The invention relates to the technical field of underwater mechanical arms, in particular to a multi-joint flexible underwater detection mechanical arm and an underwater robot thereof. The mechanical arm mechanism comprises a plurality of mechanical arm joint cylinders, the adjacent mechanical arm joint cylinders are connected through universal joints, and the mechanical arm joint cylinder at the head end is connected with the connecting base through the universal joints; according to the driving structure, a propelling piece I and a propelling piece II are installed on a mechanical arm joint cylinder, and the propelling piece I and the propelling piece II are perpendicularly arranged; and the terminal structure is detachably connected with the mechanical arm joint cylinder at the tail end through a universal joint. The multi-joint flexible underwater detection mechanical arm is ingenious in structural design, has the advantages of being light and handy in structure, small in mass and large in redundancy freedom degree, has high maneuverability underwater, can work continuously for a long time, can well achieve video detection, pipeline maintenance and the like in narrow spaces such as underwater pipelines and the like, and is suitable for large-scale popularization and application. The method has great application potential in both civil and military aspects.

    本发明涉及水下机械臂技术领域,特别是涉及一种多关节柔性水下探测机械臂及其水下机器人,包括:连接底座;机械臂机构,机械臂机构包括若干个机械臂关节筒,相邻机械臂关节筒之间采用万向节连接,首端的机械臂关节筒通过万向节与连接底座连接;驱动结构,一机械臂关节筒上安装有推进件Ⅰ和推进件Ⅱ,推进件Ⅰ和推进件Ⅱ垂直设置;终端结构,终端结构通过万向节与末端的机械臂关节筒可拆卸连接。本发明公开的多关节柔性水下探测机械臂其结构设计巧妙,具有结构轻巧、质量小以及冗余自由度大的优点,在水下有较高的机动性,可以连续长时间作业,能够较好地实现对水下管道等狭小空间的视频探测,管道检修等,在民用和军用两方面都有很大的应用潜力。


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    Title :

    Multi-joint flexible underwater detection mechanical arm and underwater robot thereof


    Additional title:

    一种多关节柔性水下探测机械臂及其水下机器人


    Contributors:
    PANG WEN (author) / ZHU DAQI (author) / CHEN QIAN (author) / ZHOU WANLEI (author) / ZHANG LEFENG (author) / CHEN QI (author) / GUO JINGWEI (author) / XU JIAJUN (author) / GUO SHUXUAN (author)

    Publication date :

    2024-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B25J Manipulatoren , MANIPULATORS / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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