CN112223323A - Mechanical grabbing device for underwater robot - Google Patents
Mechanical grabbing device for underwater robot Download PDFInfo
- Publication number
- CN112223323A CN112223323A CN202011031408.7A CN202011031408A CN112223323A CN 112223323 A CN112223323 A CN 112223323A CN 202011031408 A CN202011031408 A CN 202011031408A CN 112223323 A CN112223323 A CN 112223323A
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- China
- Prior art keywords
- rod
- sleeved
- cylinder
- lower extreme
- mounting
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical grabbing device for an underwater robot, which comprises a box body, wherein the upper end of the box body is connected with a box cover through a screw, the lower end of the box body is fixedly provided with a supporting seat, the outer side of the lower end of the supporting seat is sleeved with a transparent cover through threads, the lower end of the supporting seat is fixedly provided with a monitoring device, the inner side of the lower end of the box body is fixedly provided with a second air cylinder, the lower end of the second air cylinder is provided with a second air cylinder rod, the lower end of the second air cylinder rod is hinged with a baffle ring, the lower end of the baffle ring is welded with an ejector rod, the outer side of the lower end of the ejector rod is sleeved with a connecting sleeve in a sliding mode, the lower end of the connecting sleeve is welded with a sealing cover. The invention relates to a mechanical grabbing device for an underwater robot, which has the characteristics of convenient adjustment of grabbing angle and difficult loosening of grabbed objects.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a mechanical grabbing device for an underwater robot.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The underwater robot can replace manpower to operate for a long time underwater in a high-risk environment, a polluted environment and a zero-visibility water area, the underwater robot is generally provided with a sonar system, a camera, a lighting lamp, a mechanical arm and other devices, a real-time video and a sonar image can be provided, the mechanical arm can grab a crane, and the underwater robot is widely applied to the fields of oil development, marine law enforcement evidence obtaining, scientific research, military and the like.
Among the prior art, underwater robot's mechanical grabbing device is when using, and angular adjustment is inconvenient for it is not convenient enough when snatching to install, simultaneously, is firm inadequately after snatching the object, and the object pine takes off easily. Accordingly, there is a need for improvements in the art.
The invention content is as follows:
the present invention is directed to solving the above problems by providing a mechanical gripping device for an underwater robot, which solves the problems mentioned in the background art.
In order to solve the above problems, the present invention provides a technical solution:
a mechanical grabbing device for an underwater robot comprises a box body, wherein the upper end of the box body is connected with a box cover through screws, a supporting seat is fixedly installed at the lower end of the box body, a transparent cover is sleeved on the outer side of the lower end of the supporting seat through threads, a monitoring device is fixedly installed at the lower end of the supporting seat, a second air cylinder is fixedly installed on the inner side of the lower end of the box body, a second air cylinder rod is arranged at the lower end of the second air cylinder, a baffle ring is hinged to the lower end of the second air cylinder rod, an ejector rod is welded at the lower end of the baffle ring, a connecting sleeve is slidably sleeved on the outer side of the lower end of the ejector rod, a sealing cover is welded at the lower end of the connecting sleeve, an installing plate is connected to the lower end of the sealing cover through screws, a fourth air cylinder is fixedly installed on the inner, the lower end of the fourth cylinder rod is hinged with a hinged rod, the lower end of the hinged rod is hinged with a supporting sleeve, and a mandril is sleeved in the supporting sleeve in a sliding mode.
Preferably, the left end of the box body is provided with two speed reduction devices, and the two speed reduction devices are symmetrically distributed at the left end and the right end of the box body.
Preferably, the speed reducer comprises a supporting cylinder, a supporting cylinder is sleeved in the box body through threads, a supporting hole is formed in the left end of the supporting cylinder, a guide rod is sleeved in the supporting hole in a sliding mode, the supporting cylinder is provided with two supporting cylinders which are symmetrically distributed at the left end of the box body, the supporting cylinder is internally provided with a right guide rod in a sliding mode, a baffle is welded at the right end of the guide rod, a spring is sleeved outside the guide rod in a sliding mode, the left end of the baffle is connected with the spring in a contact mode, the left end of the spring is connected with the supporting cylinder in a contact mode, two sides of the box body are hinged to side plates, a first trapezoidal groove is formed in each side plate, the left end of the guide rod is hinged to a first trapezoidal block, and the first trapezoidal block is connected to the first trapezoidal groove.
