Underwater gripping device

Abstract

The invention relates to the field of underwater mechanical equipment, in particular to an underwater grabbing device which comprises a supporting frame, a driving mechanism is fixedly arranged on the supporting frame, self-locking holding claws capable of being held or opened are arranged on the circumference of the lower end of the supporting frame in an array mode, the self-locking holding claws are synchronously driven by the driving mechanism, and each self-locking holding claw comprises a mechanical claw linkage shaft and a mechanical claw. The driving mechanism comprises a hydraulic system, a supporting column, bearing rods, a mechanical claw linkage rod and a mechanical claw hydraulic cylinder, a sealing cabin is fixedly arranged on the supporting frame, the hydraulic system is arranged in the sealing cabin, the supporting column is arranged at the lower end of the supporting frame, the bearing rods are arranged at the lower end of the supporting column in a circumferential array mode, one ends of the bearing rods are fixedly connected with the supporting column, and mechanical claws are arranged at the other ends of the bearing rods. A first side plate and a second side plate are arranged at the upper end of the mechanical claw, the mechanical claw linkage rod is located above the mechanical claw linkage shaft, the other end of the bearing rod is hinged to the mechanical claw through the mechanical claw linkage rod, and the mechanical claw grabbing device is simple in structure, large in grabbing area, firm and accurate in grabbing and high in efficiency.

Description

[0001] This case is a divisional application based on the Chinese patent application number 2020114296425 filed on December 9, 2020, entitled Underwater Grasping Device. Technical Field

[0002] The invention relates to the field of underwater mechanical equipment, in particular to an underwater grabbing device. Background Art

[0003] An underwater robot is a robot that can detect and operate on the seabed. It is mainly used in underwater construction, public security firefighting, scientific research and other fields. It can be equipped with hydraulic or electric underwater manipulators and can perform underwater operations such as underwater salvage, underwater construction, underwater grabbing, underwater sampling, and underwater marking. Chinese patent CN207292350U discloses an operational-level underwater robot. The robot is connected to a host computer through an umbilical cable. The robot is provided with a frame, a buoy is provided on the top of the frame, thrusters are provided on both sides of the frame, and a control system, a balancing device, and a detection device are provided in the frame. The thrusters and the detection device are electrically connected to the control system. The balancing device includes several balancing assemblies and a buffer tank. The balancing assembly includes a bellows balancer, a bellows balancer, and a bellows balancer. The bellows balancer is provided with a driving mechanism, and the buffer tanks are respectively arranged on both sides of the frame and are connected with the bellows balancer through a gas buffer duct. The driving mechanism is electrically connected to the control system through a cable pipeline. The control system includes an electronic warehouse, which is arranged in a bracket. An electronic control device, a current sensor, and a six-axis attitude sensor are arranged in the electronic warehouse. The current sensor and the six-axis attitude sensor are electrically connected to the electronic control device. The electronic control device is electrically connected to the driving mechanism through a cable pipeline. Several groups of joints are arranged outside the electronic warehouse. The detection device and the thruster are electrically connected to the electronic control device through joints. The electronic control device is connected to the host computer through an umbilical cable. The detection device is provided with a water quality sensor, a water pressure sensor, a camera, and a lighting. Mechanism, pan-tilt, underwater working equipment, the water quality sensor, water pressure sensor, camera, and lighting mechanism are all arranged on the frame, the pan-tilt is fixed to the edge of the bottom plate of the frame by bolts, and the underwater working equipment is mounted on the pan-tilt; Chinese patent CN206913909U discloses a hydraulic manipulator, the hydraulic manipulator includes: a claw, which can clamp, including corresponding claw plates and claw plates; a claw cylinder, which is used to drive the opening and closing of the claw plates and the claw plates; a spiral swing cylinder, which is used to drive the rotation of the claw; a driving component, which is used to drive the claw, the claw cylinder and the spiral swing cylinder to achieve pitch and rotation movements; the claw, the claw cylinder, the spiral swing cylinder and the driving component are connected in sequence, and the claw is arranged with At one end of the claw cylinder, the claw cylinder includes a claw cylinder piston rod and a claw cylinder barrel. The claw cylinder can open and close the claw plate and the hand gripping plate by extending and retracting the claw cylinder piston rod. Chinese patent CN209699132U discloses an underwater mechanical claw, including: a claw seat, a left claw and a right claw. A first hinged rod is arranged on the inner side of the left claw, and a second hinged rod is arranged on the inner side of the right claw. The first hinged rod and the second hinged rod are both hinged to the bottom of the claw seat; an accommodating cavity is arranged on the claw seat, and an electromagnetic coil cured by epoxy resin is embedded in the accommodating cavity. A push rod is vertically movable and inserted into the middle through hole of the fishing electromagnetic coil. The top of the push rod passes through the through hole at the top of the accommodating cavity and is fixedly connected to a magnet, and the upper and lower poles of the magnet are different;After the bottom of the push rod passes through the through hole at the bottom of the accommodating chamber and goes deep downward, the top of the first connecting rod is hinged to the bottom of the push rod outside the through hole at the bottom of the deep accommodating chamber, the bottom end of the first connecting rod is hinged to the top of the left clamping jaw, the top end of the second connecting rod is hinged to the bottom of the push rod extending out of the through hole at the bottom of the accommodating chamber, and the bottom end of the second connecting rod is hinged to the top of the right clamping jaw; when the left clamping jaw cooperates with the clamping jaw to clamp the workpiece, the push rod is located at the lower limit position, the top end of the first connecting rod is lower than the bottom end of the first connecting rod, and the top end of the second connecting rod is lower than the bottom end of the second connecting rod. The above patent has the following shortcomings: the underwater operation equipment, manipulator, and mechanical clamp in the above patent have a small gripping surface and a small gripping area. They cannot or cannot grip large objects, and because of their small size, they need to be repeatedly operated many times, which not only increases the labor intensity of the mechanical claws, but also increases the consumption of electrical energy and hydraulic energy. ; Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the prior art and to provide an underwater grabbing device with simple structure, energy saving, large grabbing area, firm and accurate grabbing and high grabbing efficiency.

