CN114734455A - Four-degree-of-freedom mechanical arm for marine product fishing operation - Google Patents
Four-degree-of-freedom mechanical arm for marine product fishing operation Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses a four-degree-of-freedom mechanical arm for marine product fishing operation, which mainly comprises a rotary waist joint mechanism, an elbow joint mechanism, a shoulder joint mechanism, a paw opening and closing joint mechanism, transmission mechanisms of all joints, link mechanisms among all joints and a parallel auxiliary link mechanism capable of keeping the tail end posture. The servo motor and the planetary reducer are adopted in each joint as a driving device, and sufficient torque and accurate joint position precision are provided for the joints. Compared with the traditional underwater mechanical arm with a complex structure and high cost, the underwater mechanical arm disclosed by the invention has the advantages of light and simple structure, low cost, good motion control precision and good back-driving property, and is easy to perform unified sealing and later maintenance of joints. The mechanical arm can be used for automatic catching operation of cultured marine products such as sea cucumbers, sea urchins, scallops and the like, and is beneficial to improving the economic benefit of the marine product culture industry.
Description
Technical Field
The embodiment of the invention relates to the technical field of underwater robot operation, in particular to a mechanical arm for marine product fishing operation.
Background
With the continuous and deep exploration and research of the ocean by human beings, in the fields of ocean resource exploration, deep sea scientific research, underwater fishing and the like, the adoption of the underwater robot to replace the human beings to finish the work becomes the leading trend of the application of the robot technology. A typical underwater robot is composed of an underwater robot and a mechanical arm, wherein the mechanical arm is a very important component in an underwater robot system and is a key execution mechanism for executing tasks such as underwater operation, fishing and the like.
The existing commercial underwater mechanical arm has large load capacity and a complex structure, so that the cost is high, the existing commercial underwater mechanical arm is mainly used for special underwater operation, and the existing commercial underwater mechanical arm is not suitable for the fishing operation of single marine products with small weight, such as shellfish, sea cucumbers and sea urchins, from the economic aspect. For marine products such as shellfish, sea cucumber, sea urchin and the like, an artificial diving fishing mode is mainly adopted at present. The traditional manual catching operation mode has the problems of high labor intensity, high diving operation risk, serious health hazard of practitioners caused by scuba and the like. Because no economical and applicable underwater fishing mechanical arm exists, the application of the underwater robot in the marine product fishing industry is severely restricted. Therefore, how to design a multi-degree-of-freedom underwater mechanical arm with light structure, high control precision, stability and reliability becomes a technical problem to be solved urgently in the field of marine product fishing robots. The invention provides a four-degree-of-freedom mechanical arm for marine product fishing, which has important economic benefits and social values for promoting the development and application of an underwater fishing robot.
Disclosure of Invention
The invention aims to overcome the defects of poor waterproof performance, low reliability, complex structure, small working space and high cost in the existing underwater mechanical arm, and designs a four-degree-of-freedom mechanical arm for marine product fishing operation, which can be used for the automatic fishing operation of marine products cultured in near shallow sea, has the characteristics of light weight, compact structure, high reliability, low cost and excellent operation performance, and provides a stable and reliable execution mechanism scheme for the automatic fishing operation of underwater cultured products.
In order to achieve the above purpose, the embodiment of the invention provides the following technical scheme:
a four-degree-of-freedom mechanical arm for marine product fishing comprises a rotary waist joint mechanism, a shoulder joint and large arm mechanism, an elbow joint mechanism, a tail end parallel mechanism and a paw opening and closing mechanism. All the driving joints adopt a mode of rear-mounted driving motors, and joint motion and torque are output to the tail end joint through the two sets of parallel mechanisms. The opening and closing of the paw are realized through the wire pulling mechanism, the whole waterproof difficulty of the mechanical arm is greatly reduced by the arrangement mode, the joint is easy to maintain in a unified mode, the structural form of the underwater mechanical arm is more compact, the control method is simpler and easier, the operation space is large, and the automatic fishing device has good economic benefits for the marine product culture automatic fishing market.
