CN208714010U - A kind of flexible holding device for the crawl of underwater historical relic - Google Patents
A kind of flexible holding device for the crawl of underwater historical relic Download PDFInfo
- Publication number
- CN208714010U CN208714010U CN201821291718.0U CN201821291718U CN208714010U CN 208714010 U CN208714010 U CN 208714010U CN 201821291718 U CN201821291718 U CN 201821291718U CN 208714010 U CN208714010 U CN 208714010U
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- connecting rod
- motion bar
- gripping finger
- flexible
- historical relic
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Abstract
The utility model discloses a kind of flexible holding devices for the crawl of underwater historical relic, including housing, clamping device, driving mechanism；Clamping device: gripping finger fixed plate is arranged in flexible gripping finger bottom, and the fixed board ends of gripping finger are hinged respectively is connected to short connecting rod and long connecting rod, and short connecting rod is located on the inside of long connecting rod；Driving mechanism is arranged in the housing: location guide is arranged on housing bottom plate, and location guide upper sleeve through motion bar, motion bar is moved up and down in location guide；DC servo motor connects retarder by belt wheel transmission mechanism, and retarder is connected with disk, and disk is hinged by crank link mechanism and motion bar；Motion bar upper end is stretched out outside housing and is hinged with long connecting rod lower end；Location guide upper end is stretched out outside motion bar top plate and is hinged with short connecting rod lower end.The utility model structure is simple, and control is easy, adaptable, has a wide range of application, and will not shape to underwater historical relic and surface cause to damage.
Description
Technical field
The utility model relates to mechanized equipment technical fields, and in particular to a kind of flexible clamping for the crawl of underwater historical relic
Device, can hydrous water hereafter article inspection device use.
Background technique
Detection, protection, exploitation and the management of underwater cultural heritage are the important components of national marine strategy, protect water
Lower historical relic it is significant.China possesses nearly 3,000,000 square kilometres of vast coastal areas and territorial seas, more than 18000 kilometers of coastline and enriches
Inland waters, wherein containing the underwater historical relic of wide variety, enormous amount.Aspect is engaged in archaeological studies and explores under water, due to latent
Task difficulty is big under water, low efficiency, cost are high by water person, it is therefore desirable to simple, the adaptable folder of a kind of good reliability, control
Device is held to complete various crawl tasks.
Under water in terms of the concrete application of historical relic grabbing device, Wu Ziyue of Shanghai Ocean University in 2013 et al. invention
" Multi-degree of freedom underwater operation mechanical arm " (patent authorization number: CN103552057A), the mechanical arm by installation pedestal, turntable,
Large arm, forearm, monitoring device, shoulder joint, elbow joint, wrist joint, stepper motor, connecting rod and connector composition, can monitor
Close to the object of pedestal, but it is the absence of lighting device, if the mechanical arm transfers to deep-sea, monitoring effect can have a greatly reduced quality.
Yao Ligang of University of Fuzhou in 2015 et al. invention " a kind of shallow water bridge pier underwater detecting robot " (patent authorization number:
CN204489154U), floating body is set in rack, is internally provided with propulsion device, front end is clear equipped with being driven by electric machine assembly
Tool is scrubbed, shallow water bridge pier Superficial Foreign Body can also can both be cleaned, but the machine with close-ups shallow water bridge pier surface
People is suitable only for working in shallow water area, and application has limitation.The cross-talk of PLA Engineering Corps institute in 2015
Raise et al. invention " a kind of underwater detection platform " (patent authorization number: CN204313868U) comprising pull the plug
The stage apparatus host of operation and outside the water surface control platform sub-aqua sport remote controler, stage apparatus host by data line with
Remote controler connection, but the detection platform can not achieve the function of recycling detection sample.2017, what rising sun of Lanzhou University of Science & Technology
Et al. invention " a kind of Three Degree Of Freedom submarine mechanical arm " (patent authorization number: CN206623089U), which includes pedestal
5 parts such as supporting mechanism, waist mechanism, ancon mechanism, wrist mechanism and manipulator mechanism, but its complicated structure and it is low from
The reachable range of manipulator is limited by degree.
