Free grasping device

Abstract

The present application relates to underwater mechanical equipment field, specifically point to a kind of free grabbing device, including support frame, drive mechanism and claw mechanism, support frame and / or claw mechanism is fixedly provided with float, support frame and / or claw mechanism is fixedly provided with propeller, claw mechanism includes left claw subassembly and right claw subassembly, drive mechanism includes left electric push rod and right electric push rod, left electric push rod and right electric push rod are respectively provided with claw opening and closing angle monitoring mechanism, left claw subassembly and right claw subassembly are provided with locking mechanism, locking mechanism can be made of locking motor, gear and rack, also can be made of locking electric push rod, locking seat, reset spring, claw hook, guide plate, clamping spring and locking rod, left claw subassembly includes left articulated shaft, left linkage shaft and left clamping jaw, right claw subassembly includes right articulated shaft, right linkage shaft and right clamping jaw, the present application structure is ingenious, high degree of freedom, high flexibility, can be inverted, can grab in water or water surface floating object.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater mechanical equipment, in particular to a free grabbing device. BACKGROUND

[0002] An underwater robot is a robot capable of detecting operations on the seabed, mainly used in underwater construction, public security and fire fighting, scientific research and other fields, which can carry hydraulic or electric underwater manipulators, and can perform underwater salvage, underwater construction, underwater grabbing, underwater sampling, underwater marking and other underwater operations. Because the underwater robot has so many skills, the underwater robot in the prior art is often large in size and not flexible enough to rotate. For example, the underwater grabbing device disclosed in Chinese patent CN112692860A includes a support frame, characterized in that: a driving mechanism is fixedly arranged on the support frame, and a pair of clamping claws that can be clamped or opened are symmetrically arranged on both sides of the lower end of the support frame, and the two rows of clamping claws are synchronously driven by the driving mechanism. The two rows of clamping claws include a left linkage shaft, a left clamping claw, a right linkage shaft and a right clamping claw, the left linkage shaft is provided with the left clamping claws at intervals, the left clamping claw is fixedly connected with the left linkage shaft, the right linkage shaft is provided with the right clamping claws at intervals, and the right clamping claw is fixedly connected with the right linkage shaft. The driving force of the driving mechanism is motor drive or hydraulic drive. The shortcomings of the above-mentioned patent are: first, the above-mentioned patent is large in size and cannot enter some areas under water or under the sea; second, the above-mentioned patent cannot adjust the posture in water by itself, and the operator needs to adjust the posture of the underwater grabbing device through external equipment such as a host computer or a cable, which takes a long time to adjust and may not be adjusted in place at one time, requiring multiple adjustments, which is time-consuming and laborious; third, the grabbing device in the above-mentioned patent cannot be inverted, and can only grab underwater objects, and cannot grab objects floating on the water surface. SUMMARY

[0003] The purpose of the present application is to solve the problems in the prior art and provide a free grabbing device which is clever in structure, high in degree of freedom, high in flexibility, invertible and capable of grabbing objects in water or floating on the water surface.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is:

[0005] A free grabbing device, comprising a support frame, a driving mechanism and a clamping claw mechanism, characterized in that: a float is fixedly arranged on the support frame and / or the clamping claw mechanism, and a propeller is fixedly arranged on the support frame and / or the clamping claw mechanism, so that the clamping claw mechanism can freely adjust the posture in water through the float and the propeller, and accurately grab objects in different postures.

[0006] The left and right clamping claw assemblies are driven apart or closed by the driving mechanism, so that the object is gripped by driving the left and right clamping claw assemblies apart by the driving mechanism.

[0007] The left and right clamping claw assemblies are driven apart or closed by the driving mechanism, so that the object is gripped by driving the left and right clamping claw assemblies apart by the driving mechanism.

[0008] The left and right clamping claw assemblies are driven apart or closed by the driving mechanism, so that the object is gripped by driving the left and right clamping claw assemblies apart by the driving mechanism.

[0009] The left and right clamping claw assemblies are driven apart or closed by the driving mechanism, so that the object is gripped by driving the left and right clamping claw assemblies apart by the driving mechanism.

[0010] The left and right clamping claw assemblies are driven apart or closed by the driving mechanism, so that the object is gripped by driving the left and right clamping claw assemblies apart by the driving mechanism.

[0011] The left and right clamping claw assemblies are driven apart or closed by the driving mechanism, so that the object is gripped by driving the left and right clamping claw assemblies apart by the driving mechanism.

[0012] The gear is provided with a protective cover, the protective cover covers the gear, one side of the protective cover is provided with a rack insertion port, and the protective cover is fixedly connected with the left claw assembly, so that the gear is protected through the protective cover.

