CN209304602U - Manipulator flexibility clamping jaw for underwater environment - Google Patents
Manipulator flexibility clamping jaw for underwater environment Download PDFInfo
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- CN209304602U CN209304602U CN201822271280.6U CN201822271280U CN209304602U CN 209304602 U CN209304602 U CN 209304602U CN 201822271280 U CN201822271280 U CN 201822271280U CN 209304602 U CN209304602 U CN 209304602U
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- spring leaf
- clamping jaw
- underwater environment
- spring
- manipulator
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Abstract
The utility model belongs to ocean preparatory construction field, specifically a kind of manipulator flexibility clamping jaw for underwater environment, including shrapnel group and clad, wherein clad is enclosed with outside shrapnel group, the shrapnel group includes the spring leaf that multi-disc successively abuts, the lower end of each spring leaf is affixed, upper end is free end, the length of each spring leaf is successively shortened by the outside for being laterally away from clamping object in clamping object, and the free end of other spring leafs in addition to innermost spring leaf is connected to previous flat spring on piece.The utility model has the advantages that at low cost, non-maintaining, suitability is strong, failure rate is low etc..
Description
Technical field
The utility model belongs to ocean preparatory construction field, and specifically a kind of manipulator for underwater environment is flexible
Clamping jaw is applied to ocean development, scientific investigation.
Background technique
As the mankind deepen continuously to the exploitation of ocean, research, exploration, the demand to marine settings is continuously increased.Such as
Shown in Fig. 1, the clamping jaw of current existing underwater manipulator 6 is rigid jaw 1, and its structure is complicated, is not easy to underwater environment
Using.Therefore, the demand to underwater flexible crawl technology is further urgent.
Utility model content
In order to meet the needs of underwater flexible crawl, the purpose of this utility model is to provide a kind of for underwater environment
Manipulator flexibility clamping jaw.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes shrapnel group and clad, and clad, the shrapnel group packet are wherein enclosed with outside shrapnel group
The spring leaf that multi-disc successively abuts is included, the lower end of each spring leaf is affixed, and upper end is free end, and the length of each spring leaf is by leaning on
The outside that clamping object is laterally away from nearly clamping object is successively shortened, other spring leafs in addition to innermost spring leaf from
Previous flat spring on piece is connected to by holding；
The spring leaf is arc, is bent by rectangular spring leaf through-thickness, the length of every flat spring piece is big
It is greater than thickness in width, width；
The width of each spring leaf is equal, thickness is equal；
The lower end of each spring leaf is aligned and is mutually connected, and the free end of each spring leaf occurs when by external force
It deforms and produces relative sliding；
Elastic force is mutually transmitted between each spring leaf, realizes flexible contact power of each spring leaf along Direction of superposition；
The radian of each spring leaf is identical；
The clad is coated on the outside of shrapnel group by injection molding.
The advantages of the utility model and good effect are as follows:
1. at low cost；The utility model uses the design of multiple springs piece superposition, at low cost, easy to maintain.
2. suitability is strong；The interface form of the flexible clamping jaw of the utility model easily customizes, and it is flat can be adapted to different manipulators
Platform.
3. failure rate is low, the mechanism of the utility model structure simply, without complexity, failure rate is low.
Detailed description of the invention
Fig. 1 is the underwater manipulator structural schematic diagram of existing rigid jaw；
Fig. 2 is the structural schematic diagram of the utility model；
Fig. 3 is the sectional view of the utility model flexibility clamping jaw；
Fig. 4 is the left view cross-sectional view of Fig. 3；
Fig. 5 is the structural schematic diagram of the utility model flexibility clamping jaw；
Fig. 6 is the structural schematic diagram of the single spring leaf of the utility model；
Wherein: 1 is rigid jaw, and 2 be flexible clamping jaw, and 3 be shrapnel group, and 4 be clad, and 5 be spring leaf, and 6 be manipulator.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As illustrated in figures 3-6, the utility model includes shrapnel group 3 and clad 4, is wherein enclosed with cladding outside shrapnel group 3
Layer 4 plays the role of buffer protection, increases frictional force, is etch-proof；Shrapnel group 3 includes the spring leaf 5 that multi-disc successively abuts, respectively
The lower end of spring leaf 5 is aligned and is mutually connected, and upper end is free end；The length of each spring leaf 5 is by lateral in clamping object
Outside far from clamping object is successively shortened, before the free end of other spring leafs 5 in addition to innermost spring leaf 5 is connected to
On a piece of spring leaf 5.
The spring leaf 5 of the utility model is arc, by the spring leaf through-thickness of rectangular (the present embodiment is rectangle)
It is bent, the radian of each spring leaf 5 is identical.The length of every flat spring piece 5 is greater than width, width is greater than thickness.Each spring leaf 5
Width be equal, thickness is equal.The rigidity of the width direction of every flat spring piece 5 is much larger than the rigidity of thickness direction, so
It is able to bear biggish power and indeformable, still there is biggish load capacity while realizing flexible crawl.