Existing some devices that can complete underwater crawl task, clamping device multi-purpose two refer to the rigidity clamping of formula, due to
Dynamics is difficult to control, and is difficult to realize lossless crawl to soft fragile object, is applied in general to the specific work of clamping shape rule
Part.But underwater cultural artifact surface shape in curved surface mostly, surface area is not of uniform size and material is fragile, so common clamping
Device easily gets loose phenomenon during clamping underwater historical relic, and will lead to underwater text to the clamping of underwater historical relic is inappropriate
Composition deformation or surface damage.According to the requirement of underwater operation environment, action and performance, the utility model proposes a kind of use
In the flexible holding device of underwater historical relic crawl, structure is simple, control is easy, adaptable, has a wide range of application, can be under hydrous water
Historical relic detection device uses.
Utility model content
The purpose of this utility model is
Prevent it is inappropriate to the clamping of underwater historical relic will lead to the deformation of underwater historical relic or surface damage, provide and a kind of grabbed for underwater historical relic
The flexible holding device taken, is particularly suitable for that clamping surface shape is different, the irregular underwater historical relic of size, under water archaeological research
Aspect is very promising.
The purpose of this utility model is achieved through the following technical solutions, a kind of flexible folder for the crawl of underwater historical relic
Hold device, which is characterized in that the flexible holding device includes housing, clamping device, driving mechanism；
The clamping device includes flexible gripping finger, gripping finger fixed plate, short connecting rod, long connecting rod；Flexible gripping finger bottom setting folder
Refer to fixed plate, the fixed board ends of gripping finger are hinged respectively is connected to short connecting rod and long connecting rod, and short connecting rod is located on the inside of long connecting rod；
Driving mechanism is set in the housing, and driving mechanism includes DC servo motor, crank link mechanism, fixes and lead
Bar, motion bar；Location guide is arranged on housing bottom plate, location guide upper sleeve through motion bar, and motion bar is carried out in location guide
It moves up and down；DC servo motor connects retarder by belt wheel transmission mechanism, and retarder is connected with disk, and disk passes through song
Handle link mechanism is hinged with motion bar；Motion bar upper end is stretched out outside housing and is hinged with long connecting rod lower end；On location guide
End is stretched out outside motion bar top plate and is hinged with short connecting rod lower end.
Preferably, the DC servo motor is realized by fixed station and installation pedestal and is positioned.
Preferably, the housing side is provided with motor and photoelectric encoder lead outlet；From upper between housing and motion bar
Upper end cover, sealing ring, lower cover are set gradually under and；The side of static seal is used between housing and upper end cover, housing and lower cover
Formula connection.
Preferably, the flexible gripping finger is made of flexible material, and flexible gripping finger bottom is equipped with connecting plate, the material of connecting plate
Material is PLA material；It is connected by screw bolts between connecting plate and gripping finger fixed plate.
Preferably, the quantity of the clamping device is 3, and 3 clamping devices are circumferentially uniformly distributed around the center line of location guide,
The short connecting rod of clamping device is carried out hinged using screw and location guide；The long connecting rod of clamping device using screw and motion bar into
Row is hinged.
Preferably, it is connected between each gripping finger fixed plate and location guide by two short connecting rods disposed in parallel, is pressed from both sides
Refer to that torsional spring is arranged in fixed plate and short connecting rod junction.
It preferably, is co-axial seal between the sealing ring and motion bar.
Compared with prior art, the utility model has the following beneficial effects:
First, the utility model control is simple, high degree of automation.A kind of flexible clamping dress for the crawl of underwater historical relic
It sets, including flexible gripping finger, gripping finger fixed plate, short connecting rod, long connecting rod, location guide, motion bar, upper end cover, connecting rod, housing, close
Seal, lower cover, crank, disk, reducer arrangement, belt wheel, fixed station and installation pedestal, DC servo motor.DC servo
Motor is realized by fixed station and installation pedestal and is positioned, by DC servo motor by power by band wheel drive and via retarder
Device deceleration is transferred to disk, and disk drives crank and link rotatable, and connecting rod pushes motion bar to move up and down on location guide,
It is connected between motion bar and housing using sealing ring, motion bar is connected by long connecting rod with gripping finger fixed plate, and location guide passes through
Short connecting rod is connected with gripping finger fixed plate, and gripping finger fixed plate is connected with flexible gripping finger, to realize the opening and closing of flexible gripping finger.