[0005] An underwater grasping device includes a support frame, characterized in that: a driving mechanism is fixedly provided on the support frame, a circular array at the lower end of the support frame is provided with self-locking claws that can be closed or opened, the self-locking claws are synchronously driven by the driving mechanism, the self-locking claws include a mechanical claw linkage shaft and a mechanical claw, and the mechanical claw is fixedly connected to the mechanical claw linkage shaft.

[0006] The driving mechanism of the present invention comprises a hydraulic system, a support, a load-bearing rod, a mechanical claw linkage rod and a mechanical claw hydraulic cylinder, a sealed cabin is fixedly provided on the support frame, a hydraulic system is arranged in the sealed cabin, a support is arranged at the lower end of the support frame, the upper end of the support is fixedly connected to the support frame, a load-bearing rod is arranged in a circular array at the lower end of the support, one end of the load-bearing rod is fixedly connected to the support, a mechanical claw is arranged at the other end, a first side plate and a second side plate are arranged at the upper end of the mechanical claw, the first side plate and the second side plate are arranged at a relative interval, the lower end of the first side plate and the lower end of the second side plate are fixedly connected to the mechanical claw, a mechanical claw linkage shaft and A mechanical claw linkage rod, the mechanical claw linkage rod is located above the mechanical claw linkage shaft, both ends of the mechanical claw linkage rod are fixedly connected to the upper ends of the first side plate and the second side plate, the other end of the load-bearing rod is hinged to the mechanical claw via the mechanical claw linkage rod, both ends of the mechanical claw linkage shaft are fixedly connected to the first side plate and the second side plate, a mechanical claw hydraulic cylinder is provided on the mechanical claw linkage shaft, one end of the mechanical claw hydraulic cylinder is hinged to the mechanical claw via the mechanical claw linkage shaft, and the other end is hinged to the support frame, the mechanical claw hydraulic cylinder is connected to the hydraulic system, so as to facilitate the opening or closing of the mechanical claw driven by the mechanical claw hydraulic cylinder, and to grab irregular or scattered objects in the water through the mechanical claw.

[0007] The support frame of the present invention is provided with a power frame, and the power frame is fixedly connected to the support frame. The power frame is provided with a propeller and a detection device. A control system is provided in the electrical compartment of the power frame. The control system is connected to the water control platform via a cable. The driving mechanism, the propeller and the detection device are connected to the control system to facilitate the movement of the power frame through the propeller. The water control platform controls the closure or opening of the mechanical claw through the control system.

[0008] The power frame of the present invention is provided with a depth fine-tuning mechanism, which includes a left fixed seat, a right fixed seat, a hydraulic motor, a cable plug, a cable reel, a connecting sleeve, an electric slip ring, an electric slip ring fixed shaft, an encoder fixing part and a cable. The left fixed seat and the right fixed seat are arranged at intervals, and the lower ends of the left fixed seat and the right fixed seat are fixedly connected to the power frame respectively. A wire reel is provided between the left fixed seat and the right fixed seat, and the wire reel comprises a reel, a left reel frame and a right reel frame, both ends of the reel are fixedly connected to the left reel frame and the right reel frame, a hydraulic motor is fixedly provided on the left side of the left fixed seat, the hydraulic motor is connected to a control system, a connecting sleeve is provided between the left fixed seat and the left reel frame, the inner wall of the left end of the connecting sleeve is fixedly connected to the output shaft of the hydraulic motor, the outer wall of the left end of the connecting sleeve is fixedly connected to the left fixed seat via a bearing, the right end of the connecting sleeve is fixedly connected to the left reel frame, a cable socket is sealed on the connecting sleeve to facilitate driving the connecting sleeve to rotate by the hydraulic motor, the connecting sleeve drives the wire reel to rotate, and realizes cable reeling and retracting, an electric slip ring is provided in the reel, an electric slip ring fixed shaft is provided in the middle of the reel, the electric slip ring is sleeved on the electric slip ring fixed shaft, and the inner ring of the electric slip ring is fixedly connected to the electric slip ring fixed shaft The left end of the electric slip ring fixed shaft is provided with an encoder fixing part, and the right end passes through the right reel frame and is fixedly connected to the right fixed seat. The electric slip ring fixed shaft is fixedly connected to the right reel frame via a bearing. A cable channel opening to the right is provided in the electric slip ring fixed shaft, and a cable port leading to the cable channel is provided on the outer wall of the electric slip ring fixed shaft. A cable plug is fixedly provided on the right side of the right fixed seat, and the cable channel is connected to the cable plug. The encoder fixing part includes an encoder, an encoder fixed shaft and an encoder connecting seat. The left end of the encoder fixed shaft is fixedly connected to the encoder, and the right end is fixedly connected to the electric slip ring fixed shaft. The encoder connecting seat is sleeved on the encoder fixed shaft and fixedly connected to the encoder fixed shaft via a bearing. The right end of the encoder connecting seat and the outer ring of the electric slip ring are respectively fixedly connected to the left reel frame, so as to facilitate the provision of power and transmission of signals to the cable through the electric slip ring. The encoder is electrically connected to the electric slip ring, so as to facilitate the acquisition of the speed of the hydraulic motor and the cable length through the encoder. The cable is wound around the drum, enters the connecting sleeve through the cable socket, is connected to the electric slip ring, passes through the cable port, comes out through the cable plug and is connected to the control system, so as to facilitate the cable of the water control platform to be connected to the control system through the depth fine-tuning mechanism. The hydraulic motor drives the winding drum to rotate to reel in and out the cable, and the encoder acquires the retracted and released length of the cable, so as to achieve the purpose of accurately controlling the cable length underwater.