The four-degree-of-freedom underwater mechanical arm mainly comprises a rotary waist joint mechanism, a shoulder joint mechanism, an elbow joint mechanism, a paw opening and closing joint mechanism, transmission mechanisms of all joints and a parallel connecting rod mechanism capable of keeping the tail end posture. The waist joint can realize the rotary motion of the base, the shoulder joint and the elbow joint and provide support for the whole underwater mechanical arm. The elbow joint and the shoulder joint are fixed at the upper end of the waist joint and rotate along with the waist joint, the lower end of the large arm mechanism is in transmission connection with the shoulder joint mechanism, and the tail end of the large arm mechanism is connected with the small arm mechanism through the elbow joint hinge. The parallel rod in the parallel connecting rod mechanism, the large arm mechanism and the small arm mechanism form two parallelogram mechanisms, so that the tail end joint is always kept in a vertically downward state. The paw opening and closing mechanism is fixedly connected to the tail end joint and is an actuating mechanism of the mechanical arm.
The waist joint consists of a waist joint rotating and supporting mechanism, a waist joint driving mechanism and a synchronous transmission mechanism for transmitting power and movement between the waist joint rotating and supporting mechanism and the waist joint driving mechanism. The rotary joint is internally provided with a joint encoder capable of being accurately positioned and a servo motor for providing large torque, and the joint is externally provided with a synchronous belt kinematic pair mechanism capable of being accurately driven. The waist joint rotation supporting part provides necessary support and lubrication for the whole mechanical arm by a pair of tapered roller bearings.
The servo motor loaded in the waist joint is further rotated to provide power and an accurate movement position for the whole waist joint mechanism, the power and the movement are transmitted to the synchronous belt driven wheel through the synchronous belt driving wheel after the speed is reduced and the torque is amplified through the planetary reducer, and the power and the movement are transmitted to the waist joint rotation supporting mechanism through the synchronous belt driven wheel, so that the whole waist joint movement and the transmission of the power are completed.
The waist joint is fixedly connected to an output platform of the waist joint, and the waist joint not only can play a role in transmitting power and motion of the waist joint, but also plays a role in supporting the whole mechanical arm. Further the shoulder joint consists of a rotary joint and other connections. The shoulder joint not only transmits power and motion to the big arm mechanism, but also plays a role in supporting the big arm. The power and motion transmission of the shoulder joint adopts a direct-drive mode, namely, a servo motor generates power and accurate motion, and the power and the motion are directly transmitted to the large arm mechanism through a speed reducer.
The rotary elbow joint is parallel to the shoulder joint and is fixedly connected to the tail end output platform of the waist joint. Further, the motion and power transmission of the elbow joint is more complicated than that of the waist and shoulder joints. The elbow joint is composed of a rotary elbow joint, a synchronous belt transmission mechanism, a small arm rocker arm coaxial with the shoulder joint, a small arm pull rod joint and a small arm. The forearm elbow joint is connected with the tail end of the large arm through a hinge, one end of the forearm is connected with the forearm pull rod through a hinge, and the other end of the forearm is connected with the tail end joint through a hinge. The small arm pull rod is hinged with the small arm rocker arm. The small arm rocker arm can coaxially rotate with the rotary shoulder joint and is connected with the elbow joint through a synchronous belt kinematic pair.
Furthermore, the tail end joint is arranged at the tail end of the mechanical arm and plays a role in connecting the small arm mechanism and the paw. The tail end joint is connected with the small arm parallel auxiliary connecting rod mounting base through two groups of parallelogram mechanisms, so that the tail end joint is always kept in a vertical state, and the purpose of keeping the tail end posture of the paw is achieved.
