CN220197744U - Six-degree-of-freedom ROV mechanical arm water operation auxiliary hand - Google Patents

Abstract

The utility model provides a six-degree-of-freedom ROV mechanical arm water operation auxiliary hand which comprises a control arm, a control mechanism and a controller, wherein the control arm and an external mechanical arm are electrically connected with the controller; the control mechanism is a capacitive touch switch arranged on the control arm and electrically connected with the controller, and is used for controlling the operation of the external mechanical arm gripper; the control arm is provided with a fixed end and a free end, the control arm is connected with an external object through the fixed end, a plurality of movable joints for supporting the free end are arranged on the control arm, the free end can be pulled by external force to move, and the controller can control the external mechanical arm gripper to move according to the moving track of the free end; compared with the existing travel switch, the capacitive touch switch has no mechanical parts, avoids abrasion, prolongs the service life, reduces the later maintenance cost, can be arranged on the back of any insulating layer, does not need an operator to directly contact with the switch, and can thoroughly eliminate potential safety hazards.

Description

Six-degree-of-freedom ROV mechanical arm water operation auxiliary hand

Technical Field

The utility model relates to the technical field of mechanical arm control, in particular to a six-degree-of-freedom ROV mechanical arm water operation auxiliary hand.

Background

Currently ROV (Remotely Operated Vechicle) is one of the main tools of current marine exploration research. The work tool above the ROV is an important component of the overall system, and as the work tool above the ROV, the component mainly includes a robot arm and an end effector mounted on the robot arm.

In order to control an underwater mechanical arm carried by an ROV, an operator controls the operation of the underwater mechanical arm on water through a control device, the control device is provided with a switch for controlling a manipulator gripper, the switch on the control device enables a part of a circuit to be connected or disconnected to have a certain stroke, and the part is worn out greatly after long-term use, so that the service life of the switch is low.

Disclosure of Invention

The utility model aims to solve the technical problems that a switch on control equipment in the prior art generally has a certain stroke for a part which is connected or disconnected with a circuit, and the switch has larger abrasion after long-term use, so that the service life of the switch is low.

In order to solve the technical problems, the utility model provides a six-degree-of-freedom ROV mechanical arm water operation auxiliary hand, which comprises: the control arm, the control mechanism and the controller are electrically connected with the controller; the control mechanism is a capacitive touch switch arranged on the control arm and electrically connected with the controller, and is used for controlling the operation of the external mechanical arm gripper; the control arm is provided with a fixed end and a free end, the control arm is connected with an external object through the fixed end, a plurality of movable joints for supporting the free end are arranged on the control arm, the free end can be pulled by external force to move, and the controller can control the external mechanical arm gripper to move according to the moving track of the free end.

Further, the capacitive touch switch comprises a first switch arranged on the free end of the control arm, and the first switch is used for controlling the external mechanical arm gripper to open or close.

Further, the capacitive touch switch further comprises a second switch arranged on the free end of the control arm, and the second switch is used for controlling the circumferential angle of the grip.

Further, the movable joints are arranged between the fixed end and the free end, and the number of the movable joints on the control arm is more than 5.

Further, the control arm comprises a big arm, a connecting arm and a small arm which are sequentially hinged in pairs, and the free end of the control arm is arranged at one end of the small arm far away from the connecting arm.

Further, the large arm, the connecting arm and the small arm are provided with a first part and a second part which are movably connected, and the free end is arranged on the second part of the small arm.

Further, the first and second portions of the large and small arms are coaxially disposed and rotatable relative to the circumferential direction; one end of the first part of the connecting arm is rotationally connected with the second part of the big arm, the other end of the first part of the connecting arm is hinged with one end of the second part of the connecting arm, and one end of the second part of the connecting arm, which is far away from the first part of the connecting arm, is hinged with the first part of the small arm.

Further, the device further comprises angle sensors, wherein the angle sensors are electrically connected with the controller, the movable connection parts of the first part and the second part of the big arm, the connecting arm and the small arm and the hinge parts between the first part and the second part are respectively provided with a rotating shaft, and the number of the angle sensors is the same as that of the rotating shafts and is in one-to-one correspondence with the rotating shafts so as to record the rotating angles of the movable joints.

