Capture device and underwater robot

Abstract

The present application provides a capture device and an underwater robot, which relate to the technical field of underwater equipment recovery. The capture device provided by the present application includes a fixing mechanism; a capture mechanism, which includes: a positioning seat, which is arranged at one end of the fixing mechanism; a clamping claw, which is rotatably connected to the positioning seat and is used to capture the target object. When the clamping claw is clamped, the clamping claw cooperates with the positioning seat; a limiting component, which is arranged at the end of the clamping claw and at least one place between the clamping claw and the positioning seat, and is used to limit or maintain the shape of the clamping claw. The present application clamps and limits the clamping claw to the positioning seat through the limiting component, thereby improving the reliability of capture. The capture device drags the target object back to the designated position to complete the recovery. The clamping position of the clamping claw is limited by the positioning seat, and the clamping claw automatically captures and recovers the target object, which reduces human participation, reduces the risk of personnel directly participating in salvage and recovery, improves safety and efficiency of salvage and recovery, and reduces costs.

Description

Technical Field

[0001] The present application relates to the technical field of underwater equipment recovery, and in particular to a capture device and an underwater robot. Background Art

[0002] Unmanned autonomous underwater submersibles with cylindrical bodies such as rotating bodies are a new generation of underwater robots. They have the advantages of large range of activities, good maneuverability, safety, and intelligence, and have become important tools for completing various underwater tasks. Due to the unmanned and cable-free characteristics of unmanned autonomous underwater submersibles, their recovery in complex and high sea conditions has become a problem.

[0003] Most of the existing unmanned autonomous underwater submersible recovery methods require that the mother ship sails to the predetermined sea area, and then the mother ship manually hangs the unmanned autonomous underwater submersible using a lifting device to complete the recovery. Alternatively, the unmanned autonomous underwater submersible recovery cage is deployed underwater, and the mother ship lifts the recovery cage after the underwater submersible recognizes and enters the recovery cage, thus completing the recovery.

[0004] This shows that the existing recovery methods have high requirements on sea conditions and there is a phenomenon that recognition errors may lead to inability to enter the recovery cage; manual rope hanging also has great risks and low efficiency. Summary of the invention

[0005] Based on this, the present application provides a capture device and an underwater robot that can automatically capture and recover underwater submersibles.

[0006] The capture device provided by this application includes:

[0007] Fixed mechanism;

[0008] Arresting agencies include:

[0009] A positioning seat, arranged at one end of the fixing mechanism;

[0010] The clamping claw is rotatably connected to the positioning seat and is used to catch the target object. When the clamping claw is clamped, the clamping claw cooperates with the positioning seat;

[0011] The limiting component is arranged at the end of the clamping claw and at least one place between the clamping claw and the positioning seat, and is used for limiting or maintaining the shape of the clamping claw.

[0012] Optionally, the capture mechanism further includes:

[0013] The reset assembly is respectively connected to the positioning seat and the clamping claw and is located outside the positioning seat and the clamping claw, and is used to reset and open the clamping claw.

[0014] Optionally, the reset component includes:

[0015] A connecting portion, arranged on the outer surfaces of the positioning seat and the clamping claw;

[0016] The first elastic member is connected to the positioning seat and the clamping claw respectively through the connecting part.

[0017] Optionally, the limiting component includes:

[0018] A first limiting component is arranged between the clamping claw and the positioning seat, and when the clamping claw is clamped, the clamping claw is limited to the positioning seat and the clamping claw is matched with the inner wall of the positioning seat; and / or

[0019] The second limiting component is arranged at the end of the clamping claw, and when the clamping claw is clamped, the end of the clamping claw is limited to an integrated state to prevent the clamping claw from loosening.