Furthermore, the opening and closing freedom degree of the paw consists of an opening and closing paw, a wire drawing pipe mechanism, a wire winding mechanism and a paw opening and closing joint. The paw opening and closing joint is arranged at the tail end of the mechanical arm, and the torque output of the motor is transmitted to the tail end of the paw through the wire pulling mechanism to control the opening and closing movement of the paw. The tail end of the opening and closing claw is fixedly connected with the tail end joint, the wire pulling pipe mechanism is connected with the tail end of the opening and closing claw, the wire winding mechanism is connected with the wire pulling pipe mechanism through a pull wire, and the wire winding mechanism is installed at the output end of the opening and closing joint of the claw. The tail end of the opening-closing paw comprises an opening-closing base, three fingers and a self-recovery spring. The three fingers can open and close around the base, and the self-recovery spring can realize the automatic opening of the three fingers. The wire drawing mechanism consists of an internal drawing wire and a sheath, and can realize the contraction and relaxation movement of the drawing wire and the sheath. The paw opening and closing joint drives the winding mechanism to control the contraction and the relaxation of the stay wire. The pull wire contracts to drive the closing of the fingers of the paw, expands and drives the paw to open under the action of the self-recovery spring.
The embodiment of the invention has the following advantages:
1. the utility model provides a four degree of freedom arms towards marine product fishing operation its waist joint, shoulder joint, elbow joint and the drive joint that opens and shuts of paws finger all adopt servo control mode, realize the terminal accurate position control of arm based on motor encoder feedback, be applicable to the accurate fishing operation of aquatic product.
2. The utility model provides a four degree of freedom arms towards marine product operation of catching adopt the rearmounted mode of rotation drive joint, will waist joint, shoulder joint, elbow joint and the drive joint that opens and shuts of hand claw finger all settle at the mechanical arm end, greatly reduced waterproof performance's the design degree of difficulty, easily later stage joint is unified to be maintained. Compared with the traditional underwater mechanical arm, the underwater mechanical arm disclosed by the invention has the design characteristics of compact structure, modular joint and light weight, and is good in waterproof performance. Meanwhile, the working space is large, the operation is easy, and the device is suitable for the marine product fishing operation instead of the labor cost.
3. The underwater fishing mechanical arm disclosed by the invention adopts two sets of parallelogram auxiliary rod pieces, so that the tail end joint always keeps a fixed angle with the base in the moving process, the control algorithm of the underwater fishing mechanical arm is simplified, the stability and operability of the fishing process are enhanced, the whole fishing operation process is more reliable and intuitive, and a reliable platform foundation is provided for automatic fishing operation.
4. The underwater fishing mechanical arm disclosed by the invention is made of an anticorrosive pressure-resistant material, a stable and reliable structural foundation is provided for the underwater fishing task of the mechanical arm, and compared with the traditional underwater mechanical arm, the mechanical arm disclosed by the invention has the advantages of lower design cost and higher reliability requirement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic view of an underwater mechanical arm based on a rotary joint provided by an embodiment of the invention;
FIG. 2 is a schematic view of a waist joint mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of the shoulder joint mechanism and the upper arm mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of the elbow mechanism, the upper arm mechanism and the lower arm mechanism according to the present invention;
FIG. 5 is a schematic view of an end effector mounting structure according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a gripper opening and closing mechanism according to an embodiment of the present invention;
in the figure:
2, a waist joint mechanism assembly; 201 rotating the underwater waist joint; 202 waist joint base; 203 waist joint rotary joint fixing outer cylinder; 204 waist joint driving synchronous pulleys; 205 waist joint synchronous belt tension pulley; 206 waist joint synchronous belts; 207 waist joint passive synchronous pulley; 208 waist joint rotary support; 3 shoulder joint and upper arm; 301 large arm mechanism; 302 a shoulder joint output device; 303 rotating the shoulder joint; 304 a shoulder joint support; 305 rotating the base; 4 elbow joint and forearm; 401 elbow joint synchronous belt; 402 elbow joint synchronous belt driving wheel; 403 rotating the elbow joint; 404 elbow joint synchronous belt tension pulley; 405 an elbow joint hinge; 406 a small arm mechanism; 407 a small arm parallel auxiliary link; 408 a small arm rocker arm; 409 elbow joint synchronous belt driven wheel; 5, a tail end parallel connecting rod mechanism; 501, connecting a hinge frame; 502 big arm parallel auxiliary link; 503 parallel rod fixing seats; 504 small arm auxiliary parallel connecting rods; 505 end joints; 6, a paw opening and closing mechanism; 601 a pull wire and a flexible sleeve; 602 pulling a wire support; 603 a winding mechanism; 604 underwater paw open-close joint; 605 a stay wire joint; 606 a gripper base; 607 paw fingers; 608 self-restoring spring
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …", "above … …", "above … …", "above", and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be rotated 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.