According to the technical scheme, the beneficial effects of the utility model are as follows: compared with the existing travel switch, the capacitive touch switch has no mechanical parts, avoids abrasion, prolongs the service life, reduces the later maintenance cost, can be arranged on the back of any insulating layer, does not need an operator to directly contact with the switch, and can thoroughly eliminate potential safety hazards.

Drawings

Fig. 1 is a schematic perspective view of an operation assistant provided in the present application.

Fig. 2 is a first burst diagram of the operation assistant provided in the present application.

Fig. 3 is a pop-up view of the connection of the large arm and the connecting arm of the operation assistant hand provided by the application.

Fig. 4 is a third burst diagram of the operating auxiliary provided in the present application.

Fig. 5 is a pop-up view of the connection of the connecting arm and the forearm of the operation assistant hand provided by the application.

The reference numerals are explained as follows: 1. a large arm; 11. a base; 12. a first portion; 13. a second portion; 2. a connecting arm; 21. a first portion; 22. a second portion; 3. a forearm; 31. a first portion; 32. a second portion; 321. a first switch; 322. a second switch; 4. a rotating shaft; 5. a photoelectric angle encoder; 6. damping member.

Detailed Description

Exemplary embodiments that embody features and advantages of the present utility model will be described in detail in the following description. It will be understood that the utility model is capable of various modifications in various embodiments, all without departing from the scope of the utility model, and that the description and illustrations herein are intended to be by way of illustration only and not to be construed as limiting the utility model.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

For the purpose of further illustrating the principles and structure of the present utility model, preferred embodiments of the utility model will now be described in detail with reference to the accompanying drawings.

Referring to fig. 1 to 5, the application provides a six-degree-of-freedom ROV manipulator on-water operation auxiliary hand, which comprises a control arm and a controller, wherein the control arm is provided with a base 11, the control arm is installed or placed on an external object through the base 11, one end, close to the base 11, of the control arm is a fixed end, one end opposite to the fixed end is a free end, the free end is pulled by external force and can move relative to the control end, the control arm transmits data of free end movement to the controller, the controller controls the external manipulator to move according to the data of free end movement, so that the manipulator of the manipulator moves according to the movement track of the free end, and an operator can accurately control and position the manipulator gripper.

The manipulator is characterized by further comprising a control mechanism, wherein the control mechanism is electrically connected with the controller and used for controlling the operation of the external manipulator grippers.

The control mechanism is a capacitive touch switch arranged on the control arm and electrically connected with the controller, an operator can control the opening or closing of the manipulator gripper through the capacitive touch switch, and the circumferential angle of the manipulator gripper can also be controlled through the capacitive touch switch, so that the manipulator gripper can adapt to target objects with different postures; compared with the existing travel switch, the capacitive touch switch has no mechanical parts, avoids abrasion, prolongs the service life, reduces the later maintenance cost, can be arranged on the back of any insulating layer, does not need an operator to directly contact with the switch, and can thoroughly eliminate potential safety hazards.

The capacitive touch switch comprises a first switch 321 arranged on the free end of the control arm, the first switch 321 is used for controlling the opening or closing of the gripper of the external mechanical arm, the first switch 321 is not limited to be arranged on the free end of the control arm, and referring to the attached drawings, the first switch 321 can be arranged on the base of the control arm, the same effect can be achieved, and the first switch 321 is arranged on the free end in a mode of preferably arranging the first switch 321, so that an operator can operate the gripper of the mechanical arm more conveniently.

The capacitive touch switch further comprises a second switch 322 arranged on the free end of the control arm, the second switch 322 is used for controlling the circumferential angle of the manipulator arm gripper, the second switch 322 is not limited to be arranged on the free end of the control arm, the second switch 322 can be arranged on the base of the control arm, the same effect can be achieved, the second switch 322 is arranged on the free end in a mode of being optimized by the second switch 322, and the manipulator arm gripper is more convenient to operate by an operator.

