CN111645099A - Multifunctional combined paw of underwater mechanical arm and working method thereof - Google Patents
Multifunctional combined paw of underwater mechanical arm and working method thereof Download PDFInfo
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- CN111645099A CN111645099A CN202010546513.8A CN202010546513A CN111645099A CN 111645099 A CN111645099 A CN 111645099A CN 202010546513 A CN202010546513 A CN 202010546513A CN 111645099 A CN111645099 A CN 111645099A
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- rotating shaft
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- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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Abstract
The invention relates to the technical field of machinery and discloses a multifunctional combined paw of an underwater mechanical arm and a working method of the multifunctional combined paw. According to the multifunctional combined paw of the underwater mechanical arm and the working method of the multifunctional combined paw, the hydraulic cylinder is started to enable the connecting plate to move, so that the rack can be driven to slide, the gear three drives the rotating shaft three to rotate, the connecting rod one rotates, the angle of the mechanical paw can be adjusted, the extension degree of the mechanical paw can be changed through rotation of the rotating shaft five and the rotating shaft six, and meanwhile, objects can be clamped.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a multifunctional combined paw of an underwater mechanical arm and a working method thereof.
Background
With the development of ocean engineering equipment technology, the development of ocean also enters a new stage. The method develops from pure marine fishing to artificial marine culture, comprehensive utilization of marine energy, development of marine oil gas mineral resources and expansion of marine space in many aspects. Accordingly, underwater robot processing tasks, such as precise docking of pipelines, maintenance of devices, and underwater mineral sampling, have become more diverse. Therefore, the claws are required to better clamp the pipeline, clamp the line or drag for different minerals in the shape of stone blocks, broken stones and clay. However, the angle of the existing mechanical claw cannot be freely adjusted, and the extension range of the mechanical claw is limited.
Disclosure of Invention
The invention aims to provide a multifunctional combined paw of an underwater mechanical arm and a working method thereof, and solves the problems that the angle of the existing mechanical paw cannot be freely adjusted and the extension range of the mechanical paw is limited.
In order to achieve the purpose, the invention provides the following technical scheme: a multifunctional combined paw of an underwater mechanical arm and a working method thereof comprise the mechanical arm and the mechanical paw, wherein the top of a U-shaped combined box at the bottom of the mechanical arm is fixedly connected, the top of the inner wall of the U-shaped combined box is fixedly connected with the top of a sliding groove plate, the inner wall of the sliding groove plate is in sliding connection with the back of a rack, teeth of the rack are meshed with teeth of a gear III, the inner wall of the gear III is fixedly connected with the outer wall of a rotating shaft III, the left end of the rotating shaft III is in rolling connection with the right side of a bearing II, the left side of the bearing II is fixedly connected with the inner wall of the left side of the U-shaped combined box, the number of the bearings II is two, the right end of the rotating shaft III is in rolling connection with the right side of another bearing II, the right side of the rotating shaft II is fixedly connected with the inner wall of the right side of the U-shaped combined box, one side, the top of the hydraulic cylinder is fixedly connected with the top of the inner wall of the U-shaped mould assembling box, the back of the outer wall connecting rod I of the rotating shaft III is fixedly connected, the bottom of the connecting rod I is fixedly connected with the top of the mounting seat, the bottom of the left end of the mounting seat is fixedly connected with the top of the driving motor, the output end of the driving motor is fixedly connected with the top of the rotating shaft I, the bottom of the rotating shaft I is in rolling connection with the top of the bearing V, the bottom of the bearing V is fixedly connected with the bottom of the inner wall of the first rectangular channel formed at the top of the left end of the plate, the outer wall of the rotating shaft I is fixedly connected with the inner wall of the gear I, the gear teeth of the gear I are meshed with the teeth of the gear IV, the inner wall of the gear IV is fixedly connected with the outer wall of the rotating shaft IV, two ends of the rotating shaft IV are both in, the top of the frame is fixedly connected with the bottom of the mounting seat, the bottom of the frame is fixedly connected with the top of the plate, gear teeth of the gear four are