Multi-functional combined gripper of underwater mechanical arm

Abstract

The application discloses a multifunctional combined paw of an underwater mechanical arm and belongs to the technical field of mechanical arms. The multifunctional combined paw of the underwater mechanical arm comprises a connecting frame, a plurality of clamping paws are circumferentially hinged to the outer side of the connecting frame, a grabbing assembly is connected between the connecting frame and the clamping paws, a connecting seat one is arranged on the connecting frame, a connecting seat two is arranged at the end of the connecting seat one away from the connecting frame, a connecting assembly is arranged between the connecting seat one and the connecting seat two, a connecting barrel is movably arranged at the end of the connecting seat two away from the connecting seat one, an angle adjusting assembly is arranged between the connecting seat two and the connecting barrel, and the multifunctional combined paw has the advantages of stable grabbing, quick dismounting and mounting, convenient replacement, angle adjusting, meeting the use requirements of different angles, flexible application, reliable structure and simple and practical use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, in particular to a multifunctional combined gripper of underwater mechanical arm. BACKGROUND

[0002] The mechanical arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity and strong coupling, which can imitate the action of human limbs and automatically complete various tasks according to control signals.

[0003] In the process of developing the ocean, the marine engineering equipment has been continuously applied, among which the application range of underwater robots is also continuously expanded, such as accurate docking of pipelines, maintenance of devices and grabbing of underwater minerals, in which process the gripper is required to stably clamp the pipeline, pinch the line or fish the different minerals in the form of stone blocks, gravel or clay.

[0004] At present, the underwater mechanical arm gripper can only realize single function, and when different operations are performed, the corresponding mechanical arm gripper needs to be replaced to meet different operation requirements. When the existing mechanical arm gripper is replaced, the operator needs to use tools to operate. In the case that there is no tool nearby, the gripper is inconvenient to disassemble and install, which increases the difficulty of replacing the gripper, and the gripper cannot be quickly disassembled and installed. At the same time, the existing underwater mechanical arm gripper can mostly only grab the objects in the straight line direction. When there are obstacles between the objects and the device, the position of the device usually needs to be adjusted to realize the grabbing of the objects. However, sometimes, the position adjustment of the device cannot meet the conditions required by the object grabbing operation, which reduces the applicability of the mechanical arm gripper.

[0005] Therefore, it is necessary to provide a multifunctional combined gripper of underwater mechanical arm, which aims to solve the above problems. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the embodiments of the present application is to provide a multifunctional combined gripper of underwater mechanical arm to solve the problems in the background art.

[0007] To achieve the above purpose, the present application provides the following technical scheme:

[0008] A multifunctional combined gripper of underwater mechanical arm, comprising a connecting frame, a plurality of clamping grippers are circumferentially hinged outside the connecting frame, a connecting seat one is arranged on the connecting frame, a connecting seat two is arranged at one end of the connecting seat one away from the connecting frame, and a connecting cylinder is movably arranged at one end of the connecting seat two away from the connecting seat one.

[0009] A grabbing assembly is connected between the connecting frame and the clamping gripper.

[0010] A connecting assembly is arranged between the first connecting seat and the second connecting seat;

[0011] An angle adjusting assembly is arranged between the second connecting seat and the connecting cylinder.

[0012] As a further scheme of the present application, the grabbing assembly comprises:

[0013] A first sliding groove is arranged at the end of the clamping jaw close to the first connecting frame, and side grooves are arranged at both sides of the first sliding groove;

[0014] A plurality of sliding rods are arranged in the connecting frame in a circumferential direction, one end of each sliding rod penetrates the connecting frame and is in sliding fit with the first sliding groove, and a first sliding column arranged at the end of each sliding rod close to the first sliding groove is in sliding fit with the side groove;

[0015] A support frame is arranged inside the connecting frame, a first rotating disc is rotatably arranged on the support frame, a plurality of second sliding grooves are arranged in a circumferential direction on the first rotating disc, and a second sliding column connected with the sliding rod is slidably arranged in each second sliding groove;

[0016] A bottom plate is arranged at the bottom of the connecting frame, and a first motor connected with the first rotating disc is mounted on the outside of the bottom plate.

