CN203566719U - Clamping jaw mechanism of seabed mechanical hand - Google Patents
Clamping jaw mechanism of seabed mechanical hand Download PDFInfo
- Publication number
- CN203566719U CN203566719U CN201320685934.4U CN201320685934U CN203566719U CN 203566719 U CN203566719 U CN 203566719U CN 201320685934 U CN201320685934 U CN 201320685934U CN 203566719 U CN203566719 U CN 203566719U
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- China
- Prior art keywords
- jaw
- seabed
- sleeve
- oil cylinder
- claw
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
A clamping jaw mechanism of a seabed mechanical hand comprises a connecting sleeve used for being connected with a mechanical arm. A clamping jaw sleeve is installed at the lower portion of the connecting sleeve and provided with a fixing base. An oil cylinder is vertically installed inside the connecting sleeve. A piston rod of the oil cylinder stretches out into the clamping jaw sleeve. An opening and closing movable block is further installed inside the clamping jaw sleeve and connected with the piston rod of the oil cylinder. A plurality of jaw rods are installed on the fixing base. The middles of the jaw rods are hinged to the fixing base. The hinged positions of the jaw rods are all located on the coaxial circumference of the oil cylinder. The upper portions of the jaw rods are bent outwards. Guiding grooves are formed in the bent portions of the jaw rods. Pin shafts arranged on the opening and closing movable block are all installed inside the guiding grooves of the corresponding jaw rods in a sliding mode. Clamping jaws are installed at the bottoms of the jaw rods. The clamping jaw mechanism of the seabed mechanical hand is simple in structure and easy to install and maintain; when the clamping jaws are opened, the coverage area is large, and seabed benthos are easily captured; when the clamping jaws are closed, the seabed benthos can be trapped in the spherical space defined by the clamping jaws, the seabed benthos are prevented from escaping from the clamping jaws, meanwhile, the seabed benthos are prevented from being killed by the clamping jaws, and the integrality of a biological sample is ensured.
Description
Technical field
The utility model relates to a kind of manipulator, specifically, is a kind of clip claw mechanism being applied on the manipulator of seabed.
Background technology
Seabed manipulator is mainly mounted on submarine or seafloor robot, carries out benthicly fishing for, the collection of seabed sample, seabed keep in repair as the seabed operations such as maintenance of boats and ships, submarine cable, oil pipeline.The jaw of current seabed manipulator is mainly clamp type structure, can be used for the salvaging of gripping solid sample, but the jaw that utilizes this structure catches comparatively difficulty of benthon, flexibly, more difficult seizure, catches after benthon in benthon motion, if misoperation, jaw is firmly excessive, benthon can be killed by a pinch, and has also destroyed the integrality of biological specimen; Jaw is firmly too small, and benthon also can run away from jaw.
Utility model content
The utility model, for above-mentioned the deficiencies in the prior art, has designed a kind of clip claw mechanism of new seabed manipulator.
The clip claw mechanism of seabed of the present utility model manipulator, comprise for connecting the adapter sleeve of mechanical arm, clip claw sleeve is installed in adapter sleeve bottom, clip claw sleeve is provided with holder, oil cylinder is vertically installed in adapter sleeve, the piston rod of oil cylinder reaches in clip claw sleeve, folding movable block is also installed in clip claw sleeve, folding movable block is connected with the piston rod of oil cylinder, a plurality of claw bars are installed on holder, the middle part of claw bar is all hinged with holder, the hinged place of claw bar is all positioned on the circumference coaxial with oil cylinder, the top outward of claw bar, the part of claw bar bending is provided with guide groove, the bearing pin of folding movable block setting is all slidably mounted in the guide groove of corresponding claw bar, jaw is all installed in claw bar bottom.
Preferably, described jaw is petal-shaped, and all jaws can close up globulate, and the middle part of jaw is all provided with bakie, between the adjacent jaw after closing up, leaves space.
Preferably, a plurality of lazy-tongs are also installed between folding movable block and holder, described lazy-tongs comprise the guide shaft that is arranged on holder and are arranged on the guide pin bushing on folding movable block, and guide shaft is slidably mounted in guide pin bushing.
The beneficial effects of the utility model are: the clip claw mechanism of seabed manipulator, simple in structure, easily installation and maintenance, jaw is that a kind of surrounding is encircled the structure capturing, and when jaw opens, overlayable area is large, easily catches benthon, after jaw closure, benthon can be trapped in the diameter of Spherical Volume that jaw surrounds, avoid benthon to escape from jaw, prevented that jaw from killing by a pinch benthon simultaneously, guaranteed the integrality of biological specimen.Jaw is provided with bakie, and after jaw is closed up, the diameter of Spherical Volume that jaw surrounds still keeps being communicated with outside, makes benthon in diameter of Spherical Volume, can still keep survival.The space of leaving between jaw, makes the size of the jaw capable of regulating diameter of Spherical Volume of clip claw mechanism, captures benthon and the solid sample of all size.
