CN113022825A

CN113022825A - Grabbing device of underwater robot

Info

Publication number: CN113022825A
Application number: CN202110296120.0A
Authority: CN
Inventors: 朱铁峰; 肖笑静
Original assignee: Shandong Erwan Ocean Intelligent Technology Co ltd
Current assignee: Shandong Erwan Ocean Intelligent Technology Co ltd
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2021-06-25

Abstract

The invention discloses a grabbing device of an underwater robot, which belongs to the technical field of underwater robots and comprises a robot bottom plate, wherein a fixed plate is fixed on the lower surface of the robot bottom plate through a fixed rod, a moving block is connected to the lower surface of the robot bottom plate in a sliding manner, a threaded hole is formed in the moving block, a screw rod is connected to the threaded hole in a threaded manner, the lower surface of the robot bottom plate is symmetrically welded with the fixed blocks, two ends of the screw rod are respectively rotatably installed on the two fixed blocks, a motor is installed on one fixed block, an output shaft of the motor is in transmission connection with the screw rod, a rectangular hole is formed in the fixed plate along the length direction; the underwater robot gripping device is novel in design, ingenious in structure, convenient to operate, capable of firmly gripping objects, high in practicability, capable of placing the gripped objects in the net bag, convenient for gripping other objects, free of repeatedly taking out and putting down the underwater robot, time-saving and labor-saving, and worthy of popularization.

Description

Grabbing device of underwater robot

Technical Field

The invention relates to the technical field of underwater robots, in particular to a grabbing device of 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 underwater for a long time 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, real-time video and sonar images can be provided, the mechanical arm of the underwater robot can grab a crane, and the underwater robot is widely applied to the fields of oil development, maritime law enforcement evidence obtaining, scientific research, military and the like.

In the prior art, when a mechanical grabbing device of an underwater robot is used, some mechanical grabbing devices cannot extend arms as required to perform actual operation, and the applicability is not high. Meanwhile, the operation is complex during grabbing, the object is not stable enough after being grabbed, the object is easy to loosen, only one object can be grabbed at one time, and when a plurality of objects need to be grabbed, the underwater robot needs to be continuously taken out and put down, so that time and labor are wasted.

Disclosure of Invention

The invention provides a grabbing device of an underwater robot, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the following technical scheme:

a grabbing device of an underwater robot comprises a robot base plate, wherein a fixed plate is fixed on the lower surface of the robot base plate through a fixed rod, a moving block is connected to the lower surface of the robot base plate in a sliding manner, a threaded hole is formed in the moving block, a screw rod is connected with the threaded hole in an internal thread manner, fixed blocks are symmetrically welded on the lower surface of the robot base plate, two ends of the screw rod are respectively rotatably mounted on the two fixed blocks, a motor is mounted on one of the two fixed blocks, an output shaft of the motor is in transmission connection with the screw rod, a rectangular hole is formed in the fixed plate along the length direction, two vertical rods are welded on two sides of the lower surface of the fixed plate, a fixed frame is fixed at the bottom ends of the two vertical rods on the same side, a net bag is fixed, the lower surface of mounting panel one is fixed with mounting panel two through the installation pole, the lower surface symmetry welding of mounting panel two has bracing piece one, the bottom of bracing piece one is rotated and is installed the clamping bar, the one side that two clamping bar bottoms are close to all is connected with the spring, the one end of spring is connected with the clamp splice, the last surface mounting of mounting panel two has hydraulic lifting rod two, hydraulic lifting rod two's piston rod runs through mounting panel two and is connected with the movable rod, the both sides of movable rod are provided with the rack along vertical direction, bracing piece two is installed to the lower surface symmetry of mounting panel two, the bottom of bracing piece two is rotated and is installed the gear, rotate on a lateral wall of gear and install the connecting rod, the one end that two connecting.

As a preferred embodiment, a sliding groove is formed in the lower surface of the robot base plate along the length direction, a sliding block is connected in the sliding groove in a sliding manner, and the sliding block is fixedly connected with a moving block.

In a preferred embodiment, the rectangular hole is located right below the screw, and the length of the screw is greater than that of the rectangular hole.

As a preferred embodiment, the net bag is made of a flexible metal material.

As a preferred embodiment, the vertical section of the clamping blocks is in a circular arc structure, and the side walls of the two clamping blocks close to each other are provided with barbs and anti-skid threads.

