CN213890054U

CN213890054U - Mechanical grabbing device for underwater robot

Info

Publication number: CN213890054U
Application number: CN202022893331.6U
Authority: CN
Inventors: 孙超凡; 刘宇娟; 董思源; 王月鹏; 冯宽
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-04
Filing date: 2020-12-04
Publication date: 2021-08-06
Anticipated expiration: 2030-12-04

Abstract

The utility model provides a mechanical grabbing device for underwater robot, which comprises a fixing plate and i, the output shaft of every motor all runs through fixed plate fixedly connected with threaded rod, the outside spiro union of threaded rod has the movable block, the common fixed mounting of lower surface of two movable blocks has the fly leaf, the lower fixed surface of fly leaf installs the articulated seat of U type, the inboard rotation of the articulated seat of U type is connected with third electric telescopic handle, it is connected with second electric telescopic handle to rotate between third electric telescopic handle and the fly leaf, the outside of every spliced pole is all rotated and is connected with the digging arm, the lower extreme fixedly connected with clamping plate of digging arm, and rotate between digging arm and the first electric telescopic handle and be connected with the connecting rod. Through starter motor, drive rather than the threaded rod of being connected and rotate, realize that the movable block in the outside drives fly leaf horizontal migration to solved current mechanical grabbing device when using, inconvenient adjust horizontal position, lead to snatching the problem that the scope is less, the practicality reduces.

Description

Mechanical grabbing device for underwater robot

Technical Field

The utility model relates to an underwater robot technical field especially relates to a mechanical grabbing device for underwater robot.

Background

The underwater robot, as a machine for underwater extreme operations, can replace human beings to work in a severe environment, and the mechanical gripping device of the robot is the most important part of the underwater robot, and the mechanical gripping devices of different kinds of underwater robots are different, and different devices have different advantages and disadvantages.

When the existing mechanical grabbing device is used, the horizontal position is inconvenient to adjust, so that the grabbing range is small, and the practicability is reduced; and when current mechanical grabbing device snatched the object, because protective capacities is relatively poor, lead to the object to be damaged by the clamp easily. Therefore, it is necessary to provide a mechanical gripping device for an underwater robot to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a mechanical gripping device for an underwater robot, which solves the problems that the prior mechanical gripping device is inconvenient to adjust the horizontal position when in use, so that the gripping range is smaller and the practicability is reduced; and current mechanical grabbing device is when snatching the object, because protective capacities is relatively poor, leads to the problem that the object is damaged by the clamp easily.

In order to solve the technical problem, the utility model provides a mechanical grabbing device for underwater robot, which comprises a fixed plate, wherein the lower surface of the fixed plate is provided with a movable groove, the front surface of the fixed plate is symmetrically and fixedly provided with motors, the output shaft of each motor runs through a threaded rod fixedly connected with the fixed plate, the outer side of the threaded rod is screwed with a movable block, the lower surfaces of the two movable blocks are fixedly provided with a movable plate together, the lower surface of the movable plate is fixedly provided with a U-shaped hinging seat, the inner side of the U-shaped hinging seat is rotatably connected with a third electric telescopic rod, a second electric telescopic rod is rotatably connected between the third electric telescopic rod and the movable plate, the lower end of the third electric telescopic rod is fixedly connected with a mounting plate, the lower surface of the mounting plate is fixedly provided with a first electric telescopic rod and three connecting columns, every the outside of spliced pole all rotates and is connected with the digging arm, the lower extreme fixedly connected with clamping plate of digging arm, just it is connected with the connecting rod to rotate between digging arm and the electric telescopic handle.

Preferably, the two sides of the fixing plate are symmetrically and fixedly provided with fixing blocks, and each fixing block is provided with a fixing hole in the upper surface.

Preferably, a box body is arranged on the outer side of the motor, and the box body and the fixing plate are fixed through screws.

Preferably, the camera is inlayed to the clamping board bottom, just a plurality of buffer spring, a plurality of even fixed mounting in one side of clamping board is a plurality of the common fixedly connected with buffer board of one end of buffer spring.

Preferably, a pressure sensor is embedded in one side of the clamping plate, the model of the pressure sensor is PT124G-111, and a top block corresponding to the pressure sensor is fixedly installed on one side of the buffer plate.

