Clamp head for underwater robot arm and clamping method

Abstract

The application relates to a chuck for an underwater mechanical arm and a clamping method thereof, which comprises symmetrically arranged clamping arms, and a connecting rod transmission between the clamping arms and underwater equipment, and the specific transmission structure is as follows: a swing arm group is installed with a plane of the underwater equipment as a reference, each swing arm in the swing arm group is hinged at one end to the reference plane and hinged at the other end to the clamping arm; two clamping arms in a group of clamping arms always keep a state that clamping surfaces are parallel to each other. In use, the swing arms push the two-side clamping arms to open, when the clamping arms contact with the clamped object, an elastic core is deformed, and the clamped object is covered and limited by the rotary crawler. The rotary crawlers rotate towards each other, and the clamped object located at the end of the clamping arm is transmitted to the deep part of the clamping arm. The rotary crawlers rotate in the same direction, and the clamped object rotates. A group of clamping arms rotate towards each other, and the other group of clamping arms rotate away from each other, and the clamped object adjusts the included angle between the clamped object and a horizontal plane.

Description

Technical Field

[0001] This invention relates to the field of underwater robot gripping structure technology, and in particular to a gripper for an underwater robotic arm and its gripping method. Background Technology

[0002] For special underwater environments, remotely operated vehicles (ROVs) need to replace human labor, using robotic arms to perform sophisticated tasks such as sampling, operations, maintenance, and construction.

[0003] Traditional underwater remotely operated vehicles (ROVs) use grippers made of hard metal with anti-slip textures on the cross-section. When using these grippers to pick up seabed organisms or samples, improper angles or force often cause the objects to slip or even break. In addition, in precision operations such as construction and maintenance, it is usually necessary to make extensive adjustments to the posture of the gripper and even the entire ROV to obtain the object to be picked up. For example, the optimal angle of wet plug connectors or underwater pins cannot be achieved. Fine-tuning the posture of the object while gripping it is impossible, which greatly affects the efficiency of the operation. Summary of the Invention

[0004] In response to the shortcomings of the existing production technology, the applicant provides a gripper for an underwater robotic arm with a reasonable structure and a gripping method thereof. The gripper adopts a wrap-around gripping method, which increases the contact area between the gripper and the object being gripped, making the gripping effect more stable. At the same time, the orientation of the object being gripped is adjusted by the track drive, making it easier to adapt to the external environment or equipment.

[0005] The technical solution adopted in this invention is as follows:

[0006] A gripper for an underwater robotic arm includes symmetrically arranged gripping arms, wherein the gripping arms are connected to the underwater equipment via a linkage transmission, and the specific transmission structure is as follows:

[0007] Using a plane of the underwater equipment as a reference, a swing arm assembly is installed. One end of each swing arm in the swing arm assembly is hinged to the reference plane, and the other end is hinged to the clamping arm. The two clamping arms in a set of clamping arms always keep their clamping surfaces parallel to each other.

[0008] As a further improvement to the above technical solution:

[0009] Connected to the swing arm,

[0010] The drive motor is mounted on the base.

[0011] A gear pair, mounted on a base and driven by a motor.

[0012] The rotary track, covering the base, meshes with a gear pair for transmission; the rotary track contacts the object to be clamped.

[0013] The elastic core fills the area formed by the rotating track and deforms inward during the clamping process.

[0014] The gear pair includes an actuating gear driven by a drive motor, a transmission gear meshing with the actuating gear, and a transmission track wheel coaxially arranged with the transmission gear. The rotating track meshes with the transmission track wheel.

[0015] The meshing surfaces of the actuating gear and the transmission gear protrude from the side wall of the base.

[0016] The gear pair is fitted with a gear assembly cover.

[0017] Track wheel axles are installed at the inflection points of the slewing tracks for positioning.

[0018] The clamping arm is provided with a limiting stop near the swing arm, and the limiting stop is located between the two clamping arms.

[0019] A gripping method using a chuck on an underwater robotic arm includes the following steps:

[0020] In the initial state, the two clamping arms are closed.

[0021] When clamping is required, the swing arm is hinged around the reference plane. The end of the swing arm near the clamping arm pushes the two clamping arms to open, so that the object to be clamped falls between the two clamping arms. The swing arm then returns to its original position, causing the clamping arms to close.