[0017] As a further scheme of the present application, the second connecting seat is arranged at the end of the connecting frame close to the connecting disc, a connecting rod is connected between the second connecting seat and the connecting disc, and a placing groove is arranged at the end of the first connecting seat close to the second connecting seat.

[0018] As a further scheme of the present application, the connecting assembly comprises:

[0019] A knob is rotatably arranged between the second connecting seat and the connecting disc, the knob is in rotational connection with the connecting rod, a plurality of third sliding grooves are arranged in a circumferential direction in the knob, and a third sliding column is slidably arranged in each third sliding groove;

[0020] A plurality of through grooves are arranged in a circumferential direction on the connecting disc, a guide rod is connected in each through groove, a clamping plate is slidably arranged on the guide rod, and the clamping plate is in movable fit with a clamping groove arranged inside the first connecting seat;

[0021] A spring is connected between the connecting rod and the clamping plate and is sleeved on the outside of the guide rod.

[0022] As a further scheme of the present application, the angle adjusting assembly comprises:

[0023] A first hemispherical gear is fixedly arranged at the end of the second connecting seat away from the connecting disc;

[0024] A rotating ring is arranged on the outer side of the connecting seat two, and the outer end of the rotating ring is provided with a mounting frame one, and the mounting frame one is fixedly connected with a fixed rod, and the outer end of the fixed rod is fixedly connected with a transmission gear one;

[0025] A hemispherical gear two is arranged on the end of the connecting cylinder close to the connecting seat two and is engaged with the hemispherical gear one, and the hemispherical gear two is connected with a motor three arranged in the connecting cylinder;

[0026] A fixed ring is fixedly arranged on the outer side of the connecting cylinder, and the outer side of the fixed ring is provided with a mounting frame two corresponding to the mounting frame one, and the mounting frame two is rotatably connected with a rotating rod, and the outer end of the rotating rod is connected with a transmission gear two engaged with the transmission gear one;

[0027] A connecting plate is movably connected with the fixed rod and the rotating rod and is located between the transmission gear one and the mounting frame one;

[0028] and a mounting frame three is arranged on the mounting frame two, and the mounting frame three is provided with a motor two connected with the transmission gear two.

[0029] As a further scheme of the present application, the connecting frame is a regular polygon block, and the number of sides of the connecting frame is at least three.

[0030] As a further scheme of the present application, the number of the clamping jaws is consistent with the number of sides of the connecting frame, and the clamping jaws are one of parallel clamping jaws, pincer-shaped clamping jaws, angular clamping jaws or inclined jaw clamping jaws.

[0031] As a further scheme of the present application, the connecting cylinder is provided with a connecting hole penetrating through the two ends of the end away from the connecting frame, and the connecting hole is provided with a connecting groove.

[0032] As a further scheme of the present application, the side close to each other of the connecting seat two and the connecting disc is provided with a ring groove, the two sides of the knob are respectively provided with a connecting ring in sliding fit with the ring groove, and the outer side of the knob is circumferentially distributed with a plurality of convex strips.

[0033] As a further scheme of the present application, the hemispherical gear one and the hemispherical gear two are consistent in size, the transmission gear one and the transmission gear two are consistent in size, and the radius of the hemispherical gear one is consistent with the radius of the transmission gear one.

[0034] In summary, the present application has the following beneficial effects compared with the prior art:

[0035] 1. In the present application, the clamping jaw is adjusted to the outside of the object to be grabbed, the motor drives the rotating disc to rotate, the rotating disc drives the corresponding clamping jaw downward through the sliding groove two and the sliding column two, and the sliding rod and the connecting frame, and the clamping jaw can grab the object stably by rotating downward.

[0036] 2. In the present application, when the clamping jaw is disassembled, only the knob is rotated and the connecting seat one is pulled out downward, so that the connecting seat one and the connecting seat two can be quickly separated, and when the clamping jaw is installed, only the placing groove is aligned with the clamping plate and approached, so that the connecting seat one and the connecting seat two can be quickly installed, the convenience of the device is improved, the quick disassembly and assembly between the connecting seat one and the connecting seat two are realized, the tool is avoided to be used complicatedly, and the replacement of the clamping jaw is facilitated without tools.