[0013] The locking mechanism comprises a locking electric push rod, a locking seat, a reset spring, a claw hook, a guide plate, a clamping spring and a locking rod, the lower end of the right claw assembly is provided with the locking seat, the locking seat is fixedly connected with the right claw assembly, one side of the locking seat is provided with the locking electric push rod, the locking seat is provided with a containing groove opening to the left, at least one reset spring is arranged in the containing groove, the two sides of the inner wall of the containing groove are provided with sliding grooves, the containing groove is provided with the guide plate, one end of the reset spring is connected with the containing groove, and the other end of the reset spring is connected with the guide plate, the locking electric push rod is fixedly connected with the locking seat, the extension rod of the locking electric push rod penetrates through the locking seat and is arranged in the containing groove and abuts against the right side of the guide plate, the two sides of the guide plate are provided with sliding blocks, the guide plate is slidably connected with the locking seat through the sliding blocks and the sliding grooves, the guide plate is provided with the claw hook, the right end of the claw hook is hingedly connected with the right end of the guide plate, the left end of the claw hook extends outward and then inward to the left end of the guide plate and abuts against the left end of the guide plate, the middle part of the claw hook is provided with the clamping spring, one end of the clamping spring is connected with the claw hook, and the other end of the clamping spring is connected with the guide plate, the lower end of the left claw assembly is provided with the locking rod, the locking rod is fixedly connected with the left claw assembly, when the left claw assembly and the right claw assembly are closed, the locking rod abuts against the claw hook and enters between the claw hook and the guide plate, the extension rod of the locking electric push rod is retracted, the guide plate moves rightwards under the action of the reset spring, so that the claw hook abuts against the locking rod, the left claw assembly and the right claw assembly are fixedly limited, so that when the extension rod of the locking electric push rod abuts against the right end of the guide plate, the guide plate slides leftwards, the locking rod abuts against the claw hook and moves rightwards when the left claw assembly and the right claw assembly are closed, the claw hook is separated from the guide plate, the clamping spring is stretched, the locking rod enters between the claw hook and the guide plate, the claw hook falls back under the action of the clamping spring, the locking electric push rod is started, the extension rod of the electric push rod is retracted, the guide plate moves rightwards under the action of the reset spring, and the inner wall of the claw hook abuts against and fixes the locking rod.

[0014] The lower end of the right claw assembly is provided with a supporting limiting rod, the supporting limiting rod is opposite to the locking rod, the supporting limiting rod is arranged between the guide plate and the claw hook, and the supporting limiting rod is located at the right side of the inner wall of the claw hook, so that the claw hook is supported through the supporting limiting rod, the left end, which abuts against the guide plate, of the claw hook is easily pushed away by the locking rod, and meanwhile the supporting limiting rod limits the stroke of the guide plate.

[0015] The left embracing claw assembly comprises a left hinged shaft, a left linkage shaft and a left clamping claw, the right embracing claw assembly comprises a right hinged shaft, a right linkage shaft and a right clamping claw, the left linkage shaft and the right linkage shaft are arranged at intervals below the support frame, the left linkage shaft is provided with at least one, the left clamping claw is arranged at intervals on the left linkage shaft, the left hinged shaft is arranged above the left linkage shaft, the left linkage shaft passes through the left clamping claw and is fixedly connected with the left clamping claw, the upper end of at least one left clamping claw extends upward and inward and is fixedly connected with the left hinged shaft, the left hinged shaft is fixedly connected with the support frame through a bearing, the right linkage shaft is provided with at least one, the right clamping claw is arranged at intervals on the right linkage shaft, the right hinged shaft is arranged above the right linkage shaft, the right linkage shaft passes through the right clamping claw and is fixedly connected with the right clamping claw, the upper end of at least one right clamping claw extends upward and inward and is fixedly connected with the right hinged shaft, and the right hinged shaft is fixedly connected with the support frame through a bearing, so as to facilitate the left clamping claw and the right clamping claw to grab objects.

[0016] The support frame is provided with an electric appliance bin, and the driving mechanism and the propeller are connected with the electric appliance bin respectively, so that the electric appliance bin supplies power for the driving mechanism and the propeller.

[0017] The support frame is provided with a lighting lamp and a camera, so as to illuminate the grabbed object through the lighting lamp and understand the underwater environment through the camera.

[0018] The left embracing claw assembly and / or the right embracing claw assembly are provided with a sonar, and the left embracing claw assembly and / or the right embracing claw assembly are provided with a clamping lighting lamp and a clamping camera, so as to survey the underwater environment through the sonar, illuminate the object grabbed by the clamping lighting lamp, and shoot the object image through the clamping camera.