In order to solve the related technical problems in the prior art, the embodiment of the application provides a four-degree-of-freedom underwater fishing mechanical arm for marine product fishing operation, aiming at overcoming the defects of poor waterproof performance, low reliability and short service life of the joint of the existing underwater mechanical arm, realizing grabbing of a set target of the underwater mechanical arm in a high water pressure environment, and realizing light overall design, easy maintenance and higher reliability and operability.
Specifically, as shown in fig. 1 to 6, the four-degree-of-freedom underwater robot arm based on the rotary joint comprises a fixed mounting base 1, a waist joint mechanism 2, a shoulder joint and large arm mechanism 3, an elbow joint mechanism 4, a tail end parallel mechanism 5 and a paw opening and closing mechanism 6.
Further, the waist joint 2 provides a rotary support for the whole underwater mechanical arm. The elbow joint 4 and the shoulder joint 3 are fixed at the output end of the waist joint 2 and rotate along with the waist joint 2. The lower end of the large arm mechanism 301 is connected with the shoulder joint mechanism 3 in a transmission way, and the tail end of the large arm mechanism 301 is connected with the small arm mechanism 406 through an elbow joint hinge 405. The large arm and small arm parallel auxiliary rods 502 and 504, the large arm mechanism 301 and the small arm mechanism 406 in the parallel link mechanism 5 form two parallelogram mechanisms, so that the end joint 505 is always kept in a vertical downward state. The gripper opening and closing mechanism 6 is connected to the end joint 505 and is an actuator of the robot arm.
The waist joint mechanism 1 is composed of a waist joint rotation supporting mechanism 208, a waist joint driving mechanism 201 based on rotation and a synchronous transmission mechanism for transmitting power and movement between the waist joint rotation supporting mechanism and the waist joint driving mechanism. The rotary joint is internally provided with a servo motor and an encoder which can accurately position and provide large torque, and the joint is externally provided with a synchronous belt kinematic pair mechanism which can accurately transmit. The waist joint rotational support 208 is partially supported and lubricated by a pair of tapered roller bearings necessary for the entire robot arm. The output end of the waist joint rotary joint transmits power and motion to a synchronous belt driving wheel 204 fixedly connected with the waist joint rotary joint, the synchronous belt driving wheel transmits the power and motion to a synchronous belt driven wheel 206, the synchronous belt driven wheel 206 transmits the power and motion to a waist joint rotary supporting mechanism 208, and therefore the transmission of the whole waist joint motion and the power is completed.
Further the shoulder joint 3 is composed of a rotary underwater joint and other connections. The shoulder joint 3 is fixedly connected to the output platform 305 of the waist joint 2, and the shoulder joint 3 not only can play a role in power and motion transmission of the big arm mechanism 301, but also plays a role in big arm support. The output end of the shoulder joint 3 directly transmits power and motion to the upper arm mechanism 301 through a shoulder joint output device 302.
