CN114193501A - Underwater robot manipulator with flexible claws - Google Patents
Underwater robot manipulator with flexible claws Download PDFInfo
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- CN114193501A CN114193501A CN202111664306.3A CN202111664306A CN114193501A CN 114193501 A CN114193501 A CN 114193501A CN 202111664306 A CN202111664306 A CN 202111664306A CN 114193501 A CN114193501 A CN 114193501A
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- joint
- rotating shaft
- motor
- underwater robot
- rotating
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- 210000000078 claw Anatomy 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims description 28
- 238000007789 sealing Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 3
- 239000012785 packaging film Substances 0.000 claims description 2
- 229920006280 packaging film Polymers 0.000 claims description 2
- 238000013461 design Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an underwater robot manipulator with flexible claws, which has the advantages of large range of grabbing heavy objects, less grabbing dead angles and good reliability, wherein a transmission structure comprises a first joint moving up and down along a Z axis, a second joint rotating for 180 degrees around the Z axis and a third joint rotating for 360 degrees around the Z axis, the rear end surface of a mechanical arm in the second joint is fixedly connected with a vertical plate in an L-shaped mounting plate through a plurality of bolts, the mechanical arm of the second joint is arranged at 90 degrees with the rotating shaft of the first joint, a rotating seat is arranged between the upper end head and the lower end head of a rotating shaft in the second joint, and the rear end surface of the mechanical arm in the first joint is fixedly connected with the front surface of a vertical plate in the rotating seat through a plurality of bolts; the upper end face of a screw rod mounting seat in the grabbing structure is fixedly connected with the lower end face of a lifting arm in the first joint. The advantages are that: the invention is provided with two rotational degrees of freedom, thereby enlarging the range for grabbing heavy objects and reducing the grabbing dead angle caused by the arm length.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to an underwater robot manipulator with flexible claws.
Background
With the exploration, exploitation and utilization of land resources, resource problems and problems of future development gradually emerge, and people gradually shift exploration sights to oceans with low resource development degrees. The surface area of the earth is 71 percent of the ocean, which contains a large amount of biological and mineral resources, and if the surface area is fully utilized, the problem of the current resources can be effectively relieved, and the further development of human beings can be promoted.
In recent years, the number of underwater operations such as marine research and submarine cable laying and maintenance has been increasing, and international society has been increasingly competitive in terms of development and utilization of marine resources, and demands for underwater robots as equipment capable of performing various underwater tasks have been increasing. As the preferred configuration of the underwater robot, the manipulator can help the underwater robot to finish various complex underwater operations, and the functionality of the underwater robot is greatly increased, so that the design of the underwater manipulator suitable for underwater operations has important significance.
Disclosure of Invention
The invention aims to avoid the defects in the background technology and designs the underwater robot manipulator which is provided with the flexible claw, has a large heavy object grabbing range, small grabbing dead angles and high reliability.
In order to achieve the purpose, the invention adopts the following technical scheme: an underwater robot manipulator with flexible claws comprises a transmission structure and a grabbing structure, wherein the transmission structure comprises a first joint moving up and down along a Z axis, a second joint rotating 180 degrees around the Z axis and a third joint rotating 360 degrees around the Z axis, an L-shaped mounting plate is arranged at the upper end of a rotating shaft in the third joint, the rear end face of a mechanical arm in the second joint is fixedly connected with a vertical plate in the L-shaped mounting plate through a plurality of bolts, the mechanical arm of the second joint is arranged at 90 degrees with the rotating shaft of the first joint, a rotating seat is arranged between the upper end head and the lower end head of a rotating shaft in the second joint, and the rear end face of the mechanical arm in the first joint is fixedly connected with the front face of a vertical plate in the rotating seat through a plurality of bolts; the upper end face of a screw rod mounting seat in the grabbing structure is fixedly connected with the lower end face of a lifting arm in the first joint.
Preferably, a motor and a gear transmission assembly are installed in the mechanical arm of the first joint, a rack is arranged on the lifting arm of the first joint and meshed with a transmission gear in the gear transmission assembly, the rack is finally driven to move up and down along the Z-axis direction when the gear transmission assembly is driven to rotate by the motor, and the moving rack drives the lifting arm to move together.