[0019] The present application has the advantages of ingenious structure, high degree of freedom, high flexibility, being able to be inverted, being able to grab floating objects in water or on water surface and the like due to the adoption of the above structure. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic view of the present application.

[0021] Figure 2 is a side view of the present application. Figure 1

[0022] Figure 3 is a front view of the present application. Figure 1

[0023] Figure 4 is a top view of the present application. Figure 1

[0024] Figure 5 is a schematic view of the present application in use, the embracing claw mechanism being opened. Figure 1

[0025] ​​​​Figure 6 is the present invention Figure 5 is a schematic diagram of the structure without the floating body in the present invention.

[0026] Figure 7 is the present invention Figure 1 is a schematic diagram of the left or right electric push rod and its upper angle sensor in the present invention.

[0027] Figure 8 is a partial enlarged schematic diagram of one angle of a locking mechanism in the present invention.

[0028] Figure 9 is a partial enlarged schematic diagram of another angle of a locking mechanism in the present invention.

[0029] Figure 10 is the bottom view of the present invention. Figure 8

[0030] Figure 11 is a schematic diagram of the claw hooking the locking rod in the present invention. Figure 8

[0031] Figure 12 is the bottom view of the present invention. Figure 11

[0032] Figure 13 is a schematic diagram of another locking mechanism installed on the claw mechanism in the present invention.

[0033] Figure 14 is a schematic diagram of the locking mechanism opening in the present invention. Figure 13

[0034] Figure 15 is an enlarged schematic diagram of the locking mechanism in the present invention. Figure 13

[0035] Figure 16 is a schematic diagram of the present invention grabbing an object in water when in use. Figure 1

[0036] Figure 17 is another schematic diagram of the present invention.

[0037] Figure 18 is a schematic diagram of the left and right clamping claws crossing and closing in the present invention. Figure 17

[0038] ​​​​​​​Support frame 1, drive mechanism 2, claw mechanism 3, float 4, propeller 5, left claw assembly 6, right claw assembly 7, left electric push rod 8, right electric push rod 9, claw opening and closing angle monitoring mechanism 10, ear seat 11, rotating shaft 12, angle sensor 13, locking mechanism 14, locking motor 15, gear 16, rack 17, protective cover 18, locking electric push rod 19, locking seat 20, reset spring 21, claw hook 22, guide plate 23, locking rod 24, containing groove 25, slide 26, extension rod 27, left hinged shaft 28, left linkage shaft 29, left clamping claw 30, right hinged shaft 31, right linkage shaft 32, right clamping claw 33, electric appliance bin 34, illuminating lamp 35, camera 36, sonar 37, clamping illuminating lamp 38, clamping camera 39, support limiting rod 40. DETAILED DESCRIPTION

[0039] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings.

[0040] A free grabbing device, comprising a support frame 1, a drive mechanism 2 and a claw mechanism 3, characterized in that: the support frame 1 and / or the claw mechanism 3 are fixedly provided with a float 4, and the support frame 1 and / or the claw mechanism 3 are fixedly provided with a propeller 5, so that the claw mechanism can freely adjust the posture in the water through the float and the propeller, and accurately grab objects with different postures.

[0041] The claw mechanism 3 comprises a left claw assembly 6 and a right claw assembly 7, the left and right sides of the lower end of the support frame 1 are provided with the left claw assembly 6 and the right claw assembly 7, the upper end of the left claw assembly 6 is hinged to the support frame 1, the upper end of the right claw assembly 7 is hinged to the support frame 1, and the left claw assembly 6 and the right claw assembly 7 are driven apart or closed by the drive mechanism 2, so as to facilitate the driving of the left claw assembly and the right claw assembly apart by the drive mechanism to grab objects.

[0042] The left claw assembly 6 is fixedly provided with a float 4 on the front and rear sides, respectively, and the left claw assembly 6 is provided with a propeller 5, the right claw assembly 7 is fixedly provided with a float 4 on the front and rear sides, respectively, and the right claw assembly 7 is provided with a propeller 5, so as to realize the free rotation of the claw mechanism through the float and the propeller.

[0043] The drive mechanism 2 comprises a left electric push rod 8 and a right electric push rod 9, the upper end of the left electric push rod 8 is hinged to the support frame 1, and the lower end is hinged to the left claw assembly 6, the upper end of the right electric push rod 9 is hinged to the support frame 1, and the lower end is hinged to the right claw assembly 7, so as to realize the separation or closing of the left claw assembly and the right claw assembly through the left electric push rod and the right electric push rod.