Further the motion and power transmission of the elbow joint 4 is more complex with respect to the waist joint 2 and the shoulder joint 3. The rotary elbow joint 403 is parallel to the rotary shoulder joint 303 and is attached to the end output platform 305 of the rotary waist joint 2. The elbow joint 4 is composed of a rotary elbow joint 403, a synchronous belt transmission mechanism, a small arm rocker arm 408 coaxial with the shoulder joint, a small arm pull rod 407, a small arm mechanism 406 and a small arm hinge 405. The small arm mechanism 406 is connected with the tail end of the large arm mechanism 301 through an elbow joint hinge 405, one end of the small arm mechanism 406 is connected with a small arm pull rod 407 through a hinge, and the other end of the small arm mechanism 406 is connected with a tail end joint 505 through a hinge. The small arm pull rod 407 is connected with the small arm rocker arm 408. The forearm rocker 408 may rotate coaxially with the rotary shoulder joint and is connected to the outer magnet of the shoulder joint via a timing belt kinematic pair. Further, the output end of the elbow joint transmits power and motion to an elbow joint synchronous belt driven wheel 409 which is coaxial with the shoulder joint through a synchronous belt, the driven wheel 409 drives a small arm rocker arm 408 and a small arm pull rod 407 to transmit motion and power to the small arm mechanism 406, and therefore power transmission and motion of the small arm mechanism are achieved.
Further, the end joint is a joint 505 attached to the end of the robot arm, and functions to connect the arm mechanism 406 and the gripper 6. The end joint is connected with the rotating base 305 through two sets of parallelogram mechanisms, namely a big arm parallel auxiliary connecting rod 502 and a small arm auxiliary parallel connecting rod 504, so that the end joint is always kept in a vertical state, and the aim of keeping the end posture is fulfilled.
Further, the end parallel link mechanism is composed of a connecting hinge bracket 501, a large arm parallel auxiliary link 502, a small arm auxiliary parallel link 504 and an end joint 505. Wherein, the connecting hinge bracket 501 is provided with three hinge mounting holes which are respectively hinged with the small arm pull rod joint, the large arm parallel auxiliary connecting rod 502 and the small arm auxiliary parallel connecting rod 504. The other end of the big arm parallel auxiliary connecting rod 502 is hinged with the parallel rod fixing seat 503, and the other end of the small arm auxiliary parallel connecting rod 504 is hinged with the tail end joint 505. In the motion process of the mechanical arm, the large arm parallel auxiliary connecting rod 502 and the large arm mechanism 301 form two opposite sides of a parallelogram, and the small arm auxiliary parallel connecting rod 504 and the small arm mechanism 406 form two opposite sides of another parallelogram. Further, the two sets of parallelogram mechanisms ensure that the end joint 505 is always perpendicular to the waist joint reference plane during the movement process.
Furthermore, the gripper opening and closing mechanism 6 is composed of an opening and closing gripper finger 607, a gripper base 606, a wire pulling pipe mechanism 601, a wire winding mechanism 603 and a gripper opening and closing joint 604. The opening and closing paw base 606 is fixedly connected with the tail end joint 505, the wire drawing pipe mechanism 601 is connected with the opening and closing paw fingers 607, the wire winding mechanism 603 is connected with the wire drawing mechanism 601 through a drawing wire, and the wire winding mechanism 603 is installed at the output end of the paw opening and closing joint 604. The end of the opening and closing paw comprises an opening and closing base 606, a finger 607 and a self-restoring spring 608. The three fingers can open and close around the base 606, and the self-recovery spring 608 can realize the automatic opening of the three fingers. The wire drawing mechanism 601 is composed of an internal drawing wire and a sheath, and can realize the contraction and relaxation movement of the drawing wire and the sheath. The paw opening and closing joint 604 drives the wire winding mechanism 603 to control the contraction and relaxation of the wire drawing mechanism 601. The contraction of the pull wire can drive the closing of the paw fingers 607, and the expansion of the pull wire can drive the opening of the paw fingers 607 due to the self-recovery spring 608.
