CN115703243A - Free grabbing device - Google Patents

Abstract

The invention relates to the field of underwater mechanical equipment, in particular to a free gripping device which comprises a support frame, a driving mechanism and a claw holding mechanism, wherein a floating body is fixedly arranged on the support frame and/or the claw holding mechanism, a propeller is fixedly arranged on the support frame and/or the claw holding mechanism, the claw holding mechanism comprises a left claw holding component and a right claw holding component, the driving mechanism comprises a left electric push rod and a right electric push rod, claw opening and closing angle monitoring mechanisms are respectively arranged on the left electric push rod and the right electric push rod, a locking mechanism is arranged between the left claw holding component and the right claw holding component, the locking mechanism can consist of a locking motor, a gear and a rack, or an electric locking push rod, a locking seat, a reset spring, a claw hook, a guide plate, a clamping spring and a locking rod, the left claw component comprises a left articulated shaft, a left linkage shaft and a left clamping jaw, and the right claw component comprises a right articulated shaft, a right linkage shaft and a right clamping jaw.

Description

Free grabbing device

Technical Field

The invention relates to the field of underwater mechanical equipment, in particular to a free grabbing device.

Background

The underwater robot is a robot capable of detecting operation on the seabed, is mainly used in the fields of underwater construction, public security fire control, scientific research and the like, can carry hydraulic or electric underwater manipulators, can carry out underwater operations such as underwater salvage, underwater construction, underwater grabbing, underwater sampling, underwater marking and the like, just because the underwater robot has so many skills, the underwater robot in the prior art is often bulky, and is not flexible enough to rotate, like the underwater grabbing device disclosed in the Chinese patent CN112692860A, comprises a support frame and is characterized in that: the fixed actuating mechanism that is equipped with on the support frame, support frame lower extreme both sides mirror image is equipped with can embrace the claw of closing or opening, and two rows are embraced the claw and are embraced the claw by actuating mechanism synchronous drive respectively, two rows are embraced the claw and are embraced claw, right universal driving shaft and right armful claw including left linkage shaft, a left side, the interval is equipped with left armful claw on the left linkage shaft, left side armful claw and left linkage shaft fixed connection, the interval is equipped with right armful claw on the right universal driving shaft, right side armful claw and right universal driving shaft fixed connection, actuating mechanism's drive power is motor drive or hydraulic drive, the not enough of above-mentioned patent: firstly, the above patent is bulky and can not enter underwater or some areas under sea; secondly, the above patents cannot adjust the posture in water by themselves, and require an operator to adjust the posture of the underwater grabbing device through external equipment such as an upper computer or a cable, so that the adjustment time is long, the posture cannot be adjusted in place once, and the posture needs to be adjusted for many times, which is time-consuming and labor-consuming; thirdly, the grabbing device in above-mentioned patent can not invert, can only grab the object under the water, can't grab to the object that the surface of water floats.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides the free grabbing device which is ingenious in structure, high in degree of freedom, high in flexibility, invertible and capable of grabbing objects floating in water or on the water surface.

In order to realize the purpose, the technical scheme adopted by the invention is as follows:

the utility model provides a free grabbing device, includes support frame, actuating mechanism and embraces claw mechanism, its characterized in that: the supporting frame and/or the holding claw mechanism are/is fixedly provided with a floating body, and the supporting frame and/or the holding claw mechanism is/are fixedly provided with a propeller, so that the holding claw mechanism can freely adjust postures in water through the floating body and the propeller, and objects in different postures can be accurately grabbed.

The left holding claw assembly and the right holding claw assembly are driven to be separated or closed by the driving mechanism, so that the left holding claw assembly and the right holding claw assembly are driven to be separated by the driving mechanism to grab an object.

The front side and the rear side of the left holding claw assembly are respectively fixedly provided with a floating body, the left holding claw assembly is provided with a propeller, the front side and the rear side of the right holding claw assembly are respectively fixedly provided with a floating body, and the right holding claw assembly is provided with a propeller, so that the free rotation of the holding claw mechanism can be realized through the floating bodies and the propeller.

The driving mechanism comprises a left electric push rod and a right electric push rod, wherein the upper end of the left electric push rod is hinged with the support frame, the lower end of the left electric push rod is hinged with the left holding claw assembly, the upper end of the right electric push rod is hinged with the support frame, and the lower end of the right electric push rod is hinged with the right holding claw assembly, so that the left holding claw assembly and the right holding claw assembly can be separated or closed through the left electric push rod and the right electric push rod.