[0044] The left electric push rod 8 and the right electric push rod 9 are respectively provided with a claw opening and closing angle monitoring mechanism 10, the claw opening and closing angle monitoring mechanism 10 comprises an ear seat 11, a rotating shaft 12 and an angle sensor 13, the two sides of the lower end of the support frame 1 are respectively provided with the ear seat 11, the ear seat 11 is fixedly connected with the support frame 1, the rotating shaft 12 is arranged in the ear seat 11, the rotating shaft 12 is hinged with the ear seat 11, the left electric push rod 8 or the right electric push rod 9 is arranged on the rotating shaft 12, one end of the rotating shaft 12 penetrates through the ear seat 11 and is provided with the angle sensor 13, the output shaft of the angle sensor 13 is fixedly connected with the rotating shaft 12, the angle sensor 13 is fixed on the support frame 1, and the left electric push rod 8 and the right electric push rod 9 are fixedly connected with the rotating shaft 12 on the two sides of the support frame 1, so that the rotation angle of the left electric push rod and the right electric push rod can be understood and fed back in time through the angle sensor, and then the opening and closing angle of the left claw assembly and the right claw assembly can be controlled.

[0045] The left claw assembly 6 and the right claw assembly 7 are provided with a locking mechanism 14, so that the object can be locked after being gripped, and the object can be prevented from falling.

[0046] The locking mechanism 14 can be composed of a locking motor 15, a gear 16 and a rack 17, at least one gear 16 is arranged at the lower end of the left claw assembly 6 or the right claw assembly 7, the gear 16 is fixed on the output shaft of the locking motor 15, the locking motor 15 is fixedly connected with the left claw assembly 6 or the right claw assembly 7, correspondingly, at least one rack 17 is arranged at the lower end of the right claw assembly 7 or the left claw assembly 6, one end of the rack 17 is fixedly connected with the right claw assembly 7 or the left claw assembly 6, the other end faces the gear 16 and is matched with the gear 16, when the left claw assembly 6 and the right claw assembly 7 are closed, the rack 17 is engaged with the gear 16 to realize the fixed connection of the left claw assembly 6 and the right claw assembly 7, so that the left claw assembly and the right claw assembly are closed and fixed through the gear and the rack, and the gripped object can be prevented from falling.

[0047] The gear 16 is provided with a protective cover 18, the protective cover 18 covers the gear 16, one side of the protective cover 18 is provided with a rack insertion opening, the protective cover 18 is fixedly connected with the left claw assembly 6, so that the gear can be protected through the protective cover.

[0048] The locking mechanism 14 of the application can also be composed of a locking electric push rod 19, a locking seat 20, a reset spring 21, a claw hook 22, a guide plate 23, a clamping spring and a locking rod 24. The lower end of the right claw assembly 7 is provided with the locking seat 20, which is fixedly connected with the right claw assembly 7. One side of the locking seat 20 is provided with the locking electric push rod 19. The locking seat 20 is provided with a containing groove 25 opening to the left. At least one reset spring 21 is arranged in the containing groove 25. The inner wall of the containing groove 25 is provided with slide ways 26 on both sides. The containing groove 25 is provided with the guide plate 23. The reset spring is in a compressed state. One end of the reset spring 21 is connected with the containing groove 25, and the other end is connected with the guide plate 23. The locking electric push rod 19 is fixedly connected with the locking seat 20. The extension rod 27 of the locking electric push rod 19 penetrates through the locking seat 20 and is arranged in the containing groove 25 to abut against the right side of the guide plate 23. The guide plate 23 is provided with slide blocks on both sides. The guide plate 23 is slidably connected with the locking seat 20 through the slide blocks and the slide ways 26. The guide plate 23 is provided with the claw hook 22. The right end of the claw hook 22 is hingedly connected with the right end of the guide plate 23. The left end of the claw hook 22 extends outwardly and then inwardly to the left end of the guide plate 23 and abuts against the left end of the guide plate 23. The middle part of the claw hook 22 is provided with the clamping spring. The clamping spring is in a stretched state. One end of the clamping spring is connected with the claw hook 22, and the other end is connected with the guide plate 23. The lower end of the left claw assembly 6 is provided with the locking rod 24, which is fixedly connected with the left claw assembly 6. When the left claw assembly 6 and the right claw assembly 7 are closed, the locking rod 24 pushes away the claw hook 22 to enter between the claw hook 22 and the guide plate 23. The locking electric push rod 19 retracts the extension rod 27. The guide plate 23 moves rightward under the action of the reset spring 21, so that the claw hook 22 abuts against the locking rod 24 to realize the limiting and fixing of the left claw assembly 6 and the right claw assembly 7. When the left claw assembly and the right claw assembly are closed, the extension rod of the locking electric push rod abuts against the right end of the guide plate. The guide plate slides leftward. The locking rod abuts against the claw hook and moves rightward when the left claw assembly and the right claw assembly are closed. The claw hook is separated from the guide plate. The clamping spring is stretched. The locking rod enters between the claw hook and the guide plate. The claw hook falls back under the action of the clamping spring. The locking electric push rod is started. The extension rod of the electric push rod is retracted. The guide plate moves rightward under the action of the reset spring. The inner wall of the claw hook abuts against and fixes the locking rod.