[0020] Optionally, the first limiting component includes:

[0021] A limit block is arranged on the positioning seat, the limit block has a first wedge block slot inside, and a through hole is arranged on one side of the first wedge block slot;

[0022] A first wedge block is arranged in the first wedge block slide groove and can slide along the first wedge block slide groove. A protrusion is arranged on the surface of the first wedge block, and the protrusion extends to the outside of the limit block through the through hole;

[0023] A second elastic member is respectively connected to one end of the first wedge block and the inner wall of the limiting block;

[0024] The clamping portion is arranged on the surface of the clamping claw, and a clamping groove is arranged at one end close to the clamping claw. The second elastic member is used to push the first wedge block along the first wedge block sliding groove toward the clamping portion. When the clamping claw is clamped, the first wedge block is clamped in the clamping groove under the push of the second elastic member, and the clamping portion is limited at the limit block by the first wedge block.

[0025] Optionally, the contact surface between the first wedge block and the clamping portion is a matching inclined surface, and the inclined surface is inclined along the clamping direction of the clamping portion, toward a side that increases the cross-sectional area of ​​the first wedge block, for guiding the clamping portion.

[0026] Optionally, the second limiting component includes:

[0027] A connecting block, wherein a second wedge block slot is arranged inside the connecting block;

[0028] A second wedge block is disposed in the second wedge block slide groove and is capable of sliding along the second wedge block slide groove;

[0029] The third elastic member is connected to the second wedge block and the connecting block respectively, and is used to push the second wedge block along the second wedge block sliding groove toward the outside of the second wedge block sliding groove.

[0030] Optionally, the second limiting component further includes:

[0031] A handle, located on the outside of the connecting block and connected to the second wedge block;

[0032] The locking piece is arranged between the second wedge block and the connecting block and is used for fixing the position of the second wedge block.

[0033] Optionally, the fixing mechanism comprises:

[0034] Connecting the bottom plate to the capture mechanism;

[0035] A plurality of positioning and connecting elements are arranged on the surface of the connecting base plate and are used to connect the connecting base plate with the capture mechanism;

[0036] A rotation driving assembly is rotatably arranged on the connecting bottom plate;

[0037] The limiting part is arranged on the surface of the rotation driving assembly and is connected with the capturing mechanism. The limiting part rotates under the driving of the rotation driving assembly.

[0038] Optionally, the capture device further comprises:

[0039] The clamping mechanism comprises:

[0040] A driving telescopic assembly, one end of which is arranged on one side of the fixing mechanism and the other end of which extends to the inner side of the capturing mechanism;

[0041] The clamping plate is arranged at the other end of the driving telescopic assembly and is used to clamp the target object inside the capture mechanism.

[0042] Optionally, a buoyant material is provided on the outside of the capture mechanism to reduce the weight of the capture mechanism in water.

[0043] Optionally, a protective pad is provided on the contact surface between the capture mechanism and the target object to protect the target object.

[0044] The present application also provides an underwater robot, comprising the above-mentioned capturing device.

[0045] Optionally, the underwater robot further comprises:

[0046] Robot body:

[0047] Traction mechanism, the traction mechanism comprises:

[0048] A wire winding drum is arranged on the robot body;

[0049] One end of the cable is coiled on the winding drum, and the other end is connected to the capture device.

[0050] The capture device and underwater robot provided in the present application fix the capture mechanism through a fixing mechanism. The end of the gripping claw is connected as a whole through a limiting component at the end of the gripping claw to prevent the gripping claw from loosening. The gripping claw is clamped and limited to the positioning seat through a limiting component between the gripping claw and the positioning seat to prevent the gripping claw from rotating relative to the positioning seat and causing the gripping claw to open and cause the target object to fall off, thereby improving the reliability of capture. The target object is dragged back to the designated position through the capture device to complete the recovery. The gripping position of the gripping claw is limited by the positioning seat, and the target object is automatically captured and recovered by the gripping claw, which reduces human involvement, reduces the risk of personnel directly participating in salvage and recovery, improves safety and efficiency of salvage and recovery, and reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by the present application.

