CN213999222U

CN213999222U - Underwater mechanical arm convenient to fix and grab target

Info

Publication number: CN213999222U
Application number: CN202023166392.9U
Authority: CN
Inventors: 李四维
Original assignee: Tianjin Syscustom Science And Technology Co ltd
Current assignee: Tianjin Syscustom Science And Technology Co ltd
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2021-08-20
Anticipated expiration: 2030-12-24

Abstract

The utility model discloses an underwater manipulator convenient for fixing a grabbing object, which comprises a base, a motor II is arranged in the base, a first rotating shaft is arranged on the driving end of the motor II, a first linkage pipe is arranged on the first rotating shaft through a fixed block, a first motor is arranged in the linkage pipe, a second rotating shaft is fixedly connected with a worm through a square groove, parallel worm wheels are arranged on the worm in a connecting seat, the small-range rotation of the worm wheels is realized through the positive and negative rotation of the first motor, the first linkage pipe and the second linkage pipe are fixedly connected through a cylinder, when the device is normally used, the left and right movement of the linkage pipe and a chuck is realized through the first rotating shaft, the chuck is moved up and down through the cylinder, the worm is driven through the motor, the worm rotates to drive the worm wheel, a connecting rod is connected to one side of the worm wheel, the clamping of the chuck is driven when the worm wheel rotates, under the combined action of the second motor and the cylinder, and multi-angle directional grabbing is realized.

Description

Underwater mechanical arm convenient to fix and grab target

Technical Field

The utility model relates to a manipulator equipment technical field specifically is a manipulator under water convenient to it is fixed to snatch target.

Background

With the increase of the width and depth of the ocean development and utilization by human beings, underwater robots will be important tools for the ocean development and utilization by human beings. The underwater manipulator is an important component of the underwater robot, and if the underwater manipulator is not arranged, the underwater robot is difficult to complete complex underwater operation. At present, most of practical underwater manipulators are complex in structure, inflexible in operation and the like, the manipulator and the supporting device cannot be detached, so that the manipulator is troublesome and labor-consuming in transportation, the underwater manipulator is very difficult to connect in use, the problem of the underwater manipulator caused by improper connection can delay the construction progress, and the underwater manipulator convenient for fixedly grabbing a target is provided for solving the problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator under water convenient to fixed target of snatching to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an underwater manipulator convenient for fixing a grabbed target comprises a base, wherein a cavity is fixedly arranged in the base, a second motor is fixedly arranged in the cavity, a first rotating shaft is fixedly connected to a driving end of the second motor, the first rotating shaft fixedly penetrates through the top of the base, a fixing block is fixedly arranged on a first rotating shaft positioned outside a sleeve, and the first rotating shaft is movably connected with a linkage pipe through the fixing block;

the utility model discloses a connecting device, including linkage pipe, connecting seat, connecting rod, connecting block, connecting rod, connecting block fixed connection chuck, connecting rod passes through the loose axle fixed mounting of fixed mounting inside the connecting seat, one side fixed connection connecting rod of worm wheel, the fixed rubber pad that is equipped with between connecting seat and the connecting rod.

Preferably, the outer lane of bearing and telescopic outer lane fixed connection, the inner circle fixed connection of bearing is on the outer lane of pivot one, a fixed telescopic top that runs through of pivot one, the fixed block on a pivot top and the bottom swing joint of linkage pipe, the fixed mounting calibrated scale on telescopic one side, and calibrated scale internal fixation is equipped with the pointer.

Preferably, the connecting block is square, and the connecting block is fixedly connected with the square groove of the second one end of the rotating shaft, the second rotating shaft is fixedly penetrated through one end of the linkage pipe, a damping pad is fixedly arranged at the joint of the second rotating shaft and the connecting seat, and the first motor is a forward and reverse rotating motor.

Preferably, be located fixed cover has the sleeve on the pivot one at base top, the fixed bearing that is equipped with in junction of sleeve and base, telescopic one side is fixed to be equipped with articulated seat one, one side of linkage pipe is fixed to be equipped with articulated seat two, and through cylinder swing joint between articulated seat two and the articulated seat one.