In conclusion, the rotary waist joint mechanism 2, the shoulder joint mechanism 3, the elbow joint mechanism 4, the paw opening and closing joint mechanism 6 and the parallel connecting rod mechanism 5 jointly form the four-degree-of-freedom underwater mechanical arm based on the rotary joint, can safely and reliably reach any point in a working space in a water environment, and can ensure the vertical posture of the end paw. And meanwhile, the mechanical paw arranged at the tail end can flexibly grab underwater targets. And the defects of poor waterproof performance, low reliability and short service life in the existing underwater mechanical arm are overcome, and underwater target grabbing under a high water pressure environment can be realized. Meanwhile, the device has higher reliability and longer service life.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (11)
1. A four-degree-of-freedom mechanical arm for marine product fishing is characterized by comprising a rotary waist joint mechanism (1), a shoulder joint mechanism (2), an elbow joint mechanism (3), a paw opening and closing mechanism (5) and a parallel auxiliary connecting rod mechanism (4) capable of keeping the tail end posture. The waist joint mechanism is arranged at the upper end of the bottom plate (202). Elbow joint (3) and shoulder joint (2) are fixed in waist joint (1) upper end to rotate along with the waist joint, big arm mechanism lower extreme transmission is connected shoulder joint mechanism, big arm mechanism (301) is terminal to be connected through elbow joint hinged joint forearm mechanism (406). The large arm and small arm parallel auxiliary rods (502) and (504) in the parallel auxiliary link mechanism (4) are connected with the hinged frame (501), the large arm mechanism (301) and the small arm mechanism (406) to form two parallelogram mechanisms, so that the tail end joint is always kept in a vertical and downward state. The opening-closing paw (5) is fixedly connected to the tail end joint (505) and is an actuating mechanism for the mechanical arm to complete a set fishing task.
2. The rotary waist joint mechanism (1) according to claim 1 is composed of a waist joint rotation support mechanism (202), a waist joint drive mechanism (201), and a synchronous transmission mechanism (204) (205) (206) (207) that transmits power and motion therebetween. And a joint angle encoder capable of accurately positioning and a servo motor providing 10Nm output torque are arranged in the rotary joint. And a waist joint synchronous belt kinematic pair mechanism capable of accurately transmitting is arranged outside the joint. The waist joint rotation supporting part provides necessary rotation support for the whole mechanical arm by a pair of tapered roller bearings.
3. A rotary shoulder joint (2) according to claim 1 consisting of an underwater joint and its connection (302). The rotary shoulder joint directly outputs power and motion to the large arm mechanism (301), so that power transmission and motion of the large arm are realized. The shoulder joint is fixedly connected to an output platform of the waist joint, and the shoulder joint not only can play a role in power and motion transmission of the big arm mechanism, but also plays a role in big arm support.
4. The rotary elbow joint (3) according to claim 1 is parallel to the rotary shoulder joint (2) and is attached to an output platform (305) at the end of the waist joint. The elbow joint is also equipped with a servomotor and a precisely positioned joint angle encoder inside. Rotatory elbow joint (3) transmit power and motion through elbow joint hold-in range (401) and give shoulder joint coaxial elbow joint hold-in range follow driving wheel (409), drive forearm rocking arm (408) and forearm pull rod (407) from the driving wheel, and then give forearm mechanism (406) with motion and power transmission to realize the power transmission and the motion of forearm.
5. The parallel auxiliary link mechanism (5) for maintaining the posture of the tail end as claimed in claim 1 is composed of two parallelogram auxiliary links (502) (504) and a connecting hinge bracket (501), and the large arm auxiliary link (502) is always kept parallel to the large arm link (301) in the motion process of the mechanical arm. The small arm auxiliary parallel connecting rod (504) and the small arm (406) are always parallel in the movement process. The connecting hinge frame (501) is provided with three hinge holes which are respectively hinged with a small arm pull rod (407) joint, a large arm parallel auxiliary connecting rod (502) and a small arm parallel auxiliary connecting rod (504).