The free end of each spring leaf 5 of the utility model can deform and be produced relative sliding when by external force, each bullet
Elastic force is mutually transmitted between reed 5, realizes each spring leaf 5 along the flexible contact power of Direction of superposition.
The clad 4 of the utility model can select different materials (such as rubber or silica gel) according to job requirements, can lead to
The mode for crossing injection molding is evenly coated at the outside of shrapnel group 3, soft, the flexible, great friction coefficient, corrosion-resistant using clad 4
The features such as improve the performance of flexible clamping jaw 2, reduce the hardness of flexible clamping jaw 2 and improve the coefficient of friction of flexible clamping jaw 2.
As shown in Fig. 2, the end of the flexible clamping jaw 2 of the utility model can customize corresponding installation interface according to demand, with
It is adapted to different manipulators 6.
The working principle of the utility model are as follows:
Spring leaf 5 of the middle shrapnel group 3 of the utility model including multiple arcs, each spring leaf 5 radian having the same, and
Length successively shortens.When assembling, the lower end of each spring leaf 5 is aligned and is mutually connected (such as rivet, weld or be bolted), on
End is free end.When by external force, the free end of each spring leaf 5 can deform and have opposite sliding, realize along Direction of superposition
Flexible contact power；Simultaneously because the rigidity of width direction is much larger than the rigidity degree in thick direction, so being able to bear biggish power
And it is indeformable, still there is biggish load capacity while realization along the flexible crawl of Direction of superposition.Soft using clad 2,
Great friction coefficient, it is corrosion-resistant the features such as improve the performance of flexible clamping jaw 2.And the length of spring leaf, width, thickness, quantity, radian
And the length difference of different elastic slices can design according to different needs.
The utility model provides a kind of manipulator flexibility clamping jaw for underwater environment, is easily adapted existing a variety of machines
Flexible crawl function can be realized in tool hand, the structure without changing former manipulator.The utility model have it is at low cost, non-maintaining,
The advantages such as suitability is strong, failure rate is low.
Claims (7)
1. a kind of manipulator flexibility clamping jaw for underwater environment, it is characterised in that: including shrapnel group (3) and clad (4),
It is enclosed with clad (4) outside middle shrapnel group (3), the shrapnel group (3) includes the spring leaf (5) that multi-disc successively abuts, each bullet
The lower end of reed (5) is affixed, and upper end is free end, and the length of each spring leaf (5) in clamping object by being laterally away from
The outside of clamping object is successively shortened, before the free end of other spring leafs (5) in addition to innermost spring leaf (5) is connected to
On a piece of spring leaf (5).
2. being used for the manipulator flexibility clamping jaw of underwater environment according to claim 1, it is characterised in that: the spring leaf (5)
It for arc, is bent by rectangular spring leaf through-thickness, the length of every flat spring piece (5) is greater than width, width is greater than
Thickness.
3. being used for the manipulator flexibility clamping jaw of underwater environment according to claim 2, it is characterised in that: each spring leaf
(5) width is equal, thickness is equal.
4. being used for the manipulator flexibility clamping jaw of underwater environment according to claim 1, it is characterised in that: each spring leaf
(5) lower end is aligned and is mutually connected, and the free end of each spring leaf (5) deforms when by external force and generates opposite
Sliding.
5. being used for the manipulator flexibility clamping jaw of underwater environment according to claim 4, it is characterised in that: each spring leaf
(5) elastic force is mutually transmitted between, realizes each spring leaf (5) along the flexible contact power of Direction of superposition.
6. being used for the manipulator flexibility clamping jaw of underwater environment according to claim 1, it is characterised in that: each spring leaf
(5) radian is identical.
7. being used for the manipulator flexibility clamping jaw of underwater environment according to claim 1, it is characterised in that: the clad (4)
The outside of shrapnel group (3) is coated on by being molded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822271280.6U CN209304602U (en) | 2018-12-30 | 2018-12-30 | Manipulator flexibility clamping jaw for underwater environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822271280.6U CN209304602U (en) | 2018-12-30 | 2018-12-30 | Manipulator flexibility clamping jaw for underwater environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209304602U true CN209304602U (en) | 2019-08-27 |
Family
ID=67680174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822271280.6U Active CN209304602U (en) | 2018-12-30 | 2018-12-30 | Manipulator flexibility clamping jaw for underwater environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209304602U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390959A (en) * | 2020-04-23 | 2020-07-10 | 海南深赞迷科技有限公司 | Manipulator of operation under water |
-
2018
- 2018-12-30 CN CN201822271280.6U patent/CN209304602U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390959A (en) * | 2020-04-23 | 2020-07-10 | 海南深赞迷科技有限公司 | Manipulator of operation under water |
| CN111390959B (en) * | 2020-04-23 | 2021-12-14 | 泉州市泉腾机械科技有限公司 | Manipulator of operation under water |
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