CN220499158U - Multi-degree-of-freedom mechanical claw device for submerged test mine salvaging - Google Patents
Multi-degree-of-freedom mechanical claw device for submerged test mine salvaging Download PDFInfo
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- CN220499158U CN220499158U CN202321070503.7U CN202321070503U CN220499158U CN 220499158 U CN220499158 U CN 220499158U CN 202321070503 U CN202321070503 U CN 202321070503U CN 220499158 U CN220499158 U CN 220499158U
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- mechanical claw
- welded
- hydraulic cylinder
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- pin
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- 210000000078 claw Anatomy 0.000 title claims abstract description 50
- 238000003466 welding Methods 0.000 claims abstract description 17
- 239000013049 sediment Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000251729 Elasmobranchii Species 0.000 description 1
- 241000282376 Panthera tigris Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
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Abstract
The utility model discloses a multi-degree-of-freedom mechanical claw device for submerged-arc salvaging in an underwater test, which comprises a welding plate at the left side and the right side, a motor, a gear, a ball bearing, a main shaft, a hydraulic cylinder, a mechanical claw base, a mechanical claw, a towing rope ring and a pin, wherein one side of the welding plate at the left side and the right side is welded with a robot body, the other side of the welding plate is welded with an outer ring of the ball bearing into a whole, the outer side of a motor shell is fixed with the outer side of a ball bearing sleeve through a bolt, an output shaft of the motor is fixedly connected with the gear, the gear is meshed with the gear of the main shaft, one end of the main shaft is welded with the bearing sleeve into a whole, one end of a cylinder barrel of the hydraulic cylinder is connected with an inner ring of the ball bearing, the other end of the cylinder barrel of the hydraulic cylinder is integrated with the mechanical claw base, a piston rod of the hydraulic cylinder is welded with the pin into a whole, the mechanical claw base is fixed with the mechanical claw through a bolt nut, two sides of the mechanical claw base are connected with the pin, and the two sides of the towing rope ring are fixedly connected with the pin, the structure is stable, and salvaging efficiency is high.
Description
Technical Field
The utility model relates to the technical field of mechanical automation of underwater robots, in particular to a multi-degree-of-freedom mechanical claw device for submerged mine salvage in an underwater test.
Background
The test lightning sinking exists at the bottom of the sea or the water area, the cost is high when the torpedo is salvaged by submarines and the like, and the labor salvage can not safely and efficiently finish the operation; deep sinking in sediment also makes the fishing operation difficult, so that a device capable of efficiently grabbing and fishing torpedoes is needed.
The salvaging mechanical claw has high degree of freedom, adapts to the shape of a target and prevents the target from falling off, and has the function of preventing the torpedo from being damaged by the soft material. The utility model has high working efficiency, can efficiently finish the salvage operation, and can adapt to the water surface of different conditions for operation, thereby having high adaptability. But the utility model is not applicable to salvaging objects buried under sediment.
Disclosure of Invention
The utility model aims to solve the problems of unsafe sinking of a manual salvage test at sea, low efficiency and the like, and provides a multi-degree-of-freedom mechanical claw device for salvaging the sinking of the underwater test.
A multi-degree-of-freedom mechanical claw device for underwater test mine sinking salvage comprises a left welding plate, a right welding plate, a motor, a gear, a ball bearing, a main shaft, a hydraulic cylinder, a mechanical claw base, a mechanical claw, a towing rope ring and a pin, wherein one side of the left welding plate and one side of the right welding plate are welded with a robot body, the other side of the left welding plate and the ball bearing are welded into a whole, the outer side of the motor shell is fixed with the outer side of the ball bearing sleeve through bolts, an output shaft of the motor is fixedly connected with the gear, the gear is meshed with the gear of the main shaft, one end of the main shaft is welded with the bearing sleeve into a whole, one end of a cylinder barrel of the hydraulic cylinder is connected with an inner ring of the ball bearing, the other end of the hydraulic cylinder is integrated with the mechanical claw base, a piston rod of the hydraulic cylinder is welded with the pin into a whole, the two sides of the mechanical claw base are fixed with bolts and nuts, and two sides of the towing rope ring are fixedly connected with the pin.