As preferred, the lower extreme fixed mounting of supporting seat has first motor, the lower extreme of first motor is provided with first pivot, the lower extreme welding of first pivot has the backup pad, the lower extreme welding of backup pad has the jib, the lower extreme of jib articulates there is the watch-dog, the upper end fixed mounting of backup pad has first cylinder, the lower extreme of first cylinder is provided with first cylinder pole, sliding sleeve has first cylinder pole in the backup pad, the lower extreme of first cylinder pole articulates there is the second trapezoidal piece, the second trapezoidal groove has been seted up to the upper end of watch-dog, sliding sleeve has the second trapezoidal piece in the second trapezoidal groove.
Preferably, the side wall of the connecting sleeve is sleeved with a locking screw in a sliding mode, and the inside of the ejector rod is connected with the locking screw through threads.
Preferably, a gasket is bonded to a lower end of the seal cover, and an attachment plate is connected to a lower end of the gasket in a contact manner.
Preferably, a sealing sleeve is fixedly sleeved in the mounting plate, and a third air cylinder rod is sleeved in the sealing sleeve in a sliding manner.
Preferably, a third cylinder is fixedly arranged at the upper end of the mounting plate, a third cylinder rod is arranged at the lower end of the third cylinder, the lower end of the mounting plate is welded with connecting rods in a bilateral symmetry manner, the lower end of each connecting rod is hinged with a third trapezoidal block, the outer side of the third trapezoidal block is connected with a mounting rod in a sliding way, the upper end of the mounting rod is provided with a third trapezoidal groove, a third trapezoidal block is connected in the third trapezoidal groove in a sliding way, the lower end of the mounting rod is hinged with a clamping plate, the upper end of the mounting rod is sleeved with a support ring in a sliding manner, a support rod is welded in the support ring, a support plate is welded at the tail end of the support rod, the tail ends of the mounting rods are provided with four steel ropes, the four mounting rods are uniformly sleeved on the outer side of the support ring, and the four steel ropes connect the mounting rods in pairs.
The invention has the beneficial effects that: the invention relates to a mechanical grabbing device for an underwater robot, which has the characteristics of convenient adjustment of grabbing angle and difficult loosening of grabbed objects, and has the following two beneficial effects in specific use compared with the traditional mechanical grabbing device for the underwater robot:
firstly, a fourth cylinder is arranged in a box body, a fourth cylinder rod extends when the fourth cylinder works, the fourth cylinder rod extends to support a support sleeve through a hinge rod, and then a top rod rotates, so that when an object is grabbed, angle adjustment can be performed, and the object can be grabbed more conveniently;
secondly, through setting up the steel cable at the lower extreme of installation pole, when third cylinder pole extends, drive the supporting disk and descend, the supporting disk descends and drives the bracing piece and descend, and the bracing piece descends and drives the support ring and descend, and the support ring descends and makes the lower extreme of installation pole open to the outside for the steel cable is tensioned, and when pressing from both sides the clamp and getting the object, the steel cable droops to the object lower extreme, avoids the solid insecure, makes the object pine take off.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of the reduction gear of FIG. 1 in accordance with the present invention;
FIG. 3 is an enlarged view of the monitoring device of FIG. 1 in accordance with the present invention;
FIG. 4 is an enlarged view taken at A in FIG. 1 of the present invention;
FIG. 5 is a top view of the support ring of FIG. 4 in accordance with the present invention;
fig. 6 is a bottom view of the reduction gear of fig. 1 of the present invention.
In the figure: 1. a box body; 2. a box cover; 3. a reduction gear; 31. a support cylinder; 32. a support hole; 33. a guide bar; 34. a baffle plate; 35. a spring; 36. a side plate; 37. a first trapezoidal groove; 38. a first trapezoidal block; 4. a supporting seat; 5. a transparent cover; 6. a monitoring device; 61. a first motor; 62. a first rotating shaft; 63. a support plate; 64. a boom; 65. a monitor; 66. a first cylinder; 67. a first cylinder rod; 68. a second dovetail groove; 69. a second trapezoidal block; 7. a second cylinder; 71. a second cylinder rod; 72. a baffle ring; 73. a top rod; 8. connecting sleeves; 81. locking the screw; 82. a sealing cover; 83. mounting a plate; 84. a gasket; 85. a third cylinder; 86. a third cylinder rod; 87. sealing sleeves; 88. a connecting rod; 89. mounting a rod; 90. a third dovetail groove; 91. a third trapezoidal block; 92. a splint; 93. a support ring; 94. a support disc; 95. a support bar; 96. a steel cord; 10. a fourth cylinder; 11. a fourth cylinder rod; 12. a hinged lever; 13. and a support sleeve.
