CN217256355U

CN217256355U - Mechanical grabbing mechanism for underwater robot

Info

Publication number: CN217256355U
Application number: CN202123386683.3U
Authority: CN
Inventors: 陈伟; 张宇航
Original assignee: Wuxi Bo'erke Information Technology Co ltd
Current assignee: Wuxi Bo'erke Information Technology Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-08-23
Anticipated expiration: 2031-12-30

Abstract

A mechanical grabbing mechanism for an underwater robot belongs to the field of underwater robots and aims to solve the problems that the mechanical grabbing mechanism cannot rotate flexibly, is poor in flexibility, small in grabbing hand and easy to drop an object, and comprises a mounting frame; the bottom of the mounting frame is welded with a sliding rod, the bottom of the sliding rod is welded in the middle of the top of the hinge shaft frame, the hinge shaft frame is connected with a grabbing assembly, the top of the mounting frame is rotatably connected with a connecting block, and a control motor is installed inside the connecting block; the cylinders are symmetrically arranged on the end surface of the bottom of the mounting frame; the expansion piece is clamped at the bottom of the grabbing component; this a machinery for underwater robot snatchs mechanism control motor's bottom drive shaft is connected with the driving gear, and the driving gear is connected with the driven gear meshing in the mount pad top terminal surface, and concrete effect drives driven gear through the driving gear that is connected with control motor and rotates, can control the mounting bracket and rotate to what the subassembly was snatched in the change snatchs the angle, is convenient for improve the success rate of snatching.

Description

Mechanical grabbing mechanism for underwater robot

Technical Field

The utility model relates to an underwater robot technical field especially relates to a machinery snatchs mechanism for underwater robot.

Background

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

Therefore, the mechanical grabbing mechanism for the underwater robot is researched and improved aiming at the existing structure and defects, and is provided so as to achieve the purpose of higher practical value.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a machinery for underwater robot snatchs mechanism to solve the machinery that proposes in the above-mentioned background art and snatch the mechanism owing to can not carry out nimble rotation, the flexibility is relatively poor, and snatch does not have observation equipment in the mechanism, very easily the deviation appears when leading to snatching, and the tongs that snatchs the mechanism is less, the problem that the object very easily dropped.

The utility model discloses a purpose and efficiency that is used for underwater robot's machinery to snatch mechanism is reached by following concrete technological means:

a mechanical grabbing mechanism for an underwater robot comprises a mounting frame;

the bottom of the mounting frame is welded with a sliding rod, the bottom of the sliding rod is welded in the middle of the top of the hinge shaft frame, the hinge shaft frame is connected with a grabbing assembly, the top of the mounting frame is rotatably connected with a connecting block, and a control motor is installed inside the connecting block; the air cylinders are symmetrically arranged on the end surface of the bottom of the mounting frame; the expansion piece is clamped at the bottom of the grabbing component.

Further, the welding has driven gear in the top terminal surface of mounting bracket, and driven gear, slide bar and hinge pedestal have seted up the through-hole inside, have seted up two rings of inner groovies in the inside wall of mounting bracket, and the hinge pedestal is H type structure, and department installs high definition digtal camera in the middle of the bottom terminal surface of hinge pedestal.

Further, the connecting block is connected on underwater robot, and the connecting block is inside to be the cavity, and the welding has two rings of outer lugs on the bottom lateral wall of connecting block, and the connecting block rotates through outer lug to be connected in the inner groovy that the mounting bracket inside wall was seted up.

Furthermore, a driving gear is connected to a bottom driving shaft of the control motor, and the driving gear is meshed with a driven gear in the top end face of the mounting frame.

Further, the grasping assembly includes:

the middle of the sliding seat is connected to the sliding rod in a sliding mode, the left side and the right side of the top of the sliding seat are connected with the telescopic end of the bottom of the air cylinder, and the left side and the right side of the bottom of the sliding seat are connected with the top of the control arm.

Further, the grabbing component further comprises:

the swing arm, the middle department of two swing arms articulates both ends about the hinge pedestal, and the top and the control arm bottom of swing arm are connected, have seted up rectangle connecting groove in the up end of swing arm bottom, and connecting groove's bottom articulates there is the buckle, and bolted connection is passed through at connecting groove's top at the buckle top.

Furthermore, the expansion piece is symmetrically provided with two positions, the expansion piece is the same as the bottom structure of the swing arm, the two expansion pieces are connected through a connecting plate, and the connecting plate is clamped in the connecting groove.

