CN214352454U

CN214352454U - Marine manipulator

Info

Publication number: CN214352454U
Application number: CN202120189856.3U
Authority: CN
Inventors: 丁鉴
Original assignee: Qingdao Huanghai University
Current assignee: Qingdao Huanghai University
Priority date: 2021-01-22
Filing date: 2021-01-22
Publication date: 2021-10-08
Anticipated expiration: 2031-01-22

Abstract

The utility model provides a marine manipulator, which belongs to the technical field of manipulators, and comprises an installation platform, wherein the upper end of the installation platform is fixedly connected with an installation seat, the front end of the installation seat is provided with a second limit groove, a slide seat is glidingly connected in the second limit groove, the front end of the slide seat movably penetrates through the second limit groove and extends to the front side of the second limit groove, the front end of the slide seat is rotatably connected with a connecting shaft, the front end of the connecting shaft is fixedly connected with a mounting plate, the front end of the mounting plate is rotatably connected with two fifth gears, the front end of the mounting plate is fixedly connected with a limit seat, the limit seat is positioned at the upper side position of the fifth gear, and the upper end of the limit seat is movably inserted with a connecting rod, the manipulator in the prior art can be driven by a motor, the manipulator is poor in grabbing effect, the problem of untight clamping is easy to occur, and the problem that the untight clamping of the article can cause damage to the article and even fall to injure workers by smashing is solved.

Description

Marine manipulator

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to marine manipulator.

Background

A robot refers to an automatic operating device that can simulate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The device mainly comprises an executing mechanism, a driving mechanism and a control system. The mechanical arm can replace people to carry out heavy work so as to realize mechanization and automation of production, is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like, and can move articles on a ship through the mechanical arm because the articles on the ship are all large.

The existing mechanical arm is driven by a motor, so that the mechanical arm is poor in grabbing effect and prone to clamping untight, and the situation that articles are damaged or even fall to injure workers due to untight article clamping can be caused.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a marine manipulator, the manipulator that aims at solving among the prior art all is through motor drive for the manipulator is not good to snatching the effect, takes place the not tight problem of centre gripping easily, and the article centre gripping is not tight can cause article to damage or drop and injure workman's problem by a crashing object even.

In order to achieve the above object, the utility model provides a following technical scheme:

a marine manipulator comprises an installation platform, wherein the upper end of the installation platform is fixedly connected with an installation seat, the front end of the installation seat is provided with a second limiting groove, a slide seat is connected in the second limiting groove in a sliding manner, the front end of the slide seat movably penetrates through the second limiting groove and extends to the front side of the second limiting groove, the front end of the slide seat is rotatably connected with a connecting shaft, the front end of the connecting shaft is fixedly connected with an installation plate, the front end of the installation plate is rotatably connected with two fifth gears, the front end of the installation plate is fixedly connected with a limiting seat, the limiting seat is positioned at the upper side position of the fifth gears, the upper end of the limiting seat is movably inserted with a connecting rod, the connecting rod movably penetrates through the limiting seat and extends to the lower side of the limiting seat, the lower end of the connecting rod is fixedly connected with a double-sided gear strip, and the double-sided gear strip is mutually meshed with the two fifth gears, the upper end fixedly connected with connecting block of connecting rod, the front end fixedly connected with second electric telescopic handle of mounting panel, the extension end of second electric telescopic handle and the lower extreme fixed connection of connecting block, two the equal fixedly connected with clamp splice in lower part of fifth gear.

As an optimized scheme, fixedly connected with fourth gear on the circumference surface of connecting axle, the upper end fixedly connected with second servo motor of slide, second servo motor's output fixedly connected with third gear, intermeshing between third gear and the fourth gear.

As an optimal scheme, the first electric telescopic handle of lower inner wall fixedly connected with of second spacing groove, the extension end of first electric telescopic handle and the lower extreme fixed connection of slide.

As a preferred scheme, the downside of mount table is provided with the mobile station, first spacing groove has been seted up to the upper end of mobile station, the lower extreme fixedly connected with T type stopper of mount table, sliding connection has T type stopper in the first spacing groove, the left inner wall of first spacing groove rotates and is connected with the lead screw, the lead screw activity runs through the mobile station and extends to the right side of mobile station, T type stopper threaded connection is in the lead screw on the surface, the first gear of right-hand member fixedly connected with of lead screw, the first servo motor of upper end fixedly connected with of mobile station, first servo motor's output fixedly connected with second gear, intermeshing between second gear and the first gear

As an optimized scheme of the utility model, two support frames of the lower extreme fixedly connected with of mobile station.

As an optimal scheme of the utility model, the rectangular shape stopper of lower extreme fixedly connected with of double-sided gear strip.

