CN218226709U - Underwater autonomous grabbing device of underwater robot - Google Patents

Abstract

The utility model belongs to the underwater robot field, especially, underwater robot is autonomic grabbing device under water, the size of snatching to current grabbing device is difficult to carry out nimble adjustment according to the size of grabbing the thing, and the suitability of snatching is lower, if when snatching less article, the gripper then can not laminating article and carry out the problem that stably snatchs, now proposes following scheme, and it includes underwater robot, roating seat, flexible control seat, two snatchs control panel and two and snatchs the subassembly, the swivelling chute has been seted up to one side of underwater robot, and the roating seat rotates to be connected in the roating chute, the fixed slot has been seted up to one side of roating seat, flexible control seat sliding connection is in the fixed slot, the control chute has all been seted up to the both sides of flexible control seat. The utility model discloses a grabbing device snatch the size and can carry out nimble adjustment according to the size of grabbing the thing, and the suitability of snatching is higher, and laminating article that can also be better and stable snatch.

Description

Underwater autonomous grabbing device of underwater robot

Technical Field

The utility model relates to an underwater robot technical field especially relates to an underwater robot is autonomous grabbing device under water.

Background

An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. The underwater robot has become an important tool for developing the ocean because of severe danger of the underwater environment and limited diving depth of people, and the underwater robot carries out grabbing operation on underwater articles by using mechanical claws with different shapes;

among the prior art, the unable accurate control power of underwater robot is said, probably leads to the damaged condition in article surface to take place when snatching article under water, can't protect the shape to snatch to snatching the thing and accept, is to above-mentioned problem application number: 202021388243.4 discloses an underwater robot grabbing device, comprising a main body, the main part is the rectangle structure, and the rear side of main part is the cambered surface, the inside cavity of main part and the open structure of main part front side wall face, and the inside upside wall face center department of main part has seted up the control groove, the groove of control groove rectangle, and the inside in control groove is provided with the watch-dog, and the inside wall fixed mounting in control groove has the light-passing board, main part top fixed mounting has the control telescopic link, however in the in-service use process, grabbing device's the size of snatching is difficult to carry out nimble adjustment according to the size of grabbing the thing, the suitability of snatching is lower, if when snatching less article, the gripper then can not laminate article and steadily snatch.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the shortcoming that exists among the prior art, and the autonomous underwater gripping device of underwater robot who provides.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides an underwater robot is autonomic grabbing device under water, includes underwater robot, roating seat, flexible control seat, two snatchs the control panel and two snatchs the subassembly, the roating groove has been seted up to one side of underwater robot, and the roating seat rotates to be connected in the roating groove, the fixed slot has been seted up to one side of roating seat, flexible control seat sliding connection is in the fixed slot, the control groove has all been seted up to the both sides of flexible control seat, it rotates to install in the control groove that corresponds to snatch the control panel, it sets up on the corresponding snatching control panel to snatch the subassembly, it includes slide adjusting seat, rotor plate, nipper, lead screw two and servo motor to snatch the subassembly, the shifting chute has been seted up to one side of snatching the control panel, sliding connection has the slide adjusting seat in the shifting chute, the rotor plate is installed to the spread groove internal rotation, one side fixed mounting of rotor plate has the nipper, fixed mounting has gear one on the rotor plate, set up the recess on the inner wall of spread groove, slidable mounting has rack one, rack one meshes with gear one, threaded hole has two threaded connection on the screw output shaft.

Concretely, two equal fixed mounting in one side of snatching the control panel have gear two, have all seted up the mounting groove on one side inner wall of two control grooves, and equal slidable mounting has rack two in two mounting grooves, rack two meshes with the gear two that correspond.

Specifically, thread groove two has all been seted up to the one end of two rack two, all rotates on the inner wall of two mounting grooves and is connected with lead screw three, lead screw three and two threaded connection of corresponding thread groove, the rotation groove has all been seted up to the both sides of flexible control seat, and two rotation inslots all rotate and install gear three.

Specifically, the three gears are all fixedly provided with worms, one ends of the three screw rods are all fixedly provided with worm wheels, the worm wheels are meshed with the corresponding worms, the inner walls of the two sides of the fixing grooves are all fixedly provided with three racks, and the three racks are meshed with the corresponding three gears.

Specifically, a first thread groove is formed in one side of the telescopic control seat, a second stepping motor is fixedly mounted on the inner wall of one side of the fixing groove, a first lead screw is fixedly connected to an output shaft of the second stepping motor, and the first lead screw is mounted in the first thread groove in a threaded mode.

Specifically, fixedly connected with step motor one on the inner wall of swivelling chute, step motor one's output shaft fixed connection is on the roating seat.

Specifically, the inner wall of fixed slot has been seted up the spout, fixedly connected with slider on the flexible control seat, slider slidable mounting is in the spout.

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

(1) The utility model discloses an autonomous underwater grabbing device of underwater robot can switch two snatchs the state of snatching of control panel in a flexible way, can not only adjust two service positions that snatch the control panel in a flexible way, but also can control two and grab the board and remove to the position is snatched in the adjustment.