The specific implementation mode is as follows:
as shown in fig. 1 to 6, the following technical solutions are adopted in the present embodiment:
example (b):
a mechanical grabbing device for an underwater robot comprises a box body 1, wherein the upper end of the box body 1 is connected with a box cover 2 through a screw, the lower end of the box body 1 is fixedly provided with a supporting seat 4, the outer side of the lower end of the supporting seat 4 is sleeved with a transparent cover 5 through a thread, the lower end of the supporting seat 4 is fixedly provided with a monitoring device 6, the inner side of the lower end of the box body 1 is fixedly provided with a second air cylinder 7, the lower end of the second air cylinder 7 is provided with a second air cylinder rod 71, the lower end of the second air cylinder rod 71 is hinged with a baffle ring 72, the lower end of the baffle ring 72 is welded with a push rod 73, the outer side of the lower end of the push rod 73 is slidably sleeved with a connecting sleeve 8, the lower end of the connecting sleeve 8 is welded with a sealing cover 82, the lower end of the sealing cover 82 is connected with a mounting plate 83 through a screw, the, a fourth cylinder rod 11 is sleeved in the box body 1 in a sliding mode, the lower end of the fourth cylinder rod 11 is hinged to a hinged rod 12, the lower end of the hinged rod 12 is hinged to a supporting sleeve 13, and a push rod 73 is sleeved in the supporting sleeve 13 in a sliding mode.
The left end of the box body 1 is provided with two speed reducing devices 3, and the two speed reducing devices 3 are symmetrically distributed at the left end and the right end of the box body 1.
Wherein, the speed reducer 3 comprises a supporting cylinder 31, the supporting cylinder 31 is sleeved in the box body 1 through threads, a supporting hole 32 is arranged at the left end of the supporting cylinder 31, a guide rod 33 is sleeved in the supporting hole 32 in a sliding manner, the number of the supporting cylinders 31 is two, the two supporting cylinders 31 are symmetrically distributed at the left end of the box body 1, the two supporting cylinders 31 are sleeved with a right guide rod 33 in a sliding manner, a baffle 34 is welded at the right end of the guide rod 33, a spring 35 is sleeved on the outer side of the guide rod 33 in a sliding manner, the left end of the baffle 34 is in contact connection with a spring 35, the left end of the spring 35 is in contact connection with a supporting cylinder 31, two sides of the box body 1 are hinged with side plates 36, a first trapezoidal groove 37 is arranged in each side plate 36, the left end of the guide rod 33 is hinged with a first trapezoid block 38, and the first trapezoid block 38 is slidably connected in the first trapezoid groove 37.
Wherein, the lower extreme fixed mounting of supporting seat 4 has first motor 61, the lower extreme of first motor 61 is provided with first pivot 62, the lower extreme welding of first pivot 62 has backup pad 63, the lower extreme welding of backup pad 63 has jib 64, the lower extreme of jib 64 articulates there is watch-dog 65, the upper end fixed mounting of backup pad 63 has first cylinder 66, the lower extreme of first cylinder 66 is provided with first cylinder pole 67, sliding sleeve has first cylinder pole 67 in backup pad 63, the lower extreme of first cylinder pole 67 articulates there is second trapezoidal piece 69, second trapezoidal groove 68 has been seted up to the upper end of watch-dog 65, sliding sleeve has second trapezoidal piece 69 in second trapezoidal groove 68.
The side wall of the connecting sleeve 8 is slidably sleeved with a locking screw 81, and the inside of the ejector rod 73 is connected with the locking screw 81 through threads.
The lower end of the sealing cover 82 is bonded with a sealing gasket 84, and the lower end of the sealing gasket 84 is connected with a mounting plate 83 in a contact manner.
