CN218398185U - Underwater mechanical claw - Google Patents
Underwater mechanical claw Download PDFInfo
- Publication number
- CN218398185U CN218398185U CN202222505422.7U CN202222505422U CN218398185U CN 218398185 U CN218398185 U CN 218398185U CN 202222505422 U CN202222505422 U CN 202222505422U CN 218398185 U CN218398185 U CN 218398185U
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- connecting rod
- gripper
- supporting seat
- clamping jaw
- press
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Abstract
The utility model discloses a gripper for it is underwater, which comprises an outer shell, one side fixed mounting of shell has the connecting sleeve, the one end fixed mounting of connecting sleeve has the supporting seat, the one end of supporting seat is equipped with presss from both sides tight structure, press from both sides tight structure including first connecting rod, first connecting rod rotates the one end of connecting at the supporting seat, the other end of first connecting rod rotates and is connected with the clamping jaw, swing joint has the second connecting rod between clamping jaw and the supporting seat, the rear portion of second connecting rod rotates and is connected with the third connecting rod. A gripper for under water, adopt single steering wheel drive's mode, press from both sides the mode of getting to traditional gripper under water and optimize, make it realize under single drive condition that four directions add and hold, improve to press from both sides and get dynamics, accuracy, guarantee to press from both sides and get the difficult slippage of article. Moreover, compared with the traditional underwater mechanical claw, the single-drive mode is simpler in structure, faster in action mode and higher in object clamping speed.
Description
Technical Field
The utility model relates to a gripper field under water, in particular to be used for gripper under water.
Background
The underwater robot is a mechanical device capable of moving underwater, and not only needs to have the function of moving underwater, but also needs to have the function of clamping objects underwater, so that a mechanical claw is one of necessary structures of the underwater robot;
the gripper used under water at present adopts single steering wheel or single motor drive control bidirectional's centre gripping more, presss from both sides the degree of difficulty higher and easy slippage to smooth object clamp, has the centre gripping effect poor, the problem of stability is low.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides a gripper for under water can effectively solve the technical problem in the background art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a connecting sleeve is fixedly installed on one side of the shell, a supporting seat is fixedly installed at one end of the connecting sleeve, and a clamping structure is arranged at one end of the supporting seat;
the clamping structure comprises a first connecting rod, the first connecting rod is rotatably connected to one end of the supporting seat, the other end of the first connecting rod is rotatably connected with a clamping jaw, a second connecting rod is movably connected between the clamping jaw and the supporting seat, the rear portion of the second connecting rod is rotatably connected with a third connecting rod, and the connecting sleeve is connected with a connecting strip in a sliding mode.
As a further scheme of the utility model, the inside fixed mounting of shell has the steering wheel, the output shaft of steering wheel has the worm wheel, the one end of connecting strip is located the inside fixedly connected with rack of shell.
As a further proposal of the utility model, the worm wheel is meshed with the rack and connected, and a sliding sleeve is arranged between the connecting strip and the connecting sleeve.
As a further aspect of the present invention, the one end fixedly connected with axle bed of the connecting strip, the axle bed is connected with the third connecting rod rotation.
As a further aspect of the utility model, press from both sides tight structure and be annular array and set up four groups, the arc groove has been seted up to the inboard surface of clamping jaw, and the inboard surface of clamping jaw is located the both ends in arc groove and has seted up the sawtooth groove.
As a further aspect of the present invention, the first connecting rod and the second connecting rod are disposed in a non-parallel manner, and the third connecting rod is connected to the center point of the second connecting rod.
The utility model has the advantages as follows:
through adopting single steering wheel drive's mode, get the mode to traditional gripper clamp under water and optimize, make it realize four directions under single drive condition and add and hold, improve and press from both sides dynamics, accuracy of getting, guarantee to press from both sides and get article and be difficult for the slippage. Moreover, compared with the traditional underwater mechanical claw, the single-drive mode is simpler in structure, faster in action mode and higher in object clamping speed.
Drawings
Fig. 1 is a schematic view of the overall structure of an underwater gripper according to the present invention;
fig. 2 is a structural view of the inside of a housing of the underwater gripper according to the present invention;
fig. 3 is an internal structure view of a connecting sleeve of the underwater gripper according to the present invention;
fig. 4 is an enlarged view of a partial structure of the underwater gripper according to the present invention.
In the figure: 1. a housing; 2. a connecting sleeve; 3. a supporting base; 4. a clamping structure; 5. a first link; 6. a clamping jaw; 7. a second link; 8. a third link; 9. a shaft seat; 10. a connecting strip; 11. a steering engine; 12. a worm gear; 13. a rack.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.
As shown in fig. 1-4, a gripper for underwater use comprises a housing 1, a connecting sleeve 2 is fixedly mounted on one side of the housing 1, a supporting seat 3 is fixedly mounted on one end of the connecting sleeve 2, and a clamping structure 4 is arranged on one end of the supporting seat 3;
the clamping structure 4 comprises a first connecting rod 5, the first connecting rod 5 is rotatably connected to one end of the supporting seat 3, the other end of the first connecting rod 5 is rotatably connected with a clamping jaw 6, a second connecting rod 7 is movably connected between the clamping jaw 6 and the supporting seat 3, the rear portion of the second connecting rod 7 is rotatably connected with a third connecting rod 8, and the connecting strip 10 is slidably connected inside the connecting sleeve 2.