(2) The utility model discloses an autonomous underwater robot grabbing device, grabbing device's the size that snatchs can carry out nimble adjustment according to grabbing the thing, and the suitability that snatchs is higher, can laminate article and carry out stably snatch.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be understood that the drawings in the following description are illustrative only, and that the structures, proportions, sizes, and other elements shown in the drawings are incorporated herein by reference in their entirety for all purposes in the present disclosure, which are not intended to limit the scope of the invention, but rather are to be construed as being within the spirit and scope of the invention.

Fig. 1 is a schematic view of a main structure of an underwater autonomous gripping device of an underwater robot provided by the present invention;

fig. 2 is a schematic view of a three-dimensional structure of a grabbing control plate, a sliding adjusting seat and a grabbing plate of the underwater autonomous grabbing device of the underwater robot provided by the utility model;

fig. 3 is a schematic structural view of a part a of an underwater autonomous gripping device of an underwater robot provided by the present invention;

fig. 4 is the utility model provides a B part schematic structure diagram of autonomous grabbing device under water of underwater robot.

In the figure: 1. an underwater robot; 2. a rotating base; 3. a first stepping motor; 4. a telescopic control seat; 5. a first screw rod; 6. a second stepping motor; 7. grabbing the control panel; 8. a sliding adjustment seat; 9. a rotating plate; 10. grabbing a plate; 11. a first gear; 12. a first rack; 13. a spring; 14. a second screw rod; 15. a servo motor; 16. a second gear; 17. a second rack; 18. a third screw rod; 19. a worm gear; 20. a third gear; 21. a worm.

Detailed Description

The present invention is described in detail with reference to the specific embodiments, and other advantages and effects of the present invention will be apparent to those skilled in the art from the disclosure herein. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Furthermore, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby features defined as "first", "second" may explicitly or implicitly include one or more such features, in the description of the invention "plurality" means two or more unless explicitly and specifically defined otherwise.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1-4, an underwater autonomous grabbing device of an underwater robot comprises an underwater robot 1, a rotating seat 2, a telescopic control seat 4 and two grabbing control plates 7, wherein one side of the underwater robot 1 is provided with a rotating groove, the rotating seat 2 is rotatably connected in the rotating groove, one side of the rotating seat 2 is provided with a fixed groove, the telescopic control seat 4 is slidably connected in the fixed groove, both sides of the telescopic control seat 4 are provided with control grooves, the grabbing control plates 7 are rotatably installed in the corresponding control grooves, one side of the grabbing control plates 7 is provided with a moving groove, the moving groove is slidably connected with a sliding adjusting seat 8, one side of the sliding adjusting seat 8 is provided with a connecting groove, a rotating plate 9 is rotatably installed in the connecting groove, one side of the rotating plate 9 is fixedly provided with a grabbing plate 10, a first gear 11 is fixedly installed on the rotating plate 9, the inner wall of the connecting groove is provided with a groove, a first rack 12 is arranged in the groove in a sliding manner, the first rack 12 is meshed with a first gear 11, one side of the sliding adjusting seat 8 is provided with a threaded hole, the inner wall of one side of the moving groove is fixedly provided with a servo motor 15, an output shaft of the servo motor 15 is fixedly connected with a second screw rod 14, the second screw rod 14 is arranged in the threaded hole in a threaded manner, one sides of the two grabbing control plates 7 are respectively and fixedly provided with a second gear 16, the inner wall of one side of each of the two control grooves is respectively provided with a mounting groove, the two mounting grooves are respectively and slidably provided with a second rack 17, the second rack 17 is meshed with the corresponding second gear 16, one end of each second rack 17 is respectively provided with a second threaded groove, the inner walls of the two mounting grooves are respectively and rotatably connected with a third screw rod 18, the third screw rod 18 is in threaded connection with the corresponding second threaded groove, and the two sides of the telescopic control seat 4 are respectively provided with a rotating groove, two rotate the inslot and all rotate and install gear three 20, equal fixed mounting has worm 21 on two gear three 20, and the equal fixed mounting of one end of two lead screws three 18 has worm wheel 19, worm wheel 19 and the worm 21 meshing that corresponds, equal fixed mounting has rack three on the both sides inner wall of fixed slot, and rack three meshes with the gear three 20 that corresponds.

In this embodiment, a first thread groove is formed in one side of the telescopic control seat 4, a second stepping motor 6 is fixedly mounted on the inner wall of one side of the fixing groove, a first lead screw 5 is fixedly connected to an output shaft of the second stepping motor 6, and the first lead screw 5 is threadedly mounted in the first thread groove.

In this embodiment, fixedly connected with step motor 3 on the inner wall of swivelling chute, step motor 3's output shaft fixed connection is on roating seat 2.

In this embodiment, seted up the spout on the inner wall of fixed slot, fixedly connected with slider on the flexible control seat 4, slider slidable mounting is in the spout, can drive slider synchronous motion in the spout when flexible control seat 4 removes, can stabilize the position of flexible control seat 4 when removing.