Preferably, a motor installation cavity and a rotating shaft installation cavity which are communicated with each other are arranged at the front part of the mechanical arm in the second joint, the rotating shaft installation cavity is positioned on the outer side of the motor installation cavity, a submersible motor is installed in the motor installation cavity, two side wall surfaces of the rotating shaft installation cavity are respectively provided with a bearing installation hole, a bearing is installed in the bearing installation hole, the rotating shaft is installed between the two bearing installation holes in a plugging fit mode through the end heads of the two sides of the rotating shaft and the through holes of the corresponding bearings, the end heads of the two sides of the rotating shaft respectively extend out of the outer side surface of the second joint shell, threaded holes are formed in the end surfaces of the two sides of the rotating shaft, and a rotating seat is installed between the end heads of the two sides of the rotating shaft through screws; the rotating shaft is fixedly provided with a first bevel gear, a second bevel gear is arranged on a power output shaft of the submersible motor, and the second bevel gear is meshed with the first bevel gear.
Preferably, be equipped with the sealing washer in annular groove and the recess on the inner wall face of motor installation cavity, the motor housing face is hugged closely to the inner hole wall face of sealing washer, be equipped with the plastic envelope membrane on the motor housing.
Preferably, a rotating shaft is installed in a through hole of a base in the third joint through a bearing, an L-shaped mounting plate is arranged at the upper end of the rotating shaft, the lower end of the rotating shaft is fixedly connected with a power output shaft of a motor, the motor is installed in a cavity of the base, the cavity is communicated with the through hole, and the base is installed on a main body of the underwater robot through screws.
Preferably, the inner side surface of the claw head in the grabbing structure is provided with a fin effect device.
Compared with the background art, the invention has the advantages that firstly, two rotational degrees of freedom are configured, the range for grabbing heavy objects is enlarged, and the grabbing dead angle caused by the arm length is reduced; secondly, the grabbing mechanism adopts flexible mechanical claws, so that the damage to an object can be reduced while the object is grabbed, and the functionality of the grabbing mechanism is improved; thirdly, the invention has simple and convenient structure and is matched with waterproof sealing measures to increase the reliability.
Drawings
Fig. 1 is a schematic perspective view of an underwater robot manipulator equipped with flexible claws.
Fig. 2 is a schematic perspective view of the first joint.
Fig. 3 is a schematic perspective view of the second joint.
Fig. 4 is a schematic perspective view of the joint iii.
Fig. 5 is a schematic perspective view of the grasping structure.
Fig. 6 is a cross-sectional structural schematic diagram of the second joint.
In the figure: the device comprises a first joint 1, a second joint 2, a third joint 3, a grabbing mechanism 4, a magnet 5, a Hall element 6, a transmission gear 7, a rack 8, a fin effect device 9, a lead screw 10, a lead screw nut 11 and a sealing ring 12.
Detailed Description
Example 1: reference is made to figures 1-6 of the drawings. An underwater robot manipulator with flexible claws comprises a transmission structure and a grabbing structure 4, wherein the transmission structure comprises a first joint 1 moving up and down along a Z axis, a second joint 2 rotating 180 degrees around the Z axis and a third joint 3 rotating 360 degrees around the Z axis, an L-shaped mounting plate is arranged at the upper end of a rotating shaft in the third joint 3, the rear end face of a mechanical arm in the second joint 2 is fixedly connected with a vertical plate in the L-shaped mounting plate through a plurality of bolts, the mechanical arm of the second joint 2 is arranged at 90 degrees with the rotating shaft of the first joint 1, a rotating seat is arranged between the upper end head and the lower end head of the rotating shaft in the second joint 2, and the rear end face of the mechanical arm in the first joint 1 is fixedly connected with the front face of a vertical plate in the rotating seat through a plurality of bolts; the grabbing structure 4 comprises a screw rod mounting seat, lever claws, a motor, a screw rod 10 and a screw rod nut 11, wherein the screw rod 10 and the motor are mounted in the lever mounting seat and can drive the screw rod to rotate, the screw rod 10 is provided with the screw rod nut 11, the rotating screw rod 10 can drive the screw rod nut 11 to move along the screw rod 10, one sides of the upper end surfaces of two claw heads in the lever claws are respectively hinged with the corresponding sides of the lower end surface of the screw rod mounting seat, the other sides of the upper end surfaces of the two claw heads are respectively hinged with the lower ends of two connecting rods in the lever claws, the upper ends of the two connecting rods are respectively hinged with the corresponding sides of the screw rod nut 11, and when the screw rod nut 11 moves along the screw rod, the screw rod nut 11 pushes the connecting rods to open and close the lever claws, so that the grabbing structure 4 can grab a heavy object; the upper end face of a screw rod mounting seat in the grabbing structure 4 is fixedly connected with the lower end face of a lifting arm in the first joint 1.