[0052] Figure 1 It is a schematic diagram of the structure of the capture device provided by the present application;

[0053] Figure 2 It is a schematic diagram of the structure of the capture device provided by the present application when it is released;

[0054] Figure 3 It is a schematic diagram of the structure of the capture device provided by the present application when it is tightly held;

[0055] Figure 4 is a schematic cross-sectional view of the structure of the first limiting component in the capture device provided by the present application;

[0056] Figure 5 is a schematic cross-sectional view of the structure of the second limiting component in the capture device provided by the present application;

[0057] Figure 6 is a schematic enlarged diagram of the structure of the second limiting component in the capture device provided by the present application;

[0058] Figure 7 It is a structural schematic diagram of the fixing mechanism in the capture device provided by the present application;

[0059] Figure 8 is a schematic top view of the structure of the fixing mechanism in the capture device provided by the present application;

[0060] Fig. 9 It is a schematic diagram of the structure of the underwater robot provided by this application;

[0061] Fig.10It is a structural schematic diagram of the underwater robot provided by the present application when releasing the cable.

[0062] Description of reference numerals: 1. Capturing mechanism; 11. Positioning seat; 12. Clamping claw; 13. Position limiting assembly; 131. First position limiting assembly; 1311. Position limiting block; 13111. First wedge block slide groove; 13112. Through hole; 1312. First wedge block; 13121. Protruding portion; 1313. Second elastic member; 1314. Clamping portion; 13141. Clamping groove; 132. Second position limiting assembly; 1321. Connecting block; 13211, second wedge block slide; 1322, second wedge block; 1323, third elastic member; 1324, handle; 1325, locking member; 14, reset assembly; 141, connecting part; 142, first elastic member; 2, fixing mechanism; 21, connecting base plate; 22, positioning connecting element; 23, rotating drive assembly; 24, limiting part; 3, clamping mechanism; 31, driving telescopic assembly; 32, clamping plate; 4, floating material; 5, protective pad; 100, capturing device; 200, robot body; 300, traction mechanism; 301, winding drum; 302, cable; A, target object. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0064] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0065] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0066] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0067] refer to Figure 1 The capturing device provided in the present application includes a capturing mechanism 1 and a fixing mechanism 2. The capturing mechanism 1 includes a positioning seat 11, a clamping claw 12 and a limiting assembly 13. The positioning seat 11 is arranged at one end of the fixing mechanism 2. The clamping claw 12 is rotatably connected to the positioning seat 11, and is used to capture the target object A. When the clamping claw 12 clamps, the clamping claw 12 cooperates with the positioning seat 11. The limiting assembly 13 is arranged at the end of the clamping claw 12, and at least one place between the clamping claw 12 and the positioning seat 11, and is used to limit or maintain the shape of the clamping claw 12.

[0068] When salvaging an unmanned autonomous underwater vehicle, a capture device is used to capture and recover the underwater target, wherein the target may be an unmanned autonomous underwater vehicle of a cylindrical shape such as a rotating body. The capture mechanism 1 is fixed to the ROV (cable-controlled underwater robot) through the fixing mechanism 2, and is carried by the ROV to track the target to the waters where the target is located. The capture mechanism 1 approaches the target, and the clamping claw 12 is unfolded, so that the target moves closer to the inner side of the clamping claw 12. When moving closer, the clamping claw 12 rotates relative to the positioning seat 11 with the movement of the target to perform a capture and clamping action. When the target is completely contained inside the clamping claw 12, the clamping claw 12 completes the capture and clamping action. At this time, the clamping claw 12 cooperates with the positioning seat 11, and the end of the clamping claw 12 is connected as a whole through the limit assembly 13 at the end of the clamping claw 12 to prevent the clamping claw 12 from loosening. The clamping claw 12 is clamped and limited to the positioning seat 11 by the limiting component 13 between the clamping claw 12 and the positioning seat 11 to prevent the clamping claw 12 from rotating relative to the positioning seat 11 and opening the clamping claw 12, thereby improving the reliability of capture. After the capture is completed, the ROV drags the target back to the designated position through the capture device to complete the recovery. The clamping position of the clamping claw 12 is limited by the positioning seat 11, and the target enters the clamping claw 12, so that the clamping claw 12 rotates close to the limiting component 13 and is locked to the limiting component 13 under the external force of the inner target, so as to realize automatic capture and recovery of the target, reduce human participation, reduce the risk of personnel directly participating in salvage and recovery, improve safety and efficiency of salvage and recovery, and reduce costs.