[0022] When the clamping arm contacts the object to be clamped, the clamping arm continues to retract. At this time, the elastic core deforms, and the contact between the rotary track and the object to be clamped changes from line contact to surface contact. The object to be clamped is covered and limited by the rotary track.

[0023] A method for moving and gripping a chuck using an underwater robotic arm includes the following steps:

[0024] When the clamping arm clamps the object to be clamped and it is necessary to move the object from the end of the clamping arm to the root of the clamping arm, the drive motor drives the actuating gear, the actuating gear drives the transmission gear, and the transmission gear drives the rotary track; the rotary tracks of the two clamping arms rotate in opposite directions, transferring the object located at the end of the clamping arm to the depth of the clamping arm.

[0025] A method for axial rotation clamping using a gripper on an underwater robotic arm includes the following steps:

[0026] Once the clamping arm has gripped the object to be clamped, the drive motor drives the actuating gear, which in turn drives the transmission gear, which in turn drives the rotary track. The rotary tracks of both clamping arms rotate in the same direction, and the direction of rotation of the rotary track is the opposite of the direction of rotation of the object being clamped.

[0027] A method for adjusting the tilt angle of a gripper used in an underwater robotic arm according to claim 1 includes the following steps:

[0028] At least two sets of clamping arms are provided along the axis of the object being clamped. One set of clamping arms rotates towards each other, and the other set of clamping arms rotates away from each other. The two sets of clamping arms push the upper and lower ends of the object being clamped in opposite directions to adjust the tilt angle of the object being clamped.

[0029] The beneficial effects of this invention are as follows:

[0030] Compared to conventional rigid chucks, this device reduces the risk of objects coming off the grip or being damaged. By using flexible gripping arms, it not only reduces damage from rigid impacts but also increases the contact area between the gripper and the object, effectively improving the success rate of gripping.

[0031] This device can adjust the direction of the gripped object without moving the underwater robot arm. The adjusted direction includes in-plane movement, rotation, and angle adjustment, which can better adapt to the complex and ever-changing underwater environment, thereby ensuring the efficiency of precision operations and has strong practical value.

[0032] With minimal adjustments to the system configuration, the number of tracks can be increased or decreased according to actual needs. The device is simple in structure, reliable in operation, and easy to install. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the clamp used on a device in this invention.

[0034] Figure 2 for Figure 1 The enlarged view of part A is used to illustrate the structure of the chuck.

[0035] Figure 3 This is a schematic diagram of the specific structure of a clamp in this invention.

[0036] Figure 4 for Figure 3 A schematic diagram of the hidden gear set cover in the chuck, used to illustrate the transmission principle.

[0037] Figure 5 This is a schematic diagram showing the relative positions between the gear set cover and the gear pair.

[0038] Figure 6 This is a schematic diagram of the open state of the clamping head of the present invention during the clamping process.

[0039] Figure 7 This is a schematic diagram of the clamping arm of the present invention in the retracted state. In the figure, the object being clamped is at the end of the clamp.

[0040] Figure 8 This is a schematic diagram of the rotary track in this invention driving the clamped object to move deep into the clamping arm.

[0041] Figure 9This is a schematic diagram of the rotating track driving the clamped object to rotate in this invention.

[0042] Figure 10 This is a schematic diagram of how the rotating track in this invention adjusts the angle of the clamped object.

[0043] The components include: 1. clamping arm; 2. swing arm assembly; 3. base; 4. gear assembly cover; 5. limit stop bar.

[0044] 101. Drive motor; 102. Rotary track; 103. Elastic core; 104. Actuating gear; 105. Transmission gear; 106. Transmission track wheel; 107. Track wheel axle. Detailed Implementation

[0045] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0046] like Figures 1-10 As shown, the underwater robotic arm gripper of this embodiment includes symmetrically arranged gripping arms 1. The gripping arms 1 are connected to the underwater equipment via a linkage transmission, and the specific transmission structure is as follows:

[0047] With a plane of the underwater equipment as a reference, a swing arm assembly 2 is installed. One end of each swing arm in the swing arm assembly 2 is hinged to the reference plane, and the other end is hinged to the clamping arm 1. The two clamping arms 1 in the set of clamping arms 1 always keep their clamping surfaces parallel to each other.

