CN113879493A - Underwater vehicle salvage mechanical claw - Google Patents
Underwater vehicle salvage mechanical claw Download PDFInfo
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- CN113879493A CN113879493A CN202111397733.XA CN202111397733A CN113879493A CN 113879493 A CN113879493 A CN 113879493A CN 202111397733 A CN202111397733 A CN 202111397733A CN 113879493 A CN113879493 A CN 113879493A
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- arm
- grabbing
- underwater vehicle
- grabbing arm
- mounting frame
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- 210000000078 claw Anatomy 0.000 title abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000005286 illumination Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000012535 impurity Substances 0.000 description 3
- 239000013535 sea water Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002633 protecting effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
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Classifications
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- 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
- B63C11/48—Means for searching for underwater objects
- B63C11/49—Floating structures with underwater viewing devices, e.g. with windows ; Arrangements on floating structures of underwater viewing devices, e.g. on boats
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- 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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- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
Abstract
The invention relates to the technical field of aircraft fishing, and discloses an underwater aircraft fishing mechanical claw which comprises a mounting frame and a grabbing mechanism, wherein the grabbing mechanism comprises a first grabbing arm, a second grabbing arm and an auxiliary arm, the first grabbing arm and the second grabbing arm are respectively connected to two sides of the mounting frame through a first driving mechanism to drive the first grabbing arm and the second grabbing arm to be close to or far away from each other, opposite sides of the first grabbing arm and the second grabbing arm are respectively provided with a recess in opposite directions, so that a cavity with two open ends is formed when the first grabbing arm and the second grabbing arm are folded, the auxiliary arm is arranged between the first grabbing arm and the second grabbing arm and is connected with the mounting frame through a second driving mechanism, and the second driving mechanism drives the auxiliary arm to move in a direction close to or far away from the mounting frame. During salvaging, the underwater vehicle is positioned in a cavity formed by folding the first grabbing arm and the second grabbing arm, so that damage can be avoided, and the auxiliary arm is abutted against the underwater vehicle and fixed, so that the underwater vehicle can be prevented from falling.
Description
Technical Field
The invention relates to the technical field of fishing of aircrafts, in particular to a fishing mechanical claw for an underwater aircraft.
Background
The underwater vehicle is a navigation body navigating underwater, comprises a manned underwater vehicle and an unmanned underwater vehicle, and can complete underwater exploration, detection, even attack and defense in military and other tasks. At present, where ocean development is increasingly important, underwater vehicles are gaining more and more attention from various countries, playing an important role both in civilian use and military use. The unmanned underwater vehicle is a recoverable small-sized underwater self-navigation carrier for underwater reconnaissance, remote control mine hunting, battle and the like, and is an unmanned intelligent small-sized weapon equipment platform which takes a submarine or a surface ship as a support platform and can autonomously and remotely navigate underwater for a long time.
When the underwater vehicle is used, the underwater vehicle needs to be recovered after the underwater vehicle is deployed and reaches the preset time or the task is finished. Currently, the mechanical claws are generally used for salvaging and recovering underwater vehicles. The existing gripper generally comprises two grabbing arms which are far away from each other, the grabbing arms are clamped on two sides of an underwater vehicle, so that the underwater vehicle is fixed between the two grabbing arms and can move along with the gripper, and fishing and recovery are realized. However, the grabbing arms of the mechanical claw are in direct contact with the underwater vehicle, and in the process of folding the two grabbing arms, acting force is exerted on the underwater vehicle, so that the underwater vehicle is easily damaged by being clamped.
The prior art discloses a ratchet self-locking submarine cable lifting mechanical claw, which comprises a grabbing structure and a locking structure, wherein the grabbing structure comprises two support plates, a main shaft is connected between the lower parts of the two support plates, two first clamping claw pieces and two second clamping claw pieces which are oppositely arranged are rotatably connected on the main shaft, the first clamping claw pieces and the second clamping claw pieces are identical in structure, each first clamping claw piece comprises an arc-shaped first clamping claw, each second clamping claw piece comprises an arc-shaped second clamping claw, a first shaft sleeve is arranged at the upper end of each first clamping claw, a second shaft sleeve is arranged at the upper end of each second clamping claw, a longitudinal first groove is formed in the bottom of the periphery of each first shaft sleeve, a longitudinal second groove is formed in the bottom of the periphery of each second shaft sleeve, the first shaft sleeve and the second shaft sleeve are sleeved on the main shaft, when the first clamping claws and the second clamping claws are closed, the first grooves and the second grooves are aligned, and when the first clamping claws and the second clamping claws are opened, the first and second grooves are staggered. The patent clamps an object by closing a first clamping jaw and a second clamping jaw, and if the first clamping jaw and the second clamping jaw are clamped on two sides of an underwater vehicle, the underwater vehicle is easily damaged. However, the first clamping jaw and the second clamping jaw are arc-shaped, when the first clamping jaw and the second clamping jaw are folded, a cylindrical space can be formed, and if the underwater vehicle is positioned in the cylindrical space formed by folding the first clamping jaw and the second clamping jaw, the underwater vehicle can be prevented from being damaged.