Preferably, the outer side of the clamping plate is fixedly provided with a telescopic rubber sleeve, and the telescopic rubber sleeve is fixedly connected with the buffer plate.

Compared with the prior art, the utility model provides a pair of a mechanical grabbing device for underwater robot has following beneficial effect:

the utility model provides a mechanical grabbing device for underwater robot through starter motor, drives the threaded rod rotation rather than being connected, realizes that the movable block in the outside drives fly leaf horizontal migration to solved current mechanical grabbing device when using, inconvenient adjusting horizontal position, lead to snatching the scope less, the problem that the practicality reduces.

The utility model provides a mechanical grabbing device for underwater robot adopts buffer spring and telescopic rubber sleeve to be connected with the buffer board, utilizes the elastic deformation ability of buffer spring and telescopic rubber sleeve, can cushion the power that the object received to the clamp, has solved current mechanical grabbing device when snatching the object, because protective capacities is relatively poor, leads to the object problem of being damaged by the clamp easily.

Drawings

Fig. 1 is a schematic structural diagram of a preferred embodiment of a mechanical gripping device for an underwater robot according to the present invention;

FIG. 2 is a front view of the present invention;

fig. 3 is a schematic view of the connection structure of the buffer board and the clamping board of the present invention.

Reference numbers in the figures: 1. a connecting rod; 2. a first electric telescopic rod; 3. a second electric telescopic rod; 4. a fixing plate; 5. a fixing hole; 6. a threaded rod; 7. a movable plate; 8. a movable groove; 9. a movable block; 10. a fixed block; 11. a U-shaped hinge seat; 12. a third electric telescopic rod; 13. mounting a plate; 14. connecting columns; 15. a movable arm; 16. clamping the plate; 17. a motor; 18. a box body; 19. a telescopic rubber sleeve; 20. a buffer spring; 21. a buffer plate; 22. a top block; 23. a pressure sensor; 24. a camera is provided.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the technical scheme in the utility model, all other embodiments that ordinary skilled person in the art obtained under the prerequisite of not making the creative work all belong to the scope of the utility model protection.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Please refer to fig. 1, fig. 2 and fig. 3 in combination, wherein fig. 1 is a schematic structural diagram of a preferred embodiment of a mechanical grabbing device for an underwater robot according to the present invention; FIG. 2 is a front view of the present invention; fig. 3 is a schematic view of the connection structure of the buffer board and the clamping board of the present invention. A mechanical grabbing device for an underwater robot comprises a fixed plate 4, wherein a movable groove 8 is formed in the lower surface of the fixed plate 4, motors 17 are symmetrically and fixedly mounted on the front surface of the fixed plate 4, an output shaft of each motor 17 penetrates through the fixed plate 4 and is fixedly connected with a threaded rod 6, movable blocks 9 are screwed on the outer sides of the threaded rods 6, movable plates 7 are fixedly mounted on the lower surfaces of the two movable blocks 9 together, a U-shaped hinging seat 11 is fixedly mounted on the lower surface of each movable plate 7, a third electric telescopic rod 12 is rotatably connected to the inner side of the U-shaped hinging seat 11, a second electric telescopic rod 3 is rotatably connected between each third electric telescopic rod 12 and each movable plate 7, a mounting plate 13 is fixedly connected to the lower end of each third electric telescopic rod 12, a first electric telescopic rod 2 and three connecting columns 14 are fixedly mounted on the lower surface of each mounting plate 13, and a movable arm 15 is rotatably connected to the outer side of each connecting column 14, the lower end of the movable arm 15 is fixedly connected with a clamping plate 16, and a connecting rod 1 is rotatably connected between the movable arm 15 and the first electric telescopic rod 2.

Further, fixed blocks 10 are symmetrically and fixedly mounted on two sides of the fixed plate 4, and a fixed hole 5 is formed in the upper surface of each fixed block 10.

Further, a box 18 is disposed outside the motor 17, and the box 18 and the fixing plate 4 are fixed by screws.

Further, camera 24 is inlayed at clamping plate 16 bottom, and clamping plate 16's one side evenly fixed mounting has a plurality of buffer spring 20, and the common fixedly connected with buffer board 21 of a plurality of buffer spring 20's one end.