As an optimized scheme of the utility model, two the antiskid line has all been seted up to the one end that the clamp splice is close to mutually.

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

1. the double-sided gear rack can move stably through the stable extension and retraction of the second electric telescopic rod, the position of the connecting rod can be limited by the limiting seat, so that the double-sided gear strip can not deviate in the moving process, the movement of the double-sided gear strip can enable the two fifth gears to rotate in opposite directions, the two clamping blocks can move close to each other or move away from each other, so as to clamp and loosen the object, when the moving distance of the double-sided gear strip to the limiting seat is overlarge, the double-sided gear strip and the fifth gear can be meshed and separated, and the long-strip-shaped limiting block can prevent the situation, because the connecting shaft is rotationally connected with the sliding seat, the output end of the second servo motor can drive the connecting shaft to rotate when outputting, the two clamping blocks can clamp articles at different angles, and the positions of the clamped articles can be adjusted.

2. The telescopic of first electric telescopic handle can drive the slide and go up and down, the position of two clamp splices can be adjusted in the slide lift, and article of co-altitude can be cliied in two clamp splice lifts, output of a servo motor can make the lead screw rotate, and threaded connection between lead screw and the T type stopper, make T type stopper reciprocating motion, and T type stopper removes and can drive two clamp splices and remove, can all remove in different positions through the clamp splice, make the clamp splice can the article of centre gripping different positions, thereby improve the result of use of whole device.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

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

FIG. 2 is an exploded view of the present invention;

fig. 3 is a partial exploded view of the mounting base of the present invention;

fig. 4 is a schematic view of a local structure of the mounting plate of the present invention.

In the figure: 1. an installation table; 2. a mobile station; 3. a first gear; 4. a second gear; 5. a first servo motor; 6. a first limit groove; 7. a mounting seat; 8. a support frame; 9. a T-shaped limiting block; 10. a screw rod; 11. a second limit groove; 12. a slide base; 13. a second servo motor; 14. a third gear; 15. a connecting shaft; 16. a fourth gear; 17. a first electric telescopic rod; 18. mounting a plate; 19. a limiting seat; 20. a connecting rod; 21. a double-sided gear strip; 22. a strip-shaped limiting block; 23. a clamping block; 24. a fifth gear; 25. a second electric telescopic rod; 26. and (4) connecting the blocks.

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.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", 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 simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

Referring to fig. 1-4, the technical solution provided in this embodiment is as follows:

a manipulator for a ship comprises an installation platform 1, wherein the upper end of the installation platform 1 is fixedly connected with an installation base 7, the front end of the installation base 7 is provided with a second limiting groove 11, a slide base 12 is connected in the second limiting groove 11 in a sliding manner, the front end of the slide base 12 movably penetrates through the second limiting groove 11 and extends to the front side of the second limiting groove 11, the front end of the slide base 12 is rotatably connected with a connecting shaft 15, the front end of the connecting shaft 15 is fixedly connected with an installation plate 18, the front end of the installation plate 18 is rotatably connected with two fifth gears 24, the front end of the installation plate 18 is fixedly connected with a limiting base 19, the limiting base 19 is positioned at the upper side of the fifth gears 24, the upper end of the limiting base 19 is movably inserted with a connecting rod 20, the connecting rod 20 movably penetrates through the limiting base 19 and extends to the lower side of the limiting base 19, the lower end of the connecting rod 20 is fixedly connected with a double-sided gear strip 21, and the double-sided gear strip 21 is meshed with the two fifth gears 24, the upper end fixedly connected with connecting block 26 of connecting rod 20, the front end fixedly connected with second electric telescopic handle 25 of mounting panel 18, the extension end of second electric telescopic handle 25 and the lower extreme fixed connection of connecting block 26, the equal fixedly connected with clamp splice 23 of lower part of two fifth gears 24.