Disclosure of Invention
The invention aims to provide an underwater vehicle fishing mechanical claw which can prevent an underwater vehicle from dropping and being damaged.
In order to achieve the aim, the invention provides an underwater vehicle salvaging mechanical claw, which comprises a mounting rack and a grabbing mechanism, the grabbing mechanism comprises a first grabbing arm, a second grabbing arm and an auxiliary arm, the first grabbing arm and the second grabbing arm are respectively connected to two sides of the mounting frame through a first driving mechanism, so as to drive the first grabbing arm and the second grabbing arm to approach or depart from each other, wherein the opposite sides of the first grabbing arm and the second grabbing arm are respectively provided with recesses with opposite directions, so that a cavity with two open ends is formed when the first grabbing arm and the second grabbing arm are folded, the auxiliary arm is arranged between the first grabbing arm and the second grabbing arm, and the auxiliary arm is connected with the mounting rack through a second driving mechanism, and the second driving mechanism drives the auxiliary arm to move along the direction close to or far away from the mounting rack.
Preferably, the first and second gripper arms each include an upper arm plate and a lower arm plate, a top side of the upper arm plate is rotatably connected to the mounting frame, the lower arm plate is connected to a bottom side of the upper arm plate, and the upper arm plate and the lower arm plate form an obtuse angle.
Preferably, the first grabbing arm and the second grabbing arm are provided with lightening holes.
Preferably, anti-slip strips are arranged on the opposite sides of the first grabbing arm and the second grabbing arm.
Preferably, the auxiliary arm is a flexible plate.
Preferably, a pressure sensor is arranged on one side, away from the mounting frame, of the auxiliary arm.
Preferably, the two ends of the mounting rack are respectively and rotatably connected with a baffle.
Preferably, the shooting device further comprises a shooting module, the shooting module comprises a camera and a support, the camera is mounted on the support, and the support is rotatably connected to the mounting frame.
Preferably, the shooting module further comprises an illuminating lamp, and the illuminating lamp is mounted on the camera.
Preferably, the base is connected to the top surface of the mounting frame, the intermediate mechanism comprises a shell and a motor, the motor is located in the shell, and an output shaft of the motor is detachably connected with the base.
Compared with the prior art, the invention has the beneficial effects that:
the auxiliary arm capable of moving in the direction close to or far from the mounting frame is arranged, and when the first grabbing arm and the second grabbing arm are folded, the auxiliary arm is far away from the mounting frame and is abutted against the underwater vehicle to fix the underwater vehicle, so that the underwater vehicle can be prevented from falling off in the moving process of the mechanical claw, and the recovery efficiency is high.
Drawings
Fig. 1 is a first view structure diagram of an underwater vehicle fishing gripper according to an embodiment of the invention.
Fig. 2 is a second view structure diagram of the underwater vehicle fishing mechanical claw of the embodiment of the invention.
Fig. 3 is a schematic view of the connection between the base and the mounting bracket according to the embodiment of the present invention.
Fig. 4 is a schematic structural view of an intermediate mechanism of the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a photographing module according to an embodiment of the present invention.