[0037] 3. In the present application, when there is an obstacle where the clamping jaw is needed to be grabbed, the motor two drives the transmission gear two to rotate, the transmission gear two drives the fixed rod to rotate upward around the rotating rod through the meshing with the transmission gear one and the movable connection of the connecting plate with the fixed rod and the rotating rod, the fixed rod drives the connecting seat two to rotate synchronously, the connecting seat two drives the half ball gear one to rotate synchronously, the half ball gear one is connected with the fixed rod, the rotating rod and the connecting plate to ensure that the half ball gear one is always meshed with the half ball gear two during rotation, and the connecting seat two drives the clamping jaw to rotate synchronously through the connection of the connecting assembly with the connecting seat one, so that the device can bypass the obstacle to grab the object, the inconvenience of the existing clamping jaw in the direction of the broken line to grab the object is avoided, and the applicability of the device is improved.

[0038] 4. In the present application, when the clamping jaw needs to be rotated, the motor three drives the half ball gear two to rotate, the half ball gear two drives the connecting seat two to rotate synchronously through the meshing with the half ball gear one, so that the object can rotate synchronously, and the rotation operation requirement of the device is met.

[0039] In order to more clearly illustrate the structural features and effects of the present application, the present application will be described in detail below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a perspective view of the multifunctional combined hand claw of the underwater mechanical arm in the embodiment of the present application.

[0041] Figure 2 It is a bottom view of the multifunctional combined hand claw of the underwater mechanical arm in the embodiment of the present application.

[0042] Figure 3 It is a structural schematic view of the grabbing assembly in the embodiment of the present application.

[0043] Figure 4A sectional view of the grabbing assembly in the embodiment of the application.

[0044] Figure 5 A structural schematic view of the rotating disc one in the embodiment of the application.

[0045] Figure 6 A structural schematic view of the connecting assembly in the embodiment of the application.

[0046] Figure 7 A sectional view of the connecting assembly in the embodiment of the application.

[0047] Figure 8 A structural schematic view of the angle adjusting assembly in the embodiment of the application.

[0048] Figure 9 A sectional view of the angle adjusting assembly in the embodiment of the application.

[0049] Figure 10 A structural schematic view of the connecting seat two in the embodiment of the application.

[0050] Figure 11 A structural schematic view of the knob in the embodiment of the application.

[0051] Fig. 1 is a structural schematic view of the connecting frame in the embodiment of the application; Fig. 2 is a structural schematic view of the clamping jaw in the embodiment of the application; Fig. 3 is a structural schematic view of the grabbing assembly in the embodiment of the application; Fig. 4 is a sectional view of the grabbing assembly in the embodiment of the application; Fig. 5 is a structural schematic view of the connecting seat one in the embodiment of the application; Fig. 6 is a structural schematic view of the connecting assembly in the embodiment of the application; Fig. 7 is a structural schematic view of the angle adjusting assembly in the embodiment of the application; Fig. 8 is a sectional view of the angle adjusting assembly in the embodiment of the application; Fig. 9 is a structural schematic view of the connecting seat two in the embodiment of the application; Fig. 10 is a structural schematic view of the knob in the embodiment of the application; Fig. 11 is a structural schematic view of the underwater camera in the embodiment of the application. DETAILED DESCRIPTION

[0052] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0053] The specific implementation of the present application is described in detail below in connection with specific embodiments.

[0054] In one embodiment of the present application, referring to Figure 1 and Figure 2 , a multifunctional combined gripper of an underwater mechanical arm comprises a connecting frame 1, a plurality of clamping jaws 2 are circumferentially hinged outside the connecting frame 1, a grabbing assembly 3 is connected between the connecting frame 1 and the clamping jaws 2, a connecting seat one 4 is arranged on the connecting frame 1, a connecting seat two 5 is arranged at the end of the connecting seat one 4 away from the connecting frame 1, a connecting assembly 6 is arranged between the connecting seat one 4 and the connecting seat two 5, a connecting barrel 8 is movably arranged at the end of the connecting seat two 5 away from the connecting seat one 4, and an angle adjusting assembly 7 is arranged between the connecting seat two 5 and the connecting barrel 8.