Compared with the prior art, the beneficial effects of the utility model are that:

1. a second motor is arranged in the base, a first rotating shaft is arranged at the driving end of the second motor, a linkage pipe is arranged on the first rotating shaft through a fixing block, the first motor is arranged in the linkage pipe, a second rotating shaft is arranged on the first motor, a square groove is formed in one end of the second rotating shaft, the second rotating shaft is fixedly connected with a worm through the square groove, the worm penetrates through the connecting seat, a parallel worm wheel is arranged on the worm in the connecting seat, and small-range rotation of the worm wheel is realized through forward and reverse rotation of the first motor, so that clamping of the underwater manipulator is realized;

2. the first hinged seat and the second hinged seat are installed at one end of the sleeve and one end of the linkage pipe, the first hinged seat and the second hinged seat are fixedly connected through the air cylinder, the linkage pipe moves upwards through the driving air cylinder, the grabbing target above the linkage pipe is conveniently grabbed, a rubber pad is installed between one side of the connecting seat and the connecting rod, abrasion is generated between the connecting rod and the connecting seat when the clamping is carried out on the chuck, and therefore the device is protected.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the installation structure of the middle worm of the present invention;

FIG. 3 is a schematic view of a mounting structure of a motor according to the present invention;

fig. 4 is a schematic view of a second mounting structure of the motor in the drawing of the present invention.

In the figure: 1. a base; 2. a sleeve; 3. a first hinge seat; 4. a cylinder; 5. a second hinge seat; 6. a movable shaft; 8. a connecting rod; 9. a connecting seat; 10. a linkage pipe; 11. a fixed block; 12. a first rotating shaft; 13. a dial scale; 14. connecting blocks; 15. a worm; 16. a damping pad; 17. a worm gear; 18. a chuck; 19. a first motor; 20. a second rotating shaft; 21. a square groove; 22. a rubber pad; 23. a second motor; 24. and a bearing.

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 embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: an underwater manipulator convenient for fixing a grabbed target comprises a base 1, wherein a cavity is fixedly arranged in the base 1, a second motor 23 is fixedly arranged in the cavity, a driving end of the second motor 23 is fixedly connected with a first rotating shaft 12, the first rotating shaft 12 fixedly penetrates through the top of the base 1, a first rotating shaft 12 positioned outside a sleeve 2 is fixedly provided with a fixed block 11, and the first rotating shaft 12 is movably connected with a linkage pipe 10 through the fixed block 11;

a cavity is fixedly arranged in the linkage pipe 10, a first motor 19 is fixedly arranged in the cavity, a driving end of the first motor 19 is fixedly connected with a second rotating shaft 20, a square groove 21 is fixedly formed in one end of the second rotating shaft 20, the second rotating shaft 20 is fixedly connected with a worm 15, a connecting block 14 is fixedly arranged at one end of the worm 15, the second rotating shaft 20 is fixedly connected with the worm 15 through the connecting block 14, the worm 15 is fixedly arranged in the connecting seat 9, parallel worm wheels 17 are fixedly arranged on two sides of the worm 15 in the connecting seat 9, the worm wheels 17 are mutually meshed with the worm 15, parallel connecting rods 8 are fixedly arranged at one end of the connecting seat 9, a chuck 18 is fixedly connected to one end of each connecting rod 8, the connecting rods 8 are fixedly arranged on movable shafts 6 fixedly arranged in the connecting seat 9, one side of each worm wheel 17 is fixedly connected with the connecting rod 8, and a rubber pad 22 is fixedly arranged between the connecting seat 9 and the connecting rods 8.

Further, the outer ring of the bearing 24 is fixedly connected with the outer ring of the sleeve 2, the inner ring of the bearing 24 is fixedly connected with the outer ring of the first rotating shaft 12, the first rotating shaft 12 fixedly penetrates through the top of the sleeve 2, the fixed block 11 at the top end of the first rotating shaft 12 is movably connected with the bottom end of the linkage pipe 10, the dial 13 is fixedly installed on one side of the sleeve 2, and a pointer is fixedly arranged in the dial 13.

Furthermore, the connecting block 14 is square, the connecting block 14 is fixedly connected with the square groove 21 at one end of the second rotating shaft 20, the second rotating shaft 20 is fixedly arranged at one end of the linkage pipe 10, a damping pad 16 is fixedly arranged at the joint of the second rotating shaft 20 and the connecting seat 9, and the first motor 19 is a forward and reverse motor.

Further, a sleeve 2 is fixedly sleeved on a first rotating shaft 12 located at the top of the base 1, a bearing 24 is fixedly arranged at the joint of the sleeve 2 and the base 1, a first hinged seat 3 is fixedly arranged on one side of the sleeve 2, a second hinged seat 5 is fixedly arranged on one side of the linkage pipe 10, and the second hinged seat 5 is movably connected with the first hinged seat 3 through a cylinder 4.