[0049] The lower end of the right claw assembly 7 is provided with the support limiting rod 40, which is spaced apart from and opposite to the locking rod 24. The support limiting rod 40 is arranged between the guide plate 23 and the claw hook 22. The support limiting rod 40 is located on the right side of the inner wall of the claw hook, so as to support the claw hook through the support limiting rod. The left end of the claw hook, which abuts against the guide plate, is easily pushed away by the locking rod. At the same time, the support limiting rod limits the stroke of the guide plate.

[0050] The left embracing claw assembly 6 comprises a left hinged shaft 28, a left linkage shaft 29 and a left clamping claw 30, the right embracing claw assembly 7 comprises a right hinged shaft 31, a right linkage shaft 32 and a right clamping claw 33, the left linkage shaft 29 and the right linkage shaft 32 are arranged at intervals below the support frame 1, the left linkage shaft 29 is at least one, the left clamping claw 30 is arranged at intervals on the left linkage shaft 29, the left hinged shaft 28 is arranged above the left linkage shaft 29, the left linkage shaft 29 passes through the left clamping claw 30 and is fixedly connected with the left clamping claw 30, the upper end of at least one left clamping claw 30 extends upward and inward and is fixedly connected with the left hinged shaft 28, the left hinged shaft 28 is fixedly connected with the support frame 1 through a bearing, the right linkage shaft 32 is at least one, the right clamping claw 33 is arranged at intervals on the right linkage shaft 32, the right hinged shaft 31 is arranged above the right linkage shaft 32, the right linkage shaft 32 passes through the right clamping claw 33 and is fixedly connected with the right clamping claw 33, the upper end of at least one right clamping claw 33 extends upward and inward and is fixedly connected with the right hinged shaft 31, the right hinged shaft 31 is fixedly connected with the support frame 1 through a bearing, so as to facilitate the left clamping claw and the right clamping claw to grab the object.

[0051] The support frame 1 is provided with an electric appliance bin 34, and the driving mechanism 2 and the propeller 5 are connected with the electric appliance bin 34 respectively, so as to facilitate the electric appliance bin to supply power for the driving mechanism and the propeller.

[0052] The support frame 1 is provided with a lighting lamp 35 and a camera 36, so as to facilitate the lighting lamp to illuminate the grabbed object and the camera to understand the underwater environment.

[0053] The left embracing claw assembly 6 and / or the right embracing claw assembly 7 is provided with a sonar 37, and the left embracing claw assembly 6 and / or the right embracing claw assembly 7 is provided with a clamping lighting lamp 38 and a clamping camera 39, so as to facilitate the sonar to survey the underwater environment, the clamping lighting lamp to illuminate the object grabbed by the clamping claw, and the clamping camera to shoot the image of the object.

[0054] As shown in the accompanying drawings Figure 1 As shown in the accompanying drawings Figure 16 For the convenience of description, the orientation words such as "left", "right", "front" and "back" mentioned in the application are described based on the accompanying drawings, and the orientations of other drawings are determined correspondingly based on the drawings, and it should be understood that the "left", "right", "front" and "back" are intended to illustrate the positions of the components for the convenience of understanding, and are not limitations on the components. Figure 4