[0055] In this embodiment, the stretching and folding of the clamping jaws 2 can be realized through the grabbing assembly 3, which facilitates the device to grab objects underwater. The quick connection between the connecting seat one 4 and the connecting seat two 5 can be realized through the connecting assembly 6, and the combination of the connecting frame 1 and the clamping jaws 2 can be adaptively replaced according to actual operation requirements to meet the use requirements of different underwater grabbing operations. The angle between the connecting barrel 8 and the connecting seat two 5 can be adjusted through the angle adjusting assembly 7 to avoid the influence of underwater obstacles on the grabbing operation. By adjusting the angle between the connecting seat two 5 and the connecting barrel 8, the device can grab objects by bypassing underwater obstacles, improving the flexibility of the device and meeting the use requirements of different angles. The device has the effects of stable grabbing, quick disassembly and assembly, convenient replacement, angle adjustment, meeting the use requirements of different angles, flexible application, reliable structure, and simple and practical use. The connecting frame 1 is arranged as a regular polygon block, and the number of sides of the connecting frame 1 is at least three. The number of clamping jaws 2 is consistent with the number of sides of the connecting frame 1. Connecting holes 801 are arranged at both ends of the connecting barrel 8 away from the connecting frame 1. A connecting groove 802 is arranged in the connecting barrel 8. The quick assembly of the connecting barrel 8 and external components can be realized through the connecting groove 802. The stable connection of the connecting barrel 8 and external components can be realized by connecting screws passing through the connecting holes 801 and connecting with external components. A remote control module and a power supply (not shown in the figure) are arranged inside the connecting barrel 8 to meet the normal working requirements of the device. A placing groove 401 is arranged at the end of the connecting seat one 4 close to the connecting seat two 5 to facilitate the placement of the connecting assembly 6.

[0056] In one embodiment of the present application, referring to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 11The grabbing assembly 3 comprises a sliding groove one 301 arranged at one end of the clamping jaw 2 close to the connecting frame 1, both sides of the sliding groove one 301 are provided with side grooves 302, a plurality of sliding rods 303 are distributed in the circumferential direction of the connecting frame 1, one end of the sliding rod 303 penetrates through the connecting frame 1 and is in sliding fit with the sliding groove one 301, one end of the sliding rod 303 close to the sliding groove one 301 is provided with a sliding column one 304 in sliding fit with the side groove 302, the connecting frame 1 is internally provided with a supporting frame 305, the supporting frame 305 is rotatably provided with a rotating disc one 306, a plurality of sliding grooves two 307 are distributed in the circumferential direction of the rotating disc one 306, the sliding groove two 307 is internally slidably provided with a sliding column two 310 connected with the sliding rod 303, the bottom of the connecting frame 1 is provided with a bottom plate 308, the outer side of the bottom plate 308 is mounted with a motor one 309 connected with the rotating disc one 306.

[0057] In the initial state, the plurality of clamping jaws 2 are away from each other, the sliding column two 310 is located at one end of the sliding groove two 307 close to the supporting frame 305, the plurality of sliding rods 303 are away from each other, the clamping jaw 2 is adjusted to the outside of the object to be grabbed, the motor one 309 drives the rotating disc one 306 to rotate, the rotating disc one 306 drives the plurality of sliding rods 303 to be close to each other through the sliding fit of the sliding groove two 307 and the sliding column two 310 and the sliding fit of the sliding rod 303 and the connecting frame 1, the sliding rod 303 drives the sliding column one 304 to be close to the connecting frame 1, the sliding column one 304 drives the corresponding clamping jaw 2 to rotate downward through the sliding fit with the side groove 302 and the hinge connection of the clamping jaw 2 and the connecting frame 1, the plurality of clamping jaws 2 grab the object through the downward rotating mode, wherein the clamping jaw 2 is one of parallel clamping jaw, pincer-shaped clamping jaw, angle-shaped clamping jaw or inclined jaw clamping jaw, the number of the sliding rod 303 is consistent with the number of the clamping jaw 2, the width of the sliding groove one 301 is greater than the width of the sliding rod 303, so as to ensure the movement of the sliding rod 303 in the sliding groove one 301, the length direction of the sliding groove two 307 and the radial direction of 306 are provided as an acute angle.

