CN209921586U

CN209921586U - Quick clamping mechanism of diving equipment

Info

Publication number: CN209921586U
Application number: CN201920812351.0U
Authority: CN
Inventors: 王沁; 苏宇; 赵鹏; 田军委; 丁瑞敏; 冯琳
Original assignee: Xian Technological University
Current assignee: Xian Technological University
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2020-01-10
Anticipated expiration: 2029-05-31

Abstract

The utility model discloses a quick clamping mechanism of diving equipment, which comprises a mechanical arm, wherein the mechanical arm comprises a tailstock, the tail end of the tailstock is rotatably provided with a first swing arm, and a rudder on the tailstock can drive the first swing arm to swing horizontally; a second swing arm is rotatably arranged at the tail end of the first swing arm, and a rudder on the first swing arm can drive the second swing arm to swing longitudinally; the tail end of the second swing arm is provided with an execution claw unit; the execution claw unit comprises a cylindrical wrist structure, and the root part of the wrist structure is integrally fixed at the tail end of the second swing arm; the structure of the utility model has the function of isolating water through the water isolation piston, so that the environments of the electromagnet and the linear push rod motor are always in a dry environment; meanwhile, the mechanical claw is rapidly grabbed by adopting an electromagnetic ejection mode, and the stable clamping effect after rapid grabbing is realized by adopting an electromagnet chasing mode.

Description

Quick clamping mechanism of diving equipment

Technical Field

The utility model belongs to manipulator field under water.

Background

The existing underwater gripper needs to achieve good waterproof performance, and meanwhile, the existing underwater gripper is difficult to achieve quick grabbing and can stabilize the clamping effect.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the utility model provides a rapid clamping mechanism of diving equipment, which can realize rapid clamping and stable clamping,

the technical scheme is as follows: in order to achieve the above purpose, the utility model discloses a quick clamping mechanism of diving equipment, including the arm, the arm includes the tailstock, rotate on the tailstock end and install first swing arm, the rudder machine on the tailstock can drive the horizontal swing of first swing arm; a second swing arm is rotatably arranged at the tail end of the first swing arm, and a rudder on the first swing arm can drive the second swing arm to swing longitudinally; the tail end of the second swing arm is provided with an execution claw unit; the execution claw unit comprises a cylindrical wrist structure, and the root part of the wrist structure is integrally fixed at the tail end of the second swing arm; three groups of finger mechanisms are distributed on the wrist structure in a circumferential array and can perform grabbing and loosening actions.

Furthermore, a cylindrical piston channel is coaxially arranged at the axis position in the wrist structure, a water isolation piston is arranged in the piston channel and comprises a hard disc body made of nonmagnetic materials, a waterproof rubber ring is integrally arranged at the outline edge of the hard disc body, and the outer ring of the waterproof rubber ring is in sealed sliding connection with the inner wall of the piston channel; an electromagnet is arranged on one side, away from the execution claw unit, of the water isolation piston, an electromagnetic iron core of the electromagnet is coaxially arranged with the piston channel, a linear push rod motor is fixedly installed on one side, away from the water isolation piston, of the electromagnet, the tail end of a linear push rod of the linear push rod motor is fixedly connected with the electromagnet, and the linear push rod motor can drive the electromagnet to integrally move back and forth along the axis of the piston channel through the linear push rod; an execution claw power shaft is coaxially arranged on one side, far away from the electromagnetic iron core, of the water isolation piston, a permanent magnet rod is fixedly arranged at one end, close to the water isolation piston, of the execution claw power shaft coaxially, and the N pole end of the permanent magnet rod corresponds to one end of the electromagnetic iron core coaxially; the water isolation piston is positioned between the permanent magnet rod and the electromagnetic iron core;

further, one end of the power shaft of the execution claw, which is far away from the water isolation piston, coaxially moves to pass through a power shaft through hole at the tail end of the wrist structure; one end of the execution claw power shaft, which is far away from the water isolation piston, is fixedly connected with a linkage disk with the same axle center, and the contour edge of the linkage disk is provided with three first hinge parts in a circumferential array; three second hinged parts are distributed on the contour of the tail end of the wrist structure in a circumferential array, the three groups of finger mechanisms respectively comprise three claws, and the roots of the three claws are respectively hinged on the three second hinged parts; the tail ends of the claws are respectively provided with claw tips which are bent inwards; and thirdly, the middle parts of the paws are provided with third hinge parts and three linkage rods, and the two ends of each linkage rod are respectively hinged with the corresponding first hinge part and the corresponding third hinge part.

Has the advantages that: the structure of the utility model has the function of isolating water through the water isolation piston, so that the environments of the electromagnet and the linear push rod motor are always in a dry environment; meanwhile, the mechanical claw is rapidly grabbed by adopting an electromagnetic ejection mode, and the stable clamping effect after rapid grabbing is realized by adopting an electromagnet chasing mode.