The mounting plate 83 is internally fixedly sleeved with a sealing sleeve 87, and the sealing sleeve 87 is internally sleeved with a third cylinder rod 86 in a sliding manner.
Wherein, the upper end of the mounting plate 83 is fixedly provided with a third cylinder 85, the lower end of the third cylinder 85 is provided with a third cylinder rod 86, the lower end of the mounting plate 83 is welded with a connecting rod 88 in a bilateral symmetry manner, the lower end of the connecting rod 88 is hinged with a third trapezoidal block 91, the outer side of the third trapezoidal block 91 is connected with a mounting rod 89 in a sliding manner, the upper end of the mounting rod 89 is provided with a third trapezoidal groove 90, the third trapezoidal groove 90 is connected with a third trapezoidal block 91 in a sliding manner, the lower end of the mounting rod 89 is hinged with a clamping plate 92, the upper end of the mounting rod 89 is sleeved with a support ring 93 in a sliding manner, a support rod 95 is welded in the support ring 93, the tail end of the support rod 95 is welded with a support ring 94, the tail end of the mounting rod 89 is provided with four steel ropes 96, the mounting rods 89 are, four of the steel cables 96 are provided, and the four steel cables 96 connect the mounting rods 89 two by two.
The using state of the invention is as follows: when the device is used, the second cylinder rod 71 is extended by starting the second cylinder 7, so that the device can enter deeper depth for grabbing, the fourth cylinder 10 is installed in the box body 1, the fourth cylinder 10 works, the fourth cylinder rod 11 is extended to support the support sleeve 13 through the hinge rod 12, so that the ejector rod 73 rotates, when an object is grabbed, angle adjustment can be performed, and the object can be grabbed more conveniently, meanwhile, the first motor 61 is matched with the first cylinder 66 to adjust the monitor 65, the grabbing condition is monitored in real time, when the third cylinder rod 86 is extended, the support disc 94 is driven to descend, the support disc 94 descends, the support disc 95 descends, the support disc 93 descends, so that the lower end of the installation rod 89 is opened outwards, so that the steel rope 96 is tensioned, and when the object is clamped, the steel cord 96 hangs down to the lower end of the object to avoid the insecure solid and loose the object.
While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (8)
1. A mechanical grabbing device for underwater robot, includes box (1), its characterized in that: the upper end of the box body (1) is connected with a box cover (2) through a screw, a supporting seat (4) is fixedly installed at the lower end of the box body (1), a transparent cover (5) is sleeved at the outer side of the lower end of the supporting seat (4) through a thread, a monitoring device (6) is fixedly installed at the lower end of the supporting seat (4), a second air cylinder (7) is fixedly installed at the inner side of the lower end of the box body (1), a second air cylinder rod (71) is arranged at the lower end of the second air cylinder (7), a baffle ring (72) is hinged at the lower end of the second air cylinder rod (71), an ejector rod (73) is welded at the lower end of the baffle ring (72), a connecting sleeve (8) is sleeved at the outer side of the lower end of the ejector rod (73) in a sliding mode, a sealing cover (82) is welded at the lower end of the connecting sleeve (8), a mounting plate (83), the lower extreme of fourth cylinder (10) is provided with fourth cylinder pole (11), sliding sleeve has fourth cylinder pole (11) in box (1), the lower extreme of fourth cylinder pole (11) articulates there is articulated rod (12), the lower extreme of articulated rod (12) articulates there is support cover (13), sliding sleeve has ejector pin (73) in support cover (13).
2. A mechanical gripping device for an underwater robot as claimed in claim 1, characterized in that: the left end of box (1) is provided with decelerator (3), decelerator (3) have two, two decelerator (3) symmetric distribution is at the left and right sides both ends of box (1).
3. A mechanical gripping device for an underwater robot as claimed in claim 2, characterized in that: the speed reducer (3) comprises a supporting barrel (31), the supporting barrel (31) is sleeved in the box body (1) through threads, supporting holes (32) are formed in the left end of the supporting barrel (31), guide rods (33) are sleeved in the supporting holes (32) in a sliding mode, the number of the supporting barrels (31) is two, the supporting barrels (31) are symmetrically distributed at the left end of the box body (1), the supporting barrels (31) are internally sleeved with right guide rods (33) in a sliding mode, baffle plates (34) are welded at the right ends of the guide rods (33), springs (35) are sleeved on the outer sides of the guide rods (33) in a sliding mode, the left ends of the baffle plates (34) are in contact connection with the springs (35), the left ends of the springs (35) are in contact connection with the supporting barrels (31), side plates (36) are hinged to two sides of the box body (1), and first trapezoidal grooves (37) are formed in the side plates (36), the left end of the guide rod (33) is hinged with a first trapezoidal block (38), and the first trapezoidal groove (37) is connected with the first trapezoidal block (38) in a sliding mode.
