CN201538427U - Manipulator device for fishing underwater foreign matters - Google Patents
Manipulator device for fishing underwater foreign matters Download PDFInfo
- Publication number
- CN201538427U CN201538427U CN200920175709XU CN200920175709U CN201538427U CN 201538427 U CN201538427 U CN 201538427U CN 200920175709X U CN200920175709X U CN 200920175709XU CN 200920175709 U CN200920175709 U CN 200920175709U CN 201538427 U CN201538427 U CN 201538427U
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- Prior art keywords
- straight line
- combined cylinders
- gas pawl
- base plate
- foreign matter
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- Expired - Lifetime
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Abstract
The utility model relates to an underwater robot structure and particularly discloses a manipulator device for fishing underwater foreign matters. The functions for clamping and fishing the foreign matters can be achieved by connecting an aluminum rod with a base and mounting an air cylinder, a pneumatic claw, a clamp and other devices on the base. The fishing work of scattered foreign matters can be realized by rotating an aluminum rod on the bank and controlling the air cylinder and the pneumatic claw through a line, combining the shape and the posture of a target object and adjusting the motion posture of a manipulator. The manipulator device has the advantages of compact and simple structure, simple and convenient operation, wide motion range and strong practicability.
Description
Technical field
The utility model belongs to the under-water robot structure, is specifically related to a kind of underwater manipulator.
Background technology
Some working environment such as nuclear power plant reactor have high radioactivity after putting into operation, nuclear power generating equipment need carry out in certain density boron water when maintenance, and the depth of water often reaches several meters to tens of rice.In the overhaul of the equipments process, foreign matter such as sheetmetal, screw etc. that dismounting equipment produces will fall into the bottom, and the purpose of foreign matter salvaging is under water taken out these discarded parts exactly from the bottom, finish cleaning work.Object is scattered in the bottom, and pose is generally the ground state that lies low, and also might tiltedly found suspended state or stand on ground.Therefore, need design one cover robot device, the staff can realize object being picked up and it being got back on the bank by the control manipulator from the bank device being stretched into the water.
Under-water robot can be finished the work that a large amount of mankind can't finish under water, can be widely used in many aspects such as seabed mineral development of resources, underwater construction and military affairs and national defense construction, produced very big economic benefit and social benefit, the application in fields such as detection, salvaging, pipeline detection and reparations deepens continuously.Under-water robot is divided by job task, can be divided into operation type and observation type.The operation type robot all is telerobot (ROV basically, Remotely Operated Vehicle), underwater manipulator is ROV type under-water operation robot manipulation's key core parts, and its development and exploitation are important contents of ROV type under-water operation robot always.
Prior art design-calculated robot manipulator structure is comparatively complicated, is unfavorable for operation, and range of movement is little, applicability is relatively poor.
Summary of the invention
The purpose of this utility model is to be scattered in water-bed parts when keeping in repair at nuclear station, and the foreign matter under water that compact conformation is simple, easy and simple to handle, range of movement is big, applicability is strong that a kind of gripping is provided and salvages foreign matter is salvaged robot device.
The utility model is achieved through the following technical solutions:
A kind of foreign matter is under water salvaged robot device, it comprises that metallic aluminium bar, bracket base, L shaped cylinder are installed base plate, straight line is swung combined cylinders, gas pawl mounting flange, gas pawl and thrust bearing, the metallic aluminium bar passes an end of L shaped cylinder installation base plate and fixes, and metallic aluminium bar lower end links to each other with bracket base by thrust bearing; L shaped cylinder is installed the base plate downside and is provided with straight line swing combined cylinders, and the straight line swing combined cylinders outside is provided with the sidepiece groove, and L shaped cylinder is installed base plate and is provided with nut, and nut can slide in the sidepiece groove, thereby straight line swing combined cylinders straight line is moved; The other end of straight line swing combined cylinders is by the gentle pawl of gas pawl mounting flange captive joint housing.
Be provided with the piston rod of captiveing joint in the described straight line swing combined cylinders with its internal piston, piston rod extend in the housing, described gas pawl comprises a live splint and a geometrical clamp of captiveing joint with housing, couple together by two shell fragments between live splint and the piston rod, geometrical clamp is connected with spring by pin with the root of live splint.
Described bracket base is conical.
The beneficial effects of the utility model: the gripping and salvaging function adopting aluminium bar connection base and device realization foreign matters such as cylinder gas pawl are installed on base, by on the coast to the rotary manipulation and the control cylinder gas pawl of aluminium bar, the shape of combining target object and pose, adjust the athletic posture of manipulator, compact conformation is simple, easy and simple to handle, range of movement is big, applicability is strong thereby the fishing job of the foreign matter of realizing being scattered, this robot device have.
Description of drawings
The foreign matter under water that Fig. 1 provides for the utility model is salvaged robot device overall structure scheme drawing;
The foreign matter under water that Fig. 2 provides for the utility model is salvaged the lateral plan of robot device;
The foreign matter under water that Fig. 3 provides for the utility model is salvaged the birds-eye view of robot device;
The foreign matter under water that Fig. 4 provides for utility model is salvaged robot device working space scheme drawing;
Among the figure: 1. metallic aluminium bar, nut 2. is installed, 3. bracket base is 4. installed base plate, 5. straight line swing combined cylinders, 6. mounting flange, 7. mounting flange, 8. housing, 9. gas pawl, 10. thrust bearing, 11. lateral grooves, 12. geometrical clamps, 13. shell fragments, 14. piston rods, 15. live splints.