[0009] The hydraulic motor of the present invention is a self-locking hydraulic motor, which is convenient for locking after adjusting the position to a suitable position, thereby preventing the winding drum from rotating due to gravity.

[0010] A reel frame connecting plate is provided between the left fixed seat and the right fixed seat of the present invention. The left end of the reel frame connecting plate is fixedly connected to the upper end of the left fixed seat, and the right end is fixedly connected to the upper end of the right fixed seat. A cable guide hole is provided in the middle of the reel frame connecting plate. The cable passes through the cable guide hole, bypasses the reel, enters the connecting sleeve through the cable socket, is connected to the electric slip ring, and then passes through the cable port. It comes out through the cable plug and is connected to the control system, so that the water control platform can pass the cable through the cable guide hole. The cable guide hole is a cable guide, and is connected to the control system through a depth fine-tuning mechanism. The hydraulic motor drives the reel to rotate to reel in and release the cable. The encoder collects the length of the cable retracted and released, so as to achieve the purpose of accurately controlling the cable length underwater.

[0011] According to the present invention, a protective plate is arranged between the left fixing seat and the right fixing seat, and two ends of the protective plate are fixedly connected to the left fixing seat and the right fixing seat, so as to improve the stability of the winding reel.

[0012] The depth fine-tuning mechanism of the present invention is provided with a cable limiting mechanism, and the cable limiting mechanism includes a ferrule, a lifting rod, a limiting sleeve, and a limiting connecting rod. The cable on the drum is provided with a ferrule, which is sleeved on the cable and fixedly connected to the cable. The end of the cable that passes around the drum and is connected to the water control platform is provided with a limiting sleeve, and a cable through hole is provided in the middle of the limiting sleeve. The diameter of the cable through hole is larger than the width of the cable and smaller than the width of the ferrule. The limiting sleeve is sleeved on the cable, and the limiting sleeve is fixedly connected to one end of the limiting connecting rod. The other end of the limiting connecting rod is fixedly connected to the upper end of the lifting rod. The support frame is provided with The guide sleeve is fixedly connected to the support frame, and the pillar is placed in the guide sleeve. The upper end of the pillar is fixedly connected to the lower end of the lifting rod, and the lower end passes through the guide sleeve and is fixedly connected to the load-bearing rod, so that when the operator lifts the cable, the sleeve rotates with the cable on the reel. When the sleeve rises to the limit sleeve, the sleeve resists the limit sleeve. The lifting of the cable brings the limit sleeve and then brings the lifting rod to move upward. The lifting rod drives the pillar to move upward, and the upper end of the mechanical claw rises. The relative lower end of the mechanical claw will be locked to adapt to the lifting of the upper end of the mechanical claw, thereby achieving the effect of the mechanical claw holding tighter and tighter, thereby improving the reliability of grasping objects.

[0013] The power frame of the present invention is provided with a float, so as to facilitate adjusting the weight of the entire device underwater through the float.

[0014] The support frame of the present invention is provided with a gripping and locking mechanism to further improve the degree of engagement between the left and right gripping claws and prevent objects from falling.

[0015] The grabbing and locking mechanism of the present invention comprises a self-locking sleeve, a limit plate, a guide hydraulic cylinder, a spring baffle, a block and a spring, the support frame is provided with a self-locking sleeve, the self-locking sleeve is fixedly connected to the support frame, an insertion channel is opened on the side wall of the self-locking sleeve, the pillar is inserted in the self-locking sleeve, annular limit blocks are arranged at intervals from top to bottom on the surface of the pillar, the cross-section of the annular limit block is a ratchet with tooth tip downward, and a free force-bearing end is formed at the upper end of the pillar, so as to facilitate external force to pull up the pillar, and the pillar rises, driving the claws at the lower end of the pillar to rise and hold tighter, the limit plate is placed on the insertion channel, and a side of the limit plate facing the pillar is provided with positioning blocks at intervals, the positioning blocks are ratchet with tooth tip upward, and the positioning blocks cooperate with the annular limit block to fix the pillar limit position on the support frame, and the limit The camming mechanism that the camming handle is used for the lifting of the cam is a key factor in the camming of the camming cylinder. The camming mechanism that the camming handle is used for the lifting of the camming handle is key to the camming of the camming handle.