4. A mechanical gripping device for an underwater robot as claimed in claim 1, characterized in that: the lower extreme fixed mounting of supporting seat (4) has first motor (61), the lower extreme of first motor (61) is provided with first pivot (62), the lower extreme welding of first pivot (62) has backup pad (63), the lower extreme welding of backup pad (63) has jib (64), the lower extreme of jib (64) articulates there is watch-dog (65), the upper end fixed mounting of backup pad (63) has first cylinder (66), the lower extreme of first cylinder (66) is provided with first cylinder pole (67), sliding sleeve has first cylinder pole (67) in backup pad (63), the lower extreme of first cylinder pole (67) articulates there is second trapezoidal piece (69), second trapezoidal groove (68) has been seted up to the upper end of watch-dog (65), sliding sleeve has second trapezoidal piece (69) in second trapezoidal groove (68).
5. A mechanical gripping device for an underwater robot as claimed in claim 1, characterized in that: the side wall of the connecting sleeve (8) is sleeved with a locking screw (81) in a sliding mode, and the inside of the ejector rod (73) is connected with the locking screw (81) through threads.
6. A mechanical gripping device for an underwater robot as claimed in claim 1, characterized in that: the lower extreme of sealed cowling (82) bonds and has sealed pad (84), the lower extreme contact of sealed pad (84) is connected with mounting panel (83).
7. A mechanical gripping device for an underwater robot as claimed in claim 1, characterized in that: the mounting plate (83) is internally fixedly sleeved with a sealing sleeve (87), and a third cylinder rod (86) is sleeved in the sealing sleeve (87) in a sliding manner.
8. A mechanical gripping device for an underwater robot as claimed in claim 1, characterized in that: the upper end of the mounting plate (83) is fixedly provided with a third air cylinder (85), the lower end of the third air cylinder (85) is provided with a third air cylinder rod (86), the lower end of the mounting plate (83) is welded with a connecting rod (88) in a bilateral symmetry manner, the lower end of the connecting rod (88) is hinged with a third trapezoidal block (91), the outer side of the third trapezoidal block (91) is connected with a mounting rod (89) in a sliding manner, the upper end of the mounting rod (89) is provided with a third trapezoidal groove (90), the third trapezoidal groove (90) is connected with the third trapezoidal block (91) in a sliding manner, the lower end of the mounting rod (89) is hinged with a clamping plate (92), the upper end of the mounting rod (89) is sleeved with a support ring (93) in a sliding manner, a support rod (95) is welded in the support ring (93), the tail end of the support rod (95) is welded with a support plate, the mounting rods (89) are four, the four mounting rods (89) are uniformly sleeved on the outer side of the support ring (93), the four steel ropes (96) are provided, and the four steel ropes (96) are used for connecting the mounting rods (89) in pairs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011031408.7A CN112223323A (en) | 2020-09-27 | 2020-09-27 | Mechanical grabbing device for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011031408.7A CN112223323A (en) | 2020-09-27 | 2020-09-27 | Mechanical grabbing device for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112223323A true CN112223323A (en) | 2021-01-15 |
Family
ID=74107817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011031408.7A Withdrawn CN112223323A (en) | 2020-09-27 | 2020-09-27 | Mechanical grabbing device for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112223323A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770163A (en) * | 2022-04-24 | 2022-07-22 | 德阳六合能源材料有限公司 | Fastening mechanism and method for turbine disc blade of aircraft engine |
-
2020
- 2020-09-27 CN CN202011031408.7A patent/CN112223323A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770163A (en) * | 2022-04-24 | 2022-07-22 | 德阳六合能源材料有限公司 | Fastening mechanism and method for turbine disc blade of aircraft engine |
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Application publication date: 20210115 |