In the drawings, 1-mounting frame; 2-a first gripper arm; 3-a second gripper arm; 4-an auxiliary arm; 5-floating plate; 6-lightening holes; 7-antislip strips; 8-a pressure sensor; 9-a first hydraulic lever; 10-a hinge; 11-a second hydraulic rod; 12-a baffle plate; 13-a camera; 14-a scaffold; 15-lighting lamps; 16-a base; 17-a housing; 18-a motor; 19-a gear; 20-mounting grooves; 21-a flange plate; 22-reinforcing ribs.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 5, an underwater vehicle fishing gripper according to a preferred embodiment of the present invention includes a mounting frame 1 and a grabbing mechanism, where the grabbing mechanism includes a first grabbing arm 2, a second grabbing arm 3 and an auxiliary arm 4, the first grabbing arm 2 and the second grabbing arm 3 are respectively connected to two sides of the mounting frame 1 through a first driving mechanism to drive the first grabbing arm 2 and the second grabbing arm 3 to approach or separate from each other, opposite sides of the first grabbing arm 2 and the second grabbing arm 3 are respectively provided with recesses in opposite directions, so that when the first grabbing arm 2 and the second grabbing arm 3 are folded, a cavity with two open ends is formed, the auxiliary arm 4 is disposed between the first grabbing arm 2 and the second grabbing arm 3, and the auxiliary arm 4 is connected to the mounting frame 1 through a second driving mechanism, and the second driving mechanism drives the auxiliary arm 4 to move in a direction approaching or separating from the mounting frame 1. In the embodiment, the recesses are arranged on the opposite sides of the first grabbing arm 2 and the second grabbing arm 3, so that a cavity with two open ends is formed when the first grabbing arm 2 and the second grabbing arm 3 are folded, during fishing, the first grabbing arm 2 and the second grabbing arm 3 are folded under the driving of the first driving mechanism, the underwater vehicle is positioned in a cavity formed by the first grabbing arm 2 and the second grabbing arm 3, the first grabber arm 2 and the second grabber arm 3 are not clamped to the underwater vehicle, so that the underwater vehicle can be prevented from being damaged, in addition, the present embodiment is provided with the auxiliary arm 4 movable in a direction approaching or departing from the mounting frame 1, after the first grabbing arm 2 and the second grabbing arm 3 are folded, the auxiliary arm 4 is far away from the mounting frame 1 and is abutted to the underwater vehicle to fix the underwater vehicle, so that the underwater vehicle can be prevented from falling off in the moving process of the mechanical claw, and the recovery efficiency is high.
Specifically, the first grabbing arm 2 and the second grabbing arm 3 of the present embodiment each include an upper arm plate and a lower arm plate, the top side of the upper arm plate is rotatably connected to the mounting frame 1, the lower arm plate is connected to the bottom side of the upper arm plate, and the upper arm plate and the lower arm plate form an obtuse angle, so that a recess is formed on the side opposite to the first grabbing arm 2 and the second grabbing arm 3, and a cavity capable of accommodating an underwater vehicle is formed when the first grabbing arm 2 and the second grabbing arm 3 are folded. In addition, the outer side of the upper arm plate is provided with the floating plate 5, so that the underwater vehicle fishing mechanical claw in the embodiment can float on the water surface during fishing, and the first grabbing arm 2 and the second grabbing arm 3 can be opened quickly and efficiently.
Furthermore, the first grabbing arm 2 and the second grabbing arm 3 are provided with lightening holes 6, so that the weight of the grabbing arms can be reduced, and after the underwater vehicle is grabbed from water, seawater and other impurities can flow out of the lightening holes 6, so that the situation that the platforms are disordered due to the seawater and the impurities caused by the fact that the underwater vehicle is recovered to the platforms by the mechanical claws is avoided. The lightening holes 6 of the embodiment are arranged at the bottom side of the lower arm plate, when the first grabbing arm 2 and the second grabbing arm 3 are folded, the bottom side of the lower arm plate is positioned at the lowest part, and seawater and other impurities can be completely discharged. In addition, the lightening holes 6 of the present embodiment are square holes, and the lightening holes 6 of the present embodiment are provided in plurality, and the plurality of lightening holes 6 are uniformly spaced along the length direction of the lower arm plate.
In this embodiment, the anti-slip strips 7 are arranged on the opposite sides of the first grabbing arm 2 and the second grabbing arm 3, and the anti-slip strips 7 play a role in buffering, so that the underwater vehicle can be effectively prevented from colliding with the mechanical claw under the action of external force in the grabbing process. The anti-slip strip 7 of this embodiment is a flexible body, such as a rubber body. The inboard of the upper arm board of the first arm 2 of snatching of this embodiment and second arm 3, the arm board down all is equipped with antislip strip 7 along its length direction setting, and the first arm 7 symmetry setting of snatching on the upper arm board of arm 3, the arm board down of snatching of arm 2 and second.
