Holding claw device for underwater salvage and underwater salvage device

Abstract

The invention provides a holding claw device for underwater salvage and an underwater salvage device.The holding claw device comprises two or more claw parts, and each claw part comprises a claw part assembly and a driving assembly; the claw part assembly comprises a plurality of claw holding plates which are hinged in sequence, the driving assembly is connected with the claw part assembly, and the driving assembly comprises a first connecting rod assembly used for driving the claw part assembly and a second connecting rod assembly used for limiting the claw part assembly. The holding claw device adopts an underactuation mode, is similar to human finger movement, is driven by one driving cylinder to complete joint movement used by the holding claw device, and can salvage various targets with different shapes and sizes.

Description

Technical Field

[0001] The present invention relates to the technical field of marine equipment, and in particular to a claw device for underwater salvage and an underwater salvage device. Background Art

[0002] In underwater heavy object salvage operations, for heavy objects that sink to the bottom, such as aircraft and ships, the lifting force required to salvage these objects is large and their shapes vary. For this scenario, using a gripper to clamp the object for salvage is currently the best solution.

[0003] Patent document CN112279056A discloses a claw body and an underwater salvage device, wherein the claw body includes a claw body, a propeller is provided on the claw body, and the propeller includes a front and rear propeller and a lateral propeller. A clamping and locking mechanism is fixedly provided on the inner wall of the claw body. The clamping and locking mechanism can be composed of a fixed seat, a hydraulic motor, a rotating sleeve and a threaded nail. The clamping and locking mechanism can also be composed of a connecting seat, a suction cup, a water pipe, a suction cup swing mechanism and a water pump. The suction cup swing mechanism includes a rotating shaft, a limiting end cover and a rotating shaft seat. However, the claw body is a rigid structure, so its shape and structure need to be compatible with the salvage object, otherwise it will be difficult to fix the salvage object, and there will even be a risk of damaging the salvage object. The difficulty in taking both robustness into account is the main reason why the existing mechanical claw salvage scheme cannot achieve underwater salvage. At present, there is no ideal damage-free, deep salvage scheme. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide an underwater salvaging claw device and an underwater salvaging device.

[0005] According to the present invention, a claw device for underwater salvage includes: two or more claws, each of which includes: a claw assembly and a drive assembly;

[0006] The claw assembly includes a plurality of claw plates hinged in sequence, the driving assembly is connected to the claw assembly, and the driving assembly includes a first connecting rod assembly for driving the claw assembly and a second connecting rod assembly for limiting the claw assembly.

[0007] Further, the claw assembly includes: a claw plate 1, a claw plate 2 and a claw plate 3, the ends of which are hinged in sequence;

[0008] The first claw plate is hinged to the base, and the underwater salvage claw device is connected to the carrier through the base.

[0009] Further, the first connecting rod assembly includes: connecting rod 1, connecting rod 2, triangular plate, and connecting rod 3, the ends of which are hinged in sequence;

[0010] One end of the connecting rod 1 away from the connecting rod 2 is hinged at the hinge between the claw plate 1 and the base, the connecting rod 2 is hinged at the first corner of the triangular plate, one end of the connecting rod 3 is hinged at the second corner of the triangular plate, the other end of the connecting rod 3 is hinged on the claw plate 3, and the third corner of the triangular plate is hinged at the hinge between the claw plate 1 and the claw plate 2;

[0011] Wherein, the first connecting rod assembly also includes a driving cylinder, the driving cylinder is connected to the carrier, and the output end of the driving cylinder is hinged to the connecting rod 1.

[0012] Further, the second connecting rod assembly includes: connecting rod four, connecting rod five, connecting rod six, connecting rod seven and connecting rod eight;

[0013] The ends of the connecting rod 4, the connecting rod 5, and the connecting rod 6 are hinged in sequence, the end of the connecting rod 4 away from the connecting rod 5 is hinged at the hinge between the claw plate 1 and the base, the end of the connecting rod 6 away from the connecting rod 5 is hinged at the hinge between the claw plate 1 and the claw plate 2, a section of the connecting rod 7 is hinged at the middle part of the connecting rod 6, the other end of the connecting rod 7 is hinged to one end of the connecting rod 8, and the other end of the connecting rod 8 is hinged at the hinge between the claw plate 2 and the claw plate 3;

[0014] Among them, the connecting rod four is elastically connected to the carrier through spring one, and the connecting rod eight is elastically connected to the claw plate three through spring two.