As a preferred embodiment, the two second support rods are located between the two first support rods.

In a preferred embodiment, the movable rod is located between two gears, and the gears are engaged with the rack.

The invention has the beneficial effects that:

1. the grabbing device of the underwater robot can conveniently grab objects by arranging the structures such as the mounting plate II, the support rod I, the clamping rod, the spring, the clamping block, the hydraulic lifting rod II, the movable rod, the gear, the support rod II, the gear, the connecting rod and the like, is simple to operate, and is provided with the barb and the anti-skid thread, so that the objects can be grabbed more firmly;

2. this grabbing device of underwater robot is through setting up dead lever, fixed plate, movable block, screw rod, fixed block, motor, rectangular hole, montant and string bag isotructure, after snatching the object, can remove grabbing device's position, puts into the string bag with the object to can snatch other objects, need not repeatedly take out and put down underwater robot, labour saving and time saving is worth promoting.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a partial schematic view of the present invention;

FIG. 3 is a side view of the chute and slide of the present invention;

FIG. 4 is a top view of a fixation plate of the present invention;

fig. 5 is a plan view of the fixing frame and the string bag of the present invention.

Reference numbers in the figures: 1. a robot base plate; 2. fixing the rod; 3. a fixing plate; 4. a moving block; 5. a screw; 6. a fixed block; 7. a motor; 8. a rectangular hole; 9. a vertical rod; 10. a fixing frame; 11. a net bag; 12. a first hydraulic lifting rod; 13. a first mounting plate; 14. mounting a rod; 15. a second mounting plate; 16. a first supporting rod; 17. a clamping bar; 18. a spring; 19. a clamping block; 20. a second hydraulic lifting rod; 21. a movable rod; 22. a rack; 23. a second supporting rod; 24. a gear; 25. a connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-5, a grabbing device of an underwater robot comprises a robot base plate 1, a fixed plate 3 is fixed on the lower surface of the robot base plate 1 through a fixed rod 2, a moving block 4 is slidably connected to the lower surface of the robot base plate 1, a threaded hole is formed in the moving block 4, a screw rod 5 is connected in the threaded hole, fixed blocks 6 are symmetrically welded on the lower surface of the robot base plate 1, two ends of the screw rod 5 are respectively rotatably installed on the two fixed blocks 6, a motor 7 is installed on one of the fixed blocks 6, an output shaft of the motor 7 is in transmission connection with the screw rod 5, a rectangular hole 8 is formed in the fixed plate 3 along the length direction, two vertical rods 9 are welded on two sides of the lower surface of the fixed plate 3, a fixed frame 10 is fixed at the bottom ends of the two vertical rods 9 on the same side, a net, the piston rod of hydraulic lifting rod one 12 runs through rectangular hole 8 and is connected with mounting panel one 13, the lower surface of mounting panel one 13 is fixed with mounting panel two 15 through mounting rod 14, the lower surface symmetrical welding of mounting panel two 15 has bracing piece one 16, the bottom of bracing piece one 16 is rotated and is installed clamping bar 17, one side that two clamping bar 17 bottom are close to mutually all is connected with spring 18, the one end of spring 18 is connected with clamp splice 19, the last surface mounting of mounting panel two 15 has hydraulic lifting rod two 20, the piston rod of hydraulic lifting rod two 20 runs through mounting panel two 15 and is connected with movable rod 21, the both sides of movable rod 21 are provided with rack 22 along vertical direction, bracing piece two 23 are installed to the lower surface symmetry of mounting panel two 15, the bottom of bracing piece two 23 is rotated and is installed gear 24, rotate on one side wall of gear 24 and install connecting rod 25, the one end that two connecting rods 25 kept away.

The lower surface of robot bottom plate 1 has seted up the spout along length direction, and sliding connection has the slider in the spout, and slider and movable block 4 fixed connection.

The rectangular hole 8 is located right below the screw 5, and the length of the screw 5 is greater than that of the rectangular hole 8.

The net bag 11 is made of flexible metal.

The vertical section of the clamping blocks 19 is of a circular arc structure, and the side walls of the two clamping blocks 19 close to each other are provided with barbs and anti-skid threads.

The two support rods two 23 are positioned between the two support rods one 16.

The movable bar 21 is located between two gears 24, and the gears 24 are engaged with the rack 22.