Drawings

FIG. 1 is a schematic view of a robot arm structure;

FIG. 2 is a schematic view of a robotic arm at an actuation jaw;

FIG. 3 is a schematic view of the inside cut-away of the wrist structure;

FIG. 4 is a schematic front cross-sectional view of the wrist structure.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The quick clamping mechanism of the diving equipment as shown in fig. 1 to 4 comprises a mechanical arm, wherein the mechanical arm comprises a tailstock 7, a first swing arm 5 is rotatably mounted at the tail end of the tailstock 7, and a rudder on the tailstock 7 can drive the first swing arm 5 to swing horizontally; the tail end of the first swing arm 5 is rotatably provided with a second swing arm 3, and a rudder machine on the first swing arm 5 can drive the second swing arm 3 to swing longitudinally; the tail end of the second swing arm 3 is provided with an execution claw unit 1; the execution claw unit 1 comprises a cylindrical wrist structure 2, and the root of the wrist structure 2 is integrally fixed at the tail end of the second swing arm 3; three groups of finger mechanisms are distributed on the wrist structure 2 in a circumferential array and can perform grabbing and loosening actions.

A cylindrical piston channel 22 is coaxially arranged at the axis position in the wrist structure 2, a water isolation piston 24 is arranged in the piston channel 22, the water isolation piston 24 comprises a hard disc body 18 made of nonmagnetic materials, a waterproof rubber ring 20 is integrally arranged at the outline edge of the hard disc body 18, and the outer ring of the waterproof rubber ring 20 is in sealing sliding connection with the inner wall of the piston channel 22; an electromagnet 25 is arranged on one side, away from the execution claw unit 1, of the water isolation piston 24, an electromagnet core 21 of the electromagnet 25 is coaxially arranged with the piston channel 22, a linear push rod motor 29 is fixedly installed on one side, away from the water isolation piston 24, of the electromagnet 25, the tail end of a linear push rod 28 of the linear push rod motor 29 is fixedly connected with the electromagnet 25, and the linear push rod motor 29 can drive the electromagnet 25 to integrally move back and forth along the axis of the piston channel 22 through the linear push rod 28; an execution claw power shaft 27 is coaxially arranged on one side of the water isolation piston 24, which is far away from the electromagnetic iron core 21, a permanent magnet rod 16 is coaxially and fixedly installed at one end, which is close to the water isolation piston 24, of the execution claw power shaft 27, and the N pole end 16.1 of the permanent magnet rod 16 corresponds to one end of the electromagnetic iron core 21 coaxially; the water isolation piston 24 is positioned between the permanent magnet bar 16 and the electromagnet core 21;

one end of the actuating claw power shaft 27 far away from the water isolation piston 24 coaxially moves to pass through the power shaft through hole 17 at the tail end of the wrist structure 2; one end of the execution claw power shaft 27, which is far away from the water isolation piston 24, is fixedly connected with a linkage disc 14 coaxially, and the contour edge of the linkage disc 14 is provided with three first hinge parts 10 in a circumferential array; three second hinging pieces 8 are distributed on the contour of the tail end of the wrist structure 2 in a circumferential array, the three groups of finger mechanisms respectively comprise three claws 11, and the roots of the three claws 11 are respectively hinged on the three second hinging pieces 8; the tail ends of the three claws 11 are respectively provided with claw tips 12 which are bent inwards; and thirdly, the middle parts of the claws 11 are provided with third hinge parts 9 and three linkage rods 13, and two ends of each linkage rod 13 are respectively hinged with the corresponding first hinge part 10 and the corresponding third hinge part 9.

The method, the process and the technical progress of the scheme are organized as follows:

in the initial state, the execution claw unit 1 is in an open state, the electromagnet 25 is in a non-electrified state, the execution claw unit 1 of the mechanical arm is completely immersed under water, and at the moment, the water isolation piston 24 has an isolation effect on water, so that the environments where the electromagnet 25 and the linear push rod motor 29 are located are always in a dry environment;

the execution method of the quick capture motion comprises the following steps: the electromagnet 25 is electrified, so that the electromagnet core 21 obtains magnetism rapidly, the permanent magnet rod 16 of the execution claw power shaft 27 and the electromagnet core 21 repel strongly, the execution claw power shaft 27 is ejected outwards rapidly by the electromagnetic force, the electromagnet 25 is powered off rapidly after the execution claw power shaft 27 is ejected, the electromagnet core 21 loses magnetism, the linear push rod motor 29 is started while the electromagnet 25 is electrified, the linear push rod 28 is made to perform extension movement, the electromagnet 25 integrally performs the movement of chasing the execution claw power shaft 27, the end part of the electromagnet core 21 starts to press the water isolation piston 24 leftwards, and the water isolation piston 24 performs the movement of chasing the execution claw power shaft 27 together with the electromagnet 25; at the moment, the linkage disc 14 is synchronously popped out along with the execution claw power shaft 27, so that the linkage disc 14 drives the three claws 11 to perform inward grabbing actions through the three linkage rods 13, and then claw tips 12 at the tail ends of the three claws 11 quickly grab inwards and puncture a grabbed object, thereby realizing the purpose of quickly grabbing; after the three grippers 11 complete the gripping action, the linkage disc 14 and the execution claw power shaft 27 stop moving, the whole electromagnet 25 and the water isolation piston 24 immediately catch up with the execution claw power shaft 27, and the operation of the linear push rod motor 29 is suspended after the whole electromagnet 25 and the water isolation piston 24 catch up with the execution claw power shaft 27, at the moment, the left end of the electromagnetic iron core 21 coaxially contacts the right side of the water isolation piston 24, and the right end of the execution claw power shaft 27 contacts the left side of the water isolation piston 24; at this time, stable grabbing of the execution claw unit 1 is realized;