[0055] As shown in the accompanying drawings Figure 1 As shown in the accompanying drawings Figure 6 ​The support frame and the claw mechanism of the present application are provided with four groups of horizontal propellers and four groups of vertical propellers, which can realize full attitude adjustment in water and can grasp target objects in various attitudes in water. The present application can rotate freely, can be inverted, and can freely grasp objects floating in water and on the water surface. The present application is provided with angle sensors on the left and right electric push rods, which can feed back the opening angle of the left and right clamping claws at any time, facilitating the control of the staff. Before use, the present application can be connected with the water control platform through a cable. The driving mechanism, the claw mechanism, the propeller, the angle sensor, the locking electric push rod, the locking motor, the electric appliance bin, the illuminating lamp, the camera, the sonar, the clamping illuminating lamp and the clamping camera can be connected with the water control platform through a cable. The operator can monitor the activity of the present application in water through the water control platform. When in use, the present application is put into the sea, and the present application reaches the target sea area through the propeller. The present application can also be transported to the target sea area by a ship, and then the propeller is started to move to the vicinity of the object to be grasped. The present application can adjust its attitude according to the position and shape of the object to be grasped. Figure 5 The left and right electric push rods are started, and the left and right clamping claws are opened, and then the object is clamped, as shown in Figure 16 The left and right electric push rods are started to close the left and right clamping claws, and then the locking mechanism is locked. The present application carries the object to the designated position or is dragged or hoisted to the designated position through the cable. The object is removed, and the present application is put into the sea again for the next operation. Figure 1 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 13 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 17 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 18 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 1 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 3 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 5 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 8 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 12 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figures 8-10 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 11 The left and right clamping claws are closed, and the left and right clamping claws are crossed to realize clamping. The two structures can be selected according to needs. Figure 12As shown, when the invention is moved to a designated location or ashore, the operator manually pulls the guide plate to the left, activating the locking electric push rod. The locking electric push rod extends its telescopic rod and rests against the right end of the guide plate. At this time, the guide plate is released, and the claw hook is not tightly attached to the locking rod. Pulling the claw hook open, the left and right electric push rods are activated to open the left and right grippers, allowing the object to be retrieved. The claw hook rebounds under the action of the gripping spring, and the left end of the claw hook abuts against the guide plate. This process is repeated to place the invention back into the sea for the next retrieval operation; another locking mechanism is shown in the attached figure. Figure 13 -Appendix Figure 15 The gripper mechanism is equipped with locking mechanisms on both the front and rear sides. A locking motor and gear are mounted on the left gripper, while a rack and pinion are mounted on the right gripper. When the left and right grippers are closed, the locking motor is activated, and the gear and rack engage to securely connect the two grippers. When the left and right grippers need to be separated, the locking motor is activated again, and the gear and rack engage to separate them, allowing for free picking and putting away of the gripped object and enabling continuous operation. This invention features a clever structure, incorporating a float and a propeller, allowing it to rotate freely in water and freely grip objects floating in or on the surface. It can grip objects of various shapes, including cylindrical objects, ensuring a firm grip without slipping. Furthermore, the locking mechanism on the gripper mechanism enhances the gripping stability and improves the efficiency of the gripping operation.

[0056] Due to the above-mentioned structure, the present invention has the advantages of ingenious structure, high degree of freedom, high flexibility, invertibility, and the ability to grab objects floating in water or on the water surface.

Claims

1. A free grasping device comprising a support frame (1), a drive mechanism (2) and a gripper mechanism (3), characterized in that: The support frame (1) and / or the claw mechanism (3) are fixed with a float (4), the support frame (1) and / or the claw mechanism (3) are fixed with a propeller (5), the claw mechanism (3) includes a left claw assembly (6) and a right claw assembly (7), the support frame (1) is provided with the left claw assembly (6) and the right claw assembly (7) on both sides of the lower end, the upper end of the left claw assembly (6) is hinged with the support frame (1), the upper end of the right claw assembly (7) is hinged with the support frame (1), the left claw assembly (6) and the right claw assembly (7) are driven to be separated or closed by the driving mechanism (2), the left claw assembly (6) and the right claw assembly (7) are provided with a locking mechanism (14) between them, the locking mechanism (14) is composed of a locking motor (15), a gear (16) and a rack (17), the lower end of the left claw assembly (6) or the right claw assembly (7) is provided with at least one gear (16), the gear (16) is fixed on the output shaft of the locking motor (15), the locking motor (15) is fixedly connected with the left claw assembly (6) or the right claw assembly (7), correspondingly, the lower end of the right claw assembly (7) or the left claw assembly (6) is provided with at least one rack (17), one end of the rack (17) is fixedly connected with the right claw assembly (7) or the left claw assembly (6), the other end faces the gear (16) and is matched with the gear (16), when the left claw assembly (6) and the right claw assembly (7) are closed, the rack (17) is engaged with the gear (16) to realize the fixed connection of the left claw assembly (6) and the right claw assembly (7).

2. A free grasping device according to claim 1, characterized in that: The left claw assembly (6) is fixed with a float (4) and a propeller (5), and the right claw assembly (7) is fixed with a float (4) and a propeller (5).

3. A free grasping device according to claim 1 or 2, characterized in that: The driving mechanism (2) includes a left electric push rod (8) and a right electric push rod (9), the upper end of the left electric push rod (8) is hinged with the support frame (1), and the lower end is hinged with the left claw assembly (6), the upper end of the right electric push rod (9) is hinged with the support frame (1), and the lower end is hinged with the right claw assembly (7).