The control arm and the external mechanical arm are electrically connected with the controller, an operator can send an instruction to the controller through the control arm to control the external mechanical arm, a plurality of movable joints which support the free end are further arranged on the control arm, the movable joints can deform the control arm, and when the free end is pulled by external force to move, the movable joints generate adaptive movement, so that the control arm generates adaptive deformation to support the free end to move to a target space coordinate.

Further, the movable joints are arranged between the fixed end and the free end, the number of the movable joints on the control arm is more than 5, preferably, the number of the movable joints is 5, when the number of the movable joints on the control arm is 5, the control arm can control the position of the free end on five degrees of freedom through the movable joints because the movable joints are arranged between the fixed end and the free end, so that the control arm can control the position of the gripper of the external mechanical arm on the five degrees of freedom, the flexibility is high, the underwater operation requirements of the mechanical arm on different directions, different distances, different depths and different angles can be met, and the control arm is provided with a control mechanism for controlling the gripper to open or close, so that the control arm can control the mechanical arm with six degrees of freedom.

Further, as shown in fig. 1-5, the control arm includes a large arm 1, a connecting arm 2 and a small arm 3 hinged in sequence between two pairs, a base 11 and a fixed end are disposed on the large arm 1, a free end is disposed at one end of the small arm 3 far away from the connecting arm 2, both the hinge of the large arm 1 and the connecting arm 2 and the hinge of the connecting arm 2 and the small arm 3 are provided with movable joints, and under the action of the movable joints, deformation can be generated among the large arm 1, the connecting arm 2 and the small arm 3, so that the free end on the small arm 3 can move to the space coordinates of the purpose.

In order to enable the control arm to control the mechanical arm with six degrees of freedom, the big arm 1, the connecting arm 2 and the small arm 3 are provided with corresponding first parts and second parts except the movable joints arranged at the hinging position of the big arm 1 and the connecting arm 2 and the hinging position of the connecting arm 2 and the small arm 3, and the first parts and the second parts of the big arm 1, the connecting arm 2 and the small arm 3 are movably connected through the movable joints, and the free end is arranged on the second part of the small arm 3, so that the control arm can control the position of the free end in five degrees of freedom.

Movable joints are arranged between the first part 12 and the second part 13 of the big arm 1, between the first part 21 and the second part 22 of the connecting arm 2 and between the first part 31 and the second part 32 of the small arm 3; the big arm 1 is hinged with the connecting arm 2, namely a movable joint is arranged between the second part 13 of the big arm 1 and the first part 21 of the connecting arm 2, and the connecting arm 2 is hinged with the small arm 3, namely a movable joint is arranged between the second part 22 of the connecting arm 2 and the first part 31 of the small arm 3; thus there are 5 movable joints on the control arm.

The first portion 12 of the big arm 1 is fixed or placed on an external object through the base 11, one end of the second portion 13 of the big arm 1 is rotatably connected with one end of the first portion 12 away from the base 11, the first portion 12 and the second portion 13 of the big arm 1 are coaxially arranged, a user can rotate the second portion 13 of the big arm 1 to enable the second portion 13 of the big arm 1 to rotate around the axis of the user, so as to adjust the circumferential angle of the second portion 13 of the big arm 1, and therefore the free end arranged on the second portion 32 of the small arm 3 can rotate around the axis of the second portion 13 of the big arm 1.