Furthermore, a pressure sensor 23 is embedded in one side of the clamping plate 16, the model of the pressure sensor 23 is PT124G-111, and a top block 22 corresponding to the pressure sensor 23 is fixedly installed on one side of the buffer plate 21.

Furthermore, a telescopic rubber sleeve 19 is fixedly installed on the outer side of the clamping plate 16, and the telescopic rubber sleeve 19 is fixedly connected with the buffer plate 21.

The utility model provides a pair of a mechanical grabbing device for underwater robot's theory of operation as follows:

when the device is installed, the fixing block 10 is fixed at the bottom of the ship body through the fixing hole 5 by using a screw. When the device is used, the camera 24 is utilized, according to the position of an object, the motor 17 is started to drive the threaded rod 6 connected with the camera to rotate, the movable block 9 at the outer side is driven to drive the movable plate 7 to move horizontally, so that the horizontal position of the clamping plate 16 is changed, the second electric telescopic rod 3 is adjusted to change the inclination angle of the clamping plate 16, finally, the third electric telescopic rod 12 and the first electric telescopic rod 2 are adjusted, the first electric telescopic rod 2 drives the mounting plate 13 to lift, so that the clamping plate 16 is close to the object, the third electric telescopic rod 12 is adjusted simultaneously to drive the clamping plate 16 connected through the connecting rod 1 and the movable arm 15 to clamp the object, when the object is contacted with the buffer plate 21, the telescopic rubber sleeve 19 and the buffer spring 20 are elastically deformed to buffer the clamping force applied to the object, when the top block 22 is contacted with the pressure sensor 23, and the pressure sensor 23 reaches a preset pressure value, and sending a signal to a preset PLC controller to command the first electric telescopic rod 2 to stop working.

The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.

Claims

1. A mechanical gripping device for underwater robots, comprising a fixed plate (4), characterized in that: the lower surface of the fixing plate (4) is provided with a movable groove (8), the front surface of the fixing plate (4) is symmetrically and fixedly provided with motors (17), each output shaft of each motor (17) penetrates through the fixing plate (4) and is fixedly connected with a threaded rod (6), the outer side of each threaded rod (6) is screwed with a movable block (9), two movable blocks (9) are fixedly mounted on the lower surface of the movable block (7) together, a U-shaped hinged seat (11) is fixedly mounted on the lower surface of each movable block (7), a third electric telescopic rod (12) is rotatably connected to the inner side of each U-shaped hinged seat (11), a second electric telescopic rod (3) is rotatably connected between each third electric telescopic rod (12) and each movable block (7), a mounting plate (13) is fixedly connected to the lower end of each third electric telescopic rod (12), and a first electric telescopic rod (2) and a third connecting column (14) are fixedly mounted on the lower surface of the mounting plate (13), every the outside of spliced pole (14) all rotates and is connected with digging arm (15), the lower extreme fixedly connected with clamping board (16) of digging arm (15), just it is connected with connecting rod (1) to rotate between digging arm (15) and first electric telescopic handle (2).

2. The mechanical grabbing device for the underwater robot of claim 1, wherein the two sides of the fixing plate (4) are symmetrically and fixedly provided with fixing blocks (10), and the upper surface of each fixing block (10) is provided with a fixing hole (5).

3. The mechanical gripping device for underwater robots according to claim 1, characterized in that a box (18) is arranged outside the motor (17), and the box (18) is fixed to the fixed plate (4) by screws.

4. The mechanical grabbing device for the underwater robot as claimed in claim 1, wherein a camera (24) is embedded in the bottom of the clamping plate (16), a plurality of buffer springs (20) are uniformly and fixedly installed on one side of the clamping plate (16), and one ends of the plurality of buffer springs (20) are jointly and fixedly connected with a buffer plate (21).

5. The mechanical grabbing device for the underwater robot of claim 4, wherein a pressure sensor (23) is embedded in one side of the clamping plate (16), the model of the pressure sensor (23) is PT124G-111, and a top block (22) corresponding to the pressure sensor (23) is fixedly installed on one side of the buffer plate (21).

6. The mechanical grabbing device for underwater robot of claim 4, wherein the outer side of the clamping plate (16) is fixedly installed with a telescopic rubber sleeve (19), and the telescopic rubber sleeve (19) is fixedly connected with the buffer plate (21).