Accompanying drawing explanation
Accompanying drawing 1 is the sectional structure chart of the clip claw mechanism of seabed manipulator.
The specific embodiment
The clip claw mechanism of seabed of the present utility model manipulator, as shown in Figure 1, comprise for connecting the adapter sleeve 1 of mechanical arm, clip claw sleeve 2 is installed in adapter sleeve 1 bottom, clip claw sleeve 2 is provided with holder 3, the interior vertical installation oil cylinder 4 of adapter sleeve 1, the piston rod of oil cylinder 4 reaches in clip claw sleeve 2, folding movable block 5 is also installed in clip claw sleeve 2, folding movable block 5 is connected with the piston rod of oil cylinder 4, a plurality of claw bars 6 are installed on holder 3, the middle part of claw bar 6 is all hinged with holder 3, the hinged place of claw bar 6 be all positioned at the coaxial circumference of oil cylinder 4 on, the top outward of claw bar 6, the part of claw bar 6 bendings is provided with guide groove 7, the bearing pin 8 that folding movable block 5 arranges is all slidably mounted in the guide groove 7 of corresponding claw bar 6, jaw 9 is all installed in claw bar 6 bottoms.
Jaw 9 is petal-shaped, and all jaws 9 can close up globulate, and the middle part of jaw 9 is all provided with bakie 10, between the adjacent jaw 9 after closing up, leaves space.
A plurality of lazy-tongs 11 are also installed between folding movable block 5 and holder 3, and described lazy-tongs 11 comprise the guide shaft that is arranged on holder 3 and are arranged on the guide pin bushing on folding movable block 5, and guide shaft is slidably mounted in guide pin bushing.
Clip claw mechanism is when closure state, and the piston rod of oil cylinder 4 stretches out completely, and bearing pin 8 is positioned at the bottom of guide groove 7.
When clip claw mechanism need to be opened, the piston rod of oil cylinder 4 reclaims, and bearing pin 8 is along with folding movable block 5 rises, and bearing pin 8, in the interior slip of guide groove 7, makes bearing pin 8 that the top of claw bar 6 is inwardly swung, and whole jaw 9 is opened.Just can aim at sample or benthon after opening and gather and catch, then oil cylinder 4 stretches out piston rod again, makes jaw 9 closures, and the sample of collection and benthon are carried in the diameter of Spherical Volume that jaw 9 closes up rear formation.
Claims (3)
1. the clip claw mechanism of a seabed manipulator, it is characterized in that, comprise the adapter sleeve (1) for connecting mechanical arm, clip claw sleeve (2) is installed in adapter sleeve (1) bottom, clip claw sleeve (2) is provided with holder (3), oil cylinder (4) is vertically installed in adapter sleeve (1), the piston rod of oil cylinder (4) reaches in clip claw sleeve (2), folding movable block (5) is also installed in clip claw sleeve (2), folding movable block (5) is connected with the piston rod of oil cylinder (4), a plurality of claw bars (6) are installed on holder (3), the middle part of claw bar (6) is all hinged with holder (3), the hinged place of claw bar (6) be all positioned at the coaxial circumference of oil cylinder (4) on, the top outward of claw bar (6), the part of claw bar (6) bending is provided with guide groove (7), the bearing pin (8) that folding movable block (5) arranges is all slidably mounted in the guide groove (7) of corresponding claw bar (6), jaw (9) is all installed in claw bar (6) bottom.
2. the clip claw mechanism of seabed according to claim 1 manipulator, it is characterized in that, described jaw (9) is petal-shaped, and all jaws (9) can close up globulate, the middle part of jaw (9) is all provided with bakie (10), between the adjacent jaw (9) after closing up, leaves space.