[0048] Connected to the swing arm,

[0049] Drive motor 101 is mounted on base 3.

[0050] The gear pair is mounted on the base 3 and driven by the drive motor 101.

[0051] The rotary track 102, covering the base 3, meshes with a gear pair for transmission; the rotary track 102 contacts the object to be clamped.

[0052] The elastic core 103 fills the area formed by the rotary track 102 and undergoes concave deformation during the clamping process.

[0053] The gear pair includes an actuating gear 104 driven by a drive motor 101, a transmission gear 105 meshing with the actuating gear 104, a transmission track wheel 106 coaxially arranged with the transmission gear 105, and a rotary track 102 meshing with the transmission track wheel 106.

[0054] The meshing surfaces of the actuating gear 104 and the transmission gear 105 protrude from the side wall of the base 3.

[0055] The gear pair is fitted with a gear assembly cover 4.

[0056] Track wheel axles 107 are installed at the inflection points of the rotary track 102 for positioning.

[0057] A limiting stop 5 is provided near the swing arm of the clamping arm 1, and the limiting stop 5 is located between the two clamping arms 1.

[0058] The gripping method of the underwater robotic arm using the gripper of claim 1 in this embodiment includes the following steps:

[0059] In the initial state, the two clamping arms 1 are closed.

[0060] When clamping is required, the swing arm is hinged around the reference plane. The end of the swing arm near the clamping arm 1 pushes the two clamping arms 1 to open, so that the object to be clamped falls between the two clamping arms 1. The swing arm then returns to its original position, causing the clamping arms 1 to close.

[0061] When the clamping arm 1 comes into contact with the object to be clamped, the clamping arm 1 continues to retract. At this time, the elastic core 103 deforms, and the contact between the rotary track 102 and the object to be clamped changes from line contact to surface contact. The object to be clamped is covered and limited by the rotary track 102.

[0062] The underwater robotic arm's method for moving and gripping a chuck in this embodiment includes the following steps:

[0063] When the clamping arm 1 clamps the object to be clamped and it is necessary to move the object from the end of the clamping arm 1 to the root of the clamping arm 1, the drive motor 101 drives the actuating gear 104, the actuating gear 104 drives the transmission gear 105, and the transmission gear 105 drives the rotary track 102; the rotary tracks 102 of the two clamping arms 1 rotate in opposite directions, and transfer the object located at the end of the clamping arm 1 to the depth of the clamping arm 1.

[0064] The axial rotation clamping method using the gripper of the underwater robotic arm in this embodiment includes the following steps:

[0065] After the clamping arm 1 clamps the object to be clamped, the drive motor 101 drives the actuation gear 104, the actuation gear 104 drives the transmission gear 105, and the transmission gear 105 drives the rotary track 102; the rotary tracks 102 of the two clamping arms 1 rotate in the same direction, and the rotation direction of the rotary track 102 is the opposite of the rotation direction of the object being clamped.

[0066] The tilt angle adjustment clamping method of the underwater robotic arm's gripper in this embodiment includes the following steps:

[0067] At least two sets of clamping arms 1 are arranged along the axis of the object being clamped. One set of clamping arms 1 rotates towards each other, and the other set of clamping arms 1 rotates away from each other. The two sets of clamping arms 1 push the upper and lower ends of the object being clamped in opposite directions to adjust the tilt angle of the object being clamped.

[0068] The specific structure and working principle of this invention are as follows:

[0069] like Figure 3 and Figure 4 As shown, in one embodiment of the present invention, a chuck is provided with two sets of clamping arms 1, each set of clamping arms 1 corresponding to a set of swing arms. Each set of swing arms and clamping arms 1 are symmetrically arranged, and the swing of the swing arms causes the clamping arms 1 to separate or close. Regardless of the state, the clamping surfaces of the two clamping arms 1 in the same set always remain parallel.

[0070] like Figure 4 As shown, the clamping arm 1 includes a base 3 hinged to the swing arm. An elastic core 103 is connected to the base 3, and a rotary track 102 covers the elastic core 103 and the base 3. A drive motor 101 and a gear pair are installed on the side of the base 3 near the swing arm, and the rotary track 102 is driven by the drive motor 101 and the gear pair. One side of the rotary track 102 has a recessed apex corner to provide space for the installation of the gear pair.

