a tail end arm housing 113, and the upper end of the tail end arm housing 113 is connected to the last arm through a connecting shaft 1131, the lower end of the tail end arm housing 113 is rotatably connected to the rotating arm 1122, the soft connection assembly 111 and the rotating assembly 112 are both disposed in the tail end arm housing 113, wherein the soft connection assembly 111 includes a soft connection hydraulic cylinder 1111 and a soft connection rope 1112, a soft connection hydraulic cylinder hinge seat 1113 is disposed in the tail end arm housing 113, the upper end of the soft connection hydraulic cylinder 1111 is hinged to the soft connection hydraulic cylinder hinge seat 1113, the upper end of the soft connection rope 1112 is connected to the end of the cylinder rod of the soft connection hydraulic cylinder 1111, and the lower end of the soft connection rope 1112 is connected to the underwater operation tool bag 10 after passing through the rotating arm 1122 and the underwater hard connection mechanism 12.

As shown in fig. 12, the rotating assembly 112 in the end arm 11 includes a rotary hydraulic cylinder 1121, a slide seat 1126 and a slide rail 1125, the slide seat 1126 is fixedly connected to the end of the cylinder rod of the rotary hydraulic cylinder 1121 and slides along the slide rail 1125 in a lifting manner, and the pulley 1123 is disposed on the slide seat 1126 and drives the slide seat 1126 to lift.

As shown in fig. 12, a rotating arm shaft sleeve 1127, a rotating arm shaft collar 1129 and a rotating arm shaft cover 1128 are disposed at the lower end of the end arm housing 113 to realize a rotating connection with the rotating arm 1122, wherein a flange is disposed on the rotating arm 1122 and disposed between the rotating arm shaft sleeve 1127 and the rotating arm shaft collar 1129, and the flange and the rotating arm shaft collar 1129 are limited by the rotating arm shaft cover 1128.

As shown in fig. 13-14, the underwater hard connection mechanism 12 includes a hard connection housing 1207 and a connection hydraulic cylinder 1201, the upper end of the hard connection housing 1207 is fixedly connected with the lower end of the rotating arm 1122, the lower end of the hard connection housing 1207 is fixedly connected with the bottom lock holder 1206, the push block 1203, the swing rod 1205 and the connection hydraulic cylinder 1201 are all disposed in the hard connection housing 1207, the push block 1203 is driven to lift by the connection hydraulic cylinder 1201, one end of the swing rod 1205 is hinged with the push block 1203, the other end is hinged with the corresponding bottom lock torsion slider 1204, the bottom lock torsion slider 1204 is disposed in the corresponding chute in the bottom lock holder 1206, and the soft connection rope 1112 is connected with the underwater work tool bag 10 after passing through the bottom lock holder 1206.

As shown in fig. 13, a guide seat 1202 is provided in the hard connection housing 1207, and the push block 1203 is provided in the guide seat 1202 and is pushed by the connection hydraulic cylinder 1201 to slide along the guide seat 1202 in a lifting manner.

As shown in fig. 3, the rotation support mechanism 1 connected with the first arm 2 includes a base 101, a rotation driving device, a driving gear 104 and a slewing bearing 105, where the rotation driving device, the driving gear 104 and the slewing bearing 105 are all disposed on the base 101, and the driving gear 104 is meshed with external teeth of the slewing bearing 105 and drives rotation through the rotation driving device, in this embodiment, the rotation driving device includes a rotation motor 102 and a speed reducer 103, the driving gear 104 is fixedly mounted on an output shaft of the speed reducer, and a connection flange 107 for mounting is disposed on the lower side of the base 101.

As shown in fig. 3, the pivoting support 105 is provided with a connecting seat 106 and a first hydraulic cylinder hinged seat 202, the lower end of the first arm 2 is hinged to the connecting seat 106 through a first arm lower hinged shaft 203, the lower end of the cylinder body of the first arm hydraulic cylinder 201 is hinged to the first hydraulic cylinder hinged seat 202, and the end of the cylinder rod of the first arm hydraulic cylinder 201 is hinged to the middle part of the first arm 2 through a first cylinder rod hinged shaft 204.

Each of the other arm sections except the first arm section 2 includes an arm section hydraulic cylinder, an arm section hinge frame and an arm section connecting rod, wherein as shown in fig. 4 to 5, the second arm section hinge frame 303 and the third arm section hinge frame 403 have the same structure, one end of each arm section hinge frame is hinged with the adjacent arm section on the rear side, the other end of each arm section hinge frame is provided with two hinge shafts which are respectively hinged with the corresponding arm section hydraulic cylinder rod end and the arm section connecting rod, and the other end of each arm section connecting rod is hinged with the corresponding arm section body.