In the embodiment of the present invention, the rotation of the connecting shaft 15 can be realized by the rotation between the connecting shaft 15 and the sliding base 12, the rotation of the mounting plate 18 can be realized by the fixed connection between the connecting shaft 15 and the mounting plate 18, the lifting of the connecting block 26 can be realized by the fixed connection between the second electric telescopic rod 25 and the connecting block 26, the internal structure of the second electric telescopic rod 25 is the common knowledge of those skilled in the art, and therefore, it is not described herein again, the movement of the connecting rod 20 can be realized by the fixed connection between the connecting block 26 and the connecting rod 20, the position of the connecting rod 20 is limited by the limiting seat 19, the movement of the double-sided gear strip 21 can be realized by the fixed connection between the connecting rod 20 and the double-sided gear strip 21, the rotation of the fifth gear 24 can be realized by the mutual engagement between the double-sided gear strip 21 and the fifth gear 24, and the fixed connection between the fifth gear 24 and the clamping block 23, the rotation of the clamping block 23 can be realized, the first servo motor 5 is started, the output end of the first servo motor 5 rotates to drive the second gear 4 to rotate, the second gear 4 rotates to drive the first gear 3 to rotate, the first gear 3 rotates to drive the lead screw 10 to rotate, the lead screw 10 rotates to drive the T-shaped limiting block 9 to move, the T-shaped limiting block 9 moves to drive the mounting table 1 to move, the mounting table 1 moves to drive the mounting seat 7 to move, the expansion of the first electric telescopic rod 17 can drive the sliding seat 12 to lift, the second servo motor 13 is started, the output end of the second servo motor 13 rotates to drive the third gear 14 to rotate, the third gear 14 rotates to drive the fourth gear 16 to rotate, the fourth gear 16 rotates to drive the connecting shaft 15 to rotate, the connecting shaft 15 rotates to drive the mounting plate 18 to rotate, the expansion of the second electric telescopic rod 25 drives the connecting block 26 to move, the connecting block 26 moves to drive the connecting rod 20 to move, the connecting rod 20 moves to drive the double-sided gear strip 21 to move, the double-sided gear strip 21 moves to drive the fifth gear 24 to rotate, the fifth gear 24 rotates to drive the clamping block 23 to rotate, and the long-strip-shaped limiting block 22 is used for limiting the position of the double-sided gear strip 21.

Specifically, referring to fig. 3, a fourth gear 16 is fixedly connected to a circumferential surface of the connecting shaft 15, a second servo motor 13 is fixedly connected to an upper end of the sliding base 12, a third gear 14 is fixedly connected to an output end of the second servo motor 13, and the third gear 14 and the fourth gear 16 are engaged with each other.

The utility model discloses an in the concrete embodiment, through fixed connection between second servo motor 13 and the third gear 14, can realize the rotation of third gear 14, through intermeshing between third gear 14 and the fourth gear 16, can realize the rotation of fourth gear 16, through fixed connection between fourth gear 16 and the connecting axle 15, can realize the rotation of connecting axle 15.

Specifically, referring to fig. 3, a first electric telescopic rod 17 is fixedly connected to a lower inner wall of the second limiting groove 11, and an extending end of the first electric telescopic rod 17 is fixedly connected to a lower end of the sliding seat 12.

In the embodiment of the present invention, the extension and retraction of the first electric telescopic rod 17 can drive the sliding base 12 to ascend and descend, and the internal structure of the first electric telescopic rod 17 is the common knowledge of those skilled in the art, and therefore will not be described herein again.

Specifically, please refer to fig. 2, a lower side of the mounting platform 1 is provided with a mobile platform 2, a first limit groove 6 is formed in the upper end of the mobile platform 2, a lower end fixedly connected with T-shaped limit block 9 of the mounting platform 1, a T-shaped limit block 9 is slidably connected in the first limit groove 6, a left inner wall of the first limit groove 6 is rotatably connected with a lead screw 10, the lead screw 10 movably penetrates through the mobile platform 2 and extends to the right side of the mobile platform 2, the T-shaped limit block 9 is in threaded connection with the lead screw 10 on the surface, a right end fixedly connected with a first gear 3 of the lead screw 10, an upper end fixedly connected with a first servo motor 5 of the mobile platform 2, an output end fixedly connected with a second gear 4 of the first servo motor 5, and the second gear 4 and the first gear 3 are engaged with each other.

The utility model discloses an in the embodiment, through fixed connection between first servo motor 5 and the second gear 4, can realize the rotation of second gear 4, through fixed connection between second gear 4 and the first gear 3, can realize the rotation of first gear 3, through fixed connection between first gear 3 and the lead screw 10, can realize the rotation of lead screw 10, through threaded connection between lead screw 10 and the T type stopper 9, can realize the removal of T type stopper 9, through fixed connection between T type stopper 9 and the mount table 1, can realize the removal of mount table 1.

Specifically, referring to fig. 1, two support frames 8 are fixedly connected to the lower end of the mobile station 2.

In the embodiment of the present invention, the support frame 8 can support the mobile station 2.

Specifically, referring to fig. 4, the lower end of the double-sided gear bar 21 is fixedly connected with a strip-shaped limiting block 22.

In the embodiment of the present invention, the elongated stopper 22 is used to limit the position of the double-sided gear rack 21, and prevent the double-sided gear rack 21 from being separated from the fifth gear 24.

Specifically, referring to fig. 4, the two clamping blocks 23 are provided with anti-slip patterns at the ends close to each other.

In the embodiment of the utility model, anti-skidding line has all been seted up to the one end that is close to mutually through two clamp splice 23 for it is more stable during the centre gripping.