[0071] The output shaft of the drive motor 101 drives the actuating gear 104, which protrudes beyond the base 3. In this embodiment, a transmission gear 105 is formed on the end face of the transmission track wheel 106, and the transmission gear 105 meshes with the actuating gear 104. The transmission track wheel 106 meshes with the rotary track 102, driving the rotary track 102 to move. To ensure that the shape of the clamping arm 1 is fixed, in such a way... Figure 4 The track wheel axle 107 is provided at the apex of the rotary track 102 shown, which serves a positioning function.

[0072] A limit stop 5 is installed at the top between the two clamping arms 1 to limit the range of movement of the clamped object.

[0073] The gear set cover 4 is fixedly connected to the top of the chuck, covering the gear set mechanism.

[0074] The working principle of this invention is to adjust the direction of the track by actuation, combined with reference. Figure 10 Taking a structure with two sets of clamping arms 1, each set of clamping arms 1 having two arms as an example,

[0075] When two tracks on the same side move in the same direction and two tracks on the other side move in opposite directions, the success rate of the robotic arm in grasping objects can be effectively improved.

[0076] When all four tracks move in the same direction, it can achieve planar rotation of the gripped object;

[0077] When the four tracks move in opposite directions, they can rotate to face the object being gripped.

[0078] This meets the needs of underwater remotely operated robots in performing precision tasks, and is of great significance for ensuring and improving operational efficiency.

[0079] The specific process is as follows:

[0080] In underwater object retrieval operations, to improve the success rate of the robotic arm in grasping objects, such as... Figure 6 and Figure 7 As shown, when the clamping arms 1 of the two sets of clamping arms open and close to clamp the object, the four sets of clamping track devices on the left and right sides are operated and controlled by the drive motor 101, which drives the actuation gear 104, transmission gear 105, and rotary track 102 to operate, as shown. Figure 8 As shown, the rotary tracks 102 of the two sets of grippers on the right side are clockwise, and the rotary tracks 102 of the two sets of grippers on the left side are counterclockwise, which drive the gripped object to the depth of the gripper until it is blocked by the limiting baffle.

[0081] During this process, when gripping an object, the elastic core 103 and the transmission track will, due to their soft properties, become slightly concave as a result of the pressure from the chuck and the reaction force of the gripped object. This increases the contact area between the gripped object and the chuck, reducing the disengagement rate.

[0082] In underwater precision operations, if it is necessary to adjust the cross-sectional orientation of the object being gripped, refer to... Figure 9 If the four drive tracks rotate clockwise or counterclockwise at the same speed, the angle of the gripped object can be adjusted while keeping the gripper clamped and the underwater robot and robotic arm stationary.

[0083] If you need to adjust the orientation of the object being held, such as Figure 10 As shown, the four tracks move simultaneously and at the same speed in different directions. Two of the rotary tracks 102 in one group drive in opposite directions, while the two rotary tracks 102 in the other group rotate in opposite directions.

[0084] like Figure 10 As shown, the rod-shaped object being held is clamped by two sets of rotating tracks 102, and can be divided into two ends with different directions of movement. (According to...) Figure 10 In the center position, the left set of rotary tracks 102 rotates in opposite directions, pushing the end of the clamped object upward, while the right set of rotary tracks 102 rotates in opposite directions, pushing the other end of the clamped object downward. The above steps can complete the adjustment of the orientation angle of the clamped object while keeping the gripper in a clamped state and the underwater robot and robotic arm stationary.