[0069] In some embodiments, the positioning seat 11 is an annular fixed ring that matches the clamping claw 12, and the clamping claw 12 can be rotatably connected to the positioning seat 11 through a hinge support.

[0070] refer to Figure 2 and Figure 3 As an optional embodiment, the capture mechanism 1 also includes a reset component 14, which is respectively connected to the positioning seat 11 and the clamping claw 12 and is located outside the positioning seat 11 and the clamping claw 12, for resetting and opening the clamping claw 12.

[0071] As an optional embodiment, the reset assembly 14 includes a connecting portion 141 and a first elastic member 142. The connecting portion 141 is disposed on the outer surface of the positioning seat 11 and the clamping claw 12. The first elastic member 142 is connected to the positioning seat 11 and the clamping claw 12 through the connecting portion 141.

[0072] The first elastic member 142 of the reset assembly 14 pulls the clamping claw 12 so that it rotates relative to the positioning seat 11 to maintain an open state when there is no external force, so that the target object can smoothly move toward the inner side of the clamping claw 12 during the capture process, thereby preventing the clamping claw 12 from being not opened during capture and hindering the target object from entering the inner side of the clamping claw 12.

[0073] In some embodiments, the first elastic member 142 may be a tension spring.

[0074] refer to Figure 2 and Figure 3 As an optional embodiment, the limiting component 13 includes a first limiting component 131 and / or a second limiting component 132. The first limiting component 131 is arranged between the clamping claw 12 and the positioning seat 11. When the clamping claw 12 is clamped, the clamping claw 12 is limited to the positioning seat 11, and the clamping claw 12 is matched with the inner wall of the positioning seat 11. The second limiting component 132 is arranged at the end of the clamping claw 12. When the clamping claw 12 is clamped, the end of the clamping claw 12 is limited to an integrated state to prevent the clamping claw 12 from loosening.

[0075] refer to Figure 4 As an optional embodiment, the first limiting assembly 131 includes a limiting block 1311, a first wedge block 1312, a second elastic member 1313 and a clamping portion 1314. The limiting block 1311 is disposed on the positioning seat 11, and the limiting block 1311 has a first wedge block slot 13111 inside, and a through hole 13112 is disposed on one side of the first wedge block slot 13111. The first wedge block 1312 is disposed in the first wedge block slot 13111 and can slide along the first wedge block slot 13111. A protrusion 13121 is disposed on the surface of the first wedge block 1312, and the protrusion 13121 extends to the outside of the limiting block 1311 through the through hole 13112. The second elastic member 1313 is connected to one end of the first wedge block 1312 and the inner wall of the limiting block 1311, respectively, and is used to push the first wedge block 1312 along the first wedge block slot 13111 toward the clamping portion 1314. The clamping portion 1314 is provided on the surface of the clamping claw 12, and a clamping groove 13141 is provided at one end close to the clamping claw 12. When the clamping claw 12 is clamped, the first wedge block 1312 is clamped in the clamping groove 13141 under the push of the second elastic member 1313, and the clamping portion 1314 is limited to the first limiting assembly 131 through the first wedge block 1312.

[0076] As an optional embodiment, the contact surface between the first wedge block 1312 and the clamping portion 1314 is a matching inclined surface, and the inclined surface is inclined along the clamping direction of the clamping portion 1314, toward the side that increases the cross-sectional area of ​​the first wedge block 1312, for guiding the clamping portion 1314.

[0077] When the clamping claw 12 is grasping, it rotates relative to the positioning seat 11 as the target object approaches, and at the same time, the clamping portion 1314 provided on the clamping claw 12 gradually approaches the positioning seat 11 and the limiting block 1311. In this process, the clamping portion 1314 contacts the first wedge block 1312, and under the action of the inclined surface of the contact surface, the first wedge block 1312 slides along the first wedge block slot 13111 toward the second elastic member 1313, and the second elastic member 1313 is compressed inwardly. When the clamping portion 1314 moves into place, the first wedge block 1312 separates from the contact surface of the clamping portion 1314, and the first wedge block 1312 pops out and is clamped in the clamping slot 13141 under the action of the second elastic member 1313, so as to complete the limiting of the clamping portion 1314, thereby realizing the clamping of the clamping claw 12 to the positioning seat 11, and keeping the clamping claw 12 in the clamping state.