[0016] The present invention has the advantages of simple structure, energy saving, large grasping area, firm and accurate grasping, high grasping efficiency, etc. due to the adoption of the above structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the depth fine-tuning mechanism and the cable limiting mechanism at one angle in the present invention (Figure 36 in the parent case).

[0018] Figure 2 It is a cross-sectional view of the depth fine-tuning mechanism in the present invention (Figure 37 in the parent case).

[0019] Figure 3 It is a structural schematic diagram of the depth fine-tuning mechanism and the cable limiting mechanism in the present invention from another angle (Figure 38 in the parent case).

[0020] Figure 4 It is a schematic diagram of the structure of the present invention (Figure 40 in the parent case).

[0021] Figure 5 It is a schematic diagram of the structure of the mechanical claws in the self-locking claws of the present invention (Figure 41 in the parent case).

[0022] Figure 6It is a schematic diagram of the structure of the mechanical claw in the present invention (Figure 42 in the parent case).

[0023] Figure 7 It is a partial cross-sectional view of the grabbing and locking mechanism in the present invention (Figure 35 in the parent case).

[0024] Reference numerals: support frame 1, driving mechanism 2, depth fine-tuning mechanism 103, left fixed seat 104, right fixed seat 105, hydraulic motor 106, cable plug 107, cable reel 108, connecting sleeve 109, electric slip ring 110, electric slip ring fixed shaft 111, reel frame connecting plate 112, reel 113, left reel frame 114, right reel frame 115, cable socket 116, cable channel 117, cable port 118, encoder 119, encoder fixed shaft 120, encoder connecting seat 121, cable guide hole 122, protective plate 123, power frame 200, cable 30 6. Propeller 307, pillar 401, self-locking claw 407, mechanical claw linkage shaft 408, mechanical claw 409, load-bearing rod 410, mechanical claw linkage rod 411, mechanical claw hydraulic cylinder 412, first side plate 413, second side plate 414, grabbing and locking mechanism 415, self-locking sleeve 416, limit plate 417, guide hydraulic cylinder 418, spring baffle 419, block 420, spring 421, insertion channel 422, annular limit block 423, positioning block 424, cable limit mechanism 425, sleeve 426, lifting rod 427, limit sleeve 428, limit connecting rod 429. DETAILED DESCRIPTION

[0025] The present invention is described below in conjunction with the accompanying drawings and embodiments.

[0026] An underwater grasping device includes a support frame 1, characterized in that: a driving mechanism 2 is fixedly provided on the support frame 1, and a self-locking claw 407 that can be closed or opened is provided in a circular array at the lower end of the support frame 1, and the self-locking claw 407 is synchronously driven by the driving mechanism 2. The self-locking claw 407 includes a mechanical claw linkage shaft 408 and a mechanical claw 409, and the mechanical claw 409 is fixedly connected to the mechanical claw linkage shaft 408.

[0027] The driving mechanism 2 described in the present invention includes a hydraulic system, a pillar 401, a load-bearing rod 410, a mechanical claw linkage rod 411 and a mechanical claw hydraulic cylinder 412. A sealed cabin is fixedly provided on the support frame 1, and a hydraulic system is provided in the sealed cabin. A pillar 401 is provided at the lower end of the support frame 1, and the upper end of the pillar 401 is fixedly connected to the support frame 1. A load-bearing rod 410 is provided in a circular array at the lower end of the pillar 401. One end of the load-bearing rod 410 is fixedly connected to the pillar 401, and the other end is provided with a mechanical claw 409. The upper end of the mechanical claw 409 is provided with a first side plate 413 and a second side plate 414, and the first side plate 413 and the second side plate 414 are arranged at a relative interval. The lower end of the first side plate 413 and the lower end of the second side plate 414 are fixedly connected to the mechanical claw 409, and a mechanical claw 409 is provided between the first side plate 413 and the second side plate 414. A claw linkage shaft 408 and a mechanical claw linkage rod 411, wherein the mechanical claw linkage rod 411 is located above the mechanical claw linkage shaft 408, and both ends of the mechanical claw linkage rod 411 are fixedly connected to the upper end of the first side plate 413 and the upper end of the second side plate 414, and the other end of the load-bearing rod 410 is hinged to the mechanical claw 409 via the mechanical claw linkage rod 411, and both ends of the mechanical claw linkage shaft 408 are fixedly connected to the first side plate 413 and the second side plate 414, and a mechanical claw hydraulic cylinder 412 is provided on the mechanical claw linkage shaft 408, and one end of the mechanical claw hydraulic cylinder 412 is hinged to the mechanical claw 409 via the mechanical claw linkage shaft 408, and the other end is hinged to the support frame 1, and the mechanical claw hydraulic cylinder 412 is connected to the hydraulic system to facilitate driving the mechanical claw to open or close through the mechanical claw hydraulic cylinder, and to grasp irregular or scattered objects in the water through the mechanical claw.

