An underwater robot grabbing device with a buffer structure

Abstract

The application discloses an underwater robot grabbing device with a buffer structure and belongs to the underwater robot field.The underwater robot grabbing device comprises a grabbing dynamic guide structure, a multifunctional buffer matching and adjusting claw structure, a power module, a driven transmission module and other equipment which are connected with each other.The underwater robot grabbing device is designed in cooperation with the grabbing dynamic guide structure and the multifunctional buffer matching and adjusting claw structure, so that the underwater robot grabbing device is convenient to use underwater, and a multidirectional adjustable claw is formed, so that the underwater robot grabbing device is convenient to adjust the different volumes and different clamping angles underwater, and thus the underwater grabbing is facilitated.In addition, the underwater robot grabbing device is designed in cooperation with the reciprocating positioning derivation module and the buffer claw module, so that the underwater robot grabbing device is convenient to reciprocally impact the position which cannot be clamped and fixed by the underwater hard object, so that the positioning nail is punched into the interior, the underwater robot grabbing device is convenient to be applied to the underwater ore sample grabbing, and the design of the buffer structure avoids the impact from directly acting on the whole device, and the service life is facilitated to be prolonged.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology and relates to an underwater robot grasping device with a buffer structure. Background Technology

[0002] Underwater robots, also known as unmanned remotely operated vehicles, are robots that operate in extreme underwater environments. The underwater environment is harsh and dangerous, and the diving depth of humans is limited. Therefore, underwater robots have become an important tool for ocean development. When using underwater robots, it is often necessary to collect or retrieve samples, which requires the use of corresponding grasping devices. However, existing grasping devices that are compatible with underwater robots lack convenient adjustment and adaptation designs during use, and are not convenient for sampling rock samples. Therefore, a new solution is needed. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a new underwater robot gripping device with a buffer structure to solve the existing problems: existing underwater robot gripping devices lack convenient adjustment and adaptation design during use, and are inconvenient for sampling stone samples.

[0004] The technical solution of the present invention is: an underwater robot grasping device with a buffer structure, comprising a grasping motion guide structure and a multi-functional buffer adjustment gripper structure;

[0005] One end of the grasping motion guide structure is provided with a multi-functional buffer adjustment gripper structure. The grasping motion guide structure includes a power module and a driven transmission module. Each of the four ends of the power module is provided with a driven transmission module.

[0006] Furthermore, the power module includes a positioning plate, a first motor, a guide rod, a screw, an auxiliary carrier plate, and a second linkage plate.

[0007] A light rod is welded to both the top and bottom of the mounting positioning plate. An auxiliary carrier plate is fixedly connected to the end of the light rod away from the mounting positioning plate. A first motor is fixedly connected to the inner side of the mounting positioning plate by screws. A screw is fixedly connected to the output end of the first motor.

[0008] The end of the screw furthest from the first motor is rotatably connected to an auxiliary carrier plate. A second linkage plate is threadedly connected to the outside of the screw, and the inside of the second linkage plate is slidably connected to the guide rod.

[0009] Furthermore, the driven transmission module includes a positioning carrier plate, a linkage support push plate, a linkage mating rod, a spoiler frame, and a spoiler net;

[0010] Positioning plates are fixedly connected to the four ends of the second linkage plate and the four ends of the auxiliary carrier plate. A linkage support push plate is rotatably connected to the outer side of the positioning carrier plate. A linkage engagement rod is rotatably connected to the top of the linkage support push plate. A spoiler frame is fixedly connected to the top of the linkage engagement rod. A spoiler net is provided on the inner side of the spoiler frame.

[0011] Furthermore, the multifunctional buffer adjustment gripper structure includes an adjustment module, a reciprocating positioning derivation module, and a buffer gripper module;

[0012] A matching module, a reciprocating positioning derivation module, and a buffer gripper module are fixedly connected to the top end of one end of the linkage rod. A reciprocating positioning derivation module is fixedly connected to one end of the matching module, and a buffer gripper module is fixedly connected to the bottom end of one end of the reciprocating positioning derivation module.