[0078] When the target object needs to be removed and recycled, the first wedge block 1312 is pushed along the first wedge block slot 13111 toward the second elastic member 1313 by pushing the protrusion 13121, and the first wedge block 1312 is disengaged from the slot 13141, and the clamping portion 1314 is separated from the limit block 1311, and then the clamping claw 12 is disengaged from the positioning seat 11 and opened to facilitate the recovery of the target object.

[0079] In some embodiments, the second elastic member 1313 can be a compression spring.

[0080] refer to Figure 5 As an optional embodiment, the second limiting assembly 132 includes a connecting block 1321, a second wedge block 1322 and a third elastic member 1323. The connecting block 1321 is disposed at the end of the clamping claw 12, a second wedge block slot 13211 is disposed inside the connecting block 1321, and the second wedge block 1322 is disposed in the second wedge block slot 13211 and can slide along the second wedge block slot 13211. The third elastic member 1323 is respectively connected to the second wedge block 1322 and the connecting block 1321, and is used to push the second wedge block 1322 along the second wedge block slot 13211 to the outside of the second wedge block slot 13211.

[0081] Similar to the first limiting component 131, when the end of the clamping claw 12 is clamped, the ends of the clamping claw 12 are close to each other, and the second wedge block 1322 slides along the second wedge block slot 13211 toward the third elastic member 1323 under the action of the clamping claw 12. When the clamping claw 12 is clamped in place, the clamping claw 12 and the second wedge block 1322 are staggered, and the second wedge block 1322 pops out under the action of the third elastic member 1323 to limit the end of the clamping claw 12 between the connecting block 1321 and the second wedge block 1322, so that the end of the clamping claw 12 is limited to be integrated to prevent the clamping claw 12 from loosening.

[0082] refer to Figure 6As an optional embodiment, the second limiting assembly 132 further includes a handle 1324 and a locking member 1325. The handle 1324 is located outside the connecting block 1321 and connected to the second wedge block 1322. The locking member 1325 is disposed between the second wedge block 1322 and the connecting block 1321 to fix the position of the second wedge block 1322.

[0083] When the target object needs to be removed and recycled, the second wedge block 1322 is pulled toward the third elastic member 1323 by the handle 1324 to disengage the second wedge block 1322 from the clamping claw 12, and the second wedge block 1322 is fixed in the second wedge block slot 13211 by the locking member 1325. The ends of the clamping claw 12 separate from each other after losing the limiting effect of the second wedge block 1322, thereby realizing the opening of the clamping claw 12.

[0084] refer to Figure 7 and Figure 8 As an optional embodiment, the fixing mechanism 2 includes a connecting base plate 21, a plurality of positioning connecting elements 22, a rotation driving assembly 23 and a limiting portion 24. The connecting base plate 21 is connected to the capturing mechanism 1. A plurality of positioning connecting elements 22 are arranged on the surface of the connecting base plate 21, and are used to connect the connecting base plate 21 to the capturing mechanism 1. The rotation driving assembly 23 is rotatably arranged on the connecting base plate 21. The limiting portion 24 is arranged on the surface of the rotation driving assembly 23 and is connected to the capturing mechanism 1, and the limiting portion 24 rotates under the drive of the rotation driving assembly 23.

[0085] When the fixing mechanism 2 is connected to the capture mechanism 1, the multiple positioning connection elements 22 on the connection bottom plate 21 are connected to the capture mechanism 1. Then the limiting part 24 is connected to the capture mechanism 1. A limiting groove is provided inside the limiting part 24, and a matching hole connected to the limiting groove is provided on the surface of the limiting part 24. A protrusion matching with the matching hole is provided on the capture mechanism 1. During connection, the protrusion matches with the matching hole and is placed in the limiting groove through the matching hole. The rotation drive component 23 drives the limiting part 24 to rotate. At this time, the protrusion is placed in the limiting groove and is misaligned with the matching hole, thereby completing the further limiting and connection of the limiting part 24 and the capture mechanism 1.