Second, the utility model can realize complicated to surface shape, the irregular underwater historical relic of size flexible clamping.One
The revolute pair of short connecting rod and gripping finger fixed plate junction is set torsional spring by aspect, the torsional spring remain one it is specific pre-
Tight angle, such whole device will be run into short connecting rod and want with the state of single rigid body constantly close to the surface that grab object
Behind the surface of the underwater historical relic of crawl, short connecting rod stop motion, motion bar will drive the active force that long connecting rod overcomes torsional spring, thus
Flexible gripping finger is set to rotate the surface up to firmly wrapping underwater historical relic around the revolute pair, it is adaptable, have a wide range of application.Separately
On the one hand, gripping finger is made of flexible material, the holding capability with adaptive immersed body shape, will not be because of to underwater text
The clamping of object is inappropriate and leads to underwater historical relic shape distortion or surface damage.
Third, the sealing at the utility model upper end cover and lower cover are sealed using O-ring seal, housing side
Motor and photoelectric encoder lead outlet use dedicated seal nipple, and sealing ring is obtained between housing and motion bar using coaxial close
Envelope, such sealing means are more safe and reliable.
Detailed description of the invention
Fig. 1 is main view of the utility model for the flexible holding device of underwater historical relic crawl.
Fig. 2 is the stereochemical structure that the utility model is opened for the flexible gripping finger of the flexible holding device of underwater historical relic crawl
Schematic diagram.
Fig. 3 is stereochemical structure of the utility model for the flexible gripping finger closure of the flexible holding device of underwater historical relic crawl
Schematic diagram.
Fig. 4 is torsional spring schematic view of the mounting position of the utility model for the flexible holding device of underwater historical relic crawl.
In figure: flexible gripping finger 1, gripping finger fixed plate 2, short connecting rod 3, long connecting rod 4, location guide 5, motion bar 6, upper end cover 7,
Connecting rod 8, housing 9, sealing ring 10, lower cover 11, crank 12, disk 13, reducer arrangement 14, belt wheel 15, fixed station and installation
Pedestal 16, DC servo motor 17, torsional spring 18.
Specific embodiment
The utility model is described further with reference to the accompanying drawing.
As shown in Fig. 1,2,3 and 4, a kind of flexible holding device for the crawl of underwater historical relic, including flexible gripping finger 1, folder
Refer to fixed plate 2, short connecting rod 3, long connecting rod 4, location guide 5, motion bar 6, upper end cover 7, connecting rod 8, housing 9, sealing ring 10, lower end
Lid 11, crank 12, disk 13, reducer arrangement 14, belt wheel 15, fixed station and installation pedestal 16, DC servo motor 17.
Wherein DC servo motor 17 is realized by fixed station and installation pedestal 16 and is positioned, and will be moved by DC servo motor 17
Power is driven by belt wheel 15 and is transferred to disk 13 via the deceleration of reducer arrangement 14, and disk 13 drives crank 12 and 8 turns of connecting rod
Dynamic, connecting rod 8 pushes motion bar 6 to move up and down on location guide 5, is connected between motion bar 6 and housing 9 using sealing ring 10,
9 side of housing is provided with motor and photoelectric encoder lead outlet, and the side of static seal is used between upper end cover 7 and lower cover 11
Formula connection, motion bar 6 are connected by long connecting rod 4 with gripping finger fixed plate 2, and location guide 5 passes through short connecting rod 3 and gripping finger fixed plate 2
It is connected, gripping finger fixed plate 2 is connected with flexible gripping finger 1.Sealing ring 10 is made of an axis stair ring and a special-shaped elastomer,
Making material is polytetrafluoroethylene (PTFE) and polyurethane PU, and the sealing means of use are co-axial seals.