[0013] Furthermore, the adjustment module includes an auxiliary positioning plate, a second motor, an angle flipping block, a guide mounting frame, and a power box;

[0014] The bottom end of the auxiliary positioning plate is fixedly connected to the linkage rod. A second motor is fixedly connected to one side of the auxiliary positioning plate by screws. A drive shaft is fixedly connected to the output end of the second motor. An angle flipping block is fixedly connected to the outside of the drive shaft. A guide mounting frame is fixedly connected to one end of the angle flipping block. A power box is fixedly connected to the outside of the guide mounting frame.

[0015] Furthermore, the adjustment module also includes a third motor, a gear shaft, a rack, and a first linkage plate;

[0016] A rack is slidably connected to the inner side of the guide frame;

[0017] A third motor is fixedly connected to one side of the power box by screws. A gear shaft is fixedly connected to the output end of the third motor. One end of the gear shaft is meshed with a rack. A first linkage plate is fixedly connected to the top end of the rack.

[0018] Furthermore, the reciprocating positioning derivation module includes a guide box, a fourth motor, an eccentric plate, a linkage rod, and a transmission rod;

[0019] One end of the first linkage plate is fixedly connected to a guide box. The top of the guide box is fixedly connected to a fourth motor by screws. The output end of the fourth motor is fixedly connected to an eccentric plate. The bottom end of the eccentric plate is rotatably connected to a linkage rod. The end of the linkage rod away from the eccentric plate is rotatably connected to a transmission rod. The transmission rod is slidably connected to the inside of the guide box. A push plate is fixedly connected to one side of the transmission rod.

[0020] Furthermore, the buffer gripper module includes a gripper body, a mounting box, a central push rod, a force-relieving push rod, a force-relieving rod, a spring, a mounting plate, and a positioning pin;

[0021] One end of the mounting box is fixedly connected to the inside of the reserved slot opened on the claw body;

[0022] A stress relief rod is welded to the inside of the mounting box, and a central push rod is slidably connected to the inside of the mounting box;

[0023] The top and bottom ends of one end of the central push rod are rotatably connected to a sub-guide unloading push rod, the sub-guide unloading push rod is slidably connected to the unloading rod, and springs are sleeved on both sides of the unloading rod, the springs being welded to the mounting box;

[0024] The end of the central push rod away from the branch guide unloading push rod is fixedly connected to the mounting plate, and positioning pins are welded to both sides of the end of the mounting plate away from the central push rod.

[0025] Beneficial Effects: Compared with the prior art, the present invention has the following characteristics: 1. The present invention, through the combined design of the gripping guide structure and the multi-functional buffer adjustment claw structure, makes it easy for the device to form multi-upward adjustable claws during underwater use, thereby facilitating adjustment of different volumes and clamping angles underwater, thus facilitating underwater gripping; 2. The present invention, through the combined design of the reciprocating positioning derivation module and the buffer claw module, makes it easy for the device to reciprocate and impact locations where underwater hard objects cannot be clamped and fixed, thereby facilitating the driving of positioning pins into the interior, making the device easy to apply to the gripping of underwater mineral samples, and utilizing the design of the buffer structure to avoid the impact directly acting on the entire device, thus improving its service life. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the grasping and guiding structure in this invention;

[0028] Figure 3 This is a partial structural diagram of the power module and the driven transmission module in this invention;

[0029] Figure 4 This is a partial structural diagram of the multifunctional buffer adjustment gripper structure in this invention;

[0030] Figure 5 This is a partial structural diagram of the matching module used in this invention;

[0031] Figure 6 This is a partial structural diagram of the reciprocating positioning derivation module and the buffer gripper module in this invention;

[0032] Figure 7 This is a partial structural diagram of the buffer clamping module in this invention;