[0028] The support frame 1 of the present invention is provided with a power frame 200, and the power frame 200 is fixedly connected to the support frame 1. The power frame 200 is provided with a propeller 307 and a detection device. A control system is provided in the electrical compartment of the power frame 200, and the control system is connected to the water control platform via a cable 306. The driving mechanism 2, the propeller 307 and the detection device are connected to the control system to facilitate the movement of the power frame through the propeller. The water control platform controls the closing or opening of the self-locking claws through the control system.

[0029] The power frame 200 of the present invention is provided with a depth fine-tuning mechanism 103, and the depth fine-tuning mechanism 103 includes a left fixed seat 104, a right fixed seat 105, a hydraulic motor 106, a cable plug 107, a reel 108, a connecting sleeve 109, an electric slip ring 110, an electric slip ring fixed shaft 111, an encoder fixing part and a cable 306. The left fixed seat 104 and the right fixed seat 105 are arranged at intervals, and the lower end of the left fixed seat 104 and the lower end of the right fixed seat 105 are respectively fixedly connected to the power frame 200. A reel 108 is provided between the left fixed seat 104 and the right fixed seat 105. The reel 108 includes a reel 113, a left reel frame 114 and a right reel frame 115. The two ends of the reel 113 are fixedly connected to the left reel frame 114 and the right reel frame 115. A hydraulic motor 106 is fixedly arranged on the left side of the left fixed seat 104, and the hydraulic motor 106 is connected to the control system. A connecting sleeve 109 is arranged between the left fixed seat 104 and the left reel frame 114. The inner wall of the left end of the connecting sleeve 109 is fixedly connected to the output shaft of the hydraulic motor 106. The outer wall of the left end of the connecting sleeve 109 is fixedly connected to the left fixed seat 104 through a bearing. The right end of the connecting sleeve 109 is fixedly connected to the left reel frame 114. A cable is sealed on the connecting sleeve 109. The socket 116 is convenient for driving the connecting sleeve to rotate through the hydraulic motor, and the connecting sleeve drives the winding drum to rotate to realize the cable reeling and releasing. The reel 113 is provided with an electric slip ring 110, and the middle of the reel 113 is provided with an electric slip ring fixed shaft 111. The electric slip ring 110 is sleeved on the electric slip ring fixed shaft 111, and the inner ring of the electric slip ring 110 is fixedly connected to the electric slip ring fixed shaft 111. The left end of the electric slip ring fixed shaft 111 is provided with an encoder fixing piece, and the right end passes through the right reel frame 115 and The right fixed seat 105 is fixedly connected, the electric slip ring fixed shaft 111 is fixedly connected to the right reel frame 115 via a bearing, a cable channel 117 opening to the right is provided in the electric slip ring fixed shaft 111, and a cable port 118 leading to the cable channel 117 is provided on the outer wall of the electric slip ring fixed shaft 111. A cable plug 107 is fixedly provided on the right side of the right fixed seat 105, and the cable channel 117 is communicated with the cable plug 107. The encoder fixing part includes an encoder 119, an encoder fixed shaft 120 and an encoder connecting seat 121. The left end of the encoder fixed shaft 120 is fixedly connected to the encoder 119, and the right end is fixedly connected to the electric slip ring fixed shaft 111. The encoder connecting seat 121 is sleeved on the encoder fixed shaft 120 and fixedly connected to the encoder fixed shaft 120 via a bearing. The right end of the encoder connecting seat 121 and the outer ring of the electric slip ring 110 are respectively fixedly connected to the left reel frame 114, so as to facilitate the electric slip ring to provide power and transmit signals to the cable. The encoder 119 is electrically connected to the electric slip ring 110, so as to collect the speed of the hydraulic motor and the cable length through the encoder. The cable 306 passes through the reel 113, enters the connecting sleeve 109 through the cable socket 116, and is connected to the electric slip ring 110, and then passes through the cable port 118.The cable plug 107 is connected to the control system, so that the cable of the water control platform is connected to the control system through the depth fine-tuning mechanism. The hydraulic motor drives the reel to rotate to retract and release the cable. The encoder collects the length of the cable retracted and released, so as to achieve the purpose of accurately controlling the cable length underwater.

[0030] The hydraulic motor 106 of the present invention is a self-locking hydraulic motor, so that it can be locked after being adjusted to a suitable position to prevent the winding drum from rotating due to gravity.

[0031] A reel frame connecting plate 112 is provided between the left fixed seat 104 and the right fixed seat 105 of the present invention. The left end of the reel frame connecting plate 112 is fixedly connected to the upper end of the left fixed seat 104, and the right end is fixedly connected to the upper end of the right fixed seat 105. A cable guide hole 122 is provided in the middle of the reel frame connecting plate 112. The cable 306 passes through the cable guide hole, bypasses the reel 113, enters the connecting sleeve 109 through the cable socket 116, is connected to the electric slip ring 110, and then passes through the cable port 118, comes out through the cable plug 107 and is connected to the control system, so as to facilitate the water control platform to pass the cable through the cable guide hole. The cable guide hole is a cable guide, and is connected to the control system through the depth fine-tuning mechanism. The hydraulic motor drives the reel to rotate to reel in and release the cable. The encoder collects the length of the cable retracted and released, so as to achieve the purpose of accurately controlling the cable length underwater.