3. the clip claw mechanism of seabed according to claim 1 manipulator, it is characterized in that, between folding movable block (5) and holder (3), a plurality of lazy-tongs (11) are also installed, described lazy-tongs (11) comprise the guide shaft that is arranged on holder (3) and are arranged on the guide pin bushing on folding movable block (5), and guide shaft is slidably mounted in guide pin bushing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320685934.4U CN203566719U (en) | 2013-10-31 | 2013-10-31 | Clamping jaw mechanism of seabed mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320685934.4U CN203566719U (en) | 2013-10-31 | 2013-10-31 | Clamping jaw mechanism of seabed mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203566719U true CN203566719U (en) | 2014-04-30 |
Family
ID=50534476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320685934.4U Expired - Fee Related CN203566719U (en) | 2013-10-31 | 2013-10-31 | Clamping jaw mechanism of seabed mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203566719U (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103997170A (en) * | 2014-05-28 | 2014-08-20 | 长沙优力恩自动化科技有限公司 | Automatic integrated line clamping and threading device for motor rotor |
| CN105108765A (en) * | 2015-10-12 | 2015-12-02 | 王学义 | Manipulator capable of simulating finger holding |
| CN106717447A (en) * | 2015-11-24 | 2017-05-31 | 泉州市知产茂业工业设计有限公司 | A kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot |
| CN107020494A (en) * | 2017-05-19 | 2017-08-08 | 郑州轻工业学院 | The inner bearing type crawl of walled workpieces pushes manipulator with cover die in the face of cylinder |
| CN107677513A (en) * | 2017-11-23 | 2018-02-09 | 黄正秀 | A kind of diversified ecological aquaculture cultivates intelligent sampling monitoring equipment |
| CN107736289A (en) * | 2017-11-23 | 2018-02-27 | 黄正秀 | A kind of multi-functional observation integration apparatus of fresh water ecologic breeding |
| CN107771723A (en) * | 2017-11-23 | 2018-03-09 | 倪立秧 | A kind of comprehensive intelligent monitoring device of aquatic ecological culturing dedicated systemization |
| CN107821275A (en) * | 2017-11-23 | 2018-03-23 | 王炯炜 | A kind of fish, shrimp aquatic products ecologic breeding Intelligent Measurement management equipment |
| CN107897135A (en) * | 2017-11-23 | 2018-04-13 | 倪敏芳 | A kind of waters fishery cultivating automates fishing machinery |
| CN107897086A (en) * | 2017-11-23 | 2018-04-13 | 王国超 | Intelligent robot is caught in a kind of raising for fish, shrimp aquaculture |
| CN107950453A (en) * | 2017-11-23 | 2018-04-24 | 倪立秧 | A kind of full-automatic nuisanceless green aquaculture job management all-in-one machine |
| CN109353585A (en) * | 2018-11-16 | 2019-02-19 | 镇江市丹徒阳光轴承有限公司 | A kind of bearing machining automatic packing apparatus |
| CN112045706A (en) * | 2020-07-24 | 2020-12-08 | 国网山东省电力公司青岛市黄岛区供电公司 | Ratchet self-locking submarine cable lifting mechanical claw |
| CN115123793A (en) * | 2021-03-25 | 2022-09-30 | 联策科技股份有限公司 | Substrate processing apparatus |
-
2013
- 2013-10-31 CN CN201320685934.4U patent/CN203566719U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103997170A (en) * | 2014-05-28 | 2014-08-20 | 长沙优力恩自动化科技有限公司 | Automatic integrated line clamping and threading device for motor rotor |
| CN103997170B (en) * | 2014-05-28 | 2017-01-11 | 长沙优力恩自动化科技有限公司 | Automatic integrated line clamping and threading device for motor rotor |
| CN105108765A (en) * | 2015-10-12 | 2015-12-02 | 王学义 | Manipulator capable of simulating finger holding |
| CN106717447A (en) * | 2015-11-24 | 2017-05-31 | 泉州市知产茂业工业设计有限公司 | A kind of small-sized Rhizoma Schizocapsae Plantagineae picking robot |
| CN107020494A (en) * | 2017-05-19 | 2017-08-08 | 郑州轻工业学院 | The inner bearing type crawl of walled workpieces pushes manipulator with cover die in the face of cylinder |
| CN107821275A (en) * | 2017-11-23 | 2018-03-23 | 王炯炜 | A kind of fish, shrimp aquatic products ecologic breeding Intelligent Measurement management equipment |
| CN107736289A (en) * | 2017-11-23 | 2018-02-27 | 黄正秀 | A kind of multi-functional observation integration apparatus of fresh water ecologic breeding |
| CN107771723A (en) * | 2017-11-23 | 2018-03-09 | 倪立秧 | A kind of comprehensive intelligent monitoring device of aquatic ecological culturing dedicated systemization |
| CN107677513A (en) * | 2017-11-23 | 2018-02-09 | 黄正秀 | A kind of diversified ecological aquaculture cultivates intelligent sampling monitoring equipment |
| CN107897135A (en) * | 2017-11-23 | 2018-04-13 | 倪敏芳 | A kind of waters fishery cultivating automates fishing machinery |
| CN107897086A (en) * | 2017-11-23 | 2018-04-13 | 王国超 | Intelligent robot is caught in a kind of raising for fish, shrimp aquaculture |
| CN107950453A (en) * | 2017-11-23 | 2018-04-24 | 倪立秧 | A kind of full-automatic nuisanceless green aquaculture job management all-in-one machine |
| CN109353585A (en) * | 2018-11-16 | 2019-02-19 | 镇江市丹徒阳光轴承有限公司 | A kind of bearing machining automatic packing apparatus |
| CN112045706A (en) * | 2020-07-24 | 2020-12-08 | 国网山东省电力公司青岛市黄岛区供电公司 | Ratchet self-locking submarine cable lifting mechanical claw |
| CN115123793A (en) * | 2021-03-25 | 2022-09-30 | 联策科技股份有限公司 | Substrate processing apparatus |
| CN115123793B (en) * | 2021-03-25 | 2024-03-26 | 联策科技股份有限公司 | Substrate processing apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140430 Termination date: 20141031 |
|
| EXPY | Termination of patent right or utility model |