[0033] In the diagram: 1. Grasping guide structure; 2. Multifunctional buffer adjustment gripper structure; 3. Power module; 4. Driven transmission module; 5. Mounting positioning plate; 6. First motor; 7. Spur rod; 8. Screw; 9. Auxiliary carrier plate; 10. Positioning carrier plate; 11. Linkage support push plate; 12. Linkage mating rod; 13. Spoiler frame; 14. Spoiler net; 15. Adjustment module; 16. Reciprocating positioning pusher module; 17. Buffer gripper module; 18. Auxiliary positioning plate; 19. Second motor; 20. Angle flipping block; 21. Guide mounting frame; 22. Power box; 23. Third motor; 24. Gear shaft; 25. Rack; 26. First linkage plate; 27. Guide box; 28. Fourth motor; 29. ​​Eccentric plate; 30. Linkage rod; 31. Transmission rod; 32. Push guide plate; 33. Mounting box; 34. Central push rod; 35. Branch guide unloading push rod; 36. Unloading rod; 37. Spring; 38. Mounting plate; 39. Positioning pin; 40. Second linkage plate; 41. Claw body. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0035] like Figure 1-7 As shown, the underwater robot grasping device with a buffer structure of the present invention includes a grasping motion guide structure 1 and a multi-functional buffer adjustment gripper structure 2. The multi-functional buffer adjustment gripper structure 2 is provided at one end of the grasping motion guide structure 1. The grasping motion guide structure 1 includes a power module 3 and a driven transmission module 4. The driven transmission module 4 is provided at all four ends of the power module 3.

[0036] Furthermore, the power module 3 includes a positioning plate 5, a first motor 6, a light rod 7, a screw 8, an auxiliary carrier plate 9, and a second linkage plate 40;

[0037] A light rod 7 is welded to both the top and bottom of the mounting positioning plate 5. An auxiliary carrier plate 9 is fixedly connected to the end of the light rod 7 away from the mounting positioning plate 5. A first motor 6 is fixedly connected to the inner side of the mounting positioning plate 5 by screws. A screw 8 is fixedly connected to the output end of the first motor 6. The end of the screw 8 away from the first motor 6 is rotatably connected to the auxiliary carrier plate 9. A second linkage plate 40 is threadedly connected to the outer side of the screw 8. The inner side of the second linkage plate 40 is slidably connected to the light rod 7.

[0038] Furthermore, the driven transmission module 4 includes a positioning carrier plate 10, a linkage support push plate 11, a linkage engagement rod 12, a spoiler frame 13, and a spoiler net 14;

[0039] The four ends of the second linkage plate 40 and the four ends of the auxiliary carrier plate 9 are all fixedly connected to the positioning carrier plate 10;

[0040] A linkage support push plate 11 is rotatably connected to the outside of the positioning carrier plate 10. A linkage engagement rod 12 is rotatably connected to the top of the linkage support push plate 11. A spoiler frame 13 is fixedly connected to the top of the linkage engagement rod 12. A spoiler net 14 is provided on the inner side of the spoiler frame 13.

[0041] Furthermore, the multifunctional buffer adjustment gripper structure 2 includes an adjustment module 15, a reciprocating positioning derivation module 16, and a buffer gripper module 17.

[0042] A matching module 15, a reciprocating positioning derivation module 16, and a buffer gripper module 17 are fixedly connected to the top end of one end of the linkage rod 12. The reciprocating positioning derivation module 16 is fixedly connected to one end of the matching module 15, and the buffer gripper module 17 is fixedly connected to the bottom end of one end of the reciprocating positioning derivation module 16.

[0043] Furthermore, the adjustment module 15 includes an auxiliary positioning plate 18, a second motor 19, an angle flipping block 20, a guide mounting frame 21, and a power box 22;

[0044] The bottom end of the auxiliary positioning plate 18 is fixedly connected to the linkage rod 12. A second motor 19 is fixedly connected to one side of the auxiliary positioning plate 18 by screws. A drive shaft is fixedly connected to the output end of the second motor 19. An angle flipping block 20 is fixedly connected to the outside of the drive shaft. A guide mounting frame 21 is fixedly connected to one end of the angle flipping block 20. A power box 22 is fixedly connected to the outside of the guide mounting frame 21.

[0045] Furthermore, the use of the matching module 15 also includes a third motor 23, a gear shaft 24, a rack 25, and a linkage plate 26;

[0046] A rack 25 is slidably connected to the inner side of the guide frame 21. A third motor 23 is fixedly connected to one side of the power box 22 by screws. A gear shaft 24 is fixedly connected to the output end of the third motor 23. One end of the gear shaft 24 is meshed with the rack 25. A linkage plate 26 is fixedly connected to the top end of the rack 25.