[0032] In the present invention, a protective plate 123 is provided between the left fixing seat 104 and the right fixing seat 105 , and two ends of the protective plate 123 are fixedly connected to the left fixing seat 104 and the right fixing seat 105 , so as to improve the stability of the winding reel.

[0033] The depth fine-tuning mechanism 103 of the present invention is provided with a cable limiting mechanism 425, and the cable limiting mechanism 425 includes a sleeve 426, a lifting rod 427, a limiting sleeve 428, and a limiting connecting rod 429. The cable 306 located on the reel 113 is provided with a sleeve 426, and the sleeve 426 is sleeved on the cable 306 and fixedly connected to the cable 306. The end of the cable 306 that bypasses the reel 113 and is connected to the water control platform is provided with a limiting sleeve 428, and a cable through hole is provided in the middle of the limiting sleeve 428. The diameter of the cable through hole is larger than the width of the cable 306 and smaller than the width of the sleeve 426. The limiting sleeve 428 is sleeved on the cable 306, and the limiting sleeve 428 is fixedly connected to one end of the limiting connecting rod 429. The other end of the connecting rod 429 is fixedly connected to the upper end of the lifting rod 427. A guide sleeve is provided on the support frame 1, and the guide sleeve is fixedly connected to the support frame 1. The pillar 401 is placed in the guide sleeve. The upper end of the pillar 401 is fixedly connected to the lower end of the lifting rod 427, and the lower end passes through the guide sleeve and is fixedly connected to the load-bearing rod 410. When the operator lifts the cable, the sleeve rotates on the reel with the cable. When the sleeve rises to the limit sleeve, the sleeve resists the limit sleeve. The lifting of the cable brings the limit sleeve and then brings the lifting rod upward. The lifting rod drives the pillar upward, and the upper end of the mechanical claw rises. The lower end of the mechanical claw will be locked relative to the mechanical claw to adapt to the lifting of the upper end of the mechanical claw, thereby achieving the effect of the mechanical claw holding tighter and tighter, thereby improving the reliability of grabbing objects.

[0034] The power frame 200 of the present invention is provided with a float to facilitate adjusting the weight of the entire device underwater through the float.

[0035] The support frame 1 of the present invention is provided with a gripping and locking mechanism 415 to further improve the degree of gripping of the gripping claws and prevent objects from falling.

[0036] The grabbing and locking mechanism 415 of the present invention comprises a self-locking sleeve 416, a limit plate 417, a guide hydraulic cylinder 418, a spring baffle 419, a block 420 and a spring 421. The support frame 1 is provided with a self-locking sleeve 416, the self-locking sleeve 416 is fixedly connected to the support frame 1, an insertion channel 422 is provided on the side wall of the self-locking sleeve 416, the pillar 401 is inserted into the self-locking sleeve 416, and an annular limit block 423 is provided on the surface of the pillar 401 from top to bottom. The cross section of the annular limit block 423 is a ratchet with the tooth tip facing downward, and the upper end of the pillar 401 forms a free force-bearing end, so that the pillar is pulled up by an external force. The pillar rises, driving the claws at the lower end of the pillar to rise and hold tighter. The limit plate 417 is placed on the insertion channel 422, and the side of the limit plate 417 facing the pillar 401 is provided with positioning blocks 424 at intervals. The positioning blocks 424 are ratchets with the tooth tip facing upward. The positioning blocks 424 cooperate with the annular limit block 423 to plug and fix the pillar 401 limit is fixed on the support frame 1, and a guide hydraulic cylinder 418 is provided on the other side of the limit plate 417. The guide hydraulic cylinder 418 is connected to the hydraulic system, and the hydraulic rod of the guide hydraulic cylinder 418 is fixedly connected to the limit plate 417, and the cylinder seat of the guide hydraulic cylinder 418 is fixedly connected to the spring baffle 419. The outer wall of the hydraulic rod of the guide hydraulic cylinder 418 is fixedly provided with a block 420, and a spring 421 is sleeved on the guide hydraulic cylinder 418. One end of the spring 421 is fixedly connected to the block 420, and the other end is fixedly connected to the spring baffle 419. The lower end of the spring baffle 419 is fixedly connected to the support frame 1, so as to facilitate the pillar to be forced to rise, and the annular limit block on the pillar pushes the positioning block to rise, and the positioning block is forced to move toward the spring to squeeze the spring, and the spring generates a rebound force, which pushes the positioning block to be embedded between the annular limit blocks, locks and fixes the pillar and the limit plate, improves the stability of the clamping claw, and drives the limit plate to move by the guide hydraulic cylinder to separate the pillar from the limit plate.

