CN204431259U - A kind of underwater robot changeable type composite machine hand - Google Patents
A kind of underwater robot changeable type composite machine hand Download PDFInfo
- Publication number
- CN204431259U CN204431259U CN201520033907.8U CN201520033907U CN204431259U CN 204431259 U CN204431259 U CN 204431259U CN 201520033907 U CN201520033907 U CN 201520033907U CN 204431259 U CN204431259 U CN 204431259U
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- CN
- China
- Prior art keywords
- manipulator
- catch bar
- screw mandrel
- catching robot
- machine hand
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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 kind of underwater robot changeable type composite machine hand, comprise catching robot, connecting rod, catch bar, fixed head, axle sleeve, screw mandrel, slowspeed machine, water and soil sample collection manipulator, shearing machine hand, cleaning net cage manipulator and the turn of the screw manipulator composition, its main connected mode is: screw mandrel and catch bar are connected, slowspeed machine is connected with screw mandrel, and axle sleeve is fixed on fixed head and plays a supportive role.Drive screw mandrel to rotate by slowspeed machine, thus control catch bar seesaws, catch bar, again by connecting rod transmission campaign, goes into the opening and closing grasping movement of catching robot.Catching robot and fixed head are movably hinged, and catch bar is connected with catching robot by connecting rod, and water and soil sample collection manipulator, shearing machine hand are connected with catching robot is interchangeable.Manipulator that can be different according to actual job environmental selection, has carried out different job tasks, achieves the multifunction of manipulator.
Description
Technical field
Basis is practical relates to a kind of underwater robot changeable type composite machine hand, belongs to mechanical field.
Background technology
At present, underwater robot replaces manually completing underwater operation and becomes more and more general, also has very high requirement to machine task efficiency simultaneously.But be nothing but the underwater robot two kinds of large-sized multifunction underwater robot, small-sized function singleness in existing underwater robot.Give multi-functional becoming by small-sized underwater robot to be flexibly even more important.
The utility model patent designs for solving the problem just, and object is that solving small underwater Work robot equipment single equipment completes multi-mode operation function.
Summary of the invention
The technical problems to be solved in the utility model is to provide a kind of underwater robot changeable type manipulator, this kind of underwater robot manipulator can realize dismounting, change difform catching robot, thus robot can be made to complete cleaning net cage, the turn of the screw, shearing, gripping small articles, gather water and soil sample, capture all kinds of underwater operation tasks such as shaft.
For solving the problem, the technical solution adopted in the utility model is:
A kind of underwater robot changeable type composite machine hand, comprise catching robot, connecting rod, catch bar, fixed head, axle sleeve, screw mandrel, slowspeed machine, water and soil sample collection manipulator, shearing machine hand, cleaning net cage manipulator and the turn of the screw manipulator composition, its main connected mode is: screw mandrel and catch bar are connected, slowspeed machine is connected with screw mandrel, and axle sleeve is fixed on fixed head and plays a supportive role.Drive screw mandrel to rotate by slowspeed machine, thus control catch bar seesaws, catch bar, again by connecting rod transmission campaign, goes into the opening and closing grasping movement of catching robot.
Catching robot and fixed head are movably hinged, and catch bar is connected with catching robot by connecting rod, and water and soil sample collection manipulator, shearing machine hand are connected with catching robot is interchangeable.Manipulator that can be different according to actual job environmental selection, has carried out different job tasks, achieves the multifunction of manipulator.
Simultaneously can by catching robot, connecting rod, catch bar dismounting, by screw mandrel with, clear up net cage manipulator and the turn of the screw machinery palmistry company, screw mandrel is driven to rotate by slowspeed machine, complete the rotation of cleaning net cage manipulator, the turn of the screw manipulator, the turn of the screw manipulator can be furnished with various driver bit, as cross, a word, interior hexagonal etc., reach the function of cleaning net cage and the turn of the screw.
The beneficial effects of the utility model are: provide a kind of detachable manipulator, achieve the multifunction of single manipulator, cost-saving.