In this embodiment, a steering gear 11 is fixedly installed inside the housing 1, an output shaft of the steering gear 11 is connected with a worm wheel 12, and one end of the connecting strip 10 is located inside the housing 1 and is fixedly connected with a rack 13.
The steering engine 11 can drive the worm wheel 12 to rotate, the worm wheel 12 drives the rack 13 to translate, and the rack 13 drives the connecting strip 10 to translate, so that the whole underwater gripper can work.
In this embodiment, the worm wheel 12 is engaged with the rack 13, and a sliding sleeve is disposed between the connecting bar 10 and the connecting sleeve 2.
The sliding sleeve can play a role in supporting the connecting strip 10 to slide, and the connecting strip 10 is prevented from deviating, so that the rack 13 is prevented from being staggered with the worm wheel 12.
In this embodiment, one end of the connecting strip 10 is fixedly connected with a shaft seat 9, and the shaft seat 9 is rotatably connected with the third connecting rod 8.
When the connecting strip 10 translates, the shaft seat 9 can be driven to translate, the shaft seat 9 can drive the third connecting rod 8 to move, the third connecting rod 8 pulls the second connecting rod 7 to rotate at the end of the supporting seat 3, so that the clamping jaw 6 is driven to move, and the object is clamped.
In this embodiment, the clamping structures 4 are four groups arranged in an annular array, the inner side surface of the clamping jaw 6 is provided with an arc groove, and the inner side surface of the clamping jaw 6 is positioned at two ends of the arc groove and provided with sawtooth grooves.
Four groups of clamping structure 4 have realized the fixed effect of four directions centre gripping of article for article are by the stability of centre gripping higher.
In this embodiment, the first link 5 and the second link 7 are disposed in a non-parallel manner, and the third link 8 is connected to a central point of the second link 7.
It should be noted that, the utility model relates to a be used for gripper under water, when using, its output shaft drives worm wheel 12 and rotates in 11 jobs of steering wheel, worm wheel 12 drives rack 13 and removes, rack 13 drives connecting strip 10 and removes, connecting strip 10 drives axle bed 9 and removes, axle bed 9 drives the removal of third connecting rod 8, the removal of third connecting rod 8 pulling second connecting rod 7 and rotation, the rotation of first connecting rod 5 between clamping jaw 6 and supporting seat 3 is coordinated, make clamping jaw 6 move, four clamping jaws 6 move simultaneously, with the article centre gripping between four clamping jaws 6, the four-direction centre gripping efficiency to article is realized.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A gripper for use underwater, comprising: the clamping device comprises a shell (1), wherein a connecting sleeve (2) is fixedly mounted on one side of the shell (1), a supporting seat (3) is fixedly mounted at one end of the connecting sleeve (2), and a clamping structure (4) is arranged at one end of the supporting seat (3);
press from both sides tight structure (4) including first connecting rod (5), first connecting rod (5) are rotated and are connected the one end at supporting seat (3), the other end of first connecting rod (5) is rotated and is connected with clamping jaw (6), swing joint has second connecting rod (7) between clamping jaw (6) and supporting seat (3), the rear portion of second connecting rod (7) is rotated and is connected with third connecting rod (8), the inside sliding connection of connecting sleeve (2) has connecting strip (10).
2. A gripper for use underwater according to claim 1, further comprising: the inside fixed mounting of shell (1) has steering wheel (11), the output shaft of steering wheel (11) is connected with worm wheel (12), the one end of connecting strip (10) is located inside fixedly connected with rack (13) of shell (1).
3. A gripper for use underwater according to claim 2, further comprising: the worm wheel (12) is meshed with the rack (13) and connected with the rack, and a sliding sleeve is arranged between the connecting strip (10) and the connecting sleeve (2).
4. A gripper for use underwater according to claim 1, further comprising: one end of the connecting strip (10) is fixedly connected with a shaft seat (9), and the shaft seat (9) is rotatably connected with the third connecting rod (8).
5. A gripper for use underwater according to claim 1, further comprising: the clamping structure (4) is four groups arranged in an annular array, the inner side surface of the clamping jaw (6) is provided with an arc groove, and the inner side surface of the clamping jaw (6) is positioned at two ends of the arc groove and is provided with a sawtooth groove.
6. A gripper for use underwater according to claim 1, further comprising: the first connecting rod (5) and the second connecting rod (7) are arranged in a non-parallel mode, and the third connecting rod (8) is connected to the center point of the second connecting rod (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222505422.7U CN218398185U (en) | 2022-09-21 | 2022-09-21 | Underwater mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222505422.7U CN218398185U (en) | 2022-09-21 | 2022-09-21 | Underwater mechanical claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218398185U true CN218398185U (en) | 2023-01-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222505422.7U Active CN218398185U (en) | 2022-09-21 | 2022-09-21 | Underwater mechanical claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218398185U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117718948A (en) * | 2023-04-18 | 2024-03-19 | 南京艾若博特信息技术有限公司 | Precise side-pose rotary manipulator convenient to maintain |
-
2022
- 2022-09-21 CN CN202222505422.7U patent/CN218398185U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117718948A (en) * | 2023-04-18 | 2024-03-19 | 南京艾若博特信息技术有限公司 | Precise side-pose rotary manipulator convenient to maintain |
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