meshed with teeth of the gear two, the inner wall of the gear two is fixedly connected with the outer wall of the rotating shaft two, the top of the rotating shaft two is in rolling connection with the bottom of the bearing one, the top of the bearing one is fixedly connected with the bottom of the right end of the mounting seat, the number of the bearing one is two, the bottom of the rotating shaft two is in rolling connection with the top of the other bearing one, the bottom of the bearing one is fixedly connected with the bottom of the inner wall of a second rectangular channel arranged at the top of the right end of the plate, the outer wall of the rotating shaft one is provided with a bevel gear three, the bevel gear three is meshed with a bevel gear one, the bevel gear one is arranged on the outer wall of the rotating shaft five, two ends of the rotating shaft five are in rolling connection with the bearing four, one, the outer wall of the fifth rotating shaft is fixedly connected with one end of the second connecting rod, the other end of the second connecting rod is fixedly connected with one end of the gripper, the two connecting rods and the gripper are two in number and located at one end of the second connecting rod on the right side of the frame and the outer wall of the sixth rotating shaft, the second bevel gear is installed on the outer wall of the sixth rotating shaft, the two ends of the sixth rotating shaft are connected with the bearing in a rolling mode, one side of the bearing is fixedly connected with the inner wall of the second rectangular channel, the second bevel gear is meshed with the fourth bevel gear, and the fourth bevel gear is installed on the outer wall of the second rotating shaft.
Preferably, the material of the mechanical arm and the material of the mechanical claw both have antirust and anticorrosion performances.
Preferably, the number of the racks and the third gear is two, and the racks and the third gear are symmetrically distributed on two sides by taking the center line of the front face of the connecting plate as a symmetry axis.
Preferably, the width of the U-shaped mould assembling box is the same as that of the mechanical arm, and the width of the U-shaped mould assembling box is larger than that of the first connecting rod.
Preferably, the sizes of the first gear, the second gear and the fourth gear are the same.
Preferably, the U-shaped mould assembling box, the connecting column, the mounting seat, the frame and the plate are all made of stainless steel materials.
A working method of a multifunctional combined paw of an underwater mechanical arm is characterized in that: the method comprises the following steps:
s1: firstly, the connecting plate drives the rack sliding groove through the hydraulic cylinder, so that the gear III drives the rotating shaft III to rotate, the connecting rod I rotates, and finally, the angle of the mechanical claw can be adjusted according to the self condition;
s2: finally, the first rotating shaft can be driven to rotate by the driving motor, so that the gear drives the fourth rotating shaft to rotate, the third bevel gear drives the first bevel gear to rotate, the fifth rotating shaft rotates, the second rotating shaft is driven to rotate by the fourth rotating shaft, the fourth bevel gear drives the second bevel gear to rotate, the sixth rotating shaft rotates, the extension degree of the mechanical claw can be changed by the rotation of the fifth rotating shaft and the sixth rotating shaft, and an object can be clamped.
The invention provides a multifunctional combined paw of an underwater mechanical arm and a working method thereof. The multifunctional combined paw of the underwater mechanical arm and the working method thereof have the following beneficial effects:
(1) according to the multifunctional combined paw of the underwater mechanical arm and the working method of the multifunctional combined paw, the hydraulic cylinder is started to enable the connecting plate to move, so that the rack can be driven to slide, the gear three drives the rotating shaft three to rotate, the connecting rod one rotates, and the angle of the mechanical paw can be adjusted.
(2) The multifunctional combined paw of the underwater mechanical arm and the working method thereof drive the bevel gear I to rotate through the bevel gear III, so that the rotating shaft V rotates, and drive the bevel gear II to rotate through the bevel gear IV, so that the rotating shaft VI rotates, the extension degree of the mechanical paw can be changed through the rotation of the rotating shaft V and the rotating shaft VI, and objects can be clamped at the same time.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic left side sectional view of the U-shaped mould assembling box of the present invention;
FIG. 3 is a front cross-sectional structural view of the frame of the present invention;
FIG. 4 is a schematic top view of the plate of the present invention;
FIG. 5 is a schematic front view of a rotating shaft according to the present invention;
FIG. 6 is a schematic front view of the second rotating shaft according to the present invention.
