Mechanical claw differential rotation opening and closing mechanism for underwater robot

Abstract

The invention discloses a mechanical claw differential rotation opening and closing mechanism for an underwater robot. The mechanical claw differential rotating opening and closing mechanism comprises a main shell and a differential gear box installed under the main shell, a main rotating shaft and an auxiliary rotating shaft are arranged in the main shell, the main rotating shaft is of a hollow structure in the axial direction, the auxiliary rotating shaft penetrates through the center of the main rotating shaft, and the two ends of the auxiliary rotating shaft penetrate out of the driving shaft. The upper end of the auxiliary rotating shaft is connected with an auxiliary transmission gear meshed with a first expansion gear, and the lower end of theauxiliary rotating shaft is connected with a first bevel gear; the upper end of the main rotating shaft is connected with a main rotating gear which is meshed with a second expansion gear, and the lower end is connected with a second bevel gear; and a third bevel gear and a fourth bevel gear which are meshed with the first bevel gear and the second bevel gear are arranged between two sides of the first bevel gear and the second bevel gear and are connected with an output shaft. Opening, closing and rotation of the tail end can be controlled at the same time in the same sealing section, and higher flexibility and load dead weight ratio are achieved.

Description

technical field [0001] The invention belongs to the field of underwater robots, and in particular relates to a mechanical claw differential rotation opening and closing mechanism for underwater robots. Background technique [0002] With the continuous depletion of human resources on the ground, most people focus on obtaining new resources on the oceans that cover more than 70% of the earth's surface. In recent years, people's enthusiasm for exploring the ocean has been on the rise. In order to better intuitively explore the world under the ocean surface, underwater technology has gradually become more important. [0003] Autonomous Underwater Vehicle (AUV for short) has been developed rapidly due to its flexible actions, high environmental tolerance and no need to receive remote control signals under the water surface. In order to be able to complete a series of underwater tasks such as: Tasks such as product fishing, bottom cleaning and maintenance, and seabed exploration ...

AI Technical Summary

Problems solved by technology

At present, most of the underwater terminal action joints adopt a two-stage structure. The secondary terminal is equipped with an actuator to be responsible for the rotation, and the terminal is equipped with an actuator to control the opening and closing of the mechanical claws. However, the underwater actuator generally needs to be waterproof. Using dynamic sealing technology, the dynamic sealing of multiple joints will also lead to an increase in the probability of water ingress in the actuator

[0004] In summary, there is currently a lack of a structure that can simultaneously control the opening, closing and rotation of the end in the same sealing section

Images