[0058] In one embodiment of the present application, referring to Figure 1 , Figure 2 , Figure 6 and Figure 7 , the connecting seat two 5 is provided with a connecting disc 502 close to one end of the connecting frame 1, the connecting seat two 5 and the connecting disc 502 are connected with a connecting rod 501;

[0059] The connecting assembly 6 comprises a knob 601 rotatably arranged between the connecting seat two 5 and the connecting disc 502, the knob 601 is rotatably connected with the connecting rod 501, a plurality of sliding grooves three 602 are distributed in the circumference of the knob 601, a sliding column three 603 is slidably arranged in the sliding groove three 602, a plurality of through grooves 606 are distributed in the circumference of the connecting disc 502, a guide rod 607 is connected in the through groove 606, a clamping plate 604 is slidably arranged on the guide rod 607, the clamping plate 604 is movably matched with the clamping groove 605 arranged in the connecting seat one 4, and the connecting rod 501 and the clamping plate 604 are connected with the spring 608 sleeved outside the guide rod 607.

[0060] In the initial state, the sliding column three 603 is located at one end of the sliding groove three 602 away from the connecting rod 501, the spring 608 is at the original length, the clamping plates 604 are away from each other and matched with the clamping groove 605, the connection between the connecting seat one 4 and the connecting seat two 5 is realized, in actual use, the corresponding clamping jaw 2 needs to be replaced according to different use conditions, when the clamping jaw 2 needs to be replaced, the knob 601 is rotated, the knob 601 drives the clamping plate 604 to move close to the connecting rod 501 through the sliding cooperation between the sliding groove three 602 and the sliding column three 603 and the sliding cooperation between the clamping plate 604 and the guide rod 607, the spring 608 is stressed and shrinks, the connection between the clamping plate 604 and the clamping groove 605 is released, the connecting frame 1 is pulled out downward, the separation between the connecting seat one 4 and the connecting seat two 5 is realized, then the knob 601 is released, the clamping plates 604 are away from each other, and the spring 608 is at the original length.

[0061] When the corresponding clamping jaw 2 needs to be installed, the clamping plates 604 are aligned with the placing groove 401 and the connecting seat one 4 is pushed close to the connecting seat two 5, the top of the connecting seat one 4 is in contact with the inclined surface arranged at one end of the clamping plate 604 close to the connecting frame 1 and drives the clamping plate 604 to move close to the connecting rod 501 through the movable contact with the inclined surface, the spring 608 is stressed and shrinks, when the clamping plate 604 is matched with the clamping groove 605, the spring 608 returns to the original length, the quick and convenient connection between the connecting seat one 4 and the connecting seat two 5 can be realized, the use of tools is avoided, and the replacement of the clamping jaw 2 is facilitated without tools.

[0062] When the clamp jaw 2 is disassembled, only need to rotate the knob 601 and draw out the connecting seat one 4 downward, the quick separation of the connecting seat one 4 and the connecting seat two 5 can be realized; when the clamp jaw 2 is installed, only need to align the placing groove 401 with the clamping plate 604 and close, the quick installation of the connecting seat one 4 and the connecting seat two 5 can be realized, the convenience of the device is improved, wherein, the clamping plate 604 is provided with an inclined surface close to one end of the connecting frame 1, the number of the sliding groove three 602 is consistent with the number of the through groove 606, the side close to each other of the connecting seat two 5 and the connecting disc 502 is provided with a ring groove 503, the two sides of the knob 601 are respectively provided with a connecting ring 6011 which is in sliding fit with the ring groove 503, the outer side of the knob 601 is circumferentially distributed with a plurality of convex strips 6012, through the sliding fit of the connecting ring 6011 and the ring groove 503, the rotation of the knob 601 can be stably supported and effectively prevented from entering the connecting seat two 5 through the gap between the knob 601 and the connecting seat two 5 or the gap between the knob 601 and the connecting disc 502, the service life of the device is convenient to prolong, the length direction of the sliding groove three 602 and the radial direction of the knob 601 are set as an acute angle.