The working principle is as follows: when the device is used, the device is put under water, the position of the grabbing device is adjusted through the first hydraulic lifting rod 12, then the second hydraulic lifting rod 20 is opened, the second hydraulic lifting rod 20 contracts to enable the movable rod 21 and the rack 22 to move upwards, the rack 22 is meshed with the gear 24, the rack 22 drives the gear 24 to rotate, the two gears 24 synchronously rotate, the gear 24 on the left side rotates anticlockwise, the gear 24 on the right side rotates clockwise to drive one ends of the two connecting rods 25 to move upwards, the other ends of the two connecting rods 25 pull the clamping rods 17 to move, so that the two clamping blocks 19 are close to each other, barbs and anti-skidding threads are arranged on the side walls, close to the two clamping blocks 19, so that objects are grabbed more firmly, when other objects need to be grabbed, the grabbing device is lifted firstly, then the motor 7 is opened, the motor 7 drives the screw rod 5 to rotate, the screw rod 5, when moving fixed frame 10 and string bag 11's top, loosen grabbing device, the object that will snatch is put into string bag 11, can carry out snatching next time, need not take out underwater robot and put down again, has saved a large amount of time, is worth promoting.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The gripping device of the underwater robot comprises a robot bottom plate (1) and is characterized in that a fixed plate (3) is fixed on the lower surface of the robot bottom plate (1) through a fixed rod (2), a movable block (4) is connected to the lower surface of the robot bottom plate (1) in a sliding mode, a threaded hole is formed in the movable block (4), a screw rod (5) is connected to the threaded hole in an internal thread mode, fixed blocks (6) are symmetrically welded to the lower surface of the robot bottom plate (1), two ends of the screw rod (5) are rotatably installed on the two fixed blocks (6) respectively, a motor (7) is installed on one fixed block (6), an output shaft of the motor (7) is in transmission connection with the screw rod (5), a rectangular hole (8) is formed in the fixed plate (3) in the length direction, two vertical rods (9) are welded to two sides of the lower surface of the fixed plate (3), and, the bottom of a fixed frame (10) is fixed with a net bag (11), the lower surface of a moving block (4) is provided with a first hydraulic lifting rod (12), a piston rod of the first hydraulic lifting rod (12) penetrates through a rectangular hole (8) and is connected with a first mounting plate (13), the lower surface of the first mounting plate (13) is fixed with a second mounting plate (15) through a mounting rod (14), the lower surface of the second mounting plate (15) is symmetrically welded with a first support rod (16), the bottom end of the first support rod (16) is rotatably provided with a clamping rod (17), one side, close to the bottom ends of the two clamping rods (17), is respectively connected with a spring (18), one end of the spring (18) is connected with a clamping block (19), the upper surface of the second mounting plate (15) is provided with a second hydraulic lifting rod (20), the piston rod of the second hydraulic lifting rod (20) penetrates through the second mounting plate (15) and is, the lower surface symmetry of mounting panel two (15) installs bracing piece two (23), and the bottom of bracing piece two (23) is rotated and is installed gear (24), rotates on a lateral wall of gear (24) and installs connecting rod (25), and the one end that two connecting rod (25) kept away from mutually rotates respectively and installs on two clamping bar (17).

2. The underwater robot gripping device as claimed in claim 1, wherein the lower surface of the robot base plate (1) is provided with a sliding groove along the length direction, a sliding block is connected in the sliding groove in a sliding manner, and the sliding block is fixedly connected with the moving block (4).

3. The gripping device of an underwater robot according to claim 1, characterized in that the rectangular hole (8) is located directly below the screw (5), and the length of the screw (5) is greater than the length of the rectangular hole (8).

4. The underwater robot gripping device as recited in claim 1, wherein said net bag (11) is made of flexible metal.

5. The underwater robot gripping device as claimed in claim 1, wherein the vertical section of the clamping blocks (19) is a circular arc structure, and the side walls of the two clamping blocks (19) close to each other are provided with barbs and anti-skid threads.

6. The gripping device of an underwater robot according to claim 1, characterized in that two of said second support bars (23) are located between two of said first support bars (16).

7. Gripping device of an underwater robot according to claim 1, characterized in that the movable bar (21) is located between two gear wheels (24) and that the gear wheels (24) are engaged with a gear rack (22).