[0085] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A gripping method for an underwater robotic arm using a gripper, characterized in that: The underwater robotic arm gripper includes symmetrically arranged gripping arms (1), and the gripping arms (1) are connected to the underwater equipment via a linkage transmission. The specific transmission structure is as follows: Using a plane of the underwater equipment as a reference, a swing arm assembly (2) is installed. One end of each swing arm in the swing arm assembly (2) is hinged to the reference plane, and the other end is hinged to the clamping arm (1). The two clamping arms (1) in the set of clamping arms (1) always keep their clamping surfaces parallel to each other. Each clamping arm (1) includes: The base (3) is connected to the swing arm. The drive motor (101) is mounted on the base (3). The gear pair is mounted on the base (3) and driven by the drive motor (101). The rotary track (102) covers the base (3) and meshes with the gear pair for transmission; the rotary track (102) contacts the object to be clamped. The elastic core (103) fills the area formed by the rotary track (102) and undergoes concave deformation during clamping. At least two sets of clamping arms (1) are arranged along the axial direction of the object being clamped. When the clamping heads formed by the two sets of clamping arms (1) open and close to clamp the object, the four sets of clamping head rotary tracks (102) on the left and right sides are controlled by operation. The rotary tracks (102) of the two sets of clamping heads on the right side are clockwise, and the rotary tracks (102) of the two sets of clamping heads on the left side are counterclockwise, which drives the object being clamped to the depth of the clamping head. By having four rotating tracks (102) rotate simultaneously and at the same speed clockwise or counterclockwise, the angle of the gripped object can be adjusted while keeping the gripper clamped and the underwater robot and robotic arm stationary. Four rotary tracks (102) move in opposite directions at the same speed. Two rotary tracks (102) in one group drive towards each other, while two rotary tracks (102) in the other group rotate in opposite directions. This allows for the adjustment of the orientation angle of the gripped object while keeping the gripper clamped and the underwater robot and robotic arm stationary.

2. The gripping method of the chuck for the underwater robotic arm as described in claim 1, characterized in that: The gear pair includes an actuating gear (104) driven by a drive motor (101), a transmission gear (105) meshing with the actuating gear (104), and a transmission track wheel (106) coaxially arranged with the transmission gear (105). The rotary track (102) meshes with the transmission track wheel (106).

3. The gripping method for the underwater robotic arm chuck as described in claim 2, characterized in that: The meshing surfaces of the actuating gear (104) and the transmission gear (105) protrude from the side wall of the base (3).

4. The gripping method for the underwater robotic arm chuck as described in claim 2, characterized in that: The gear pair is fitted with a gear set cover (4).

5. The gripping method for the underwater robotic arm chuck as described in claim 2, characterized in that: Track wheel axles (107) are installed at the inflection points of the slewing track (102) for positioning.

6. The gripping method for the underwater robotic arm chuck as described in claim 1, characterized in that: The clamping arm (1) is provided with a limiting stop (5) near the swing arm, and the limiting stop (5) is located between the two clamping arms (1).

7. The gripping method for the underwater robotic arm chuck as described in claim 1, characterized in that, The steps include the following: In the initial state, the two clamping arms (1) are closed. When clamping is required, the swing arm is hinged around the reference plane. The end of the swing arm near the clamping arm (1) pushes the two clamping arms (1) to open, so that the object to be clamped falls between the two clamping arms (1); the swing arm returns to its original position, causing the clamping arms (1) to close. When the clamping arm (1) comes into contact with the object to be clamped, the clamping arm (1) continues to retract. At this time, the elastic core (103) deforms, and the contact between the rotary track (102) and the object to be clamped changes from line contact to surface contact. The object to be clamped is covered and limited by the rotary track (102).

8. The gripping method for the underwater robotic arm chuck as described in claim 2, characterized in that, The moving clamping method includes the following steps: When the clamping arm (1) clamps the object to be clamped and it is necessary to move the object to be clamped from the end of the clamping arm (1) to the root of the clamping arm (1), the drive motor (101) drives the actuating gear (104), the actuating gear (104) drives the transmission gear (105), and the transmission gear (105) drives the rotary track (102); the rotary tracks (102) of the two clamping arms (1) rotate in opposite directions, and the object located at the end of the clamping arm (1) is transferred to the depth of the clamping arm (1).

9. The gripping method for the underwater robotic arm chuck as described in claim 2, characterized in that, The axial rotation clamping method includes the following steps: When the clamping arm (1) clamps the object to be clamped, the drive motor (101) drives the actuating gear (104), the actuating gear (104) drives the transmission gear (105), and the transmission gear (105) drives the rotary track (102); the rotary tracks (102) of the clamping arms (1) on both sides rotate in the same direction, and the rotation direction of the rotary track (102) is the opposite of the rotation direction of the object being clamped.

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