[0047] Furthermore, the reciprocating positioning derivation module 16 includes a guide box 27, a fourth motor 28, an eccentric plate 29, a linkage rod 30, and a transmission rod 31;

[0048] A guide box 27 is fixedly connected to one end of the linkage plate 26. A fourth motor 28 is fixedly connected to the top of the guide box 27 by screws. An eccentric plate 29 is fixedly connected to the output end of the fourth motor 28. A linkage rod 30 is rotatably connected to the bottom end of the eccentric plate 29. A transmission rod 31 is rotatably connected to the end of the linkage rod 30 away from the eccentric plate 29. The transmission rod 31 is slidably connected to the inside of the guide box 27. A pusher plate 32 is fixedly connected to one side of the transmission rod 31.

[0049] Furthermore, the buffer gripper module 17 includes a mounting box 33, a central push rod 34, a force-dissipating push rod 35, a force-dissipating rod 36, a spring 37, a mounting plate 38, a positioning pin 39, and a gripper body 41;

[0050] One end of the mounting box 33 is fixedly connected to the inside of the reserved slot 34 opened on the claw body 41;

[0051] A stress relief rod 36 is welded to the inside of the mounting box 33;

[0052] A central push rod 34 is slidably connected to the inner side of the mounting box 33. A branch guide unloading push rod 35 is rotatably connected to the top and bottom ends of one end of the central push rod 34. The branch guide unloading push rod 35 is slidably connected to the unloading rod 36. Springs 37 are sleeved on both sides of the unloading rod 36. The springs 37 are welded to the mounting box 33.

[0053] The end of the central push rod 34 away from the branch guide unloading push rod 35 is fixedly connected to the mounting plate 38, and positioning nails 39 are welded to both sides of the end of the mounting plate 38 away from the central push rod 34.

[0054] During use, according to the needs of grasping objects, the second motor 19 is controlled to output torque, thereby driving the shaft to adjust the angle of the angle-flipping block 20. The angle-flipping block 20 is used to adjust the angle of the gripper body 33. At this time, the third motor 23 is controlled to drive the gear shaft 24 to rotate. The meshing of the gear shaft 24 and the rack 25 causes the rack 25 to slide under the action of the gear shaft 24. Thus, the linkage plate 26 drives the gripper body 33 to reach the applied length.

[0055] When dealing with hard objects such as ore samples that need to be grasped, the fourth motor 28 drives the eccentric plate 29 to rotate. Due to the eccentric design of the eccentric plate 29, it reciprocates during rotation. The reciprocating motion is transmitted to the transmission rod 31 via the linkage rod 30. Guided by the guide box 27, the transmission rod 31 reciprocates, pushing the guide plate 32 and the gripper body to move back and forth. This back and forth movement drives the positioning pin 39 to chisel the ore sample, creating a groove. A pre-drilled positioning hole is provided. At this time, the third motor 23 is controlled to further push the gripper body and positioning pin 39 into the pre-drilled positioning hole to complete the clamping and fixing. The impact generated when the pre-drilled positioning hole is opened is transmitted to the central push rod 34 through the positioning pin 39 and the mounting plate 38, so that the central push rod 34 slides inside the mounting box 33. The impact force is squeezed to the spring 37 through the angle adjustment of the guide unloading push rod 35, so that the spring 37 is compressed and generates elastic potential energy, which partially offsets the impact and reduces the force transmission.

[0056] In use, the first motor 6 drives the screw 8 to rotate. The screw 8 is threadedly connected to the second linkage plate 40, which generates torque. The sliding connection between the second linkage plate 40 and the smooth rod 7 limits the torque at the second linkage plate 40, creating a sliding displacement. The second linkage plate 40 pushes the linkage support push plate 11 to adjust the angle. In conjunction with the linkage support push plate 11 at the auxiliary carrier plate 9, the linkage coupling rod 12 clamps inward, driving the multi-functional buffer adjustment claw structure 2 to grasp the object. The flow disturbance net 14 and the flow disturbance frame 13 work together to create flow disturbance, preventing the water flow in the water from affecting the retraction of the linkage coupling rod 12.

[0057] The preferred embodiments of the present invention are described above. The scope of protection of the present invention is not limited to the above embodiments; all technical solutions falling within the scope of the present invention's concept are within its protection. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within its protection scope.