Compare with current structure under, the utility model discloses following beneficial effect has:

1. the utility model discloses be connected with the driving gear in control motor's the bottom drive shaft, the driven gear meshing in driving gear and the mount frame top end face is connected, and concrete effect drives driven gear through the driving gear that is connected with control motor and rotates, can control the mounting bracket and rotate to the change snatchs the angle that snatchs of subassembly, the success rate of being convenient for improve and snatching.

2. The utility model discloses a through-hole that the mounting bracket was seted up through driven gear, slide bar and hinge pedestal is inside makes things convenient for walking of circuit to operate, and the high definition digtal camera through hinge pedestal bottom installation can be convenient for see clearly the operation when snatching the article, can improve the meticulous degree of operation.

3. The utility model discloses a cylinder is through promoting the sliding seat and slide down on the slide bar, and the sliding seat passes through control arm control swing arm and is close to each other, accomplishes snatching to the article, and the extension piece of swing arm bottom joint can increase the area of snatching to reduce the possibility that the article drops, be convenient for improve and snatch efficiency.

Drawings

FIG. 1 is a schematic view of the left front side axial structure of the present invention;

FIG. 2 is a schematic view of the overall split structure of the present invention;

FIG. 3 is a sectional structure diagram of the mounting rack and the connecting block of the present invention;

fig. 4 is the utility model discloses swing arm bottom and extension piece split structure sketch map.

In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1. a mounting frame; 101. a slide bar; 102. a hinge shaft bracket; 103. a driven gear; 104. an inner groove; 2. connecting blocks; 201. an outer bump; 3. controlling the motor; 301. a driving gear; 4. a grasping assembly; 401. a sliding seat; 402. a control arm; 403. swinging arms; 40301. a connecting groove; 404. buckling the plate; 5. a cylinder; 6. an extension member; 601. a connecting plate; 7. high-definition camera.

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely 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 thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like 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 "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

Example (b):

as shown in figures 1 to 4:

the utility model provides a machinery for underwater robot snatchs mechanism, including: a mounting frame 1;

the bottom of the mounting frame 1 is welded with a sliding rod 101, the bottom of the sliding rod 101 is welded in the middle of the top of a hinge shaft frame 102, the hinge shaft frame 102 is connected with a grabbing component 4, the top of the mounting frame 1 is rotatably connected with a connecting block 2, and a control motor 3 is installed inside the connecting block 2; the air cylinders 5 are symmetrically arranged on the end face of the bottom of the mounting frame 1;

extension

6, 6 joints of extension are in snatching 4 bottoms of subassembly, and concrete effect, mounting bracket 1 is connected in 2 bottoms of connecting block through rotating, can make mounting bracket 1 control the angle of snatching subassembly 4 to the messenger snatchs that subassembly 4 can be more convenient carry out angular adjustment under water, is convenient for improve the efficiency of snatching the article.

Wherein, the welding has driven gear 103 in the top terminal surface of mounting bracket 1, driven gear 103, the through-hole has been seted up to slide bar 101 and hinge frame 102 inside, two rings of inner groovy 104 have been seted up in the inside wall of mounting bracket 1, hinge frame 102 is H type structure, department installs high definition digtal camera 7 in the middle of the bottom terminal surface of hinge frame 102, concrete effect, mounting bracket 1 is through driven gear 103, the through-hole of seting up inside slide bar 101 and hinge frame 102, make things convenient for the operation of walking the line of circuit, high definition digtal camera 7 through hinge frame 102 bottom installation can be convenient for see clearly the operation when snatching the article, can improve the meticulous degree of operation.

Wherein, connecting block 2 is connected on underwater robot, 2 inside cavitys that are of connecting block, the welding has two rings of outer lug 201 on the bottom lateral wall of connecting block 2, connecting block 2 rotates through outer lug 201 and connects in the inner groovy 104 that 1 inside wall of mounting bracket was seted up, be connected with driving gear 301 in control motor 3's the bottom drive shaft, driving gear 301 is connected with the driven gear 103 meshing in the 1 top end face of mounting bracket, concrete function, driving gear 301 through being connected with control motor 3 drives driven gear 103 and rotates, can control mounting bracket 1 and rotate, thereby change the angle of snatching that snatchs subassembly 4, be convenient for improve the success rate of snatching.