Accompanying drawing explanation
Fig. 1 is the utility model underwater robot changeable type composite machine hand structural representation;
Fig. 2 is the utility model underwater robot changeable type composite machine hand structural representation;
In figure: 1, catching robot 2, connecting rod 3, catch bar 4 fixed head 5, axle sleeve 6, screw mandrel 7, slowspeed machine 8, water and soil sample collection manipulator 9, shearing machine hand 10, cleaning net cage manipulator 11, the turn of the screw manipulator.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
A kind of underwater robot changeable type composite machine hand, comprise catching robot 1, connecting rod 2, catch bar 3, fixed head 4, axle sleeve 5, screw mandrel 6, slowspeed machine 7, water and soil sample collection manipulator 8, shearing machine hand 9, cleaning net cage manipulator 10 and the turn of the screw manipulator 11, wherein screw mandrel 6 and catch bar 3 are connected, slowspeed machine 7 is connected with screw mandrel 6, and axle sleeve 5 is fixed on fixed head 4 and supports.Drive screw mandrel 6 to rotate by slowspeed machine 7, thus control catch bar 3 seesaws, catch bar 3 transmits motion by connecting rod 2 again, forms the opening and closing grasping movement of catching robot 1; Catching robot 1 and fixed head 4 are movably hinged, and catch bar 3 is connected with catching robot 1 by connecting rod 2.Water and soil sample collection manipulator 8, shearing machine hand 9 are connected with catching robot 1 is interchangeable; Catching robot 1, connecting rod 2, catch bar 3 can be dismantled simultaneously, by screw mandrel 6 with, clear up net cage manipulator 10 and be connected with the turn of the screw manipulator 11, drive screw mandrel 6 to rotate by slowspeed machine 7, complete the rotation of cleaning net cage manipulator 10, the turn of the screw manipulator 11.The turn of the screw manipulator 11 can be furnished with various driver bit, as cross, a word, interior hexagonal etc.
The utility model realizes changing difform catching robot at any time, meet the work requirements of underwater robot under various working environment, thus robot can be made to complete cleaning net cage, the turn of the screw, shearing, gripping small articles, gather water and soil sample, capture all kinds of underwater operation tasks such as shaft.
Claims (4)
1. a underwater robot changeable type composite machine hand, comprise catching robot (1), connecting rod (2), catch bar (3), fixed head (4), axle sleeve (5), screw mandrel (6), slowspeed machine (7), water and soil sample collection manipulator (8), shearing machine hand (9), cleaning net cage manipulator (10) and the turn of the screw manipulator (11), it is characterized in that: described screw mandrel (6) and catch bar (3) are connected, slowspeed machine (7) is connected with screw mandrel (6), and screw mandrel (6) is fixed on fixed head (4) by axle sleeve (5).
2. a kind of underwater robot according to claim 1 changeable type composite machine hand, it is characterized in that: described catching robot (1) and fixed head (4) are movably hinged, and catch bar (3) is connected with catching robot (1) by connecting rod (2).
3. a kind of underwater robot according to claim 1 changeable type composite machine hand, is characterized in that: described water and soil sample collection manipulator (8), shearing machine hand (9) and catching robot (1) is interchangeable is connected.
4. a kind of underwater robot according to claim 1 changeable type composite machine hand, it is characterized in that: after described dismounting catching robot (1), connecting rod (2), catch bar (3), by screw mandrel (6), cleaning net cage manipulator (10) and the turn of the screw manipulator (11) can be installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520033907.8U CN204431259U (en) | 2015-01-19 | 2015-01-19 | A kind of underwater robot changeable type composite machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520033907.8U CN204431259U (en) | 2015-01-19 | 2015-01-19 | A kind of underwater robot changeable type composite machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204431259U true CN204431259U (en) | 2015-07-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520033907.8U Expired - Fee Related CN204431259U (en) | 2015-01-19 | 2015-01-19 | A kind of underwater robot changeable type composite machine hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204431259U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240915A (en) * | 2016-06-30 | 2016-12-21 | 广东方制药有限公司 | A kind of mechanical hand is precisely got it filled lower medicine device |
| CN106514668A (en) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | Underwater robot positioning system based on double-manipulator encircling pile column |
| CN111618838A (en) * | 2019-11-11 | 2020-09-04 | 沈阳工业大学 | Snatch manipulator |
| CN111891320A (en) * | 2020-07-29 | 2020-11-06 | 西安工业大学 | Underwater double-arm robot device system |
-
2015
- 2015-01-19 CN CN201520033907.8U patent/CN204431259U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240915A (en) * | 2016-06-30 | 2016-12-21 | 广东方制药有限公司 | A kind of mechanical hand is precisely got it filled lower medicine device |
| CN106240915B (en) * | 2016-06-30 | 2019-09-27 | 广东一方制药有限公司 | A kind of manipulator precisely takes medicine device under medicine |
| CN106514668A (en) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | Underwater robot positioning system based on double-manipulator encircling pile column |
| CN111618838A (en) * | 2019-11-11 | 2020-09-04 | 沈阳工业大学 | Snatch manipulator |
| CN111891320A (en) * | 2020-07-29 | 2020-11-06 | 西安工业大学 | Underwater double-arm robot device system |
| CN111891320B (en) * | 2020-07-29 | 2022-04-29 | 西安工业大学 | Underwater double-arm robot device |
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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: 20150701 Termination date: 20160119 |
|
| EXPY | Termination of patent right or utility model |