In this embodiment, the first stepping motor 3 drives the rotating base 2 to rotate, the rotating base 2 drives the grabbing control plates 7 on the telescopic control base 4 to rotate, the two grabbing control plates 7 can be controlled to rotate and the grabbing positions of the two grabbing plates 10 can be adjusted, the servo motor 15 drives the corresponding second screw rod 14 to rotate, the second screw rod 14 drives the sliding adjusting base 8 to move, the sliding adjusting base 8 drives the corresponding grabbing plates 10 to move, the grabbing positions of the two grabbing plates 10 can be adjusted, after the two grabbing control plates 7 are close to an object to be grabbed, the second stepping motor 6 drives the first screw rod 5 to rotate, the first screw rod 5 drives the telescopic control base 4 to move, the telescopic control base 4 drives the three gears 20 to move simultaneously, the three gears 20 rotate on the corresponding racks three, the three gears 20 drive the corresponding worms 21 to rotate, the worms 21 drive the corresponding worm wheels 19 and the three screws 18 to rotate, the three screws 18 drive the second rack 17 to move, the second rack 17 drives the two gears 16 and the grabbing control plates 7 to rotate, the two grabbing control plates 7 carry out article, the control plates 10 simultaneously drive the rack 13 to rotate, and the rack 9 can drive the first grabbing control plate 13 to move when the first screw rod 10 to pull the rack to move, and the rack 13 to move simultaneously.

The utility model discloses the technological progress that prior art obtained relatively is: the utility model discloses a grabbing device's the size of snatching the thing can be adjusted in a flexible way according to the size of grabbing the thing, and the suitability of snatching is higher, and laminating article that can also be better carry out stably snatch.

Claims (7)

1. The underwater autonomous grabbing device of the underwater robot is characterized by comprising an underwater robot (1), a rotating seat (2), a telescopic control seat (4), two grabbing control plates (7) and two grabbing components, wherein a rotating groove is formed in one side of the underwater robot (1), the rotating seat (2) is rotatably connected in the rotating groove, a fixed groove is formed in one side of the rotating seat (2), the telescopic control seat (4) is slidably connected in the fixed groove, control grooves are formed in the two sides of the telescopic control seat (4), the grabbing control plates (7) are rotatably installed in the corresponding control grooves, the grabbing components are arranged on the corresponding grabbing control plates (7), the grabbing components comprise a sliding adjusting seat (8), a rotating plate (9), a grabbing plate (10), a screw rod II (14) and a servo motor (15), a moving groove is formed in one side of the grabbing control plate (7), the sliding adjusting seat (8) is slidably connected in the moving groove, a connecting groove is formed in one side of the sliding adjusting seat (8), the rotating plate (9) is rotatably installed in the connecting groove, the rotating plate (9) is fixedly installed in one side, a rack (10) is fixedly installed on the rotating plate (9), a gear (12) is fixedly installed in the connecting groove, and a groove (12) is meshed with a gear (11) and a groove (12) is installed in the inner wall, one side of the sliding adjusting seat (8) is provided with a threaded hole, a servo motor (15) is fixedly mounted on the inner wall of one side of the moving groove, a second screw rod (14) is fixedly connected to an output shaft of the servo motor (15), and the second screw rod (14) is installed in the threaded hole in a threaded mode.

2. The underwater autonomous grabbing device of the underwater robot of claim 1, wherein a second gear (16) is fixedly installed on one side of each of the two grabbing control plates (7), mounting grooves are formed in the inner walls of one sides of the two control grooves, a second rack (17) is slidably installed in each of the two mounting grooves, and the second rack (17) is meshed with the corresponding second gear (16).

3. The underwater autonomous grabbing device of the underwater robot of claim 2 is characterized in that one end of each of the two second racks (17) is provided with a second threaded groove, the inner walls of the two mounting grooves are rotatably connected with a third screw rod (18), the third screw rod (18) is in threaded connection with the corresponding second threaded groove, the two sides of the telescopic control seat (4) are provided with rotating grooves, and a third gear (20) is rotatably mounted in the two rotating grooves.

4. The underwater robot underwater autonomous grabbing device of claim 3, wherein two third gears (20) are fixedly provided with a worm (21), one ends of two third screw rods (18) are fixedly provided with a worm wheel (19), the worm wheel (19) is meshed with the corresponding worm (21), inner walls of two sides of the fixing groove are fixedly provided with a third rack, and the third rack is meshed with the corresponding third gear (20).

5. The underwater autonomous grabbing device of the underwater robot of claim 1, wherein a first threaded groove is formed in one side of the telescopic control seat (4), a second stepping motor (6) is fixedly mounted on the inner wall of one side of the fixed groove, a first lead screw (5) is fixedly connected to an output shaft of the second stepping motor (6), and the first lead screw (5) is installed in the first threaded groove in a threaded manner.

6. The underwater autonomous grabbing device of the underwater robot of claim 1, wherein a first stepping motor (3) is fixedly connected to the inner wall of the rotary groove, and an output shaft of the first stepping motor (3) is fixedly connected to the rotary base (2).

7. The underwater autonomous grabbing device of an underwater robot as claimed in claim 1, wherein a sliding groove is formed in the inner wall of the fixing groove, and a sliding block is fixedly connected to the telescopic control seat (4) and slidably mounted in the sliding groove.

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