[0063] In one embodiment of the application, referring to Figure 1 、 Figure 2 、 Figure 8 、 Figure 9 and Figure 10 , the angle adjusting assembly 7 comprises a hemispherical gear one 701 fixedly arranged at the end of the connecting seat two 5 away from the connecting disc 502, a rotating ring 702 rotatably arranged outside the connecting seat two 5, an installation frame one 703 mounted at the outer end of the rotating ring 702, a fixed rod 713 fixedly connected to the installation frame one 703, a transmission gear one 704 fixedly connected to the outer end of the fixed rod 713, a hemispherical gear two 709 rotatably arranged at the end of the connecting cylinder 8 close to the connecting seat two 5 and engaged with the hemispherical gear one 701, a motor three 712 arranged inside the connecting cylinder 8 and connected to the hemispherical gear two 709, a fixed ring 708 fixedly arranged outside the connecting cylinder 8, an installation frame two 707 mounted outside the fixed ring 708 and corresponding to the transmission gear two 706, a rotating rod 714 rotatably connected to the installation frame two 707, a transmission gear two 706 connected to the outer end of the rotating rod 714 and engaged with the transmission gear one 704, a connecting plate 705 movably connected to the fixed rod 713 and the rotating rod 714 and located between the transmission gear one 704 and the installation frame one 703, an installation frame three 710 mounted on the installation frame two 707, and a motor two 711 mounted on the installation frame three 710 and connected to the rotating rod 714.

[0064] In the embodiment, the axis of the connecting seat two 5 and the axis of the connecting barrel 8 are collinear in the initial state. When the clamping jaw 2 clamps an object and the object needs to be rotated, the motor three 712 drives the half-ball gear two 709 to rotate. The half-ball gear two 709 drives the connecting seat two 5 to rotate synchronously by meshing with the half-ball gear one 701. The connecting seat two 5 drives the connecting seat one 4 to rotate synchronously by the connecting assembly 6. The connecting seat one 4 drives the object to rotate synchronously by the connecting mode of the connecting seat one 4 and the clamping jaw 2, so that the rotation of the object can be realized. When there is an obstacle in the place where the object is grabbed, the motor two 711 drives the transmission gear two 706 to rotate through the rotating rod 714. The transmission gear two 706 drives the fixed rod 713 to rotate upward around the rotating rod 714 by meshing with the transmission gear one 704 and the connecting plate 705 which are movably connected with the fixed rod 713 and the rotating rod 714, respectively. The fixed rod 713 drives the connecting seat two 5 to rotate synchronously by the connecting mode of the fixed rod 713 and the rotating ring 702. The connecting seat two 5 drives the half-ball gear one 701 to rotate synchronously. The half-ball gear one 701 is movably connected with the fixed rod 713, the rotating rod 714 and the connecting plate 705, so that the half-ball gear one 701 is always meshed with the half-ball gear two 709 during rotation. At the same time, the connecting seat two 5 drives the clamping jaw 2 to rotate synchronously by the connecting mode of the connecting assembly 6 and the connecting seat one 4, so that the device can bypass the obstacle to grab the object, improve the applicability of the device, and avoid the inconvenience of the existing clamping jaw 2 in the fold line direction to grab the object. When the clamping jaw 2 needs to be rotated, the motor three 712 drives the half-ball gear two 709 to rotate, which drives the connecting seat two 5 to rotate synchronously by meshing with the half-ball gear one 701, so that the object can rotate synchronously. The rotation angle and direction of the half-ball gear one 701 can be adjusted by controlling the rotation angle and direction of the transmission gear two 706, so as to meet the use requirement of different angles and improve the applicability of the device. The half-ball gear one 701 and the half-ball gear two 709 are of the same size, the transmission gear one 704 and the transmission gear two 706 are of the same size, the radius of the half-ball gear one 701 is consistent with the radius of the transmission gear one 704, so that the half-ball gear one 701 is always meshed with the half-ball gear two 709 during rotation, improving the stability of the device. The outer side of the rotating ring 702 is provided with an underwater camera 9. The underwater camera 9 can be used by the operator to observe the front of the clamping jaw 2 and confirm the situation of the object to be grabbed, improving the intelligence of the device.