Further, the multi-degree-of-freedom mechanical claw device for submerged test lightning salvage is characterized in that the outer ring of the ball bearing is welded on the inner side of the bearing sleeve in an integrated mode.
Further, the multi-degree-of-freedom mechanical claw device for submerged test lightning salvage is characterized in that a cylinder barrel of the hydraulic cylinder is welded on an inner ring of the ball bearing to be integrally formed.
Further, the multi-degree-of-freedom mechanical claw device for submerged test lightning salvage is characterized in that the middle part of the pin is welded at one end of a piston rod of the hydraulic cylinder and integrally formed.
Further, the multi-degree-of-freedom mechanical claw device for submerged fishing in the underwater test is characterized in that two ends of the towing rope ring are welded with two ends of the pin into a whole.
Further, the multi-degree-of-freedom mechanical claw device for submerged test lightning salvage is characterized in that the mechanical claw base is connected with two mechanical claw sheets, the mechanical claw moves on the mechanical claw base, and the connection positions of the two ends of the pin and the towing cable loop are connected with the two ends of the mechanical claw.
The utility model works as follows: firstly, installing a mechanical claw and a robot body into a whole, then supplying power to a motor on the mechanical claw through the robot body, controlling the mechanical claw to rotate up and down and left and right through the rotating speed of the motor, operating a hydraulic cylinder, pushing a pin through a piston rod to open two mechanical claw sheets to a maximum angle, then approaching underwater torpedo, controlling the hydraulic cylinder to control the claw to close, grabbing the torpedo into a tiger mouth, and dragging the mechanical claw and the robot body to the ship side through a dragging cable, so that the first fishing operation is completed.
Drawings
FIG. 1 is a schematic diagram of a multi-degree-of-freedom mechanical claw device for submerged test lightning salvage;
FIG. 2 is a top view of a multiple degree of freedom gripper device for submerged test lightning salvage according to the present utility model;
FIG. 3 is a front view of a multiple degree of freedom gripper device for submerged test lightning salvage according to the present utility model;
FIG. 4 is a side view of a multiple degree of freedom gripper apparatus for submerged test lightning salvage according to the present utility model;
FIG. 5 is a cross-sectional view of a multiple degree of freedom gripper device for submerged test lightning salvage according to the present utility model;
in the drawings, the list of components represented by the various numbers is as follows:
1. mechanical claw, 2 towing rope ring, 3, ball bearing sleeve, 4, motor, 5, welding plate, 6, gear, 7, bearing sleeve, 8, a main shaft, 9, a hydraulic cylinder, 10, a pin, 11, a ball bearing, 12, a mechanical grabbing base, 13 and a screw hole.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Example 1
As shown in figure 1, the multi-degree-of-freedom mechanical claw device for submerged-arc salvaging in the underwater test comprises a welding plate 5 on the left side and the right side, a motor 4, a gear 6, a ball bearing 11, a main shaft 8, a hydraulic cylinder 9, a mechanical claw base 12, a mechanical claw 1, a towing rope ring 2 and a pin 10, wherein one side of the welding plate 5 on the left side and the right side is welded with a robot body, the other side is welded with the outer ring of the ball bearing 11 into a whole, the outer shell of the motor 4 is fixed with the outer side of a ball bearing sleeve 3 through bolts, an output shaft of the motor 4 is fixedly connected with the gear 6, the gear 6 is meshed with the gear of the main shaft 8, one end of the main shaft 8 is welded with the bearing sleeve 7 into a whole, one end of a cylinder barrel of the hydraulic cylinder 9 is connected with the inner ring of the ball bearing 11, the other end of the main shaft is welded with the mechanical claw base 12 into a whole, a piston rod of the hydraulic cylinder 9 is welded with the pin 10 into a whole, the mechanical claw base 12 is fixed with the mechanical claw 1 through bolts and nuts, openings on the two sides of the mechanical claw base 12 are connected with the pin 10, and the two sides of the towing rope ring 2 are fixedly connected with the pin 10.
In the embodiment, the whole manipulator is firstly arranged in a robot body, then a pin 10 is pushed by a piston rod of a hydraulic cylinder 9, two mechanical claws 1 are jacked up by the pin 10 to form a certain degree of opening and closing, the offshore floating object is aligned, and the piston rod of the hydraulic cylinder 9 is pulled back to close the mechanical claws 1 to clamp the floating object.