Claims

1. An underwater robot grasping device with a buffer structure, characterized in that: It includes a gripping guide structure (1), and a multi-functional buffer adjustment gripper structure (2) is provided at one end of the gripping guide structure (1). The grasping dynamic guide structure (1) includes a power module (3), and a driven transmission module (4) is provided at each of the four ends of the power module (3). The power module (3) includes a mounting positioning plate (5). At least three light rods (7) are welded at equal intervals at the top and bottom of the mounting positioning plate (5), and an auxiliary carrier plate (9) is fixedly connected to the end of the three light rods (7) away from the mounting positioning plate (5). A first motor (6) is fixedly connected to the inner side of the mounting positioning plate (5) away from the light rod (7) by screws. A screw (8) is fixedly connected to the output end of the first motor (6) after passing through the mounting positioning plate (5). A second linkage plate (40) is installed on one side of the light rod (7) and the screw (8). The screw (8) is threadedly connected to the second linkage plate (40), and the smooth rod (7) is slidably connected to the inner side of the second linkage plate (40); The driven transmission module (4) includes a positioning carrier plate (10); The four ends of the second linkage plate (40) and the four ends of the auxiliary carrier plate (9) are all fixedly connected to the positioning carrier plate (10). A linkage support push plate (11) is rotatably connected to the outside of the positioning carrier plate (10). A linkage rod (12) is rotatably connected to the top of the linkage support push plate (11). A spoiler frame (13) is fixedly connected to the top of the linkage rod (12). A spoiler net (14) is provided on the inner side of the spoiler frame (13). The multi-functional buffer matching gripper structure (2) includes a matching module (15); The top end of one end of the linkage rod (12) is fixedly connected to the adjustment module (15). A reciprocating positioning derivation module (16) is fixedly connected to one end of the adjustment module (15). A buffer gripper module (17) is fixedly connected to the bottom end of one end of the reciprocating positioning derivation module (16).

2. The underwater robot grasping device with a buffer structure according to claim 1, characterized in that: The adjustment module (15) includes an auxiliary positioning plate (18); The bottom end of the auxiliary positioning plate (18) is fixedly connected to the linkage rod (12). A second motor (19) is fixedly connected to one side of the auxiliary positioning plate (18) by screws. A drive shaft is fixedly connected to the output end of the second motor (19), and an angle flipping block (20) is fixedly connected to the outside of the drive shaft. A guide frame (21) is fixedly connected to one end of the angle flipping block (20), and a power box (22) is fixedly connected to the outside of the guide frame (21). The adjustment module (15) also includes a third motor (23), a gear shaft (24), a rack (25), and a first linkage plate (26). A rack (25) is slidably connected to the inside of the guide frame (21); A third motor (23) is fixedly connected to one side of the power box (22) by screws. A gear shaft (24) is fixedly connected to the output end of the third motor (23). One end of the gear shaft (24) is meshed with the rack (25); A first linkage plate (26) is fixedly connected to the top of the rack (25).

3. The underwater robot grasping device with a buffer structure according to claim 1, characterized in that: The reciprocating positioning derivation module (16) includes a guide box (27). The guide box (27) is fixedly connected to one end of the first linkage plate (26); A fourth motor (28) is fixedly connected to the top of the guide box (27) by screws. An eccentric plate (29) is fixedly connected to the output end of the fourth motor (28). A linkage rod (30) is rotatably connected to the bottom end of the eccentric plate (29). A transmission rod (31) is rotatably connected to the end of the linkage rod (30) away from the eccentric plate (29). The transmission rod (31) is slidably connected to the inner side of the guide box (27). A pusher plate (32) is also fixedly connected to one side of the transmission rod (31).

4. The underwater robot grasping device with a buffer structure according to claim 1, characterized in that: The buffer gripper module (17) includes a mounting box (33) and a gripper body (41). One end of the mounting box (33) is fixedly connected to the inner side of the reserved slot opened on the claw body (41). A stress relief rod (36) is welded to the inside of the mounting box (33), and a central push rod (34) is slidably connected to the inside of the mounting box (33). A sub-guide unloading push rod (35) is rotatably connected to the top and bottom of the central push rod (34) near the unloading rod (36), and the sub-guide unloading push rod (35) is slidably connected to the unloading rod (36); Springs (37) are sleeved on both sides of the unloading rod (36). The spring (37) is welded to the mounting box (33); The end of the central push rod (34) away from the branch guide unloading push rod (35) is fixedly connected to the mounting plate (38). Positioning pins (39) are welded to both sides of the mounting plate (38) at the end away from the central push rod (34).

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