[0065] Specifically:

[0066] Adjust the clamping jaw 2 to the outside of the object to be grabbed, the motor 309 drives the rotating disc 306 to rotate, the rotating disc 306 drives a plurality of slide rods 303 to move close to each other through the sliding groove 307 and the slide column 310, the slide rod 303 drives the slide column 304 to move close to the connecting frame 1, the slide column 304 drives the corresponding clamping jaw 2 to rotate downward through the sliding groove 302 and the hinge connection between the clamping jaw 2 and the connecting frame 1, and a plurality of clamping jaws 2 grab the object by rotating downward;

[0067] When the clamping jaw 2 needs to be replaced, rotate the knob 601, the knob 601 drives the clamping plate 604 to move close to the connecting rod 501 through the sliding groove 602 and the slide column 603, and the spring 608 is stressed and contracted, the connection between the clamping plate 604 and the clamping groove 605 is released, the connecting frame 1 is pulled out downward, the separation between the connecting seat 4 and the connecting seat 5 is realized, then the knob 601 is released, the clamping plates 604 move away from each other, and the spring 608 is in the original length;

[0068] When the corresponding clamping jaw 2 needs to be installed, align a plurality of clamping plates 604 with the placement groove 401 and push the connecting seat 4 close to the connecting seat 5, the top of the connecting seat 4 will contact the inclined surface arranged at the end of the clamping plate 604 close to the connecting frame 1 and push the clamping plate 604 close to the connecting rod 501 through the inclined surface, the spring 608 is stressed and contracted, and when the clamping plate 604 cooperates with the clamping groove 605, the spring 608 returns to the original length, the quick and convenient connection between the connecting seat 4 and the connecting seat 5 is realized, the use of tools is avoided, and the replacement of the clamping jaw 2 is facilitated without tools;

[0069] When there is an obstacle at the place where the object needs to be grabbed, the motor 711 drives the transmission gear 706 to rotate, the transmission gear 706 drives the fixed rod 713 to rotate upward around the rotating rod 714 through the transmission gear 704 and the connecting plate 705, the fixed rod 713 drives the connecting seat 5 to rotate synchronously through the mounting frame 703 and the rotating ring 702, the connecting seat 5 drives the half ball gear 701 to rotate synchronously, the half ball gear 701 ensures that the half ball gear 701 is always engaged with the half ball gear 709 through the fixed rod 713, the rotating rod 714 and the connecting plate 705, and at the same time, the connecting seat 5 drives the clamping jaw 2 to rotate synchronously through the connecting assembly 6 and the connecting seat 4, which facilitates the device to bypass the obstacle to grab the object;

[0070] When the clamping jaw 2 needs to be rotated, the motor three 712 drives the half-ball gear two 709 to rotate, and the half-ball gear two 709 drives the connecting seat two 5 to rotate synchronously through the meshing mode with the half-ball gear one 701, so that the synchronous rotation of the object can be realized.