The left electric push rod and the right electric push rod are respectively provided with a clamping jaw opening and closing angle monitoring mechanism, each clamping jaw opening and closing angle monitoring mechanism comprises an ear seat, a rotating shaft and an angle sensor, the two sides of the lower end of the support frame are respectively provided with the ear seats, the ear seats are fixedly connected with the support frame, the rotating shafts are arranged in the ear seats and hinged with the ear seats, the left electric push rod or the right electric push rod is arranged on the rotating shafts, one end of each rotating shaft penetrates through the ear seat and is provided with the angle sensor, the output shaft of the angle sensor is fixedly connected with the rotating shafts, the angle sensors are fixed on the support frame, and the left electric push rod and the right electric push rod are respectively and fixedly connected with the rotating shafts on the two sides of the support frame, so that the angle sensors can know and feed back the rotating angles of the left electric push rod and the right electric push rod in time, and the opening and closing angles of the left clamping jaw assembly and the right clamping jaw assembly can be controlled.

According to the invention, the locking mechanism is arranged between the left holding claw assembly and the right holding claw assembly, so that the object can be conveniently gripped and then locked by the locking mechanism, and the object is prevented from sliding off.

The locking mechanism can be composed of a locking motor, a gear and a rack, wherein the lower end of the left holding claw assembly is at least provided with the gear, the gear is fixed on an output shaft of the locking motor, the locking motor is fixedly connected with the left holding claw assembly or the right holding claw assembly, correspondingly, the lower end of the right holding claw assembly or the left holding claw assembly is at least provided with the rack, one end of the rack is fixedly connected with the right holding claw assembly or the left holding claw assembly, the other end of the rack faces towards the gear and is matched with the gear, when the left holding claw assembly and the right holding claw assembly are closed, the rack is meshed with the gear to realize the fixed connection of the left holding claw assembly and the right holding claw assembly, so that the left holding claw assembly and the right holding claw assembly are closed and fixed through the gear-rack meshing, and the gripped objects are prevented from sliding off.

The gear is provided with the protective cover, the protective cover is arranged on the gear, one side of the protective cover is provided with the rack insertion hole, and the protective cover is fixedly connected with the left holding claw assembly so as to be beneficial to protecting the gear through the protective cover.

The locking mechanism of the invention can also consist of a locking electric push rod, a locking seat, a return spring, a claw hook, a guide plate, a clamping spring and a locking rod, wherein the locking seat is arranged at the lower end of the right holding claw component and fixedly connected with the right holding claw component, the locking seat is provided with the locking electric push rod on one side, the locking seat is provided with a containing groove with a left opening, at least one return spring is arranged in the containing groove, slide ways are arranged on two sides of the inner wall of the containing groove, the guide plate is arranged in the containing groove, one end of the return spring is connected with the containing groove, the other end of the return spring is connected with the guide plate, the locking electric push rod is fixedly connected with the locking seat, an extension rod of the locking electric push rod penetrates through the locking seat and is arranged in the containing groove to abut against the right side of the guide plate, slide blocks are arranged on two sides of the guide plate, the guide plate is connected with the locking seat in a sliding manner through the slide blocks and the slide ways, and the claw hook is arranged on the guide plate, the right end of the claw hook is hinged with the right end of the guide plate, the left end of the claw hook extends outwards and then extends inwards to the left end of the guide plate and is abutted against the left end of the guide plate, the middle of the claw hook is provided with a clamping spring, one end of the clamping spring is connected with the claw hook, the other end of the clamping spring is connected with the guide plate, the lower end of the left claw-holding component is provided with a locking rod, the locking rod is fixedly connected with the left claw-holding component, when the left claw-holding component and the right claw-holding component are closed, the locking rod abuts against the claw hook to enter between the claw hook and the guide plate, the locking electric push rod retracts the extension rod, the guide plate moves rightwards under the action of a return spring, the claw hook abuts against the locking rod to realize the limiting and fixing of the left claw-holding component and the right claw-holding component, so that when the guide plate is used, the extension rod of the locking electric push rod abuts against the right end of the guide plate, the guide plate slides leftwards, and when the left claw-holding component and the right claw-holding component are closed, the locking rod is abutted to the claw hook and moves rightwards, the claw hook is separated from the guide plate, the clamping spring is stretched, the locking rod enters between the claw hook and the guide plate, the locking rod falls back under the action of the clamping spring, the locking electric push rod is started, the extension rod of the electric push rod is retracted, the guide plate moves rightwards under the action of the reset spring, and the inner wall of the claw hook is abutted to the locking rod to be fixed.

