Grasp and suction dual-functional underwater electric manipulator

Abstract

The invention involves submarine manipulator with clamping and suctioning functions. The manipulator mainly consists of the suction disc, pressure-relieving cushion, supporting rod, clamping fingers, spindle 1, stopper for clamping finger seat, guide bearing, clamp seat, pulling nail, motor, transmission screw, clamping finger seat, spindle 2, spindle 3, clamping finger arm, pressing spring and transmission shaft. The motor spindle is fixed to the transmission screw through pins. The clamp seat and the clamping finger seat are stationary. The motor and the transmission are connected with the pulling nail through a helix trough. One end of the clamping arm is connected to the clamping finger seat through the spindle and can rotate around the central line of the spindle. The other end is connected to the spindle 2 through a sliding trough. The spindle 2 and the transmission spindle are fixed into a whole structure, so the clamping and opening motion of the clamping fingers are realized. The supporting rod is connected to the transmission spindle through the spindle 1, and thus forming a level mechanism. As the transmission spindle reaches a certain position, under the joint action of the extruding block on the supporting rod and the stopper on the clamping finger seat, one end of the supporting rod is lifted. So the negative pressure cavity in the suction disc is depressurized. With this invention, the problem of picking up various kinds of objects with a single mechanism is solved, fully exerting the multi-functions which one single mechanism possesses, characterized by being light in weight, compact, practicability, reliable seal and convenience.

Description

technical field [0001] The invention relates to a grasping-suction dual-function underwater motor mechanism hand suitable for grasping and absorbing foreign matter in water, on land or in a special environment. technical background [0002] With the rapid development of my country's economy, it has become an inevitable trend of the times to use industrial robots to replace humans to complete certain tasks in special environments. Among them, the application of grasping manipulators is also quite popular, but in real life, there are many kinds of foreign objects that need to be grasped. For larger blocky objects, it is better to use the grasping manipulator for grasping, but for the flake foreign objects that fall into the water, the grasping manipulator is often at a loss, and another structure needs to be used to achieve picking. However, it is more cumbersome to exchange different fingers underwater. Therefore, a multifunctional manipulator that can pick up different fore...

AI Technical Summary

Problems solved by technology

However, it is cumbersome to change different fingers underwater. Therefore, a multifunctional manipulator that can pick up different foreign objects on one set of mechanisms will greatly facilitate various underwater operations.

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