The end of the second part 13 of the big arm 1 far from the first part 12 of the big arm 1 is rotationally connected with the end of the first part 21 of the connecting arm 2, the axis of the second part 13 of the big arm 1 is vertical to the axis of the first part 21 of the connecting arm 2, the first part 21 of the connecting arm 2 can rotate around the axis of the second part 21, and an operator can rotate the first part 21 of the connecting arm 2 to adjust the circumferential angle of the first part 21 of the connecting arm 2, so that the free end arranged on the second part 32 of the small arm 3 can rotate around the axis of the first part 21 of the connecting arm 2; as can be seen from the figures, the first portion 21 of the connecting arm 2 is hinged at the end remote from the large arm 1 and the end of the second portion 22 of the connecting arm 2, the second portion 22 of the connecting arm 2 can be rotated by the operator about the hinge of the second portion 22 of the connecting arm 2 with the first portion 21 of the connecting arm 2, so that the free end can be rotated about the hinge of the second portion 22 of the connecting arm 2 with the first portion 21 of the connecting arm 2, the angle between the axes of the first portion 21 and the second portion 22 of the connecting arm 2 can be changed by the operator by rotating the second portion 22 of the connecting arm 2, and when the angle between the axes of the first portion 21 and the second portion 22 of the connecting arm 2 is equal to 180 degrees, the circumferential angle of the first portion 21 of the connecting arm 2 is adjusted by the operator; when the angle between the axes of the first portion 21 and the second portion 22 of the connecting arm 2 is smaller than 180 degrees, the operator rotates the adjusting connecting arm 2 by a circumferential angle of the first portion 21 equal to the swinging angle of the adjusting connecting arm 2, in particular the swinging angle of the second portion 22 of the connecting arm 2.

The end of the second portion 22 of the connecting arm 2 remote from the first portion 21 of the connecting arm 2 is hinged to the end of the first portion 31 of the forearm 3, and the operator can rotate the forearm 3 about its hinge with the second portion 22 of the connecting arm 2, so that the free end can rotate about the hinge of the forearm 3 with the second portion 22 of the connecting arm 2.

The end of the first part 31 of the small arm 3 far away from the second part 22 of the connecting arm 2 is rotationally connected with the second part 32 of the small arm 3, the second part 32 of the small arm 3 is coaxially arranged with the first part 31, an operator can rotate the second part 32 of the small arm 3 around the axis of the operator, the free end arranged on the second part 32 of the small arm 3 can rotate around the axis of the second part 32 of the small arm 3, the free end is arranged on the second part 32 of the small arm 3, the circumferential angle of the free end can be adjusted by rotating around the axis of the second part 32 of the small arm 3, the control arm can transmit the value of the circumferential rotation direction and the angle of the free end to the controller, and the controller can control the mechanical arm gripper to perform actions corresponding to the free end according to the value, so that the operator can adjust the axial angle of the mechanical arm gripper by rotating the second part 32 of the small arm 3; the second part 32 of the small arm 2 is arranged, the controller controls the rotation direction and the circumferential angle of the external mechanical arm gripper according to the rotation direction and the rotation angle of the second part 32, and an operator can have a plurality of modes for controlling the circumferential angle of the mechanical arm gripper, so that the operator can operate the mechanical arm more conveniently.

The angle sensor is electrically connected with the controller, and when the movable joint rotates, the angle sensor can record the rotating direction and the rotating angle of the movable joint and send the recorded numerical value to the controller, and the controller controls the external manipulator to move according to the angle recorded by the angle sensor.

The angle sensor is a photoelectric angle encoder 5 electrically connected with the controller, the hinge joints of the first part and the second part of the big arm 1, the connecting arm 2 and the small arm 3 are fixedly provided with rotating shafts 4, the number of the photoelectric angle encoders 5 is the same as that of the rotating shafts 4 and is in one-to-one correspondence with the rotating shafts 4, the photoelectric angle encoder 5 is specifically and fixedly arranged on the rotating shafts 4, and the photoelectric angle encoder 5 records the rotation angle of the movable joint when the control arm deforms.

Further, the device further comprises a damping component 6, the damping component 6 acts on the movable joint to provide damping effect for the movable joint, the damping component 6 can enable an operator to have better control feel when operating the control arm, and when the control arm is deformed and the external force is removed from the control arm, the damping component 6 can enable the control arm to keep the deformed posture.

Specifically, the number of damping members 6 corresponds to the number of movable joints, and damping members 6 are provided between the first portion 12 of the boom 1 and the second member 13 of the boom 1, between the second portion 13 of the boom 1 and the first portion 21 of the link arm 2, between the first portion 21 of the link arm 2 and the second portion 22 of the link arm 2, between the second portion 22 of the link arm 2 and the first portion 31 of the arm 3, and between the first portion 31 of the arm 3 and the second portion 32 of the arm 3.