Under natural conditions, the open-shaped state of flexible gripping finger 1, when needing to grab underwater historical relic, DC servo motor 17 will
Power is driven by belt wheel 15 and is transferred to disk 13 via the deceleration of reducer arrangement 14, and disk 13 drives crank 12 and connecting rod 8
Rotation, connecting rod 8 push motion bar 6 to move up on location guide 5, and motion bar 6 drives clamping device to collapse to centre.If short
Connecting rod 3 has encountered the surface of underwater historical relic, then 3 stop motion of short connecting rod, and motion bar 6 is continued to move up along location guide 5,
And drive long connecting rod 4 that the active force of torsional spring 18 is overcome to rotate flexible gripping finger 1 around torsional spring 18, until flexible gripping finger 1 is fully wrapped around
Firmly underwater historical relic, to realize flexible clamping, flexible gripping finger 1 is in closed state at this time.Working principle are as follows: in order to reach clamping water
The purpose of lower historical relic has 3 by the clamping device that flexible gripping finger 1, gripping finger fixed plate 2, short connecting rod 3 and long connecting rod 4 form, around solid
The center line for determining guide rod 5 is circumferentially uniformly distributed, the short connecting rod 3 and long connecting rod 4 of clamping device using screw connect respectively with location guide 5
It is carried out hingedly with motion bar 6.Wherein flexible gripping finger 1 is made of flexible material, and bottom adds a connecting plate with PLA material,
It is connected by screw bolts between gripping finger fixed plate 2, gripping finger fixes 2 short connecting rods 3 parallel with two and is connected, the revolute pair of junction
It is set as torsional spring 18.Under natural conditions, the open-shaped state of flexible gripping finger 1, when needing to grab underwater historical relic, DC servo motor
Power is driven by belt wheel 15 and is transferred to disk 13 via the deceleration of reducer arrangement 14 by 17, and disk 13 drives crank 12 and connects
Bar 8 rotates, and connecting rod 8 pushes motion bar 6 to move up on location guide 5, and motion bar 6 drives clamping device to collapse to centre.
Since torsional spring 18 remains a specific preload angle, before the surface that clamping device encounters underwater historical relic, short connecting rod 3,
Gripping finger fixed plate 2 and flexible gripping finger 1 can constantly be come closer with the state of single rigid body.If short connecting rod 3 has encountered underwater historical relic
Surface, then 3 stop motion of short connecting rod, motion bar 6 is continued to move up along location guide 5, and long connecting rod 4 is driven to overcome torsion
The active force of spring 18 rotates flexible gripping finger 1 around torsional spring 18, until the fully wrapped around firmly underwater historical relic of flexible gripping finger 1, to realize
Flexible clamping, flexible gripping finger 1 is in closed state at this time.This flexible holding device high degree of automation, control is simple, adaptability
By force, have a wide range of application, and will not shape to underwater historical relic and surface cause to damage.
Claims (7)
1. a kind of flexible holding device for the crawl of underwater historical relic, which is characterized in that the flexible holding device includes housing
(9), clamping device, driving mechanism；
The clamping device includes flexible gripping finger (1), gripping finger fixed plate (2), short connecting rod (3), long connecting rod (4)；Flexible gripping finger (1)
Gripping finger fixed plate (2) are arranged in bottom, and gripping finger fixed plate (2) both ends are hinged respectively is connected to short connecting rod (3) and long connecting rod (4), short company
Bar (3) is located on the inside of long connecting rod (4)；
Driving mechanism is set in the housing (9), and driving mechanism includes DC servo motor (17), crank link mechanism, fixation
Guide rod (5), motion bar (6)；Location guide (5) is arranged on housing (9) bottom plate, location guide (5) upper sleeve through motion bar (6),
Motion bar (6) is moved up and down in location guide (5)；DC servo motor (17) connects retarder by belt wheel transmission mechanism
(14), retarder (14) is connected with disk (13), and disk (13) is hinged by crank link mechanism with motion bar (6)；It is living
Lever (6) upper end is stretched out housing (9) and is hinged outside and with long connecting rod (4) lower end；Motion bar (6) are stretched out in location guide (5) upper end
Top plate is outer and is hinged with short connecting rod (3) lower end.