According to the invention, the lower end of the right holding claw assembly is provided with the supporting limiting rod, the supporting limiting rod is opposite to the locking rod at intervals, the supporting limiting rod is arranged between the guide plate and the claw hook, and the supporting limiting rod is positioned on the right side of the inner wall of the claw hook, so that the claw hook is supported by the supporting limiting rod, the left end, abutted against the guide plate, of the claw hook is easily squeezed open by the locking rod, and meanwhile, the travel of the guide plate is limited by the limiting rod.

The left holding claw assembly comprises a left articulated shaft, a left linkage shaft and a left clamping jaw, the right holding claw assembly comprises a right articulated shaft, a right linkage shaft and a right clamping jaw, the left linkage shaft and the right linkage shaft are arranged below the supporting frame at intervals, at least one left linkage shaft is arranged on the left linkage shaft, the left clamping jaw is arranged on the left linkage shaft at intervals, the left articulated shaft is arranged above the left linkage shaft, the left linkage shaft penetrates through the left clamping jaw and is fixedly connected with the left clamping jaw, the upper end of at least one left clamping jaw extends upwards and inwards to be fixedly connected with the left articulated shaft, the left articulated shaft is fixedly connected with the supporting frame through a bearing, at least one right linkage shaft is arranged on the right linkage shaft, the right clamping jaw is arranged on the right linkage shaft at intervals, the right articulated shaft is arranged above the right linkage shaft, the right linkage shaft penetrates through the right clamping jaw and is fixedly connected with the right clamping jaw, the upper end of at least one right clamping jaw extends upwards and inwards to be fixedly connected with the supporting frame through a bearing, and therefore, objects can be conveniently gripped by the left clamping jaw and the right clamping jaw.

The support frame is provided with an electrical appliance bin, and the driving mechanism and the propeller are respectively connected with the electrical appliance bin, so that the electrical appliance bin can supply power to the driving mechanism and the propeller.

The support frame is provided with the illuminating lamp and the camera, so that the object can be conveniently grabbed by the illuminating lamp for illumination, and the underwater environment can be known by the camera.

The sonar is arranged on the left holding claw assembly and/or the right holding claw assembly, the clamping illuminating lamp and the clamping camera are arranged on the left holding claw assembly and/or the right holding claw assembly, so that underwater environment can be surveyed through the sonar, an object is grabbed by the clamping illuminating lamp to illuminate, and the object image is shot by the clamping camera.

The invention has the advantages of ingenious structure, high degree of freedom, high flexibility, capability of being inverted, capability of grabbing objects floating in water or on water and the like due to the adoption of the structure.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention.

Fig. 2 is a side view of the invention of fig. 1.

Fig. 3 is a front view of fig. 1 of the present invention.

Fig. 4 is a top view of fig. 1 of the present invention.

Fig. 5 is a schematic view of the holding claw mechanism in fig. 1 being opened when the present invention is in use.

Fig. 6 is a schematic view of the invention of fig. 5 with the float removed.

Fig. 7 is a schematic structural diagram of the left electric push rod or the right electric push rod in fig. 1 and the angle sensor thereon according to the present invention.

Fig. 8 is an enlarged partial view of an angle of a locking mechanism of the present invention.

FIG. 9 is an enlarged partial schematic view of another angle of a locking mechanism of the present invention.

Fig. 10 is a bottom view of fig. 8 of the present invention.

Fig. 11 is a schematic view of the claw hook of fig. 8 engaging the locking lever according to the present invention.

Fig. 12 is a bottom view of fig. 11 of the present invention.

Fig. 13 is a schematic view of another locking mechanism of the present invention mounted on a clasping mechanism.

FIG. 14 is a schematic view of the locking mechanism of FIG. 13 of the present invention shown in the open position.

FIG. 15 is an enlarged structural schematic view of the locking mechanism of FIG. 13 in accordance with the present invention.

Fig. 16 is a schematic view of the invention of fig. 1 in use grasping an object in water.

Fig. 17 is another schematic of the present invention.

Figure 18 is a schematic view of the cross closure of the left and right jaws of figure 17 of the present invention.

Reference numerals are as follows: the device comprises a support frame 1, a driving mechanism 2, a claw holding mechanism 3, a floating body 4, a propeller 5, a left claw holding component 6, a right claw holding component 7, a left electric push rod 8, a right electric push rod 9, a claw holding opening and closing angle monitoring mechanism 10, an ear seat 11, a rotating shaft 12, an angle sensor 13, a locking mechanism 14, a locking motor 15, a gear 16, a rack 17, a protective cover 18, a locking electric push rod 19, a locking seat 20, a reset spring 21, a claw hook 22, a guide plate 23, a locking rod 24, a containing groove 25, a slideway 26, an extension rod 27, a left articulated shaft 28, a left articulated shaft 29, a left clamping jaw 30, a right articulated shaft 31, a right articulated shaft 32, a right clamping jaw 33, an electrical appliance cabin 34, an illuminating lamp 35, a camera 36, a sonar 37, a clamping illuminating lamp 38, a clamping camera 39 and a support limiting rod 40.