[0071] The above merely describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multifunctional combined gripper of underwater mechanical arm, comprising a connecting frame, a plurality of grippers are circumferentially hinged outside the connecting frame, characterized in that, The connecting frame is provided with a connecting seat one, the connecting seat one is provided with a connecting seat two away from one end of the connecting frame, the connecting seat two is movably provided with a connecting cylinder away from one end of the connecting seat one; The grabbing assembly is connected between the connecting frame and the clamping jaw; The connecting assembly is arranged between the connecting seat one and the connecting seat two; And the angle adjusting assembly is arranged between the connecting seat two and the connecting cylinder; The connecting seat two is provided with a connecting disc away from one end of the connecting frame, the connecting seat two and the connecting disc are connected with a connecting rod, the connecting seat one is provided with a placing groove away from one end of the connecting seat two; The connecting assembly comprises: The knob is rotationally arranged between the connecting seat two and the connecting disc, the knob is rotationally connected with the connecting rod, a plurality of slide grooves three are circumferentially distributed on the inner wall of the knob, and a slide column three is slidably arranged in each slide groove three; The through slot is provided with a plurality of through slots and is circumferentially distributed on the connecting disc, the through slot is connected with a guide rod, the guide rod is slidably provided with a clamping plate, and the clamping plate is movably matched with a clamping groove arranged in the connecting seat one; And a spring is connected between the connecting rod and the clamping plate and is sleeved on the outer side of the guide rod; The angle adjusting assembly comprises: The half ball gear one is fixedly arranged at one end of the connecting seat two away from the connecting disc; The rotating ring is rotationally arranged on the outer side of the connecting seat two, the outer end of the rotating ring is provided with a mounting frame one, the mounting frame one is fixedly connected with a fixed rod, and the outer end of the fixed rod is fixedly connected with a transmission gear one; The half ball gear two is rotationally arranged at one end of the connecting cylinder close to the connecting seat two and is engaged with the half ball gear one, and the half ball gear two is connected with a motor three arranged in the connecting cylinder; The fixed ring is fixedly arranged on the outer side of the connecting cylinder, the outer side of the fixed ring is provided with a mounting frame two corresponding to the mounting frame one, the mounting frame two is rotationally connected with a rotating rod, and the outer end of the rotating rod is connected with a transmission gear two engaged with the transmission gear one; The connecting plate is movably connected on the fixed rod and the rotating rod and is located between the transmission gear one and the mounting frame one; And the mounting frame three is mounted on the mounting frame two, and the mounting frame three is provided with a motor two connected with the transmission gear two.

2. The underwater robotic arm multifunctional combination gripper according to claim 1, characterized in that, The grabbing assembly comprises: The slide groove one is arranged at one end of the clamping jaw close to the connecting frame, and side grooves are arranged on both sides of the slide groove one; The slide rod is provided with a plurality of slide rods and is circumferentially distributed in the connecting frame, one end of the slide rod penetrates through the connecting frame and is slidably connected with the slide groove one, and the end of the slide rod close to the slide groove one is provided with a slide column one slidably connected with the side groove; The support frame is arranged in the connecting frame, the support frame is rotationally provided with a rotating disc one, a plurality of slide grooves two are circumferentially distributed on the rotating disc one, and a slide column two connected with the slide rod is slidably arranged in each slide groove two; And the bottom plate is arranged at the bottom of the connecting frame, and the outer side of the bottom plate is provided with a motor one connected with the rotating disc one.

3. The underwater robotic arm multifunctional combination gripper according to claim 1, characterized in that, The connecting frame is a regular polygon block, and the number of edges of the connecting frame is at least three.

4. The underwater robotic arm multifunctional combination gripper according to claim 1, characterized in that, The number of the clamping jaws is consistent with the number of the edges of the connecting frame, and the clamping jaws are one of parallel clamping jaws, pincer clamping jaws, angular clamping jaws or inclined jaw clamping jaws.

5. The underwater robotic arm multi-functional composite gripper of claim 1, wherein, Two ends of the connecting cylinder away from the connecting frame are provided with connecting holes, and the connecting cylinder is provided with a connecting groove.

6. The underwater robotic arm multifunctional combination gripper according to claim 1, wherein, The side of the connecting seat two and the connecting disc close to each other is provided with a ring groove, the two sides of the knob are respectively provided with a connecting ring in sliding fit with the ring groove, and the outer side of the knob is circumferentially distributed with a plurality of convex strips.

7. The underwater robotic arm multi-functional composite gripper of claim 1, wherein, The hemispherical gear one and the hemispherical gear two are consistent in size, the transmission gear one and the transmission gear two are consistent in size, and the radius of the hemispherical gear one is consistent with the radius of the transmission gear one.

Images