Wherein, snatch subassembly 4 includes:

the middle of the sliding seat 401 is connected to the sliding rod 101 in a sliding mode, the left side and the right side of the top of the sliding seat 401 are connected with the telescopic end of the bottom of the air cylinder 5, and the left side and the right side of the bottom of the sliding seat 401 are connected with the top of the control arm 402;

the swing arms 403, the middle parts of the two swing arms 403 are hinged at the left end and the right end of the hinge shaft frame 102, the top ends of the swing arms 403 are connected with the bottom of the control arm 402, the upper end surface of the bottom of the swing arm 403 is provided with a rectangular connecting groove 40301, the bottom of the connecting groove 40301 is hinged with a pinch plate 404, the top of the pinch plate 404 is connected with the top of the connecting groove 40301 through bolts, the expansion pieces 6 are symmetrically arranged at two positions, the structures of the expansion pieces 6 are the same as the structures of the bottom of the swing arms 403, the two expansion pieces 6 are connected through a connecting plate 601, the connecting plate 601 is clamped in the connecting groove 40301, the concrete effect, cylinder 5 is through promoting sliding seat 401 and gliding downwards on slide bar 101, and sliding seat 401 passes through control arm 402 control swing arm 403 and is close to each other, accomplishes snatching the article, and the extension piece 6 of swing arm 403 bottom joint can increase the area of snatching to reduce the possibility that the article drops, be convenient for improve snatch efficiency.

The specific use mode and function of the embodiment are as follows:

when the mechanical grabbing mechanism for the underwater robot is used, the driving gear 301 connected with the control motor 3 drives the driven gear 103 to rotate, the mounting rack 1 can be controlled to rotate, the grabbing angle of the grabbing component 4 is changed, then the air cylinder 5 pushes the sliding seat 401 to slide downwards on the sliding rod 101, the sliding seat 401 controls the swinging arm 403 to be close to each other through the control arm 402, grabbing of an object is completed, the grabbing area can be increased through the expansion piece 6 clamped at the bottom of the swinging arm 403, and therefore the possibility that the object falls off is reduced.

In summary, 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 some features may be replaced with equivalents.

Claims

1. A mechanical grabbing mechanism for an underwater robot, comprising:

the bottom of the mounting frame (1) is welded with a sliding rod (101), the bottom of the sliding rod (101) is welded in the middle of the top of the hinge shaft frame (102), the hinge shaft frame (102) is connected with a grabbing assembly (4), the top of the mounting frame (1) is rotatably connected with a connecting block (2), and a control motor (3) is installed inside the connecting block (2);

the air cylinders (5) are symmetrically arranged on the bottom end surface of the mounting rack (1);

an expansion piece (6) which is clamped at the bottom of the grabbing component (4).

2. The mechanical grabbing mechanism for the underwater robot of claim 1, characterized in that: the high-definition camera is characterized in that a driven gear (103) is welded in the end face of the top of the mounting rack (1), through holes are formed in the driven gear (103), a sliding rod (101) and a hinge shaft frame (102), two circles of inner grooves (104) are formed in the inner side wall of the mounting rack (1), the hinge shaft frame (102) is of an H-shaped structure, and a high-definition camera (7) is installed in the middle of the end face of the bottom of the hinge shaft frame (102).

3. The mechanical grabbing mechanism for an underwater robot of claim 1, characterized in that: connecting block (2) are connected on underwater robot, and connecting block (2) are inside to be the cavity, and the welding has two rings of outer lug (201) on the bottom lateral wall of connecting block (2), and connecting block (2) rotate through outer lug (201) and connect in inner groovy (104) that mounting bracket (1) inside wall was seted up.

4. The mechanical grabbing mechanism for an underwater robot of claim 1, characterized in that: the bottom driving shaft of the control motor (3) is connected with a driving gear (301), and the driving gear (301) is meshed with a driven gear (103) in the top end face of the mounting rack (1).

5. The mechanical grabbing mechanism for an underwater robot of claim 1, characterized in that: the gripping assembly (4) comprises:

the middle of the sliding seat (401) is connected to the sliding rod (101) in a sliding mode, the left side and the right side of the top of the sliding seat (401) are connected with the telescopic end of the bottom of the air cylinder (5), and the left side and the right side of the bottom of the sliding seat (401) are connected with the top of the control arm (402).

6. The mechanical grabbing mechanism for the underwater robot of claim 5, wherein: the gripping assembly (4) further comprises:

the middle parts of the two swing arms (403) are hinged to the left end and the right end of the hinge shaft frame (102), the top ends of the swing arms (403) are connected with the bottom of the control arm (402), a rectangular connecting groove (40301) is formed in the upper end face of the bottom of each swing arm (403), the bottom of each connecting groove (40301) is hinged to a buckle plate (404), and the top of each buckle plate (404) is connected to the top of each connecting groove (40301) through a bolt.

7. The mechanical grabbing mechanism for an underwater robot of claim 1, characterized in that: the expansion piece (6) is symmetrically provided with two positions, the expansion piece (6) is the same as the bottom structure of the swing arm (403), the two expansion pieces (6) are connected through a connecting plate (601), and the connecting plate (601) is clamped in the connecting groove (40301).