Detailed Description

The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings.

The utility model provides a free grabbing device, includes support frame 1, actuating mechanism 2 and embraces claw mechanism 3, its characterized in that: the supporting frame 1 and/or the holding claw mechanism 3 are/is fixedly provided with a floating body 4, and the supporting frame 1 and/or the holding claw mechanism 3 is/are fixedly provided with a propeller 5, so that the holding claw mechanism can freely adjust postures in water through the floating body and the propeller, and objects in different postures can be accurately grabbed.

The invention discloses a clamping jaw mechanism 3 which comprises a left clamping jaw assembly 6 and a right clamping jaw assembly 7, wherein the left clamping jaw assembly 6 and the right clamping jaw assembly 7 are arranged on two sides of the lower end of a support frame 1, the upper end of the left clamping jaw assembly 6 is hinged with the support frame 1, the upper end of the right clamping jaw assembly 7 is hinged with the support frame 1, and the left clamping jaw assembly 6 and the right clamping jaw assembly 7 are driven to be separated or closed by a driving mechanism 2, so that the left clamping jaw assembly and the right clamping jaw assembly are driven to be separated by the driving mechanism to clamp an object.

The front side and the rear side of the left holding claw assembly 6 are respectively and fixedly provided with a floating body 4, the left holding claw assembly 6 is provided with a propeller 5, the front side and the rear side of the right holding claw assembly 7 are respectively and fixedly provided with the floating bodies 4, and the right holding claw assembly 7 is provided with the propeller 5, so that the free rotation of the holding claw mechanism is realized through the floating bodies and the propeller.

The driving mechanism 2 comprises a left electric push rod 8 and a right electric push rod 9, the upper end of the left electric push rod 8 is hinged with the support frame 1, the lower end of the left electric push rod 8 is hinged with the left holding claw assembly 6, the upper end of the right electric push rod 9 is hinged with the support frame 1, and the lower end of the right electric push rod 9 is hinged with the right holding claw assembly 7, so that the left holding claw assembly and the right holding claw assembly can be separated or closed through the left electric push rod and the right electric push rod.

The left electric push rod 8 and the right electric push rod 9 are respectively provided with a holding claw opening and closing angle monitoring mechanism 10, the holding claw opening and closing angle monitoring mechanism 10 comprises an ear seat 11, a rotating shaft 12 and an angle sensor 13, the two sides of the lower end of the support frame 1 are respectively provided with the ear seats 11, the ear seats 11 are fixedly connected with the support frame 1, the rotating shaft 12 is arranged in the ear seats 11, the rotating shaft 12 is hinged with the ear seats 11, the rotating shaft 12 is provided with the left electric push rod 8 or the right electric push rod 9, one end of the rotating shaft 12 penetrates through the ear seats 11 and is provided with the angle sensor 13, an output shaft of the angle sensor 13 is fixedly connected with the rotating shaft 12, the angle sensor 13 is fixed on the support frame 1, and the left electric push rod 8 and the right electric push rod 9 are respectively and fixedly connected with the rotating shafts 12 on the two sides of the support frame 1, so that the rotation angles of the left electric push rod and the right electric push rod can be known and fed back through the angle sensor in time, and the opening and closing angles of the left holding claw assembly and the right holding claw assembly can be further controlled.

A locking mechanism 14 is arranged between the left holding claw assembly 6 and the right holding claw assembly 7, so that the object can be conveniently gripped and then locked by the locking mechanism, and the object is prevented from sliding off.

The locking mechanism 14 of the invention can be composed of a locking motor 15, a gear 16 and a rack 17, wherein the lower end of the left embracing claw component 6 or the right embracing claw component 7 is at least provided with one gear 16, the gear 16 is fixed on the output shaft of the locking motor 15, the locking motor 15 is fixedly connected with the left embracing claw component 6 or the right embracing claw component 7, correspondingly, the lower end of the right embracing claw component 7 or the left embracing claw component 6 is at least provided with one rack 17, one end of the rack 17 is fixedly connected with the right embracing claw component 7 or the left embracing claw component 6, the other end faces the gear 16 and is matched with the gear 16, when the left embracing claw component 6 and the right embracing claw component 7 are closed, the rack 17 is meshed with the gear 16 to realize the fixed connection of the left embracing claw component 6 and the right embracing claw component 7, so as to facilitate the left embracing claw component and the right claw component to be closed and fixed through the gear-rack meshing, and prevent the grabbed object from sliding off.