As shown in fig. 4, a second hydraulic cylinder hinge base 302 is provided on the first arm 2, the lower end of the cylinder body of the second arm-saving hydraulic cylinder 301 is hinged to the second hydraulic cylinder hinge base 302, one end of the second arm-saving hinge frame 303 is hinged to the end of the adjacent first arm 2 through a hinge shaft four 308, the other end is provided with a hinge shaft one 305 and a hinge shaft two 306, wherein the end of the cylinder rod of the second arm-saving hydraulic cylinder 301 is mounted on the hinge shaft two 306, one end of the second arm-saving connecting rod 304 is mounted on the hinge shaft one 305, and the other end is hinged to the corresponding second arm 3 body through a hinge shaft five 9. The first arm section 2 and the second arm section 3 are hinged by a hinge shaft three 307.

As shown in fig. 5, a third hydraulic cylinder hinge support 402 is provided on the second arm 3, the lower end of the cylinder body of the third arm 401 is hinged to the third hydraulic cylinder hinge support 402, one end of the third arm hinge bracket 403 is hinged to the end of the adjacent second arm 3 through a hinge shaft six 405, the other end is provided with a hinge shaft nine 408 and a hinge shaft ten 409, wherein the end of the cylinder rod of the third arm 401 is mounted on the hinge shaft ten 409, one end of the third arm connecting rod 404 is mounted on the hinge shaft nine 408, and the other end is hinged to the corresponding third arm 4 body through a hinge shaft eight 407. The second arm 3 and the third arm 4 are hinged by a hinge shaft seven 406.

As shown in fig. 6 to 9, the fourth arm hinge frame 503, the fifth arm hinge frame 603, the sixth arm hinge frame 703 and the seventh arm hinge frame 803 have the same structure, and two ends of the fourth arm hinge frame are respectively hinged to the adjacent arm and the corresponding arm link, and the middle right-angle end is hinged to the end of the corresponding arm hydraulic cylinder rod.

As shown in fig. 6, a fourth hydraulic cylinder hinge base 502 is provided on the third arm 4, the lower end of the cylinder body of the fourth arm hydraulic cylinder 501 is hinged to the fourth hydraulic cylinder hinge base 502, one end of the fourth arm hinge frame 503 is hinged to the end of the adjacent third arm 4 through a hinge shaft eleven 505, the other end of the fourth arm hinge frame is hinged to one end of a corresponding fourth arm link 504 through a hinge shaft fourteen 508, the other end of the fourth arm link 504 is hinged to the corresponding fourth arm 5 body through a hinge shaft fifteen 509, and the end of the cylinder rod of the fourth arm hydraulic cylinder 501 is hinged to the right-angle end in the middle of the fourth arm hinge frame 503 through a hinge shaft twelve 506. The third arm 4 and the fourth arm 5 are hinged by a hinge shaft thirteen 507.

As shown in fig. 7, a fifth hydraulic cylinder hinge seat 602 is provided on the fourth arm 5, the lower end of the cylinder body of the fifth arm hydraulic cylinder 601 is hinged to the fifth hydraulic cylinder hinge seat 602, one end of the fifth arm hinge frame 603 is hinged to the end of the adjacent fourth arm 5 through a hinge twenty 609, the other end of the fifth arm hinge frame is hinged to one end of a corresponding fifth arm link 604 through a hinge seventeen 606, the other end of the fifth arm link 604 is hinged to the corresponding fifth arm 6 body through a hinge sixteen 605, and the end of the cylinder rod of the fifth arm hydraulic cylinder 601 is hinged to the right-angle end in the middle of the fifth arm hinge frame 603 through a hinge nineteenth 608. The fourth arm 5 and the fifth arm 6 are connected by a hinge shaft eighteen 607.

As shown in fig. 8, a sixth hydraulic cylinder hinge base 702 is provided on the fifth arm 6, the lower end of the cylinder body of the sixth arm hydraulic cylinder 701 is hinged to the sixth hydraulic cylinder hinge base 702, one end of the sixth arm hinge frame 703 is hinged to the end of the adjacent fifth arm 6 through a hinge twenty-four 708, the other end of the sixth arm hinge frame is hinged to one end of the corresponding sixth arm link 704 through a hinge twenty-two 706, the other end of the sixth arm link 704 is hinged to the corresponding sixth arm 7 body through a hinge twenty-one 705, and the end of the cylinder rod of the sixth arm hydraulic cylinder 701 is hinged to the right-angle end in the middle of the sixth arm hinge frame 703 through a hinge twenty-three 707. The fifth arm 6 and the sixth arm are hinged by a hinge twenty-fifth 709.