4. A free grasping device according to claim 3, characterized in that: The left electric push rod (8) and the right electric push rod (9) are respectively provided with a claw opening and closing angle monitoring mechanism (10), the claw opening and closing angle monitoring mechanism (10) includes an ear seat (11), a rotating shaft (12) and an angle sensor (13), the support frame (1) is provided with an ear seat (11) on both sides of the lower end, the ear seat (11) is fixedly connected with the support frame (1), the ear seat (11) is provided with a rotating shaft (12) inside, the rotating shaft (12) is hinged with the ear seat (11), the rotating shaft (12) is provided with a left electric push rod (8) or a right electric push rod (9), one end of the rotating shaft (12) penetrates through the ear seat (11) and is provided with an angle sensor (13), the output shaft of the angle sensor (13) is fixedly connected with the rotating shaft (12), the angle sensor (13) is fixed on the support frame (1), and the left electric push rod (8) and the right electric push rod (9) are respectively fixedly connected with the rotating shaft (12) on both sides of the support frame (1).

5. A free grasping device according to claim 1 or 2 or 4, characterized in that: The left clamping jaw assembly (6) comprises a left hinge shaft (28), a left linkage shaft (29) and a left clamping jaw (30), the right clamping jaw assembly (7) comprises a right hinge shaft (31), a right linkage shaft (32) and a right clamping jaw (33), the support frame (1) is provided with the left linkage shaft (29) and the right linkage shaft (32) below, the left linkage shaft (29) is provided with at least one, the left linkage shaft (29) is provided with the left clamping jaw (30) above, the left linkage shaft (29) is fixedly connected with the left clamping jaw (30) and passes through the left clamping jaw (30), the upper end of at least one left clamping jaw (30) extends upward and inward and is fixedly connected with the left hinge shaft (28), the left hinge shaft (28) is fixedly connected with the support frame (1) through a bearing, the right linkage shaft (32) is provided with at least one, the right linkage shaft (32) is provided with the right clamping jaw (33) above, the right linkage shaft (32) is fixedly connected with the right clamping jaw (33) and is provided with the right hinge shaft (31) above, the right linkage shaft (32) passes through the right clamping jaw (33), at least one right clamping jaw (33) extends upward and inward and is fixedly connected with the right hinge shaft (31) at the upper end, and the right hinge shaft (31) is fixedly connected with the support frame (1) through a bearing.

6. A free grasping device according to claim 1 or 2 or 4, characterized in that: The support frame (1) is provided with an electric appliance bin (34), and the driving mechanism (2) and the propeller (5) are connected with the electric appliance bin (34) respectively.

7. A free grasping device according to claim 1 or 2 or 4, characterized in that: The left clamping jaw assembly (6) and / or the right clamping jaw assembly (7) and / or the support frame are provided with a sonar (37), and the left clamping jaw assembly (6) and / or the right clamping jaw assembly (7) and / or the support frame are provided with a lighting lamp (35) and a camera (36).

8. A free grasping device comprising a support frame (1), a drive mechanism (2) and a gripper mechanism (3), characterized in that: The support frame (1) and / or the claw mechanism (3) are fixedly provided with a float (4), the support frame (1) and / or the claw mechanism (3) are fixedly provided with a propeller (5), the claw mechanism (3) comprises a left claw assembly (6) and a right claw assembly (7), the support frame (1) is provided with the left claw assembly (6) and the right claw assembly (7) on both sides of the lower end, the upper end of the left claw assembly (6) is hinged with the support frame (1), the upper end of the right claw assembly (7) is hinged with the support frame (1), the left claw assembly (6) and the right claw assembly (7) are driven to be separated or closed by the driving mechanism (2), the left claw assembly (6) and the right claw assembly (7) are provided with a locking mechanism (14), the locking mechanism (14) is composed of a locking electric push rod (19), a locking seat (20), a reset spring (21), a claw hook (22), a guide plate (23), a clamping spring and a locking rod (24), the lower end of the right claw assembly (7) is provided with the locking seat (20), the locking seat (20) is fixedly connected with the right claw assembly (7), one side of the locking seat (20) is provided with the locking electric push rod (19), the locking seat (20) is provided with a containing groove (25) opening to the left, at least one reset spring (21) is arranged in the containing groove (25), the containing groove (25) is provided with a slide (26) on both sides of the inner wall, the containing groove (25) is provided with the guide plate (23), one end of the reset spring (21) is connected with the containing groove (25), and the other end is connected with the guide plate (23), the locking electric push rod (19) is fixedly connected with the locking seat (20), the extension rod (27) of the locking electric push rod (19) passes through the locking seat (20) and is arranged in the containing groove (25) to abut against the right side of the guide plate (23), the guide plate (23) is provided with a sliding block on both sides, and the guide plate (23) is slidably connected with the locking seat (20) through the sliding block and the slide (26), the guide plate (23) is provided with the claw hook (22), the right end of the claw hook (22) is hinged with the right end of the guide plate (23), the left end of the claw hook (22) extends outwardly and then inwardly to the left end of the guide plate (23) and abuts against the left end of the guide plate (23), the middle part of the claw hook (22) is provided with the clamping spring, one end of the clamping spring is connected with the claw hook (22), and the other end is connected with the guide plate (23), the lower end of the left claw assembly (6) is provided with the locking rod (24), the locking rod (24) is fixedly connected with the left claw assembly (6), when the left claw assembly (6) and the right claw assembly (7) are closed, the locking rod (24) abuts away the claw hook (22) to enter between the claw hook (22) and the guide plate (23), the locking electric push rod (19) retracts the extension rod (27), the guide plate (23) moves rightwards under the action of the reset spring (21), so that the claw hook (22) abuts against the locking rod (24) to realize the limiting and fixing of the left claw assembly (6) and the right claw assembly (7).