According to the invention, the gear 16 is provided with the protective cover 18, the protective cover 18 covers the gear 16, one side of the protective cover 18 is provided with the rack insertion hole, and the protective cover 18 is fixedly connected with the left holding claw assembly 6, so that the gear is protected by the protective cover.

The locking mechanism 14 of the invention can also be composed of a locking electric push rod 19, a locking seat 20, a return spring 21, a claw hook 22, a guide plate 23, a clamping spring and a locking rod 24, wherein the locking seat 20 is arranged at the lower end of the right holding claw component 7, the locking seat 20 is fixedly connected with the right holding claw component 7, the locking seat 20 is provided with the locking electric push rod 19 at one side, the locking seat 20 is provided with a containing groove 25 with a leftward opening, at least one return spring 21 is arranged in the containing groove 25, two sides of the inner wall of the containing groove 25 are provided with slideways 26, the guide plate 23 is arranged in the containing groove 25, the return spring is in a compressed state, one end of the return spring 21 is connected with the containing groove 25, the other end is connected with the guide plate 23, the locking electric push rod 19 is fixedly connected with the locking seat 20, an extension rod 27 of the locking electric push rod 19 penetrates through the locking seat 20 and is arranged in the containing groove 25 to abut against the right side of the guide plate 23, the two sides of the guide plate 23 are provided with slide blocks, the guide plate 23 is connected with the locking seat 20 through the slide blocks and the slide ways 26 in a sliding manner, the guide plate 23 is provided with a claw hook 22, the right end of the claw hook 22 is hinged with the right end of the guide plate 23, the left end of the claw hook 22 extends outwards and then extends inwards to the left end of the guide plate 23 and abuts against the left end of the guide plate 23, the middle part of the claw hook 22 is provided with a clamping spring which is in a stretching state, one end of the clamping spring is connected with the claw hook 22, the other end of the clamping spring is connected with the guide plate 23, the lower end of the left holding claw assembly 6 is provided with a locking rod 24, the locking rod 24 is fixedly connected with the left holding claw assembly 6, when the left holding claw assembly 6 and the right holding claw assembly 7 are closed, the locking rod 24 abuts against the claw hook 22 to enter between the claw hook 22 and the guide plate 23, the locking electric push rod 19 retracts the extension rod 27, and the guide plate 23 moves rightwards under the action of the reset spring 21, make claw hook 22 and check lock 24 offset to lean on realizing that left side is embraced claw subassembly 6 and right side and is embraced the spacing of claw subassembly 7 fixed, when doing benefit to the use, locking electric putter's extension bar supports at the deflector right-hand member, the deflector slides left, when left side is embraced claw subassembly and right side and is embraced claw subassembly closure, the check lock support moves on the claw hook and to the right, the claw hook separates with the deflector, grip spring receives the extension, the check lock gets into between claw hook and the deflector, the check lock falls under the grip spring effect, start locking electric putter, electric putter's extension bar is withdrawed, the deflector moves right under reset spring effect, the claw hook inner wall supports with the check lock to lean on fixedly.

According to the invention, the lower end of the right holding claw assembly 7 is provided with the supporting limiting rod 40, the supporting limiting rod 40 is opposite to the locking rod 24 at intervals, the supporting limiting rod 40 is arranged between the guide plate 23 and the claw hook 22, and the supporting limiting rod 40 is positioned on the right side of the inner wall of the claw hook, so that the claw hook is supported by the supporting limiting rod, the left end, abutted against the guide plate, of the claw hook is easily squeezed open by the locking rod, and meanwhile, the stroke of the guide plate is limited by the limiting rod.