The auxiliary arm 4 of the embodiment is a flexible plate, so that the underwater vehicle can be prevented from being damaged due to rigid contact with the underwater vehicle. The auxiliary arm 4 is made of deformable flexible materials, the underwater vehicle can be further prevented from being damaged due to overlarge pressure, the underwater vehicle can be attached to the underwater vehicle, and the fixing effect is improved. In addition, the auxiliary arm 4 of the present embodiment is an arc-shaped structure, and can be matched with the top shape of an underwater vehicle to enhance the fixing effect.
In addition, a pressure sensor 8 is arranged on one side, away from the mounting frame, of the auxiliary arm 4, when the auxiliary arm 4 is pressed against the underwater vehicle to be fixed, the pressure applied to the underwater vehicle is measured, a detection result is transmitted to the control device to control the second driving mechanism, when a detection value of the pressure sensor 8 exceeds a preset value, the auxiliary arm 4 is controlled to stop moving, the underwater vehicle is prevented from being damaged due to overlarge pressure, and touching fishing is achieved.
In this embodiment, first actuating mechanism includes first hydraulic stem 9, the both sides of mounting bracket 1 are equipped with first hydraulic stem 9 respectively, the first upper arm board that snatchs arm 2 and the second upper arm board that snatchs arm 3 are connected with mounting bracket 1 through hinge 10 respectively, and the end that stretches out of first hydraulic stem 9 of mounting bracket 1 both sides is connected with the first upper arm board that snatchs arm 2 and the second upper arm board that snatchs arm 3 respectively, through the flexible of first hydraulic stem 9, can realize that first snatchs arm 2 and second and snatch arm 3 and open and shut, and adopt hydraulic drive, can provide sufficient power of snatching. In addition, the first grabbing arm 2 and the second grabbing arm 3 are arranged to be two, the two first grabbing arms 2 are connected to one side of the installation frame 1 and arranged along the length direction of the installation frame 1 at intervals, and the two second grabbing arms 3 are connected to the other side of the installation frame 1 and arranged along the length direction of the installation frame 1 at intervals.
The second driving mechanism of this embodiment includes the second hydraulic rod 11, and the second hydraulic rod 11 is connected on the mounting bracket 1, and the end that stretches out of second hydraulic rod 11 is connected with the auxiliary arm 4, drives the auxiliary arm 4 through the flexible of second hydraulic rod 11 and removes. The auxiliary arms 4 of the present embodiment are also provided in two, and the two auxiliary arms 4 are respectively provided near both ends of the mounting bracket 1.
Example two
The difference between the present embodiment and the first embodiment is that, on the basis of the first embodiment, the two ends of the mounting frame 1 of the present embodiment are respectively rotatably connected with the baffle plates 12. After the first grabbing arm 2 and the second grabbing arm 3 are folded, the baffle 12 covers openings at two ends of a cavity formed after the first grabbing arm 2 and the second grabbing arm 3 are folded, so that the baffle 12, the first grabbing arm 2 and the second grabbing arm 3 form a closed cavity, the underwater vehicle is further prevented from falling off, a blocking and protecting effect is achieved, and the underwater vehicle is prevented from being damaged due to impact of foreign objects in the moving process of the mechanical claw after being fished. The baffle 12 is rotatably connected with the mounting frame 1, so that the baffle 12 can be positioned at different positions before and after fishing, and the baffle 13 is prevented from interfering the actions of the first grabbing arm 2 and the second grabbing arm 3 and the grabbing of an underwater vehicle.
Further, the baffle 12 of this embodiment is provided with a plurality of through-holes, can effectively alleviate the weight of restriction board and reach effectual filtering effect.
Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.
EXAMPLE III
The difference between the present embodiment and the first embodiment is that, on the basis of the second embodiment, the present embodiment further includes a shooting module, and the baffle 12 is further described because the shooting module is added.
The camera module of the present embodiment includes a camera 13 and a bracket 14, the camera 13 is mounted on the bracket 14, and the bracket 14 is rotatably connected to the mounting frame 1. The condition of a salvaged water area is observed in real time through the camera 13, the position of an underwater vehicle to be salvaged is accurately searched, and remote salvage is achieved. And the bracket 14 connected with the camera 13 is rotatably connected with the mounting frame 1, so that the shooting range can be enlarged to enlarge the observation visual field.