2. the flexible holding device according to claim 1 for the crawl of underwater historical relic, which is characterized in that the direct current is watched
It takes motor (17) and positioning is realized by fixed station and installation pedestal (16).
3. the flexible holding device according to claim 1 or 2 for the crawl of underwater historical relic, which is characterized in that the cover
Shell (9) side is provided with motor and photoelectric encoder lead outlet；It is set gradually from top to bottom between housing (9) and motion bar (6)
Upper end cover (7), sealing ring (10), lower cover (11)；It is adopted between housing (9) and upper end cover (7), housing (9) and lower cover (11)
It is connected with the mode of static seal.
4. the flexible holding device according to claim 3 for the crawl of underwater historical relic, it is characterised in that: the flexible folder
Refer to that (1) is made of flexible material, flexible gripping finger (1) bottom is equipped with connecting plate, and the material of connecting plate is PLA material；Connecting plate
It is connected by screw bolts between gripping finger fixed plate (2).
5. the flexible holding device according to claim 1 for the crawl of underwater historical relic, it is characterised in that: the clamping machine
The quantity of structure is 3, and 3 clamping devices are circumferentially uniformly distributed around the center line of location guide (5), and the short connecting rod (3) of clamping device is adopted
It is hinged with screw and location guide (5)；The long connecting rod (4) of clamping device is hinged using screw with motion bar (6).
6. the flexible holding device according to claim 4 for the crawl of underwater historical relic, it is characterised in that: each gripping finger is solid
It is connected between fixed board (2) and location guide (5) by two short connecting rods (3) disposed in parallel, gripping finger fixed plate (2) and short company
Bar (3) junction is equipped with torsional spring (18).
7. the flexible holding device according to claim 3 for the crawl of underwater historical relic, it is characterised in that: the sealing ring
(10) co-axial seal is used between motion bar (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291718.0U CN208714010U (en) | 2018-08-12 | 2018-08-12 | A kind of flexible holding device for the crawl of underwater historical relic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291718.0U CN208714010U (en) | 2018-08-12 | 2018-08-12 | A kind of flexible holding device for the crawl of underwater historical relic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208714010U true CN208714010U (en) | 2019-04-09 |
Family
ID=65977282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821291718.0U Active CN208714010U (en) | 2018-08-12 | 2018-08-12 | A kind of flexible holding device for the crawl of underwater historical relic |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208714010U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055298A (en) * | 2019-12-03 | 2020-04-24 | 红塔烟草(集团)有限责任公司 | Clamping trigger device |
| CN111975634A (en) * | 2020-07-13 | 2020-11-24 | 芜湖乐维汽车装备设计有限公司 | Automobile parts polishes and uses clamping device |
| CN112872749A (en) * | 2021-01-08 | 2021-06-01 | 万鑫精工(湖南)股份有限公司 | Automatic assembly sealing washer device based on robotic arm |
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
| CN113104570A (en) * | 2021-03-23 | 2021-07-13 | 芜湖毅昌科技有限公司 | Transfer equipment is used in car bumper processing |
| CN114921924A (en) * | 2022-06-10 | 2022-08-19 | 河源职业技术学院 | Fixing device is got to cloth clamp |
-
2018
- 2018-08-12 CN CN201821291718.0U patent/CN208714010U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055298A (en) * | 2019-12-03 | 2020-04-24 | 红塔烟草(集团)有限责任公司 | Clamping trigger device |
| CN111055298B (en) * | 2019-12-03 | 2020-11-17 | 红塔烟草(集团)有限责任公司 | Clamping trigger device |
| CN111975634A (en) * | 2020-07-13 | 2020-11-24 | 芜湖乐维汽车装备设计有限公司 | Automobile parts polishes and uses clamping device |
| CN112872749A (en) * | 2021-01-08 | 2021-06-01 | 万鑫精工(湖南)股份有限公司 | Automatic assembly sealing washer device based on robotic arm |
| CN113104570A (en) * | 2021-03-23 | 2021-07-13 | 芜湖毅昌科技有限公司 | Transfer equipment is used in car bumper processing |
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
| CN114921924A (en) * | 2022-06-10 | 2022-08-19 | 河源职业技术学院 | Fixing device is got to cloth clamp |
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