[0015] Furthermore, the connecting rod five is parallel to the claw plate one, and the connecting rod four is parallel to the connecting rod six;

[0016] The connecting rod six is ​​parallel to the connecting rod eight, and the connecting rod seven is parallel to the claw plate two.

[0017] Furthermore, a first angle sensor is connected to the hinge between the first claw plate and the base, a second angle sensor is connected to the hinge between the first claw plate and the second claw plate, and a third angle sensor is connected to the hinge between the second claw plate and the third claw plate.

[0018] Furthermore, surfaces of the first claw plate, the second claw plate and the third claw plate in contact with the salvage target are connected with anti-slip panels or suction cups.

[0019] Furthermore, the underwater salvage claw device also includes: an ejector and a jet pump,

[0020] The output end of the jet pump is connected to the first input port of the ejector, and the second input port of the ejector is connected to the internal space of the suction cup through a pipeline. The jet pump generates a high-pressure water flow at the output end of the ejector, thereby generating negative pressure in the suction cup to realize the adsorption function.

[0021] An underwater salvage device provided according to the present invention comprises a carrier and the underwater salvage claw device, wherein the underwater salvage claw device is connected to the carrier.

[0022] Furthermore, the carrier includes an underwater vehicle.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The claw device of the present invention adopts an under-actuated mode, which is similar to the movement of human fingers and is driven by a driving cylinder to complete the joint movement used by the claw device, so that various targets with different shapes and sizes can be salvaged.

[0025] Underwater, the posture of each claw can be adjusted to configure a claw device arrangement group suitable for grabbing the salvage target, which solves the problem that a grab mechanism group arrangement may not be able to grab or fit the target object sufficiently. According to the shape and posture of the underwater target, the grabbing angle of each claw device and the combined grabbing arrangement of multiple claw devices are adjusted in time, so that the underwater target can be reliably salvaged.

[0026] The claw device of the present invention adopts spring limiting and passive fitting to implement elastic protection for the mechanism, thereby increasing the operating life and reducing the precision required for the operation. Salvage can be carried out without too many or overly precise sensors, thus reducing the complexity of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0028] Figure 1 It is a schematic diagram of the overall structure of the claw device;

[0029] Figure 2 is a side view of a single claw;

[0030] Figure 3 is a three-dimensional diagram of a single claw;

[0031] Figure 4 It is a three-dimensional image of a single claw from another angle;

[0032] Figure 5 This is a schematic diagram of the design parameters of the claw device;

[0033] Figure 6, Figure 7 and Figure 8 Schematic diagram of three holding and grasping methods;

[0034] In the figure:

[0035] 1-carrier; 2-claw device; 201-claw plate one; 202-claw plate two; 203-claw plate three; 204-base; 205-connecting rod one; 206-connecting rod two; 207-triangular plate; 208-connecting rod three; 209-connecting rod four; 210-connecting rod five; 211-connecting rod six; 212-connecting rod seven; 213-connecting rod eight; 4-ejector; 5-jet pump; 6-target; 701-X-axis moving slide rail; 702-Y-axis moving slide rail; 703-rotating table. DETAILED DESCRIPTION

[0036] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0037] like Figure 1 As shown, a claw device for underwater salvage, the claw device 2 includes: two or more claws, each claw is similar to a finger, and two or more claws are required to cooperate with each other to grasp the target 6. The grasping method can be as follows: Figure 6 The left-right symmetric method shown can also be Figure 7 The following description is made by taking two claws as an example, but the present invention is not limited thereto.

[0038] Each claw includes: a claw assembly and a driving assembly, and the driving assembly is used to drive the claw assembly to bend and straighten. The claw assembly includes a plurality of claw plates hinged in sequence, and three claw plates are used as an example for explanation in this embodiment. The driving assembly is connected to the claw assembly, and the driving assembly includes a first connecting rod assembly for driving the claw assembly and a second connecting rod assembly for limiting the claw assembly.