The working principle is as follows: a second motor 23 is arranged in the base 1, a first rotating shaft 12 is arranged at the driving end of the second motor 23, a linkage pipe 10 is arranged on the first rotating shaft 12 through a fixing block 11, a first motor 19 is arranged in the linkage pipe 10, a second rotating shaft 20 is arranged on the first motor 19, a square groove 21 is formed in one end of the second rotating shaft 20, the second rotating shaft 20 is fixedly connected with a worm 15 through the square groove 21, the worm 15 penetrates through a connecting seat 9, a parallel worm wheel 17 is arranged on the worm 15 in the connecting seat 9, small-range rotation of the worm wheel 17 is realized through positive and negative rotation of the first motor 19, a first hinge seat 3 and a second hinge seat 5 are arranged at one end of a sleeve 2 and one end of the linkage pipe 10, the first hinge seat 3 and the second hinge seat 5 are fixedly connected through an air cylinder 4, when the device is normally used, left and right movement of the linkage pipe 10 and a chuck 18 is realized through the first rotating shaft 12, and up and down movement of the chuck 18 is realized through the air cylinder 4, the worm 15 is driven through the first motor 19, the worm 15 drives the worm wheel 17 in a rotating mode, the connecting rod 8 is connected to one side of the worm wheel 17, the worm wheel 17 drives the connecting rod 8 and the chuck 18 to clamp when rotating, and under the combined action of the second motor 23 and the air cylinder 4, multi-angle directional grabbing tasks are achieved, and the purpose of fixing grabbing targets is achieved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an underwater manipulator convenient to fixed target of snatching, includes base (1), its characterized in that: a cavity is fixedly arranged in the base (1), a second motor (23) is fixedly arranged in the cavity, a driving end of the second motor (23) is fixedly connected with a first rotating shaft (12), the first rotating shaft (12) fixedly penetrates through the top of the base (1), a fixing block (11) is fixedly arranged on the first rotating shaft (12) positioned outside the sleeve (2), and the first rotating shaft (12) is movably connected with a linkage pipe (10) through the fixing block (11);

linkage pipe (10) internal fixation is equipped with the cavity, and the cavity internal fixation is equipped with motor (19), drive end fixed connection pivot two (20) of motor (19), and the one end internal fixation of pivot two (20) sets up square groove (21), pivot two (20) fixed connection worm (15), and the one end of worm (15) is fixed and is equipped with connecting block (14), pivot two (20) are through connecting block (14) fixed connection worm (15), worm (15) fixed mounting is in connecting seat (9), is located worm (15) both sides in connecting seat (9) are fixed and are equipped with parallel worm wheel (17), and worm wheel (17) and worm (15) intermeshing, parallel connecting rod (8) of the one end fixed mounting of connecting seat (9), one of connecting rod (8) is served fixed connection chuck (18), connecting rod (8) are through fixed mounting at inside loose axle (6) fixed mounting of connecting seat (9) and are ann's fixed and are equipped with parallel worm wheel (17), and worm wheel (17) are mutually engaged with worm (15), connecting rod (8), one end fixed mounting is in connecting seat (9) inside loose axle (6) fixed and is served The worm gear connecting device is characterized in that one side of the worm gear (17) is fixedly connected with a connecting rod (8), and a rubber pad (22) is fixedly arranged between the connecting seat (9) and the connecting rod (8).

2. The underwater manipulator for facilitating fixed grasping of an object according to claim 1, wherein: the outer lane of bearing (24) and the outer lane fixed connection of sleeve (2), the inner circle fixed connection of bearing (24) is on the outer lane of pivot (12), the top of sleeve (2) is fixed to pivot (12) run through, the bottom swing joint on fixed block (11) on pivot (12) top and linkage pipe (10), fixed mounting calibrated scale (13) on one side of sleeve (2), and calibrated scale (13) internal fixation is equipped with the pointer.

3. The underwater manipulator for facilitating fixed grasping of an object according to claim 1, wherein: connecting block (14) are squarely, and square groove (21) fixed connection of connecting block (14) and two (20) one ends of pivot, the fixed one end that runs through linkage pipe (10) in two (20) of pivot, and the fixed damping pad (16) that is equipped with in the junction of two (20) of pivot and connecting seat (9), motor (19) are just reversing motor.

4. The underwater manipulator for facilitating fixed grasping of an object according to claim 1, wherein: be located fixed cover has sleeve (2) on pivot (12) at base (1) top, sleeve (2) are fixed with bearing (24) with the junction of base (1), one side of sleeve (2) is fixed and is equipped with articulated seat one (3), one side of linkage pipe (10) is fixed and is equipped with articulated seat two (5), and through cylinder (4) swing joint between articulated seat two (5) and articulated seat one (3).