The left holding jaw assembly 6 comprises a left hinge shaft 28, a left linkage shaft 29 and a left clamping jaw 30, the right holding jaw assembly 7 comprises a right hinge shaft 31, a right linkage shaft 32 and a right clamping jaw 33, the left linkage shaft 29 and the right linkage shaft 32 are arranged below the support frame 1 at intervals, at least one left linkage shaft 29 is arranged on the left linkage shaft 29 at intervals, the left clamping jaw 30 is arranged on the left linkage shaft 29 at intervals, the left hinge shaft 28 is arranged above the left linkage shaft 29, the left linkage shaft 29 penetrates through the left clamping jaw 30 and is fixedly connected with the left clamping jaw 30, the upper end of at least one left clamping jaw 30 extends upwards and inwards to be fixedly connected with the left hinge shaft 28, the left hinge shaft 28 is fixedly connected with the support frame 1 through a bearing, at least one right linkage shaft 32 is arranged on the right linkage shaft 32 at intervals, the right clamping jaw 33 is arranged above the right linkage shaft 32, the right linkage shaft 32 penetrates through the right clamping jaw 33 and is fixedly connected with the right clamping jaw 33, the upper end of one right clamping jaw 33 extends upwards and inwards to be fixedly connected with the right hinge shaft 31, and the right clamping jaw 31 is fixedly connected with the support frame through a bearing to be beneficial for grabbing objects through the left clamping jaw and the right clamping jaw 1.

An electrical appliance bin 34 is arranged on the support frame 1, and the driving mechanism 2 and the propeller 5 are respectively connected with the electrical appliance bin 34, so that the electrical appliance bin can supply power to the driving mechanism and the propeller.

The support frame 1 is provided with the illuminating lamp 35 and the camera 36, so that the object can be conveniently grabbed by the illuminating lamp for illumination, and the underwater environment can be known by the camera.

A sonar 37 is arranged on the left holding claw assembly 6 and/or the right holding claw assembly 7, a clamping illuminating lamp 38 and a clamping camera 39 are arranged on the left holding claw assembly 6 and/or the right holding claw assembly 7, so that underwater environment can be surveyed through the sonar, the clamping illuminating lamp is used for clamping the clamping jaws to illuminate, and the clamping camera is used for shooting images of objects.

Referring to fig. 1-16, for convenience of illustration, the directional terms such as "left", "right", "front" and "back" used in the present invention are described with reference to fig. 4, and other drawings are oriented accordingly, it is to be understood that "left", "right", "front" and "back" are used for convenience of understanding and are not intended to limit the position of the components.

As shown in attached figures 1-6, four groups of horizontal propellers and four groups of vertical propellers are carried on a support frame and a claw holding mechanism of the invention, full-attitude adjustment can be realized in water, target objects in various attitudes in water can be grabbed, the invention can rotate freely and can be inverted, objects floating in water and on the water surface can be grabbed freely, angle sensors are arranged on a left electric push rod and a right electric push rod, the opening angles of the left clamping jaw and the right clamping jaw can be fed back at any time, and the invention is convenient for workers to control; the invention can also be transported to a target sea area by a ship, then the propeller is started, and the propeller is moved to the position near an object to be grabbed, the invention can adjust the posture of the propeller according to the position and the shape of the object to be grabbed, as shown in figure 5, the left electric push rod and the right electric push rod are started, the left clamping jaw and the right clamping jaw are opened, then after the object is clamped, as shown in figure 16, the left electric push rod and the right electric push rod are started to close the left clamping jaw and the right clamping jaw, then the locking mechanism is locked, the propeller is started, the object carried by the propeller is moved to a specified position, or the propeller is dragged or hoisted to the specified position through a cable, the object is taken down, and the propeller is put into the sea again to carry out the next operation; the closing modes of the left holding claw assembly and the right holding claw assembly can be divided into two modes, one mode is that the lower end of the left holding claw assembly abuts against the lower end of the right holding claw assembly to realize clamping through a locking mechanism, and the clamping is shown in attached figure 1 or attached figure 13; the other is that as shown in the attached drawings 17 and 18, the left clamping jaw of the left clamping jaw assembly and the right clamping jaw of the right clamping jaw assembly are staggered relatively, and the left clamping jaw and the right clamping jaw can be clamped in a crossed manner when being closed; two structures can be selected according to requirements, the invention is provided with two locking mechanisms, one is shown in attached figures 1, 3, 5, 8-12, when the invention is used, the left clamping jaw and the right clamping jaw are in an open state, the guide plate is pulled out leftwards along the slideway, the extension rod of the locking electric push rod extends to abut against the right side of the guide plate as shown in attached figures 8-10, then the invention is placed into a target sea area, after the left clamping jaw and the right clamping jaw grasp an object and are closed, the locking rod enters between the guide plate and the jaw hook, the locking electric push rod is started, the locking electric push rod retracts the extension rod, the guide plate rebounds under the action of a reset spring, the guide plate moves rightwards, the left side of the inner wall of the jaw hook abuts against the locking rod and is fixed, as shown in attached figures 11 and 12, when the invention moves to a designated place or a shore, an operator manually pulls the guide plate leftwards to start the locking electric push rod, the locking electric push rod extends to abut against the right end of the guide plate, at the moment, the jaw hook is loosened, the jaw hook is not attached to the locking rod, the left electric push rod and the left clamping jaw hook, the left jaw rod and the right jaw hook are pushed to open, the left jaw hook to grip the left jaw hook, and the left jaw hook, the left jaw hook to perform a next time, and a gripping operation can be performed; another locking mechanism is shown in the attached drawings 13-15, the front side and the rear side of the claw holding mechanism are respectively provided with a locking mechanism, the left clamping jaw is provided with a locking motor and a gear, the right clamping jaw is provided with a rack, when the left clamping jaw and the right clamping jaw are closed, the locking motor is started, the left clamping jaw and the right clamping jaw are fixedly connected through the gear and rack meshing, when the left clamping jaw and the right clamping jaw are separated, the locking motor is started, the gear and rack meshing is separated, the free taking and placing of a grabbed object can be realized, and the continuous operation can be realized; the invention has smart structure, carries the floating body and the propeller, can rotate freely in water, can freely grab objects floating in water or on the water surface, can grab objects in various shapes, can firmly grab cylindrical objects, and cannot slide off.