The utility model provides a marine manipulator's theory of operation or working process do: starting a first servo motor 5, wherein the output end of the first servo motor 5 rotates to drive a second gear 4 to rotate, the second gear 4 rotates to drive a first gear 3 to rotate, the first gear 3 rotates to drive a screw rod 10 to rotate, the screw rod 10 rotates to drive a T-shaped limiting block 9 to move, the T-shaped limiting block 9 moves to drive an installation platform 1 to move, the installation platform 1 moves to drive an installation seat 7 to move, the expansion of a first electric telescopic rod 17 can drive a sliding seat 12 to lift, starting a second servo motor 13, the output end of the second servo motor 13 rotates to drive a third gear 14 to rotate, the third gear 14 rotates to drive a fourth gear 16 to rotate, the fourth gear 16 rotates to drive a connecting shaft 15 to rotate, the connecting shaft 15 rotates to drive an installation plate 18 to rotate, the expansion of a second electric telescopic rod 25 drives a connecting block 26 to move, the connecting block 26 moves to drive a connecting rod 20 to move, the connecting rod 20 moves to drive a double-sided gear strip 21 to move, the double-sided gear strip 21 moves to drive the fifth gear 24 to rotate, the fifth gear 24 rotates to drive the clamping block 23 to rotate, and the elongated limiting block 22 is used for limiting the position of the double-sided gear strip 21.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A marine manipulator, includes mount table (1), its characterized in that: the upper end of the mounting table (1) is fixedly connected with a mounting seat (7), the front end of the mounting seat (7) is provided with a second limiting groove (11), the second limiting groove (11) is connected with a sliding seat (12) in a sliding manner, the front end of the sliding seat (12) movably penetrates through the second limiting groove (11) and extends to the front side of the second limiting groove (11), the front end of the sliding seat (12) is rotatably connected with a connecting shaft (15), the front end of the connecting shaft (15) is fixedly connected with a mounting plate (18), the front end of the mounting plate (18) is rotatably connected with two fifth gears (24), the front end of the mounting plate (18) is fixedly connected with a limiting seat (19), the limiting seat (19) is located at the upper side position of the fifth gears (24), the upper end of the limiting seat (19) is movably inserted with a connecting rod (20), and the connecting rod (20) movably penetrates through the limiting seat (19) and extends to the lower side of the limiting seat (19), the utility model discloses a gear rack, including the lower extreme fixedly connected with double-sided gear strip (21) of connecting rod (20), intermeshing between double-sided gear strip (21) and two fifth gears (24), the upper end fixedly connected with connecting block (26) of connecting rod (20), the front end fixedly connected with second electric telescopic handle (25) of mounting panel (18), the extension end of second electric telescopic handle (25) and the lower extreme fixed connection of connecting block (26), two the equal fixedly connected with clamp splice (23) in lower part of fifth gear (24).

2. The manipulator for the ship of claim 1, wherein: fixedly connected with fourth gear (16) on the circumferential surface of connecting axle (15), the upper end fixedly connected with second servo motor (13) of slide (12), the output fixedly connected with third gear (14) of second servo motor (13), intermeshing between third gear (14) and fourth gear (16).

3. The manipulator for the ship of claim 2, wherein: the lower inner wall of the second limiting groove (11) is fixedly connected with a first electric telescopic rod (17), and the extension end of the first electric telescopic rod (17) is fixedly connected with the lower end of the sliding seat (12).

4. A manipulator for a ship according to claim 3, characterized in that: a moving platform (2) is arranged on the lower side of the mounting platform (1), a first limit groove (6) is arranged at the upper end of the moving platform (2), the lower end of the mounting table (1) is fixedly connected with a T-shaped limiting block (9), the first limiting groove (6) is connected with the T-shaped limiting block (9) in a sliding way, the left inner wall of the first limit groove (6) is rotationally connected with a screw rod (10), the screw rod (10) movably penetrates through the mobile platform (2) and extends to the right side of the mobile platform (2), the T-shaped limiting block (9) is connected on the surface of the screw rod (10) in a threaded manner, the right end of the screw rod (10) is fixedly connected with a first gear (3), the upper end of the mobile platform (2) is fixedly connected with a first servo motor (5), the output end of the first servo motor (5) is fixedly connected with a second gear (4), the second gear (4) and the first gear (3) are meshed with each other.

5. The robot hand for a ship of claim 4, wherein: the lower end of the mobile station (2) is fixedly connected with two support frames (8).

6. The robot hand for a ship of claim 5, wherein: the lower end of the double-sided gear strip (21) is fixedly connected with a long-strip-shaped limiting block (22).

7. The robot hand for a ship of claim 6, wherein: anti-skidding lines are arranged at one ends, close to each other, of the two clamping blocks (23).