The both ends of the mounting bracket 1 of this embodiment all are equipped with the shooting module. The support 14 is connected with the mounting rack 1 through a first rotating shaft, the first rotating shaft is perpendicular to the length direction of the mounting rack 1, and the first rotating shaft is driven by a shooting motor arranged on the mounting rack 1. Both ends of mounting bracket 1 all are equipped with baffle 12, and each end of mounting bracket 1 all is equipped with two baffles 12, and baffle 12 is connected with mounting bracket 1 through the second pivot, and the second pivot is parallel with the length direction of mounting bracket 1, and the second pivot is driven by the baffle motor of locating on mounting bracket 1. Two baffles 12 located at the same end of the mounting frame 1 are respectively arranged close to two sides of the mounting frame 1, and one side, opposite to the two baffles 12, located at the same end of the mounting frame 1 is provided with an avoidance notch. So that the plane of rotation of the bracket 14 is perpendicular to the plane of rotation of the baffle 12, while avoiding gaps prevents interference between the rotation of the bracket 14 and the baffle 12.
In addition, as shown in fig. 5, the camera module of the present embodiment further includes an illumination lamp 15, and the illumination lamp 15 is mounted on the camera 13, so as to illuminate a dark environment and make a visual field clearer. The illuminating lamps 15 of the present embodiment are provided with five illuminating lamps 15, and the five illuminating lamps 15 are uniformly arranged in the circumferential direction of the camera 13.
Other structures of this embodiment are the same as those of the embodiment, and are not described herein again.
Example four
The difference between the present embodiment and the third embodiment is that, on the basis of the third embodiment, the present embodiment further includes a base 16 and an intermediate mechanism, the base 16 is connected to the top surface of the mounting bracket 1, the intermediate mechanism includes a housing 17 and a motor 18, the motor 18 is located in the housing 17, and an output shaft of the motor 18 is detachably connected to the base 16. The motor 18 is rotated to drive the base 16 to rotate, so that the mounting frame 1 is driven to rotate, the direction of the mechanical claw can be changed during fishing, and the underwater vehicle can be grabbed more accurately.
As shown in fig. 3 and 4, in the present embodiment, a gear 19 is disposed at an end of an output shaft of the motor 18, a mounting groove 20 matched with the gear 19 is disposed on a top surface of the base 16, and a flange 21 is disposed at an end of the output shaft of the motor 18, the flange 21 is closer to a main body of the motor 18 than the gear 19, when mounting, the output shaft of the motor 18 is inserted into the base 16, so that the gear 19 is embedded in the mounting groove 20, and the flange 21 is locked on the base 16 by bolts, which facilitates the mounting and dismounting and is stable in connection. In addition, the side surface of the case 17 is provided with a plurality of reinforcing ribs 22, which can improve the strength of the case 17.
Other structures of this embodiment are the same as those of this embodiment, and are not described herein again.
The working process of the invention is as follows: the mechanical claw moves to a water area to be salvaged, the condition of the water area is shot through the camera 13, the specific position of the underwater vehicle is found, the motor 18 rotates to drive the mounting rack 1 to rotate, the direction of the mounting rack 1 is changed, and the mounting rack 1 is arranged along the underwater vehicle. Subsequently, the first hydraulic rod 9 drives the first grabbing arm 2 and the second grabbing arm 3 to open, when the underwater vehicle is located between the first grabbing arm 2 and the second grabbing arm 3, the first hydraulic rod 9 drives the first grabbing arm 2 and the second grabbing arm 3 to close, the auxiliary arm 4 is driven by the second hydraulic rod 11 to move towards the direction away from the mounting frame 1 and abut against the underwater vehicle, and the detection value of the pressure sensor 8 reaches a preset value. The baffle 12 is driven by a motor connected with the baffle to rotate, and the two ends of a cavity formed by folding the first grabbing arm 2 and the second grabbing arm 3 are closed.