By adopting the structure, the invention has the advantages of ingenious structure, high degree of freedom, high flexibility, capability of being inverted, capability of grabbing objects floating in water or on water and the like.

Claims (11)

1. The utility model provides a free grabbing device, includes support frame (1), actuating mechanism (2) and embraces claw mechanism (3), its characterized in that: the supporting frame (1) and/or the claw holding mechanism (3) are/is fixedly provided with a floating body (4), and the supporting frame (1) and/or the claw holding mechanism (3) are/is fixedly provided with a propeller (5).

2. A free-form gripping device according to claim 1, wherein: embrace claw mechanism (3) and embrace claw subassembly (6) and right side including a left side and embrace claw subassembly (7), support frame (1) lower extreme both sides are equipped with a left side and embrace claw subassembly (6) and right side and embrace claw subassembly (7), a left side is embraced claw subassembly (6) upper end and is articulated with support frame (1), it is articulated with support frame (1) to embrace claw subassembly (7) upper end on the right side, a left side is embraced claw subassembly (6) and right side and is embraced claw subassembly (7) and is separated or closed by actuating mechanism (2) drive.

3. A free-form gripping device according to claim 2, wherein: a floating body (4) and a propeller (5) are fixedly arranged on the left holding claw component (6), and a floating body (4) and a propeller (5) are fixedly arranged on the right holding claw component (7).

4. A free-form gripping device according to claim 2 or 3, characterized in that: actuating mechanism (2) are including left electric push rod (8) and right electric push rod (9), left side electric push rod (8) upper end is articulated with support frame (1), and the lower extreme is embraced claw subassembly (6) with a left side and is articulated, right side electric push rod (9) upper end is articulated with support frame (1), and the lower extreme is embraced claw subassembly (7) with the right side and is articulated.

5. A free-form grip device as claimed in claim 4, wherein: be equipped with respectively on left side electric push rod (8) and right electric push rod (9) and embrace claw angle monitoring mechanism (10) that opens and shuts, it includes ear seat (11), pivot (12) and angle sensor (13) to embrace claw angle monitoring mechanism (10) that opens and shuts, support frame (1) lower extreme both sides are equipped with ear seat (11) respectively, ear seat (11) and support frame (1) fixed connection, be equipped with pivot (12) in ear seat (11), pivot (12) are articulated with ear seat (11), are equipped with left electric push rod (8) or right electric push rod (9) on pivot (12), and pivot (12) one end is passed ear seat (11) and is equipped with angle sensor (13), the output shaft and pivot (12) fixed connection of angle sensor (13), and angle sensor (13) are fixed on support frame (1), left side electric push rod (8) and right electric push rod (9) respectively with pivot (12) fixed connection of support frame (1) both sides.

6. A free gripping device according to claim 2 or 3 or 5, characterized in that: and a locking mechanism (14) is arranged between the left holding claw component (6) and the right holding claw component (7).

7. A free-form grip device as claimed in claim 6, wherein: locking mechanism (14) are embraced claw subassembly (6) or right side and are embraced claw subassembly (7) lower extreme by locking motor (15), gear (16) and rack (17) and constitute, it is equipped with one gear (16) at least to embrace claw subassembly (6) or right side, gear (16) are fixed on the output shaft of locking motor (15), locking motor (15) are embraced claw subassembly (6) or right side with a left side and are embraced claw subassembly (7) fixed connection, correspondingly, right side is embraced claw subassembly (7) or left side and is embraced claw subassembly (6) lower extreme and be equipped with one rack (17) at least, rack (17) one end is embraced claw subassembly (7) or left side with the right side and is embraced claw subassembly (6) fixed connection, and the other end is towards gear (16) and is cooperateed with gear (16), and when embracing claw subassembly (6) and right side and embracing claw subassembly (7) and closing, rack (17) and gear (16) meshing realize that the left side is embraced claw subassembly (6) and right side and is embraced the fixed connection of claw subassembly (7).