Example 2
As shown in fig. 2, in this embodiment, on the basis of embodiment 1, the power supply of the motor 4 is turned on, after the power supply is turned on, the output shaft of the motor 4 starts to rotate, the rotating output shaft drives the gear 6, and the gear welded on the main shaft 8 starts to rotate, so that the whole gripper 1 rotates in the vertical direction, and the floats are more accurately grasped.
Example 3
As shown in fig. 3, in this embodiment, on the basis of embodiment 1 and embodiment 2, the hydraulic cylinder is rotated in a 360 ° range by the rotation of the motor 4, and the gripper connected to the hydraulic cylinder 9 is rotated synchronously.
Example 4
As shown in fig. 4, the cable is tied to the cable ring 2 on the basis of embodiments 1, 2 and 3, the cable rotates on both sides of the pin 10, and the cable pulls the whole device to shore.
Claims (6)
1. A multi-degree-of-freedom mechanical claw device for submerged-arc salvaging in an underwater test is characterized by comprising a left welding plate (5), a right welding plate (4), a motor (4), a gear (6), a ball bearing (11), a main shaft (8), a hydraulic cylinder (9), a mechanical claw base (12), a mechanical claw (1), a towing rope ring (2) and a pin (10), wherein one side of the left welding plate (5) and one side of the right welding plate are welded with a robot body, the other side of the left welding plate and the other side of the right welding plate are welded with an outer ring of the ball bearing (11) into a whole, an outer shell of the motor (4) is fixed with the outer side of the ball bearing sleeve (3) through bolts, an output shaft of the motor (4) is fixedly connected with the gear (6), the gear (6) is meshed with the gear of the main shaft (8), one end of the main shaft (8) is welded with the bearing sleeve (7) into a whole, one end of a cylinder barrel of the hydraulic cylinder (9) is connected with an inner ring of the ball bearing (11), the other end of the cylinder barrel of the hydraulic cylinder barrel is connected with the mechanical claw base (12) into a whole, the hydraulic cylinder (9) is welded with the pin (10) into a whole, the mechanical claw base 12) is connected with the two sides of the piston rod (10) are connected with the two sides of the towing rope ring (10) through bolts, and the two sides of the piston rod (2) are fixedly connected with the towing rope ring.
2. The multi-degree-of-freedom mechanical gripper device for submerged test lightning salvage according to claim 1, wherein the outer ring of the ball bearing (11) is welded on the inner side of the bearing sleeve (7) in an integrated manner.
3. The multi-degree-of-freedom mechanical gripper device for submerged test lightning salvage according to claim 1, wherein the cylinder barrel of the hydraulic cylinder (9) is welded on the inner ring of the ball bearing (11) in an integrated manner.
4. The multi-degree-of-freedom mechanical claw device for submerged test lightning salvage according to claim 1, wherein the middle part of the pin (10) is welded at one end of a piston rod of the hydraulic cylinder (9) and integrally formed.
5. The multi-degree-of-freedom mechanical gripper device for submerged test lightning salvage according to claim 1, wherein the two ends of the towing rope ring (2) are welded with the two ends of the pin (10) into a whole.
6. The multi-degree-of-freedom gripper device for submerged test lightning salvage according to claim 1, wherein the gripper base (12) is connected with two gripper (1) sheets, and the connection parts of the two ends of the pin (10) and the towing rope ring (2) are connected with the two ends of the gripper (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321070503.7U CN220499158U (en) | 2023-05-07 | 2023-05-07 | Multi-degree-of-freedom mechanical claw device for submerged test mine salvaging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321070503.7U CN220499158U (en) | 2023-05-07 | 2023-05-07 | Multi-degree-of-freedom mechanical claw device for submerged test mine salvaging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220499158U true CN220499158U (en) | 2024-02-20 |
Family
ID=89868602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321070503.7U Active CN220499158U (en) | 2023-05-07 | 2023-05-07 | Multi-degree-of-freedom mechanical claw device for submerged test mine salvaging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220499158U (en) |
-
2023
- 2023-05-07 CN CN202321070503.7U patent/CN220499158U/en active Active
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