The control system comprises a power management unit, an RS485 bus control unit, an MCU main control processing unit and an angle detection encoder unit corresponding to the photoelectric angle encoder, wherein the power management unit converts input voltage into 5V and 3.3V to supply power for the photoelectric angle encoder and the MCU main control processing unit; the RS485 bus control unit is in charge of data communication link with the control box; the MCU control unit is in charge of receiving and sending related data to the RS485 bus, outputting a joint angle information instruction, and collecting and processing angle data uploaded by the sensor; the angle detection encoder unit is responsible for detecting the rotation angle and the direction of the control arm joint.

Control flow and implementation mode related to auxiliary hand and main hand of mechanical arm:

the ROV is provided with a high-definition underwater camera, and a user can view surrounding environment information of the underwater ROV in real time by establishing a link through the APP and the ROV. When the underwater mechanical arm needs to be operated to move, a user can operate the joints of the auxiliary hand control arm on water, the rotating angle information of each joint is sent to the underwater ROV through the controller, the ROV forwards the angle information to the main hand mechanical arm, so that the rotation of the underwater main hand joint is realized, and corresponding clamping, measuring, collecting and other operations are performed. The user on shore can clearly observe through the APP interface, and the underwater mechanical arm is controlled, so that the operation is flexible and free like a remote controller.

While the utility model has been described with reference to several exemplary embodiments, it is to be understood that the terminology used is intended to be in the nature of words of description and of limitation. As the present utility model may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims (8)

1. The marine operation auxiliary hand of the six-degree-of-freedom ROV mechanical arm is characterized by comprising a control arm, a control mechanism and a controller, wherein the control arm and an external mechanical arm are electrically connected with the controller; the control mechanism is a capacitive touch switch arranged on the control arm and electrically connected with the controller, and is used for controlling the operation of the external mechanical arm gripper; the control arm is provided with a fixed end and a free end, the control arm is connected with an external object through the fixed end, a plurality of movable joints for supporting the free end are arranged on the control arm, the free end can be pulled by external force to move, and the controller can control the external mechanical arm gripper to move according to the moving track of the free end.

2. The six degree of freedom ROV manipulator of claim 1, wherein the capacitive touch switch comprises a first switch disposed on the free end of the control arm, the first switch for controlling the external manipulator gripper to open or close.

3. The six degree of freedom ROV manipulator of claim 1, wherein the capacitive touch switch further comprises a second switch disposed on the free end of the control arm, the second switch for controlling the circumferential angle of the gripper.

4. A six degree of freedom ROV manipulator according to claim 3, wherein the movable joints are provided between the fixed and free ends, the number of movable joints on the control arm being more than 5.

5. The six degree of freedom ROV manipulator of claim 4, wherein the control arm comprises a large arm, a connecting arm and a small arm hinged in sequence between each other, and the free end is arranged at the end of the small arm away from the connecting arm.

6. The six degree-of-freedom ROV manipulator of claim 5, wherein the large arm, the connecting arm, and the small arm each have a first portion and a second portion movably connected, and the free end is disposed on the second portion of the small arm.

7. The six degree-of-freedom ROV manipulator of claim 6, wherein the first and second portions of the large and small arms are coaxially disposed and rotatable relative to the circumferential direction; one end of the first part of the connecting arm is rotationally connected with the second part of the big arm, the other end of the first part of the connecting arm is hinged with one end of the second part of the connecting arm, and one end of the second part of the connecting arm, which is far away from the first part of the connecting arm, is hinged with the first part of the small arm.

8. The six degree of freedom ROV manipulator of claim 7, further comprising an angle sensor electrically connected to the controller, wherein the articulated portions of and between the first and second portions of the large arm, the connecting arm, and the small arm are each provided with a shaft, and the number of the angle sensors is the same as the number of the shafts and is set in one-to-one correspondence with the shafts to record the rotation angle of the movable joint.