the releasing and returning execution method of the execution claw unit 1 comprises the following steps:

electrifying the electromagnet 25 again, and enabling the permanent magnet rod 16 of the execution claw power shaft 27 and the electromagnetic iron core 21 to attract each other, so that the electromagnet 25 and the execution claw power shaft 27 are in a synchronous state; meanwhile, the linear push rod motor 29 is started, so that the linear push rod 28 makes a shortening movement, and the electromagnet 25, the execution claw power shaft 27 and the linkage disc 14 make a synchronous rightward movement until the linkage disc 14 drives the three claws 11 to make an outward loosening movement through the three linkage rods 13.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. Dive equipment's quick clamp is got mechanism, its characterized in that: the mechanical arm comprises a tailstock (7), a first swing arm (5) is rotatably mounted at the tail end of the tailstock (7), and a steering engine on the tailstock (7) can drive the first swing arm (5) to horizontally swing; the tail end of the first swing arm (5) is rotatably provided with a second swing arm (3), and a rudder on the first swing arm (5) can drive the second swing arm (3) to swing longitudinally; the tail end of the second swing arm (3) is provided with an execution claw unit (1); the execution claw unit (1) comprises a cylindrical wrist structure (2), and the root of the wrist structure (2) is integrally fixed at the tail end of the second swing arm (3); three groups of finger mechanisms are distributed on the wrist structure (2) in a circumferential array manner, and can perform grabbing and loosening actions.

2. The quick pick up mechanism of diving equipment of claim 1, wherein: a cylindrical piston channel (22) is coaxially arranged at the axis position in the wrist structure (2), a water isolation piston (24) is arranged in the piston channel (22), the water isolation piston (24) comprises a hard disc body (18) made of a non-magnetic material, a waterproof rubber ring (20) is integrally arranged at the outline edge of the hard disc body (18), and the outer ring of the waterproof rubber ring (20) is in sealing sliding connection with the inner wall of the piston channel (22); an electromagnet (25) is arranged on one side, away from the execution claw unit (1), of the water isolation piston (24), an electromagnetic iron core (21) of the electromagnet (25) is coaxially arranged with the piston channel (22), a linear push rod motor (29) is fixedly mounted on one side, away from the water isolation piston (24), of the electromagnet (25), the tail end of a linear push rod (28) of the linear push rod motor (29) is fixedly connected with the electromagnet (25), and the linear push rod motor (29) can drive the electromagnet (25) to integrally move back and forth along the axis of the piston channel (22) through the linear push rod (28); an execution claw power shaft (27) is coaxially arranged on one side, far away from the electromagnetic iron core (21), of the water isolation piston (24), a permanent magnet rod (16) is fixedly installed coaxially at one end, close to the water isolation piston (24), of the execution claw power shaft (27), and the N pole end (16.1) of the permanent magnet rod (16) corresponds to one end of the electromagnetic iron core (21) coaxially; the water isolation piston (24) is positioned between the permanent magnet bar (16) and the electromagnetic iron core (21).

3. The quick pick up mechanism of diving equipment of claim 2, wherein: one end of the execution claw power shaft (27) far away from the water isolation piston (24) coaxially moves to pass through a power shaft through hole (17) at the tail end of the wrist structure (2); one end, far away from the water isolation piston (24), of the execution claw power shaft (27) is coaxially and fixedly connected with a linkage disc (14), and three first hinged parts (10) are arranged on the contour edge of the linkage disc (14) in a circumferential array; three second hinging pieces (8) are distributed on the contour of the tail end of the wrist structure (2) in a circumferential array, three groups of finger mechanisms respectively comprise three claws (11), and the roots of the three claws (11) are respectively hinged on the three second hinging pieces (8); the tail ends of the three claws (11) are respectively provided with claw tips (12) which are bent inwards; and thirdly, third hinge parts (9) are arranged in the middle of the paw (11), three linkage rods (13) are further included, and the two ends of each linkage rod (13) are respectively hinged with the corresponding first hinge part (10) and the corresponding third hinge part (9).