[0037] As attached Figure 4 -Attached Figure 5 , is a structural schematic diagram of the self-locking claw in the present invention. The power frame realizes displacement movement through the propeller. The power frame can also be equipped with lighting equipment, camera, sonar scanning equipment and other devices. According to the actual operation requirements, the power frame is equipped with a depth fine-tuning mechanism and a cable limit mechanism. The depth fine-tuning mechanism and the cable limit mechanism are as shown in the attached Figure 1 -Attached Figure 3When in use, the operator hoists it to the underwater working area through the lifting platform, and opens each mechanical claw through the mechanical claw hydraulic cylinder. After grabbing the object, there are two ways to engage the mechanical claw. One is to drive the mechanical claw to engage through the mechanical claw hydraulic cylinder, and the other is when the pillar is set in the guide sleeve on the support frame, the pillar passes through the guide sleeve and is connected to the lifting rod on the cable limit mechanism. In this way, when the cable is lifted, the cable is wound on the drum, one end is connected to the water control platform, and the other end is connected to the control system. The ferrule can be fixed on the last circle of cable on the drum. That is, it is located relatively close to the control system. In this way, when the operator reels in the cable, when the cable is about to be wound off the reel, the ferrule is driven to rise. When the ferrule rises to the limit sleeve, the ferrule presses against the limit sleeve, and the lifting of the cable drives the limit sleeve and then drives the lifting rod to move upward. The lifting rod drives the pillar to move upward, and the upper end of the mechanical claw rises. The lower end of the mechanical claw will be locked relative to the lifting of the mechanical claw to adapt to the lifting of the upper end of the mechanical claw. As a result, the mechanical claw is not only engaged, but also becomes tighter and tighter as the lifting rod rises. In this way, the grasped object will not fall off the mechanical claw, thereby improving the stability of the grasped object. Figure 6 Another structural schematic diagram of the present invention is shown in FIG. Figure 7 When a grabbing and locking mechanism is provided on the pillar, the pillar is in a free stress state. At this time, the upper end of the pillar is directly connected to the cable of the control system on the power frame through a cable. The operator lifts the cable to drive the pillar up, so that the claws at the lower end of the pillar are engaged. After the claws are tightly engaged, the pillar and the self-locking sleeve are fixed to the support frame through the grabbing and locking mechanism. At this time, the cable can be lifted again to salvage the claws and the grabbed object to shore. In the present invention, the mechanical claws are arranged in a circular array at the lower end of the support frame, so as to have a larger grabbing area than the prior art. By adding a depth controllable mechanism and a cable limiting mechanism to the power frame, the mechanical claws can be pulled tighter and tighter, thereby improving the firmness and stability of the grabbed object.

[0038] The present invention has the advantages of simple structure, energy saving, large grasping area, firm and accurate grasping, high grasping efficiency, etc. due to the adoption of the above structure.

Claims

1. An underwater grabbing device, comprising a support frame, characterized in that: A driving mechanism is fixedly provided on the support frame, and a self-locking claw that can be closed or opened is provided in a circular array at the lower end of the support frame. The self-locking claw is synchronously driven by the driving mechanism. The self-locking claw includes a mechanical claw linkage shaft and a mechanical claw, and the mechanical claw is fixedly connected to the mechanical claw linkage shaft.

2. An underwater grabbing device according to claim 1, characterized in that: The driving mechanism includes a hydraulic system, a support, a load-bearing rod, a mechanical claw linkage rod and a mechanical claw hydraulic cylinder. A sealed cabin is fixedly provided on the support frame, and a hydraulic system is provided in the sealed cabin. A support is provided at the lower end of the support frame, and the upper end of the support is fixedly connected to the support frame. A load-bearing rod is provided in a circular array at the lower end of the support. One end of the load-bearing rod is fixedly connected to the support, and the other end is provided with a mechanical claw. A first side plate and a second side plate are provided at the upper end of the mechanical claw. The first side plate and the second side plate are arranged at a relative interval. The lower end of the first side plate and the lower end of the second side plate are fixedly connected to the mechanical claw. A mechanical claw linkage shaft and a mechanical claw linkage rod are arranged between the side plate and the second side plate, the mechanical claw linkage rod is located above the mechanical claw linkage shaft, two ends of the mechanical claw linkage rod are fixedly connected to the upper ends of the first side plate and the second side plate, the other end of the load-bearing rod is hinged to the mechanical claw via the mechanical claw linkage rod, two ends of the mechanical claw linkage shaft are fixedly connected to the first side plate and the second side plate, a mechanical claw hydraulic cylinder is arranged on the mechanical claw linkage shaft, one end of the mechanical claw hydraulic cylinder is hinged to the mechanical claw via the mechanical claw linkage shaft, and the other end is hinged to the support frame, and the mechanical claw hydraulic cylinder is connected to the hydraulic system.

3. An underwater grabbing device according to claim 1 or 2, characterized in that: A power frame is provided on the support frame, and the power frame is fixedly connected to the support frame. A propeller and a detection device are provided on the power frame. A control system is provided in the electrical compartment of the power frame. The control system is connected to the water control platform via a cable, and the driving mechanism, the propeller and the detection device are connected to the control system.