The mechanical arm of the first joint 1 is internally provided with a motor and a gear transmission assembly, a lifting arm of the first joint 1 is provided with a rack 8, the rack 8 is meshed with a transmission gear 7 in the gear transmission assembly, the rack 8 is finally driven to move up and down along the Z-axis direction when the motor drives the gear transmission assembly to rotate, and the moving rack drives the lifting arm to move together. One end of a connecting shaft in the gear transmission assembly is fixedly connected with a power output shaft of the motor, a bevel gear is installed at the other end of the connecting shaft, another auxiliary bevel gear is installed on a shaft perpendicular to the shaft, a gear is installed at the other end of the shaft, a rack is installed on the inner wall of a shell of the lifting arm which can vertically lift and is matched with the rack, the motor can perform lifting movement in a transmission mode, and the shell and the inner portion of the first joint 1 are respectively provided with a magnet 5 and a Hall element 6 and used for achieving movement distance control.
The front part of the mechanical arm in the second joint 2 is provided with a motor installation cavity and a rotating shaft installation cavity which are communicated, the rotating shaft installation cavity is positioned on the outer side of the motor installation cavity, a submersible motor is installed in the motor installation cavity, two side wall surfaces of the rotating shaft installation cavity are respectively provided with a bearing installation hole, a bearing is installed in the bearing installation hole, the rotating shaft is installed between the two bearing installation holes in a plugging fit mode through the end heads of the two sides of the rotating shaft and the through holes of the corresponding bearings, the end heads of the two sides of the rotating shaft respectively extend out of the outer side surface of the shell of the second joint 2, threaded holes are formed in the end surfaces of the two sides of the rotating shaft, and a rotating seat is installed between the end heads of the two sides of the rotating shaft through screws; the rotating shaft is fixedly provided with a first bevel gear, a second bevel gear is arranged on a power output shaft of the submersible motor, and the second bevel gear is meshed with the first bevel gear. And a magnet and a Hall element are respectively arranged in the shell and the interior of the joint II 2, so that the control of the motion angle is realized. The motor mounting structure is characterized in that an annular groove is formed in the inner wall surface of the motor mounting cavity, a sealing ring 12 is arranged in the groove, the inner hole wall surface of the sealing ring 12 is tightly attached to the surface of the motor shell, and a plastic packaging film is arranged on the motor shell.
The underwater robot is characterized in that a rotating shaft is installed in a through hole of a base in the third joint 3 through a bearing, an L-shaped mounting plate is arranged at the upper end of the rotating shaft, the lower end of the rotating shaft is fixedly connected with a power output shaft of a motor, the motor is installed in a cavity of the base, the cavity is communicated with the through hole, and the base is installed on a main body of the underwater robot through screws. The inner side surface of the claw head in the grabbing structure 4 is provided with a fin ray effect device 9.
It is to be understood that: although the above embodiments have described the design idea of the present invention in more detail, these descriptions are only simple descriptions of the design idea of the present invention, and are not limitations of the design idea of the present invention, and any combination, addition, or modification without departing from the design idea of the present invention falls within the scope of the present invention.
Claims (6)
1. The utility model provides a be equipped with underwater robot manipulator of flexible claw, includes transmission structure and snatchs the structure, characterized by: the transmission structure comprises a first joint moving up and down along a Z axis, a second rotary joint rotating 180 degrees around the Z axis and a third rotary joint rotating 360 degrees around the Z axis, wherein an L-shaped mounting plate is arranged at the upper end of a rotary shaft in the third joint, the rear end face of a mechanical arm in the second joint is fixedly connected with a vertical plate in the L-shaped mounting plate through a plurality of bolts, the mechanical arm of the second joint is arranged at 90 degrees with the rotary shaft of the first joint, a rotary seat is arranged between the upper end head and the lower end head of the rotary shaft in the second joint, and the rear end face of the mechanical arm in the first joint is fixedly connected with the front face of a vertical plate in the rotary seat through a plurality of bolts; the upper end face of a screw rod mounting seat in the grabbing structure is fixedly connected with the lower end face of a lifting arm in the first joint.
