CN219599561U

CN219599561U - Underwater flexible grabbing air bag

Info

Publication number: CN219599561U
Application number: CN202321376566.5U
Authority: CN
Inventors: 胡志辉; 袁建明
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2023-05-29
Filing date: 2023-05-29
Publication date: 2023-08-29
Anticipated expiration: 2033-05-29

Abstract

The utility model relates to an underwater flexible grabbing air bag, which comprises a bag body structure and a profiling clamp plate; the bag body structure comprises an upper bag surface, a lower bag surface and a bag wall, wherein the bag wall is formed by encircling the upper bag surface and the lower bag surface, and is communicated with the upper bag surface, the lower bag surface and a cavity, and the lower bag surface is communicated with an inflation and deflation interface and a pressure sensor interface; the profiling clamp plate is embedded in the capsule body structure, and when the cavity is in a full state, the profiling clamp plate enables the upper capsule surface shape to be restrained and maintain an effective contact area. The flexible grabbing air bag can adapt to different grabbed objects by arranging the upper bag surface and the cavity.

Description

Underwater flexible grabbing air bag

Technical Field

The utility model relates to the technical field of grippers, in particular to an underwater flexible grabbing air bag.

Background

The mechanical gripper is widely applied to various industries, and can have good gripping force, so that the mechanical gripper becomes an important reference factor in the process of selecting the shape of people.

The utility model discloses a Chinese patent with a universal sucker grip, which is characterized in that a balloon is arranged, and a plurality of vacuum suckers communicated with the balloon are arranged on the surface of the balloon, so that a gripped object can be adsorbed well.

However, when the universal sucker gripper is actually used, the gripper can only grip articles with smaller dead weight and difficult breakage (the adsorption force is relatively limited), but the traditional rigid gripper is limited by the processing precision and cannot be completely attached to the gripped articles, and in the recovery process of underwater suspended articles with smaller allowable contact stress on the fragile or surface, only small-range contact (generally point and line contact) can be realized between the steel gripper and the gripped articles, so that the contact area between the steel gripper and the gripped articles is very small, and the local contact stress often exceeds the allowable range, thereby damaging or destroying the surfaces of the gripped articles. The grabbing requirements of different grabbed objects cannot be well met.

Disclosure of Invention

In view of the foregoing, it is necessary to provide an underwater flexible grabbing air bag for solving the technical problem that the application range of the mechanical gripper in the prior art is relatively small.

The utility model provides an underwater flexible grabbing air bag, which comprises a bag body structure and a profiling clamping plate;

the bag body structure comprises an upper bag surface, a lower bag surface and a bag wall, wherein the bag wall is formed by encircling the upper bag surface and the lower bag surface, and is communicated with the upper bag surface, the lower bag surface and a cavity, and the lower bag surface is communicated with an inflation and deflation interface and a pressure sensor interface;

the profiling clamp plate is embedded in the capsule body structure, and when the cavity is in a full state, the profiling clamp plate enables the upper capsule surface shape to be restrained and maintain an effective contact area.

In an embodiment of the utility model, the upper bag surface comprises a rubber surface layer, a rubberized aramid fabric, a raw rubber layer and a rubber liner, and the rubber surface layer, the rubberized aramid fabric, the raw rubber layer and the rubber liner are sequentially arranged from outside to inside.

In an embodiment of the present utility model, a bolt clamping plate assembly is further embedded in the lower bag surface, and the bolt clamping plate assembly is used for externally connecting a rigid grip.

In an embodiment of the present utility model, the profiling splints are arranged in pairs, and the two profiling splints are respectively embedded in the upper bag surface and the lower bag surface.

In one embodiment of the present utility model, the profiling clamp plate is in a thin plate shape.

In an embodiment of the present utility model, the profiling clamping plate is provided with a circular groove.

In one embodiment of the utility model, the circular grooves are arranged in groups, at least three circular grooves are arranged in each group, and different groups are symmetrically distributed along the center of the profiling clamping plate.

In an embodiment of the utility model, the balloon structure is elongated.

In an embodiment of the utility model, the outer wall of the capsule structure is provided with rounded corners.