As shown in fig. 9, a seventh hydraulic cylinder hinge seat 802 is provided on the sixth arm 7, the lower end of the cylinder body of the seventh arm hydraulic cylinder 801 is hinged to the seventh hydraulic cylinder hinge seat 802, one end of the seventh arm hinge frame 803 is hinged to the end of the adjacent sixth arm 7 through a hinge twenty-six joint 805, the other end of the seventh arm link 804 is hinged to one end of the corresponding seventh arm link 804 through a hinge twenty-nine joint 808, the other end of the seventh arm link 804 is hinged to the corresponding seventh arm 8 body through a hinge thirty-809, and the end of the cylinder rod of the seventh arm hydraulic cylinder 801 is hinged to the right-angle end in the middle of the seventh arm hinge frame 803 through a hinge twenty-seven joint 806. The sixth arm 7 and the seventh arm 8 are hinged by a hinge shaft twenty-eight 807.

As shown in fig. 10, the eighth arm hinge 903 is hinged to the end of the seventh arm 8 adjacent thereto by a hinge shaft thirty-one 905, and is hinged to the cylinder rod end of the eighth arm cylinder 901 and the eighth arm link 904 by a hinge shaft thirty-two 906.

As shown in fig. 10, an eighth hydraulic cylinder hinged support 902 is provided on the seventh arm 8, the lower end of the cylinder body of the eighth arm hydraulic cylinder 901 is hinged on the eighth hydraulic cylinder hinged support 902, and the other end of the eighth arm connecting rod 904 is hinged with the eighth arm 9 through a hinge shaft thirty-four 908. The seventh arm 8 and the eighth arm 9 are hinged by a hinge shaft thirty-three 907.

As shown in fig. 1, the invention can be operated and controlled by an operating table 13 with an operating lever, and a system assembly 14 consisting of a hydraulic system, an electric control system, an intelligent interaction system, a power source system and the like is arranged on one side of the rotary supporting mechanism 1. The console 13 and system assembly 14 are well known in the art.

The working principle of the invention is as follows:

during operation, each arm is unfolded and adjusted in sequence, the tail end arm 11 drives the underwater hard connecting mechanism 12 to move to the position of the underwater operation tool bag 10 on the deck of the comprehensive operation ship, then the soft connecting rope 1112 in the tail end arm 11 is connected with the structure on the underwater operation tool bag 10 to realize soft connection, meanwhile, the connecting hydraulic cylinder 1201 in the underwater hard connecting mechanism 12 is started to enable the bottom lock 15 to lock the container corner fitting 16 on the underwater operation tool bag 10, then the system assembly 14 determines the GPS coordinates of the operation ship and the GPS coordinates (or beacon coordinates) of the operation point, the relative position and the motion track are calculated automatically according to the two coordinates, under the control of the system assembly 14, each arm is unfolded in a coordinated motion mode, the tail end arm 11 moves to the position near the operation point, after the underwater operation tool bag 10 is in place, each arm stops moving, the underwater operation tool bag 10 is connected with an underwater operation object, and an operator remotely operates the tool bag to complete corresponding operation. In addition, when the flexible connection operation is required, the connecting hydraulic cylinder 1201 in the underwater hard-connection mechanism 12 is started to release the bottom lock 15, at this time, the tail end arm 11 and the underwater operation tool bag 10 are in a state of being connected only through the flexible connection rope 1112, the length of the flexible connection rope 1112 can be adjusted through the telescopic cylinder rod of the flexible connection hydraulic cylinder 1111, and when the hard-connection operation is required, the connecting hydraulic cylinder 1201 in the underwater hard-connection mechanism 12 is started to lock the bottom lock 15, at this time, the underwater hard-connection mechanism 12 is hard-connected with the container corner fitting 16 on the underwater operation tool bag 10 through the bottom lock 15. The present invention allows for the replacement of different types of subsea work tool packages 10 as desired.

Claims

1. The utility model provides a long distance underwater mechanical arm formula operation platform which characterized in that: comprises a rotary supporting mechanism (1), a tail end arm (11), an underwater hard connecting mechanism (12) and a plurality of articulated connecting arms in sequence, wherein the first arm (2) is driven to swing through a first arm hydraulic cylinder (201), the lower ends of the first arm (2) and the first arm hydraulic cylinder (201) are hinged on the rotary supporting mechanism (1), the rest of each arm is driven to swing through the arm hydraulic cylinder arranged on the adjacent arm, the last arm is connected with the tail end arm (11), the lower end of the tail end arm (11) is connected with the underwater hard connecting mechanism (12) through a rotary arm (1122), the lower end of the underwater hard connecting mechanism (12) is connected with an underwater operation tool bag (10), a soft connecting component (111) and a rotary component (112) are arranged in the tail end arm (11), the soft connecting component (111) is provided with a soft connecting rope (1112) which passes through the rotary arm (1122) and the underwater hard connecting mechanism (12) and then is connected with the underwater operation tool bag (10), the rotary component (1112) is provided with a spiral locking block (1123), the spiral locking block (1204) can be matched with the spiral locking block (1205) and the spiral block (1203) on the bottom (1204) and the spiral block (1123), the bottom lock torsion sliding block (1204) is driven by the swing rod (1205) to move along a corresponding sliding groove on the bottom lock seat (1206), a bottom lock (15) is arranged on the lower side of the bottom lock seat (1206) and is matched with a container corner fitting (16) on the underwater operation tool bag (10), and a lock rod (151) on the bottom lock (15) is driven by the corresponding bottom lock torsion sliding block (1204) to rotate;