The specific embodiment
As depicted in figs. 1 and 2, the metallic aluminium bar 1 that foreign matter under water in the utility model is salvaged in the robot device is straight-through on the bank by the bottom, can manually control by operating personal on the bank, the close end of metallic aluminium bar is fixed with the L shaped installation base plate 4 of cylinder by nut 2 is installed, and the end then links to each other with cylindrical-conical bracket base 3 by thrust bearing 10; Bracket base 3 is positioned over the bottom, is used to support the weight of whole robot device; In the straight line swing combined cylinders 5 sidepiece grooves lateral grooves 11 is housed, is used for that cylinder is fixed on L shaped cylinder base plate 4 is installed; The piston tip of straight line swing combined cylinders 5 is connected with gas pawl 8 by mounting flange 6,7; The tapped bore of gas pawl 8 finger positions is installed gas pawl nest plate 9, and gas pawl nest plate 9 cooperates the clamping action of gas pawl 8 can realize the extracting work of object; L shaped cylinder is installed base plate 4 and is provided with nut, and nut slides in the sidepiece groove, thereby straight line swing combined cylinders 5 straight lines are moved; The other end of straight line swing combined cylinders 5 is by gas pawl mounting flange 6 captive joint gas pawls 8.
By the rotation of control metallic aluminium bar 1, tentatively determine the sense of motion of manipulator; The motion of stretching out by control straight line swing combined cylinders 5 makes the pawl 8 of bringing about the desired sensation near object; Can adjust the attitude of gas pawl 8 by rotatablely moving of control combination cylinder 5, making brings about the desired sensation contains object under pawl 8 open configurations; By control gas pawl 8 closures, finally realize the clamping and the extracting of object.
As shown in Figure 3.The rotation of metallic aluminium bar 1 can realize the border circular areas motion of 360 degree; The straight-line motion of combined cylinders 5 can be realized activity space in the piston stroke scope; The swing of combined cylinders 5 can realize the adjustment of gas pawl 8 poses.Finally can guarantee work in the annulus of robot device in a width is the scope of combined cylinders straight-line motion stroke L (dash area in as Fig. 3).
Claims (3)
- One kind under water foreign matter salvage robot device, it is characterized in that: it comprises that metallic aluminium bar (1), bracket base (3), L shaped cylinder are installed base plate (4), straight line is swung combined cylinders (5), gas pawl mounting flange (6), gas pawl (8) and thrust bearing (10), metallic aluminium bar (1) passes an end of L shaped cylinder installation base plate (4) and fixes, and metallic aluminium bar (1) lower end links to each other with bracket base (3) by thrust bearing (10); L shaped cylinder is installed base plate (4) downside and is provided with straight line swing combined cylinders (5), straight line swing combined cylinders (5) outside is provided with sidepiece groove (11), L shaped cylinder is installed base plate (4) and is provided with nut, nut can slide in sidepiece groove (11), thereby straight line swing combined cylinders (5) straight line is moved; The other end of straight line swing combined cylinders (5) is by the gentle pawl of gas pawl mounting flange (6) captive joint housing (8) (9).
- 2. foreign matter under water as claimed in claim 1 is salvaged robot device, it is characterized in that: be provided with the piston rod (14) of captiveing joint in the described straight line swing combined cylinders (5) with its internal piston, piston rod (14) extend in the housing (8), described gas pawl (9) comprises a live splint (15) and a geometrical clamp (12) of captiveing joint with housing (8), couple together by two shell fragments (13) between live splint (12) and the piston rod (14), geometrical clamp (12) is connected with spring by pin with the root of live splint (15).
- 3. foreign matter under water as claimed in claim 1 or 2 is salvaged robot device, it is characterized in that: described bracket base (3) is for conical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920175709XU CN201538427U (en) | 2009-08-31 | 2009-08-31 | Manipulator device for fishing underwater foreign matters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920175709XU CN201538427U (en) | 2009-08-31 | 2009-08-31 | Manipulator device for fishing underwater foreign matters |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201538427U true CN201538427U (en) | 2010-08-04 |
Family
ID=42589878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920175709XU Expired - Lifetime CN201538427U (en) | 2009-08-31 | 2009-08-31 | Manipulator device for fishing underwater foreign matters |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201538427U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058078A (en) * | 2014-07-18 | 2014-09-24 | 焦洪东 | Shallow sea salvage equipment |
| CN105082000A (en) * | 2014-05-20 | 2015-11-25 | 核动力运行研究所 | Underwater pneumatic pliers |
| CN107803850A (en) * | 2017-11-22 | 2018-03-16 | 中车广东轨道交通车辆有限公司 | A kind of mechanical paw, robot and the transport vehicle with robot |
| CN107829285A (en) * | 2017-11-13 | 2018-03-23 | 江苏悦达家纺有限公司 | A kind of hand-held woollen cleaning plant |
| CN110525579A (en) * | 2019-09-05 | 2019-12-03 | 中船黄埔文冲船舶有限公司 | A kind of salvaging tooling |
-
2009
- 2009-08-31 CN CN200920175709XU patent/CN201538427U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082000A (en) * | 2014-05-20 | 2015-11-25 | 核动力运行研究所 | Underwater pneumatic pliers |
| CN105082000B (en) * | 2014-05-20 | 2017-04-26 | 核动力运行研究所 | underwater pneumatic pliers |
| CN104058078A (en) * | 2014-07-18 | 2014-09-24 | 焦洪东 | Shallow sea salvage equipment |
| CN107829285A (en) * | 2017-11-13 | 2018-03-23 | 江苏悦达家纺有限公司 | A kind of hand-held woollen cleaning plant |
| CN107803850A (en) * | 2017-11-22 | 2018-03-16 | 中车广东轨道交通车辆有限公司 | A kind of mechanical paw, robot and the transport vehicle with robot |
| CN110525579A (en) * | 2019-09-05 | 2019-12-03 | 中船黄埔文冲船舶有限公司 | A kind of salvaging tooling |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100804 |
|
| CX01 | Expiry of patent term |