In one embodiment of the utility model, the length dimension of the balloon structure is at least three times the height dimension of the balloon structure.

Compared with the prior art, the underwater flexible grabbing airbag provided by the utility model has the following beneficial effects:

in the utility model, a flexible grabbing foundation structure is constructed by arranging the capsule body structure; further, through embedding the profile modeling splint in the bag body structure, and when the empty chamber is in full state, the profile modeling splint makes the upper bag surface form be restrained and keep effective area of contact, can make like this the operator guarantee through inflating the gassing interface that the upper bag surface can possess bigger surface area (i.e. area of contact) after inflating to make the stress become more balanced. When the device is specifically used, the grabbing can be realized only by connecting the lower bag surface with the rigid grippers, and meanwhile, the surface damage of the grabbed objects can be effectively avoided, so that the device is better suitable for grabbing requirements of different grabbed objects.

The foregoing description is only an overview of the present utility model, and is intended to provide a better understanding of the present utility model, as it is embodied in the following description, with reference to the preferred embodiments of the present utility model and its details set forth in the accompanying drawings. Specific embodiments of the present utility model are given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

FIG. 1 is an isometric view of FIG. 1 of an underwater flexible gripping balloon provided by the present utility model;

FIG. 2 is an isometric view of FIG. 2 of an underwater flexible gripping balloon provided by the present utility model;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a cross-sectional view of A-A of FIG. 3;

FIG. 5 is an enlarged schematic view of the contour clamp plate of FIG. 4;

FIG. 6 is a schematic view of the bladder structure of FIG. 1 (in an uninflated state);

fig. 7 is a schematic view of the capsule structure of fig. 1 (in filled state).

The reference numerals are as follows:

100. a capsule structure; 110. an upper bag surface; 111. a rubber surface layer; 112. hanging glue on aramid cloth; 113. a raw glue layer; 114. a rubber liner; 120. a lower bag surface; 130. a capsule wall; 140. a cavity; 150. round corners; 200. profiling splints; 210. a circular groove; 300. an inflation/deflation interface; 400. a pressure sensor interface; 500. and a bolt clamping plate assembly.

Detailed Description

The following detailed description of preferred embodiments of the utility model is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the utility model, are used to explain the principles of the utility model and are not intended to limit the scope of the utility model.

Referring to fig. 1-7, the present utility model provides an underwater flexible grabbing air bag, which comprises a bag body structure 100 and a profiling clamp plate 200; the bag body structure 100 comprises an upper bag surface 110, a lower bag surface 120 and a bag wall 130, wherein the bag wall 130 is formed by encircling the upper bag surface 110 and the lower bag surface 120, a cavity 140 is formed between the bag wall 130 and the upper bag surface 110 and the lower bag surface 120, and the lower bag surface 120 is communicated with an inflation and deflation interface 300 and a pressure sensor interface 400; the contoured clamp plate 200 is embedded within the bladder structure 100, and when the cavity 140 is in a filled state, the contoured clamp plate 200 allows the upper bladder surface 110 to be constrained and maintain an effective contact area.

When in use, the lower bag surface 120 is connected with the rigid grip, and then the air in the hollow cavity 140 is inflated through the inflation and deflation interface 300, so that the hollow cavity 140 is in a full state; at this time, when the rigid gripper is used again, because the capsule structure 100 is plump, the stress when the rigid gripper grabs the grabbed object is balanced, and grabbing can be realized more firmly when the object is in face of the underwater suspension with fragile or small surface allowable contact stress, and the surface damage of the grabbed object can not be caused. It should be noted that, due to the configuration of the profiling clamp plate 200, after the bladder structure 100 is inflated, the shape of the upper bladder surface 110 of the bladder structure can be restrained and has an effective contact area (i.e. a larger contact area), that is, the grabbing force of the rigid gripper connected with the bladder structure 100 is still strong, so that the situation that the gripped object easily falls off is avoided.