the flexible connection assembly (111) comprises a flexible connection hydraulic cylinder (1111) and a flexible connection rope (1112), and the upper end of the flexible connection rope (1112) is connected with the end part of a cylinder rod of the flexible connection hydraulic cylinder (1111).

2. The long-distance underwater robotic work platform of claim 1, wherein: the rotating assembly (112) comprises a rotating hydraulic cylinder (1121), a sliding seat (1126) and a sliding rail (1125), the sliding seat (1126) is driven by the rotating hydraulic cylinder (1121) to lift and slide along the sliding rail (1125), and the pulley (1123) is arranged on the sliding seat (1126).

3. The long-distance underwater robotic work platform of claim 1, wherein: the tail end arm (11) comprises a tail end arm shell (113), the upper end of the tail end arm shell (113) is connected with the last section of arm, the lower end of the tail end arm shell is rotatably connected with the rotating arm (1122), and the soft connecting component (111) and the rotating component (112) are both arranged in the tail end arm shell (113).

4. A long-reach underwater robotic work platform as claimed in claim 3, wherein: the lower end of the tail end arm shell (113) is provided with a rotating arm shaft sleeve (1127), a rotating arm shaft collar (1129) and a rotating arm shaft cover (1128), wherein a flange is arranged on the rotating arm (1122) and is arranged between the rotating arm shaft sleeve (1127) and the rotating arm shaft collar (1129), and the flange and the rotating arm shaft collar (1129) are limited through the rotating arm shaft cover (1128).

5. The long-distance underwater robotic work platform of claim 1, wherein: the underwater hard connection mechanism (12) comprises a hard connection shell (1207) and a connection hydraulic cylinder (1201), wherein the upper end of the hard connection shell (1207) is fixedly connected with the lower end of the rotating arm (1122), the lower end of the hard connection shell is fixedly connected with the bottom lock seat (1206), the push block (1203), the swing rod (1205) and the connection hydraulic cylinder (1201) are all arranged in the hard connection shell (1207), the push block (1203) is driven to lift through the connection hydraulic cylinder (1201), one end of the swing rod (1205) is hinged with the push block (1203), and the other end of the swing rod (1205) is hinged with the corresponding bottom lock torsion slider (1204).

6. The long-reach underwater robotic work platform of claim 5, wherein: a guide seat (1202) is arranged in the hard connection shell (1207), and the pushing block (1203) is lifted along the guide seat (1202).

7. The long-distance underwater robotic work platform of claim 1, wherein: the rotary supporting mechanism (1) comprises a base body (101), a rotary driving device, a driving gear (104) and a slewing bearing (105), wherein the rotary driving device, the driving gear (104) and the slewing bearing (105) are arranged on the base body (101), and the driving gear (104) is meshed with external teeth of the slewing bearing (105) and is driven to rotate through the rotary driving device.

8. The long-reach underwater robotic work platform of claim 7, wherein: the slewing bearing (105) is provided with a connecting seat (106) and a first hydraulic cylinder hinged support (202), the lower end of the first arm (2) is hinged with the connecting seat (106), the lower end of a cylinder body of the first arm hydraulic cylinder (201) is connected with the first hydraulic cylinder hinged support (202), and the end part of a cylinder rod of the first arm hydraulic cylinder (201) is hinged with the middle part of the first arm (2).

9. The long-distance underwater robotic work platform of claim 1, wherein: each other arm except the first arm (2) comprises an arm hydraulic cylinder, an arm articulated frame and an arm connecting rod, wherein one end of the arm articulated frame is articulated with the end of the adjacent arm, the other end of the arm articulated frame is articulated with the corresponding arm connecting rod, the other end of the arm connecting rod is articulated with the end of the corresponding arm body, the lower end of the cylinder body of the arm hydraulic cylinder is articulated with the adjacent arm, and the end of the cylinder body is articulated with the corresponding arm articulated frame.