2. An underwater robot manipulator equipped with flexible claws according to claim 1, characterized in that: the mechanical arm of the first joint is internally provided with a motor and a gear transmission assembly, a lifting arm of the first joint is provided with a rack, the rack is meshed with a transmission gear in the gear transmission assembly, the rack is finally driven to move up and down along the Z-axis direction when the gear transmission assembly is driven to rotate by the motor, and the moving rack drives the lifting arm to move together.
3. An underwater robot manipulator equipped with flexible claws according to claim 1, characterized in that: the front part of the mechanical arm in the second joint is provided with a motor installation cavity and a rotating shaft installation cavity which are communicated, the rotating shaft installation cavity is positioned on the outer side of the motor installation cavity, a submersible motor is installed in the motor installation cavity, two side wall surfaces of the rotating shaft installation cavity are respectively provided with a bearing installation hole, a bearing is installed in the bearing installation hole, the rotating shaft is installed between the two bearing installation holes in a plugging fit mode through the end heads of the two sides of the rotating shaft and the through holes of the corresponding bearings, the end heads of the two sides of the rotating shaft respectively extend out of the outer side surface of the second joint shell, threaded holes are formed in the end surfaces of the two sides of the rotating shaft, and a rotating seat is installed between the end heads of the two sides of the rotating shaft through screws; the rotating shaft is fixedly provided with a first bevel gear, a second bevel gear is arranged on a power output shaft of the submersible motor, and the second bevel gear is meshed with the first bevel gear.
4. An underwater robot manipulator equipped with flexible claws as claimed in claim 3, characterized in that: the motor mounting cavity is characterized in that an annular groove is formed in the inner wall surface of the motor mounting cavity, a sealing ring is arranged in the groove, the inner hole wall surface of the sealing ring is tightly attached to the surface of the motor shell, and a plastic packaging film is arranged on the motor shell.
5. An underwater robot manipulator equipped with flexible claws according to claim 1, characterized in that: the robot comprises a base, a joint III and a motor, wherein a rotating shaft is installed in a through hole of the base in the joint III through a bearing, an L-shaped mounting plate is arranged at the upper end of the rotating shaft, the lower end of the rotating shaft is fixedly connected with a power output shaft of the motor, the motor is installed in a cavity of the base, the cavity is communicated with the through hole, and the base is installed on a main body of the underwater robot through screws.
6. An underwater robot manipulator equipped with flexible claws according to claim 1, characterized in that: and a fin ray effect device is arranged on the inner side surface of the claw head in the grabbing structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111664306.3A CN114193501A (en) | 2021-12-31 | 2021-12-31 | Underwater robot manipulator with flexible claws |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111664306.3A CN114193501A (en) | 2021-12-31 | 2021-12-31 | Underwater robot manipulator with flexible claws |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114193501A true CN114193501A (en) | 2022-03-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111664306.3A Pending CN114193501A (en) | 2021-12-31 | 2021-12-31 | Underwater robot manipulator with flexible claws |
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| Country | Link |
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| CN (1) | CN114193501A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001322077A (en) * | 2000-05-18 | 2001-11-20 | Tamagawa Seiki Co Ltd | Method and device for detecting bottom face of water tank |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN110480670A (en) * | 2019-08-29 | 2019-11-22 | 中国人民解放军国防科技大学 | A kind of Bionic flexible jaw arrangement that dragon and phoenix fancy carp tail fin biology inspires |
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN211192763U (en) * | 2019-12-12 | 2020-08-07 | 威海硕科微电机有限公司 | Feeding manipulator for assembling machine shell |
| CN112497247A (en) * | 2021-01-11 | 2021-03-16 | 广东海洋大学 | Translational mechanical claw device based on fin fish effect |
-
2021
- 2021-12-31 CN CN202111664306.3A patent/CN114193501A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001322077A (en) * | 2000-05-18 | 2001-11-20 | Tamagawa Seiki Co Ltd | Method and device for detecting bottom face of water tank |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN110480670A (en) * | 2019-08-29 | 2019-11-22 | 中国人民解放军国防科技大学 | A kind of Bionic flexible jaw arrangement that dragon and phoenix fancy carp tail fin biology inspires |
| CN211192763U (en) * | 2019-12-12 | 2020-08-07 | 威海硕科微电机有限公司 | Feeding manipulator for assembling machine shell |
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN112497247A (en) * | 2021-01-11 | 2021-03-16 | 广东海洋大学 | Translational mechanical claw device based on fin fish effect |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220318 |