In the figure: the mechanical arm comprises a mechanical arm 1, a 2U-shaped box, a 3 connecting rod I, a 4 mounting seat, a 5 driving motor, a 6 rotating shaft I, a 7 gear I, an 8 frame, a 9 bearing I, a 10 gear II, a 11 rotating shaft II, a 12 plate, a 13 connecting rod II, a 14 mechanical claw, a 15 sliding groove plate, a 16 rack, a 17 gear III, a 18 rotating shaft III, a 19 bearing II, a 20 connecting plate, a 21 hydraulic cylinder, a 22 gear IV, a 23 rotating shaft IV, a 24 bearing III, a 25 first rectangular channel, a 26 bearing IV, a 27 bevel gear I, a 28 rotating shaft V, a 29 bearing V, a 30 second rectangular channel, a 31 bearing VI, a 32 bevel gear II, a 33 rotating shaft VI, a 34 bearing VII, a 35 bevel gear III and a 36 bevel gear IV.
Detailed Description
As shown in fig. 1 to 6, the present invention provides a technical solution: a multifunctional combined paw of an underwater mechanical arm and a working method thereof comprise a mechanical arm 1 and a mechanical paw 14, wherein the material of the mechanical arm 1 and the material of the mechanical paw 14 both have rust-proof and corrosion-proof properties, the service lives of the mechanical arm 1 and the mechanical paw 14 can be prolonged through rust-proof and corrosion-proof properties, the top of a U-shaped box 2 at the bottom of the mechanical arm 1 is fixedly connected, the width of the U-shaped box 2 is the same as that of the mechanical arm 1, the width of the U-shaped box 2 is larger than that of a connecting rod I3, the U-shaped box 2, a connecting column 3, a mounting seat 4, a frame 8 and a plate 12 are all made of stainless steel materials, the top of the inner wall of the U-shaped box 2 is fixedly connected with the top of a chute plate 15, the inner wall of the chute plate 15 is slidably connected with the back of a rack 16, teeth of the rack 16 are meshed with teeth of a gear III 17, the rack 16 and the gear III 17 are two in number, the inner wall of the gear III 17 is fixedly connected with the outer wall of the rotating shaft III 18, the left end of the rotating shaft III 18 is in rolling connection with the right side of the bearing II 19, the left side of the bearing II 19 is fixedly connected with the inner wall of the left side of the U-shaped box assembling 2, the number of the bearings II 19 is two, the right end of the rotating shaft III 18 is in rolling connection with the right side of the other bearing II 19, the right side of the rotating shaft II 19 is fixedly connected with the inner wall of the right side of the U-shaped box assembling 2, one side of the rack 16 is fixedly connected with one end of the connecting plate 20, the top of the connecting plate 20 is fixedly connected with the output end of the hydraulic cylinder 21, the connecting plate 20 is moved by starting the hydraulic cylinder 21, so that the rack 16 can be driven to slide, the gear III 17 drives the rotating shaft III 18 to rotate, so that the connecting rod I3 rotates, so that the angle of the mechanical claw 14 can be adjusted, the bottom of the connecting rod I3 is fixedly connected with the top of the mounting seat 4, the bottom of the left end of the mounting seat 4 is fixedly connected with the top of the driving motor 5, the output end of the driving motor 5 is fixedly connected with the top of the rotating shaft I6, the bottom of the rotating shaft I6 is in rolling connection with the top of the bearing V29, the bottom of the bearing V29 is fixedly connected with the bottom of the inner wall of the first rectangular channel 25 arranged at the top of the left end of the plate 12, the outer wall of the rotating shaft I6 is fixedly connected with the inner wall of the gear I7, the gear teeth of the gear I7 are meshed with the gear teeth of the gear IV 22, the sizes of the gear I7, the gear II 10 and the gear IV 22 are the same, the inner wall of the gear IV 22 is fixedly connected with the outer wall of the rotating shaft IV 23, the two ends of the rotating shaft IV 23 are all in rolling connection with the bearing III 24, one side of the bearing III 24 is fixedly connected, the bottom