In summary, the embodiment of the invention provides an underwater vehicle salvaging gripper, which is characterized in that a recess is arranged on one side opposite to a first grabbing arm 2 and a second grabbing arm 3, so that a cavity with two open ends is formed when the first grabbing arm 2 and the second grabbing arm 3 are folded, when salvaging, the first grabbing arm 2 and the second grabbing arm 3 are folded under the driving of a first driving mechanism, an underwater vehicle is positioned in the cavity formed by the first grabbing arm 2 and the second grabbing arm 3, the first grabbing arm 2 and the second grabbing arm 3 are not clamped on the underwater vehicle, the underwater vehicle can be prevented from being damaged, in addition, the embodiment is provided with an auxiliary arm 4 which can move in a direction close to or far away from a mounting rack 1, when the first grabbing arm 2 and the second grabbing arm 3 are folded, the auxiliary arm 4 is far away from the mounting rack 1, is abutted on the underwater vehicle, the underwater vehicle is fixed, and the underwater vehicle can be prevented from falling off in the moving process of the gripper, the recovery efficiency is high.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. The fishing gripper for the underwater vehicle is characterized by comprising a mounting frame (1) and a grabbing mechanism, wherein the grabbing mechanism comprises a first grabbing arm (2), a second grabbing arm (3) and an auxiliary arm (4), the first grabbing arm (2) and the second grabbing arm (3) are respectively connected to two sides of the mounting frame (1) through a first driving mechanism to drive the first grabbing arm (2) and the second grabbing arm (3) to be close to or away from each other, opposite sides of the first grabbing arm (2) and the second grabbing arm (3) are respectively provided with a recess in opposite directions, so that a cavity with two open ends is formed when the first grabbing arm (2) and the second grabbing arm (3) are folded, the auxiliary arm (4) is arranged between the first grabbing arm (2) and the second grabbing arm (3), and the auxiliary arm (4) is connected with the mounting frame (1) through a second driving mechanism, the second driving mechanism drives the auxiliary arm (4) to move in the direction close to or far away from the mounting rack (1).
2. The underwater vehicle fishing gripper according to claim 1, characterized in that the first and second gripping arms (2, 3) each comprise an upper arm plate, the top side of which is rotatably connected to the mounting frame (1), and a lower arm plate, the lower arm plate being connected to the bottom side of the upper arm plate, the upper arm plate being at an obtuse angle to the lower wall plate.
3. The underwater vehicle fishing gripper according to claim 1, characterized in that the first and second gripping arms (2, 3) are provided with lightening holes (6).
4. The underwater vehicle fishing gripper according to claim 1, characterized in that the opposite sides of the first and second gripping arms (2, 3) are provided with anti-slip strips (7).
5. The underwater vehicle fishing gripper according to claim 1, characterized in that said auxiliary arm (4) is a flexible plate.
6. The underwater vehicle fishing gripper according to claim 1, characterized in that the side of the auxiliary arm (4) remote from the mounting (1) is provided with a pressure sensor (8).
7. The underwater vehicle fishing gripper according to claim 1, characterized in that the two ends of the mounting frame (1) are respectively rotatably connected with a baffle.
8. The underwater vehicle fishing gripper according to claim 1, characterized in that it further comprises a camera module comprising a camera (13) and a bracket (14), said camera (13) being mounted on said bracket (14), said bracket (14) being rotatably connected to said mounting frame (1).
9. The underwater vehicle salvaging gripper as recited in claim 8, wherein said photographing module further comprises an illumination lamp (15), said illumination lamp (15) being mounted on said camera (13).
10. The underwater vehicle fishing gripper according to claim 1, characterized in that it further comprises a base (16) and an intermediate mechanism, said base (16) being connected to the top surface of said mounting frame (1), said intermediate mechanism comprising a housing (17) and a motor (18), said motor (18) being located in said housing (17), the output shaft of said motor (18) being removably connected to said base (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111397733.XA CN113879493A (en) | 2021-11-23 | 2021-11-23 | Underwater vehicle salvage mechanical claw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111397733.XA CN113879493A (en) | 2021-11-23 | 2021-11-23 | Underwater vehicle salvage mechanical claw |
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| CN113879493A true CN113879493A (en) | 2022-01-04 |
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| CN202111397733.XA Pending CN113879493A (en) | 2021-11-23 | 2021-11-23 | Underwater vehicle salvage mechanical claw |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115195974A (en) * | 2022-06-21 | 2022-10-18 | 广东海洋大学 | Fishing operation manipulator for underwater vehicle |
| CN115723905A (en) * | 2022-12-15 | 2023-03-03 | 广东智能无人系统研究院(南沙) | Pull-type retracting device |
| CN115783186A (en) * | 2023-02-09 | 2023-03-14 | 威海海洋职业学院 | Marine underwater article fishing frame |
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| CN115783186A (en) * | 2023-02-09 | 2023-03-14 | 威海海洋职业学院 | Marine underwater article fishing frame |
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Application publication date: 20220104 |