In order to further stabilize the forming state of the upper bladder surface 110, in an embodiment of the present utility model, the upper bladder surface 110 includes a rubber surface layer 111, a rubberized aramid fabric 112, a raw rubber layer 113 and a rubber liner 114, and the rubber surface layer 111, the rubberized aramid fabric 112, the raw rubber layer 113 and the rubber liner 114 are sequentially disposed from outside to inside.

In order to make the bladder structure 100 more stable when connected to the rigid grip, in an embodiment of the present utility model, the bolt clamping assembly 500 is further embedded in the lower bladder surface 120, and the bolt clamping assembly 500 is used to circumscribe the rigid grip. Specifically, a space may be reserved in the lower surface 120, and the space may be connected to the rigid grip by means of a bolt or the like.

Further, in an embodiment of the present utility model, the profiling splints 200 are arranged in pairs, and the two profiling splints 200 are respectively embedded in the upper bladder surface 110 and the lower bladder surface 120, so that the form fixing of the bladder structure 100 can be better realized.

Further, in one embodiment of the present utility model, the contoured clamp plate 200 is thin plate-like, which better fits the gripping surface of the rigid grip.

In order to make the profiling clamp plate 200 lighter, in an embodiment of the utility model, the profiling clamp plate 200 is provided with a circular groove 210.

Further, in one embodiment of the present utility model, the circular grooves 210 are arranged in groups of at least three, and the different groups are symmetrically distributed along the center of the profile clamp plate 200.

In order to make the balloon structure 100 more closely adjacent to the external shape of the rigid grip, in one embodiment of the present utility model, the balloon structure 100 is elongated.

To make the exterior of the bladder structure 100 smoother, in one embodiment of the utility model, the outer wall of the bladder structure 100 is provided with rounded corners 150.

Further, in an embodiment of the present utility model, the length dimension of the balloon structure 100 is at least three times the height dimension of the balloon structure 100, so that the distance between the balloon structure 100 and the rigid grip can be reduced as much as possible, and the balloon structure can be better attached to the rigid grip.

When the underwater flexible grabbing airbag is specifically used, the lower bag surface 120 and the rigid gripper are required to be connected through the bolt clamping plate assembly 500 (preferably the bolt clamping plate assembly 500), then gas is injected into the cavity 140 through the inflation and deflation interface 300, so that the bag body structure 100 becomes full until the upper bag surface 110 becomes flat under the limitation of the profiling clamping plate 200, until an effective contact area is obtained, and then the rigid gripper is specifically used. Therefore, the underwater suspended objects with small fragile or surface allowable contact stress can be effectively grabbed through the capsule body structure 100, and the adaptability to the grabbed objects is greatly improved.

The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model.

Claims

1. An underwater flexible grabbing air bag is characterized by comprising a bag body structure and a profiling clamp plate;

2. The underwater flexible grabbing air bag of claim 1, wherein the upper bag surface comprises a rubber surface layer, a rubberized aramid fabric, a raw rubber layer and a rubber inner container, and the rubber surface layer, the rubberized aramid fabric, the raw rubber layer and the rubber inner container are sequentially arranged from outside to inside.

3. The underwater flexible gripping balloon of claim 1, wherein the interior of the lower balloon surface is further embedded with a bolt clamp assembly for circumscribing a rigid grip.

4. The underwater flexible grabbing airbag according to claim 1, wherein the profiling splints are arranged in pairs, and the two profiling splints are respectively embedded in the upper bag surface and the lower bag surface.

5. The underwater flexible gripping balloon of claim 4, wherein the contoured clamp plate is sheet-like.

6. The underwater flexible gripping balloon of claim 4, wherein the contoured clamp plate is slotted.

7. The underwater flexible gripping balloon of claim 6, wherein the circular grooves are arranged in groups of at least three, different groups being symmetrically distributed along the center of the contoured clamp plate.

8. An underwater flexible gripping balloon as in claim 1, wherein the balloon structure is elongate.

9. An underwater flexible gripping balloon as in claim 1, wherein the outer wall of the balloon structure is provided with rounded corners.

10. An underwater flexible gripping balloon as in claim 1, wherein the length dimension of the balloon structure is at least three times the height dimension of the balloon structure.