Multi-connecting-rod type underwater clamping mechanical gripper device
A manipulator claw and multi-link technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of susceptibility to seawater corrosion, low reliability, complex structure, etc., to achieve a large clamping range, reliable structure, and strong environmental adaptability Effect
Pending Publication Date: 2022-04-29
SECOND INST OF OCEANOGRAPHY MNR
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Problems solved by technology
At present, the transmission form of mechanical gripper mainly adopts worm gear or ball screw, but the structure is complicated, it is easily corroded by seawater, the reliability is low in the marine environment, and professional operation is required for offshore maintenance.
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[0032] The present invention will be further elaborated below in conjunction with the accompanying drawings and embodiments.
[0033] Such as figure 1 As shown in ~ 3, the present invention includes butt plate 1 (such as Figure 4 shown), short lug 2 (as shown Figure 6 shown), short lifting lugs connected to fisheye bearings 3, long lifting lugs 4, short pin shaft spring retaining rings 5, short pin shafts 6, long lifting lugs connected to fisheye bearings 7, long connecting rods 8 (such as Figure 7 shown), jaw 9 (as Figure 8 shown), buffer rubber 10, long pin shaft 11 (such as Figure 9 shown), long pin shaft spring retaining ring 12, thin pin shaft 13, thin pin shaft spring retaining ring 14, long connecting rod connecting fisheye bearing 15, short connecting rod 16, short lug connecting piece 17 (such as Figure 5 Shown), the top nut 18, the thin hydraulic cylinder 19. Wherein, the butt plate 1 is provided with mounting holes for the long lug 4 and the thin hydrauli...
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The invention discloses a multi-connecting-rod type underwater clamping mechanical gripper device, belongs to the field of underwater robots, adopts a sliding block rocker mechanism to amplify the tail end stroke, adopts a hydraulic scheme to provide driving force, and can be used for underwater robot seabed sample clamping, sampling and other operations. A butt-joint plate is connected with a mechanical arm of the underwater robot, a thin hydraulic cylinder is installed on the butt-joint plate, and a long lifting lug is installed on the butt-joint plate. The lifting lug connecting piece is connected with an extension rod of the thin hydraulic cylinder, a nut is used for locking, and a threaded hole is formed in each side; the short lifting lug is mounted on the lifting lug connecting piece; the short connecting rod is connected with the short lifting lug; the long connecting rod is connected with the short connecting rod; the clamping jaw is connected with a long connecting rod, a long lifting lug and the like; and the clamping jaw is provided with buffer rubber. The thin hydraulic cylinder is adopted as a driver to form a stroke-amplified multi-connecting-rod structure, and the device has the advantages of being large in clamping range, simple and reliable in structure, low in cost, high in environmental adaptability, easy to replace parts, controllable in output force and the like.
Description
technical field [0001] The invention belongs to the field of underwater robots, and relates to an underwater robot gripper adopting hydraulically driven multi-link transmission, which is mainly suitable for collecting samples such as seabed rocks and organisms. Background technique [0002] The ocean is rich in resources such as hydrothermal sulfides, biological gene pools, nodules and crusts, oil, and combustible ice. Since the 1980s, human exploration, research and development of deep sea resources have continued to deepen, and the demand for exploration equipment has continued to increase. Offshore operations usually install mechanical grippers on the robotic arms of underwater robots for seabed rock sampling or biological sample capture. However, offshore operating conditions are harsh, and these mechanical grippers are often required to have a simple and reliable structure, easy maintenance, easy replacement of parts, and long-term application in the harsh environment ...
Claims
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IPC IPC(8): B25J11/00B25J19/00
CPCB25J11/00B25J19/00B25J19/0025
Inventor 陈宁特韩沉花周建平郑旻辉
Owner SECOND INST OF OCEANOGRAPHY MNR