9. A free grasping device according to claim 8, characterized in that: The left claw assembly (6) is fixedly provided with a float (4) and a propeller (5), and the right claw assembly (7) is fixedly provided with a float (4) and a propeller (5).

10. A free grasping device according to claim 8 or 9, characterized in that: The driving mechanism (2) comprises a left electric push rod (8) and a right electric push rod (9), the upper end of the left electric push rod (8) is hinged to the support frame (1), and the lower end is hinged to the left gripper assembly (6); the upper end of the right electric push rod (9) is hinged to the support frame (1), and the lower end is hinged to the right gripper assembly (7).

11. A free grasping device according to claim 10, characterized in that: The left electric push rod (8) and the right electric push rod (9) are respectively provided with a gripper opening and closing angle monitoring mechanism (10), the gripper opening and closing angle monitoring mechanism (10) comprises an ear seat (11), a rotating shaft (12) and an angle sensor (13), the two sides of the lower end of the support frame (1) are respectively provided with an ear seat (11), the ear seat (11) is fixedly connected with the support frame (1), the ear seat (11) is provided with a rotating shaft (12) inside, the rotating shaft (12) is hinged to the ear seat (11), the rotating shaft (12) is provided with the left electric push rod (8) or the right electric push rod (9), one end of the rotating shaft (12) penetrates through the ear seat (11) and is provided with an angle sensor (13), the output shaft of the angle sensor (13) is fixedly connected with the rotating shaft (12), the angle sensor (13) is fixed on the support frame (1), and the left electric push rod (8) and the right electric push rod (9) are respectively fixedly connected with the rotating shaft (12) on the two sides of the support frame (1).

12. A free grasping device according to claim 8 or 9 or 11, characterized in that: The left gripper assembly (6) comprises a left hinge shaft (28), a left linkage shaft (29) and a left clamping jaw (30), the right gripper assembly (7) comprises a right hinge shaft (31), a right linkage shaft (32) and a right clamping jaw (33), the support frame (1) is provided below with the left linkage shaft (29) and the right linkage shaft (32) at intervals, the left linkage shaft (29) is provided at least one, the left linkage shaft (29) is provided with the left clamping jaw (30) at intervals, the left linkage shaft (29) is provided above with the left hinge shaft (28), the left linkage shaft (29) penetrates through the left clamping jaw (30) and is fixedly connected with the left clamping jaw (30), at least one left clamping jaw (30) extends upward and inward at the upper end and is fixedly connected with the left hinge shaft (28), the left hinge shaft (28) is fixedly connected with the support frame (1) through a bearing, the right linkage shaft (32) is provided at least one, the right linkage shaft (32) is provided with the right clamping jaw (33) at intervals, the right linkage shaft (32) is provided above with the right hinge shaft (31), the right linkage shaft (32) penetrates through the right clamping jaw (33) and is fixedly connected with the right clamping jaw (33), at least one right clamping jaw (33) extends upward and inward at the upper end and is fixedly connected with the right hinge shaft (31), and the right hinge shaft (31) is fixedly connected with the support frame (1) through a bearing.

13. A free grasping device according to claim 8 or 9 or 11, characterized in that: The support frame (1) is provided with an electric appliance bin (34), and the driving mechanism (2) and the propeller (5) are respectively connected with the electric appliance bin (34).

14. A free grasping device according to claim 8 or 9 or 11, characterized in that: The left gripper assembly (6) and / or the right gripper assembly (7) and / or the support frame are provided with a sonar (37), the left gripper assembly (6) and / or the right gripper assembly (7) and / or the support frame are provided with a lighting lamp (35) and a camera (36).

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