[0086] In some embodiments, the plurality of positioning connection elements 22 include positioning pins or positioning holes. For example, the plurality of positioning connection elements 22 may include two groups of positioning holes symmetrically arranged along the horizontal direction of the connecting base plate 21, and two groups of positioning holes symmetrically arranged along the longitudinal direction of the connecting base plate 21, for a total of eight positioning holes. The installer may install the capture mechanism 1 on the two groups of positioning holes symmetrically arranged in the horizontal direction or the two groups of positioning holes symmetrically arranged in the longitudinal direction according to the posture of the target in the water. The rotation drive assembly 23 may include a drive motor.

[0087] refer to Figure 1 and Figure 7As an optional embodiment, the capture device further includes a clamping mechanism 3, which includes a drive telescopic assembly 31 and a clamping plate 32. One end of the drive telescopic assembly 31 is disposed on one side of the fixing mechanism 2, and the other end extends to the inner side of the capture mechanism 1. The clamping plate 32 is disposed at the other end of the drive telescopic assembly 31, and is used to clamp the target A inside the capture mechanism 1.

[0088] After the capture device captures the target object A and holds it tightly, the drive telescopic assembly 31 drives the clamping plate 32 to extend toward the target object A to clamp the target object A. The drive telescopic assembly 31 may include a drive motor and a lead screw. The drive motor drives the clamping plate 32 to approach or move away from the target object A through the lead screw transmission, thereby clamping or releasing the target object A.

[0089] refer to Figure 1 As an optional implementation, a float 4 is provided on the outside of the capture mechanism 1, and the float 4 can provide buoyancy to offset the gravity of the capture mechanism 1 in the water, thereby reducing the weight of the capture mechanism 1 in the water.

[0090] refer to Figure 1 As an optional implementation, a protective pad 5 is provided on the contact surface between the capture mechanism 1 and the target object A to protect the target object A.

[0091] refer to Fig. 9 The present application also provides an underwater robot, comprising the above-mentioned capturing device 100.

[0092] refer to Fig. 9 and Fig.10 As an optional embodiment, the underwater robot further includes a robot body 200 and a traction mechanism 300. The traction mechanism 300 includes a winding drum 301 and a cable 302. The winding drum 301 is disposed on the robot body 200. One end of the cable 302 is wound on the winding drum 301, and the other end is connected to the capture device 100.

[0093] The winding drum 301 of the traction mechanism 300 is arranged inside the underwater robot, and one end of the cable 302 is connected to the winding drum 301 and the other end is connected to the capture device 100. When recovering the target object A, the underwater robot is controlled to swim to the water area where the target object A is located, and the capture device 100 is used to capture the target object A. After the underwater robot carries the target object A back to the recovery location such as the shore through the power of the robot body 200 itself or the traction of the umbilical cable, the capture device 100 is released to remove the target object A from the capture device 100, and the recovery is completed.

[0094] In some embodiments, after the capture device 100 holds the target object A tightly, the rotation drive assembly 23 can also be used to drive the limiter 24 to rotate so that the fixing mechanism 2 is separated from the capture mechanism 1, and one end of the cable 302 is connected to the capture mechanism 1 in the capture device 100, and the other end is connected to the winding drum 301. The underwater robot swims back to the recovery position alone, and the cable 302 is released from the winding drum 301. When the underwater robot reaches the recovery position, the cable 302 can be retracted by any means such as a winch or manual labor, and the capture mechanism 1 and the target object A are moved to the recovery position under the traction of the cable 302 to complete the recovery.