of the frame 8 is fixedly connected with the top of the plate 12, the teeth of the gear four 22 are engaged with the teeth of the gear two 10, the inner wall of the gear two 10 is fixedly connected with the outer wall of the rotating shaft two 11, the top of the rotating shaft two 11 is connected with the bottom of the bearing one 9 in a rolling manner, the top of the bearing one 9 is fixedly connected with the bottom of the right end of the mounting seat 4, the number of the bearing one 9 is two, the bottom of the rotating shaft two 11 is connected with the top of the other bearing one 9 in a rolling manner, the bottom of the bearing one 9 is fixedly connected with the bottom of the inner wall of a second rectangular channel 30 formed in the top of the right end of the plate 12, the outer wall of the rotating shaft one 6 is provided with a bevel gear three 35, the bevel gear three 35 is engaged with a bevel gear one 27, the bevel gear one 27 is arranged on the outer wall of the rotating shaft five 28, both ends of the rotating shaft five 28, the outer wall of the rotating shaft five 28 is fixedly connected with one end of the connecting rod two 13, the other end of the connecting rod two 13 is fixedly connected with one end of the mechanical claw 14, the connecting rod two 13 is fixedly connected with the mechanical claw 14 through screws, the number of the connecting rod two 13 and the mechanical claw 14 is two, one end of the connecting rod two 13 positioned on the right side of the frame 8 is fixedly connected with the outer wall of the rotating shaft six 33, the outer wall of the rotating shaft six 33 is provided with a bevel gear two 32, two ends of the rotating shaft six 33 are in rolling connection with a bearing six 31, one side of the bearing six 31 is fixedly connected with the inner wall of the second rectangular channel 30, the bevel gear two 32 is meshed with a bevel gear four 36, the bevel gear four 36 is arranged on the outer wall of the rotating shaft two 11, and the extension degree, meanwhile, the object can be clamped, and the working method of the multifunctional combined paw of the underwater mechanical arm comprises the following steps:
s1: firstly, the connecting plate 20 drives the rack 16 sliding groove through the hydraulic cylinder 21, so that the gear III 17 drives the rotating shaft III 18 to rotate, the connecting rod I3 rotates, and finally, the angle of the mechanical claw 14 can be adjusted according to the self condition;
s2: finally, the first rotating shaft 6 can be rotated by the driving motor 7, so that the first gear 7 drives the fourth gear 22 to rotate, the third bevel gear 35 drives the first bevel gear 27 to rotate, the fifth rotating shaft 28 rotates, the second gear 10 drives the second rotating shaft 11 to rotate by the rotation of the fourth gear 22, the fourth bevel gear 36 drives the second bevel gear 32 to rotate, the sixth rotating shaft 33 rotates, the extension degree of the mechanical claw 14 can be changed by the rotation of the fifth rotating shaft 28 and the sixth rotating shaft 33, and an object can be clamped.
When the multifunctional combined paw of the underwater mechanical arm and the working method thereof are used, the connecting plate 20 drives the rack 16 to slide through the hydraulic cylinder 21, so that the gear three 17 drives the rotating shaft three 18 to rotate, so that the connecting rod one 3 rotates, so that the mechanical paw 14 can change the angle, the rotating shaft one 6 rotates through the driving motor 7, so that the gear one 7 drives the gear four 22 to rotate, meanwhile, the bevel gear three 35 drives the bevel gear one 27 to rotate, so that the rotating shaft five 28 rotates, the gear two 10 drives the rotating shaft two 11 to rotate through the rotation of the gear four 22, so that the bevel gear four 36 can drive the bevel gear two 32 to rotate, so that the rotating shaft six 33 rotates, the stretching degree of the mechanical paw 14 can be changed through the rotation of the rotating shaft five 28 and the rotating shaft six 33, and an object can be clamped at the same time.