4. An underwater grabbing device according to claim 1 or 2, characterized in that: The power frame is provided with a depth fine-tuning mechanism, which includes a left fixed seat, a right fixed seat, a hydraulic motor, a cable plug, a winding drum, a connecting sleeve, an electric slip ring, an electric slip ring fixed shaft, an encoder fixing part and a cable. The left fixed seat and the right fixed seat are arranged at intervals, and the lower end of the left fixed seat and the lower end of the right fixed seat are respectively fixedly connected to the power frame. A winding drum is provided between the left fixed seat and the right fixed seat, and the winding drum includes a reel, a left reel frame and a right reel frame. Both ends of the reel are fixedly connected to the left reel frame and the right reel frame. A hydraulic motor is fixedly arranged on the left side of the left fixed seat, and the hydraulic motor is connected to the control system. A connecting sleeve is arranged between the left fixed seat and the left drum frame. The inner wall of the left end of the connecting sleeve is fixedly connected to the output shaft of the hydraulic motor. The outer wall of the left end of the connecting sleeve is fixedly connected to the left fixed seat via a bearing. The right end of the connecting sleeve is fixedly connected to the left drum frame. A cable socket is sealed on the connecting sleeve. An electric slip ring is arranged in the drum. An electric slip ring fixed shaft is arranged in the middle of the drum. The electric slip ring is sleeved on the electric slip ring fixed shaft. The inner ring of the electric slip ring is fixedly connected to the electric slip ring fixed shaft. An encoder fixing piece is arranged on the left end of the electric slip ring fixed shaft, and the right end passes through the right drum frame and is fixedly connected to the right fixed seat. The electric slip ring fixed shaft is fixedly connected to the right drum frame via a bearing. A cable channel opening to the right, a cable port leading to the cable channel is provided on the outer wall of the electric slip ring fixed shaft, a cable plug is fixedly provided on the right side of the right fixed seat, the cable channel is communicated with the cable plug, the encoder fixing part comprises an encoder, an encoder fixed shaft and an encoder connecting seat, the left end of the encoder fixed shaft is fixedly connected to the encoder, and the right end is fixedly connected to the electric slip ring fixed shaft, the encoder connecting seat is sleeved on the encoder fixed shaft and fixedly connected to the encoder fixed shaft via a bearing, the right end of the encoder connecting seat and the electric slip ring outer ring are respectively fixedly connected to the left reel frame, the encoder is electrically connected to the electric slip ring, the cable passes around the reel and enters the connecting sleeve through the cable socket to be connected to the electric slip ring, then passes through the cable port, comes out through the cable plug and is connected to the control system.

5. An underwater grabbing device according to claim 4, characterized in that: The depth fine-tuning mechanism is provided with a cable limiting mechanism, and the cable limiting mechanism includes a ferrule, a lifting rod, a limiting sleeve, and a limiting connecting rod. The cable on the reel is provided with a ferrule, the ferrule is sleeved on the cable and fixedly connected to the cable, the cable is bypassed by the reel and connected to the water control platform at one end thereof is provided with a limiting sleeve, a cable through hole is provided in the middle of the limiting sleeve, the diameter of the cable through hole is larger than the width of the cable and smaller than the width of the ferrule, the limiting sleeve is sleeved on the cable, the limiting sleeve is fixedly connected to one end of the limiting connecting rod, and the other end of the limiting connecting rod is fixedly connected to the upper end of the lifting rod, a guide sleeve is provided on the support frame, the guide sleeve is fixedly connected to the support frame, the pillar is placed in the guide sleeve, the upper end of the pillar is fixedly connected to the lower end of the lifting rod, and the lower end passes through the guide sleeve and is fixedly connected to the load-bearing rod.

6. An underwater grabbing device according to claim 3, characterized in that: A floating body is arranged on the power frame.

7. An underwater grabbing device according to claim 2, characterized in that: The support frame is provided with a grabbing and locking mechanism.

8. An underwater grabbing device according to claim 7, characterized in that: The grabbing and locking mechanism includes a self-locking sleeve, a limit plate, a guide hydraulic cylinder, a spring baffle, a block and a spring. The support frame is provided with a self-locking sleeve, and the self-locking sleeve is fixedly connected to the support frame. An insertion channel is opened on the side wall of the self-locking sleeve. The pillar is inserted into the self-locking sleeve. Annular limit blocks are arranged at intervals from top to bottom on the surface of the pillar. The cross-section of the annular limit block is a ratchet with the tooth tip facing downward. The upper end of the pillar forms a free force-bearing end. The limit plate is placed on the insertion channel. A positioning block is arranged at intervals on the side of the limit plate facing the pillar. The positioning block is a tooth tip. The ratchet teeth are upward, and the positioning block cooperates with the annular limit block to fix the pillar on the support frame. A guide hydraulic cylinder is provided on the other side of the limit plate. The guide hydraulic cylinder is connected to the hydraulic system. The hydraulic rod of the guide hydraulic cylinder is fixedly connected to the limit plate. The cylinder seat of the guide hydraulic cylinder is fixedly connected to the spring baffle. A block is fixedly provided on the outer wall of the hydraulic rod of the guide hydraulic cylinder. A spring is sleeved on the guide hydraulic cylinder, one end of the spring is fixedly connected to the block, and the other end is fixedly connected to the spring baffle. The lower end of the spring baffle is fixedly connected to the support frame.

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