[0095] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

Claims

1. A capture device, characterized in that: include: Fixed mechanism; The capturing mechanism comprises: A positioning seat, arranged at one end of the fixing mechanism; A clamping claw, rotatably connected to the positioning seat, for grasping a target object, and when the clamping claw is clamped, the clamping claw cooperates with the positioning seat; A limiting component, arranged at the end of the clamping claw and at least one location between the clamping claw and the positioning seat, for limiting or maintaining the shape of the clamping claw; Wherein, the limit assembly comprises: A first limiting component is arranged between the clamping claw and the positioning seat, and when the clamping claw is clamped, the clamping claw is limited to the positioning seat, and the clamping claw is matched with the inner wall of the positioning seat; The first limiting component comprises: A limit block is arranged on the positioning seat, wherein the limit block has a first wedge block slot inside, and a through hole is arranged on one side of the first wedge block slot; A first wedge block is arranged in the first wedge block sliding groove and can slide along the first wedge block sliding groove, and a protrusion is arranged on the surface of the first wedge block, and the protrusion extends to the outside of the limit block through the through hole; A second elastic member is connected to one end of the first wedge block and the inner wall of the limit block respectively; A clamping portion is arranged on the surface of the clamping claw, and a clamping groove is arranged at one end close to the clamping claw. The second elastic member is used to push the first wedge block along the first wedge block sliding groove toward the clamping portion. When the clamping claw is clamped, the first wedge block is clamped in the clamping groove under the push of the second elastic member. The clamping portion is limited at the limit block by the first wedge block. The contact surface between the first wedge block and the clamping portion is a mutually matching inclined surface, and the inclined surface is inclined along the clamping direction of the clamping portion toward a side that increases the cross-sectional area of ​​the first wedge block; A second limiting component is arranged at the end of the clamping claw, and limits the end of the clamping claw to an integrated state when the clamping claw is clamped; The second limiting component includes: A connecting block, wherein a second wedge block slot is provided inside the connecting block; A second wedge block is disposed in the second wedge block sliding groove and is capable of sliding along the second wedge block sliding groove; a third elastic member, connected to the second wedge block and the connecting block respectively, and used for pushing the second wedge block along the second wedge block sliding groove toward the outside of the second wedge block sliding groove; A handle, located on the outside of the connecting block and connected to the second wedge block; A locking member is arranged between the second wedge block and the connecting block, and is used to fix the position of the second wedge block.

2. The capture device according to claim 1, characterized in that: The capture mechanism also includes: A reset assembly is respectively connected to the positioning seat and the clamping claw and is located outside the positioning seat and the clamping claw, and is used to reset and open the clamping claw.

3. The capture device according to claim 2, characterized in that: The reset component comprises: A connecting portion, arranged on the outer surfaces of the positioning seat and the clamping claw; The first elastic member is respectively connected to the positioning seat and the clamping claw through the connecting part.

4. The capture device according to any one of claims 1 to 3, characterized in that: The fixing mechanism comprises: A connecting bottom plate connected to the capture mechanism; A plurality of positioning and connecting elements are arranged on the surface of the connecting base plate, and are used to connect the connecting base plate with the capturing mechanism; A rotation driving assembly, rotatably disposed on the connecting bottom plate; The limiting part is arranged on the surface of the rotation driving assembly and is connected to the capturing mechanism. The limiting part rotates under the driving of the rotation driving assembly.

5. The capture device according to any one of claims 1 to 3, characterized in that: Also includes: A clamping mechanism, the clamping mechanism comprising: A driving telescopic assembly, one end of which is disposed on one side of the fixing mechanism and the other end of which extends to the inner side of the capturing mechanism; A clamping plate is arranged at the other end of the driving telescopic assembly and is used to clamp the target object inside the capturing mechanism.

6. The capture device according to any one of claims 1 to 3, characterized in that: A floating material is arranged on the outer side of the catching mechanism.

7. An underwater robot, characterized in that: Comprising a capture device as described in any one of claims 1-6.

8. The underwater robot according to claim 7, characterized in that: Also includes: Robot body: A traction mechanism, the traction mechanism comprising: A wire winding drum, arranged on the robot body; One end of the cable is wound around the winding drum, and the other end is connected to the capture device.

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