6. The end joint (505) of claim 1 is mounted on the end of the mechanical arm small arm mechanism (406) and small arm auxiliary link (504) to connect the small arm and the paw. The small arm parallel auxiliary connecting rod (504), the connecting hinge bracket (501), the tail end joint (505) and the small arm mechanism (406) jointly form a parallelogram mechanism. The end joint (505) of claim 5 is connected with the waist joint end (503) through two sets of parallelogram mechanisms, and the end joint is always kept in a vertical state due to the structural configuration characteristics of the mechanical arm.
7. The gripper opening and closing mechanism (5) according to claim 1, comprising an opening and closing finger (607), a gripper base (606), a wire pulling mechanism (601), a wire winding mechanism (603), and a gripper opening and closing joint (604). The opening and closing paw type robot manipulator is characterized in that the opening and closing paw base (606) is fixedly connected with a tail end joint (505) of the mechanical arm, the wire drawing pipe mechanism (601) is fixedly connected with an opening and closing finger (607), the wire winding mechanism (603) is connected with the wire drawing mechanism (601) through a drawing wire, and the wire winding mechanism (603) is installed at the output end of the paw opening and closing joint (604). The tail end of the opening-closing paw comprises a paw base (606), an opening-closing finger (607) and a self-recovery spring (608). The three fingers are radially and uniformly arranged on the paw base (606) and can be opened and closed around the base, and the self-recovery spring (608) can realize the automatic recovery of the three fingers. The wire drawing mechanism (601) is composed of an internal drawing wire and a sheath, and can realize the contraction and relaxation movement of the drawing wire and the sheath. The paw opening and closing joint (604) drives the winding mechanism (603) to control the contraction and the relaxation of the pull wire. The pull line contracts to drive the closing fingers (607) to close, and the pull line expands to drive the paw to open under the action of the self-recovery spring (608).
8. The four-degree-of-freedom mechanical arm for seafood fishing operation of claim 1, wherein the waist joint, the shoulder joint, the elbow joint and the paw opening and closing joints are all controlled by motor servo, so that the end position precision of the mechanical arm can be ensured, and the four-degree-of-freedom mechanical arm is suitable for precise fishing operation of target seafood.
9. The four-degree-of-freedom mechanical arm for seafood fishing operation of claim 1, which is compact and light, can cover 500mm of working space, and is economical in cost. Wholly adopt the rearmounted mode of drive joint motor, provide good mechanical form basis for the unified joint seal of arm, and easily later maintenance, provide economic and reliable actuating mechanism for the automatic operation of catching of marine product.
10. The four-degree-of-freedom mechanical arm tail end joint for marine product fishing operation as claimed in claim 6, wherein two sets of parallelogram mechanisms are adopted, so as to further ensure that the tail end posture of the mechanical arm is kept unchanged all the time in the fishing process, and ensure that the tail end hand-grasping posture is perpendicular to the waist joint all the time in the sports fishing process. The mechanism form can effectively reduce the difficulty of a kinematic control algorithm in the marine product fishing process, and realize the automatic operation of the cultured marine product fishing based on visual sensing.
11. A four degree-of-freedom robotic arm for seafood fishing operations as claimed in claim 1, wherein the material of the arm is selected with regard to its density, strength, stiffness, plasticity, corrosion resistance, stability, surface hydrophobicity, cost, and the like. And finally, selecting austenitic stainless steel as a joint shell, using a carbon fiber rod piece as a mechanical arm body, and using rubber as a paw finger. The selection and application of the pressure-resistant and corrosion-resistant material of the mechanical arm can ensure the reliability and stability of the mechanical arm in the underwater special operation environment.
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| CN202210290300.2A CN114734455A (en) | 2022-03-23 | 2022-03-23 | Four-degree-of-freedom mechanical arm for marine product fishing operation |
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| CN202210290300.2A CN114734455A (en) | 2022-03-23 | 2022-03-23 | Four-degree-of-freedom mechanical arm for marine product fishing operation |
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| CN202210290300.2A Pending CN114734455A (en) | 2022-03-23 | 2022-03-23 | Four-degree-of-freedom mechanical arm for marine product fishing operation |
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