8. The free gripping apparatus of claim 6, wherein: the locking mechanism (14) comprises a locking electric push rod (19), a locking seat (20), a reset spring (21), a claw hook (22), a guide plate (23), a clamping spring and a locking rod (24), the lower end of the right claw holding component (7) is provided with the locking seat (20), the locking seat (20) and the right claw holding component (7) are fixedly connected, one side of the locking seat (20) is provided with the locking electric push rod (19), the locking seat (20) is provided with a containing groove (25) with a left opening, at least one reset spring (21) is arranged in the containing groove (25), two sides of the inner wall of the containing groove (25) are provided with a slide way (26), the guide plate (23) is arranged in the containing groove (25), one end of the reset spring (21) is connected with the containing groove (25), the other end of the reset spring is connected with the guide plate (23), the locking electric push rod (19) is fixedly connected with the locking seat (20), an extension rod (27) of the locking electric push rod (19) passes through the locking seat (20) and is arranged in the containing groove (25) to abut against the right side of the guide plate (23), the guide plate (23) is provided with the slide block (23), two sides of the guide plate (23), and the claw hook (22) are connected with the guide plate (23), claw hook (22) right-hand member is articulated with deflector (23) right-hand member, and claw hook (22) left end outwards extends again to inside deflector (23) left end extension and supports with deflector (23) left end and lean on, claw hook (22) middle part is equipped with clamping spring, clamping spring one end is connected with claw hook (22), and the other end is connected with deflector (23), left side is embraced claw subassembly (6) lower extreme and is equipped with check lock lever (24), check lock lever (24) and left side are embraced claw subassembly (6) fixed connection, and when embracing claw subassembly (6) and right side and embrace claw subassembly (7) closure on a left side, check lock lever (24) are supported claw hook (22) and are got into between claw hook (22) and deflector (23), and locking electric putter (19) are withdrawed reach out lever (27), and deflector (23) move right under reset spring (21) effect for claw hook (22) and check lock lever (24) are leaned on and are realized that left side is embraced claw subassembly (6) and right side and is embraced the fixed spacing of claw subassembly (7).

9. A free gripping device according to claim 2 or 3 or 5 or 7 or 8, characterized in that: the left holding claw component (6) comprises a left articulated shaft (28), a left linkage shaft (29) and a left clamping jaw (30), the right holding claw component (7) comprises a right articulated shaft (31), a right linkage shaft (32) and a right clamping jaw (33), a left linkage shaft (29) and a right linkage shaft (32) are arranged at intervals below the support frame (1), at least one left linkage shaft (29) is arranged, left clamping jaws (30) are arranged on the left linkage shaft (29) at intervals, a left articulated shaft (28) is arranged above the left linkage shaft (29), the left linkage shaft (29) penetrates through the left clamping jaw (30) and is fixedly connected with the left clamping jaw (30), the upper end of at least one left clamping jaw (30) extends upwards and inwards to be fixedly connected with the left articulated shaft (28), the left articulated shaft (28) is fixedly connected with the support frame (1) through a bearing, at least one right linkage shaft (32) is arranged, right clamping jaws (33) are arranged on the right linkage shaft (32) at intervals, a right articulated shaft (31) is arranged above the right linkage shaft (32), the right linkage shaft (32) penetrates through the right clamping jaw (33) and is fixedly connected with the right clamping jaw (33), the upper end of at least one right clamping jaw (33) extends upwards and inwards to be fixedly connected with the right articulated shaft (31), and the right articulated shaft (31) is fixedly connected with the support frame (1) through a bearing.

10. A free-form gripping device according to claim 1 or 2 or 3 or 5 or 7 or 8, characterized in that: an electrical appliance bin (34) is arranged on the support frame (1), and the driving mechanism (2) and the propeller (5) are respectively connected with the electrical appliance bin (34).

11. A free gripping device according to claim 2 or 3 or 5 or 7 or 8, characterized in that: the left holding claw assembly (6) and/or the right holding claw assembly (7) and/or the support frame are/is provided with a sonar (37), and the left holding claw assembly (6) and/or the right holding claw assembly (7) and/or the support frame are/is provided with a lighting lamp (35) and a camera (36).

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