In conclusion, the connecting rod one 3 can be rotated by rotating the rotating shaft three 18, so that the angle of the mechanical claw 14 can be adjusted, the stretching degree of the mechanical claw 14 can be changed by rotating the rotating shafts five 28 and six 33, and an object can be clamped.
Claims (7)
1. The multifunctional combined paw of the underwater mechanical arm comprises a mechanical arm (1) and a mechanical paw (14), and is characterized in that: the top of a U-shaped box (2) at the bottom of the mechanical arm (1) is fixedly connected, the top of the inner wall of the U-shaped box (2) is fixedly connected with the top of a sliding groove plate (15), the inner wall of the sliding groove plate (15) is in sliding connection with the back of a rack (16), the teeth of the rack (16) are meshed with the teeth of a gear III (17), the inner wall of the gear III (17) is fixedly connected with the outer wall of a rotating shaft III (18), the left end of the rotating shaft III (18) is in rolling connection with the right side of a bearing II (19), the left side of the bearing II (19) is fixedly connected with the inner wall at the left side of the U-shaped box (2), the number of the bearing II (19) is two, the right end of the rotating shaft III (18) is in rolling connection with the right side of another bearing II (19), and the right side of the rotating shaft II (19) is fixedly connected with the inner wall at the right side of the U-, one side of the rack (16) is fixedly connected with one end of a connecting plate (20), the top of the connecting plate (20) is fixedly connected with the output end of a hydraulic cylinder (21), the top of the hydraulic cylinder (21) is fixedly connected with the top of the inner wall of the U-shaped box (2), the back of an outer wall connecting rod I (3) of a rotating shaft III (18) is fixedly connected with the back of the connecting rod I (3), the bottom of the connecting rod I (3) is fixedly connected with the top of an installation seat (4), the bottom of the left end of the installation seat (4) is fixedly connected with the top of a driving motor (5), the output end of the driving motor (5) is fixedly connected with the top of a rotating shaft I (6), the bottom of the rotating shaft I (6) is in rolling connection with the top of a bearing V (29), the bottom of the bearing V (29) is fixedly connected with the bottom of the inner wall of a first rectangular channel (25) formed in the top, the outer wall of the first rotating shaft (6) is fixedly connected with the inner wall of the first gear (7), gear teeth of the first gear (7) are meshed with teeth of the fourth gear (22), the inner wall of the fourth gear (22) is fixedly connected with the outer wall of the fourth rotating shaft (23), two ends of the fourth rotating shaft (23) are in rolling connection with the third bearing (24), one side of the third bearing (24) is fixedly connected with the inner wall of the frame (8), the top of the frame (8) is fixedly connected with the bottom of the mounting seat (4), the bottom of the frame (8) is fixedly connected with the top of the plate (12), the gear teeth of the fourth gear (22) are meshed with the teeth of the second gear (10), the inner wall of the second gear (10) is fixedly connected with the outer wall of the second rotating shaft (11), the top of the second rotating shaft (11) is in rolling connection with the bottom of the first bearing (9), and the top of the first bearing (9) is fixedly connected with the bottom of the right end of the mounting seat (4), the number of the first bearings (9) is two, the bottom of the second rotating shaft (11) is in rolling connection with the top of the first bearing (9), the bottom of the first bearing (9) is fixedly connected with the bottom of the inner wall of a second rectangular channel (30) formed in the top of the right end of the plate (12), a third bevel gear (35) is installed on the outer wall of the first rotating shaft (6), the third bevel gear (35) is meshed with the first bevel gear (27), the first bevel gear (27) is installed on the outer wall of a fifth rotating shaft (28), two ends of the fifth rotating shaft (28) are in rolling connection with a fourth bearing (26), one side of the fourth bearing (26) is fixedly connected with the inner wall of the first rectangular channel (25), the outer wall of the fifth rotating shaft (28) is fixedly connected with one end of the second connecting rod (13), and the other end of the second connecting rod (13) is fixedly connected with one end of the mechanical claw (14), the quantity of connecting rod two (13) and gripper (14) is two, is located the one end of connecting rod two (13) on frame (8) right side and the outer wall fixed connection of pivot six (33), bevel gear two (32) are installed to the outer wall of pivot six (33), the both ends and the bearing six (31) roll connection of pivot six (33), the inner wall fixed connection of bearing six (31) one side and second rectangle channel (30), bevel gear two (32) and bevel gear four (36) mesh mutually, bevel gear four (36) are installed on the outer wall of pivot two (11).
2. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 1, characterized in that: the mechanical arm (1) and the mechanical claw (14) are made of materials with antirust and anticorrosion performances.
3. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 1, characterized in that: the number of the racks (16) and the gears (17) is two, and the racks are symmetrically distributed on two sides by taking the center line of the front face of the connecting plate (20) as a symmetry axis.
4. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 1, characterized in that: the width of the U-shaped mould assembling box (2) is the same as that of the mechanical arm (1), and the width of the U-shaped mould assembling box (2) is larger than that of the connecting rod I (3).
5. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 1, characterized in that: the sizes of the first gear (7), the second gear (10) and the fourth gear (22) are the same.
6. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 1, characterized in that: the U-shaped mould assembling box (2), the connecting column (3), the mounting seat (4), the frame (8) and the plate block (12) are all made of stainless steel materials.
7. A working method of a multifunctional combined paw of an underwater mechanical arm is characterized in that: the method comprises the following steps:
s1: firstly, the connecting plate (20) drives the rack (16) chute through the hydraulic cylinder (21), so that the gear III (17) drives the rotating shaft III (18) to rotate, the connecting rod I (3) rotates, and finally the angle of the mechanical claw (14) can be adjusted according to the self condition;
s2: finally, the first rotating shaft (6) can rotate through the driving motor (7), so that the first gear (7) can drive the fourth gear (22) to rotate, meanwhile, the third bevel gear (35) can drive the first bevel gear (27) to rotate, so that the fifth rotating shaft (28) rotates, the second gear (10) can drive the second rotating shaft (11) to rotate through the rotation of the fourth gear (22), so that the fourth bevel gear (36) can drive the second bevel gear (32) to rotate, so that the sixth rotating shaft (33) rotates, the extension degree of the mechanical claw (14) can be changed through the rotation of the fifth rotating shaft (28) and the sixth rotating shaft (33), and objects can be clamped at the same time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546513.8A CN111645099A (en) | 2020-06-16 | 2020-06-16 | Multifunctional combined paw of underwater mechanical arm and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546513.8A CN111645099A (en) | 2020-06-16 | 2020-06-16 | Multifunctional combined paw of underwater mechanical arm and working method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111645099A true CN111645099A (en) | 2020-09-11 |
Family
ID=72344037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010546513.8A Withdrawn CN111645099A (en) | 2020-06-16 | 2020-06-16 | Multifunctional combined paw of underwater mechanical arm and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111645099A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112505284A (en) * | 2020-11-23 | 2021-03-16 | 重庆公共运输职业学院 | Quick detection device of job site large-scale bridge bracket damage |
-
2020
- 2020-06-16 CN CN202010546513.8A patent/CN111645099A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112505284A (en) * | 2020-11-23 | 2021-03-16 | 重庆公共运输职业学院 | Quick detection device of job site large-scale bridge bracket damage |
| CN112505284B (en) * | 2020-11-23 | 2022-08-05 | 重庆公共运输职业学院 | Quick detection device of job site large-scale bridge bracket damage |
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Application publication date: 20200911 |
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| WW01 | Invention patent application withdrawn after publication |