[0039] like Figure 2As shown, the claw assembly includes claw plate 1 201, claw plate 202 and claw plate 3 203, which are hinged at the ends in sequence, and all have the freedom of rotation around the axis. The other end of claw plate 1 201 is hinged to base 204, and the claw device can be connected to the carrier 1 through base 204 and bolts. The claw assembly can be configured with different numbers and combinations of claw plates according to the size and shape of the grasped target 6 to effectively grasp the target 6. In addition, pressure sensors can be set on the surfaces of claw plate 1 201, claw plate 202 and claw plate 3 203 that contact the target 6 to detect the pressure when grasping the target to avoid damaging the target.

[0040] like Figure 3 As shown, in order to improve the gripping efficiency and anti-skid effect of the claw assembly, the surfaces of the claw plate 1 201, the claw plate 202 and the claw plate 3 203 in contact with the target are connected with anti-skid panels or suction cups, and the structure shown in the figure is a suction cup. On this basis, the underwater salvage claw device also includes: an ejector 4 and a jet pump 5, the output end of the jet pump 5 is connected to the first input port of the ejector 4, and the second input port of the ejector 4 is connected to the internal space of the suction cup through a pipeline, and a high-pressure water flow is generated at the output end of the ejector 4 by the jet pump 5, so that a negative pressure is generated in the suction cup to realize the adsorption function.

[0041] The first connecting rod assembly includes: connecting rod 1 205, connecting rod 2 206, triangular plate 207, and connecting rod 3 208, the ends of which are hinged in sequence. One end of connecting rod 1 205 away from connecting rod 2 206 is hinged at the hinge of claw plate 1 201 and base 204, connecting rod 2 206 is hinged at the first corner of triangular plate 207, one end of connecting rod 3 208 is hinged at the second corner of triangular plate 207, the other end of connecting rod 3 208 is hinged on claw plate 3 203, and the third corner of triangular plate 207 is hinged at the hinge of claw plate 1 201 and claw plate 2 202. The first connecting rod assembly also includes a drive cylinder 200, which can be an oil cylinder. The drive cylinder 200 is connected to the carrier 1, and the output end of the drive cylinder 200 is hinged on connecting rod 1 205.

[0042] The claw assembly drives the connecting rod 1 205, the connecting rod 206, the triangular plate 207 and the connecting rod 3 208 through the driving cylinder 200, thereby driving the claw plate 1 201, the claw plate 202 and the claw plate 3 203 to perform the actions of grasping and releasing under the action of the thrust.

[0043] like Figure 4As shown, the claw assembly is also configured with a second connecting rod assembly to stabilize the grasping process of the claw assembly to prevent the grasping state of the claw from becoming unstable. The second connecting rod assembly includes: connecting rod 4 209, connecting rod 5 210, connecting rod 6 211, connecting rod 7 212 and connecting rod 8 213. The ends of connecting rod 4 209, connecting rod 5 210 and connecting rod 6 211 are hinged in sequence, the end of connecting rod 4 209 away from connecting rod 5 210 is hinged at the hinge between the claw plate 1 201 and the base 204, the end of connecting rod 6 211 away from connecting rod 5 210 is hinged at the hinge between the claw plate 1 201 and the claw plate 2 202, a section of connecting rod 7 212 is hinged at the middle of connecting rod 6 211, the other end of connecting rod 7 212 is hinged to one end of connecting rod 8 213, and the other end of connecting rod 8 213 is hinged at the hinge between the claw plate 2 202 and the claw plate 3 203. The connecting rod 5 210 is parallel to the claw plate 1 201, the connecting rod 4 209 is parallel to the connecting rod 6 211, the connecting rod 6 211 is parallel to the connecting rod 8 213, and the connecting rod 7 212 is parallel to the claw plate 2 202. Among them, the connecting rod 4 209 is elastically connected to the carrier through the spring 1 214, and the connecting rod 8 213 is elastically connected to the claw plate 3 203 through the spring 2 215. The shape of the second connecting rod assembly as a whole is adjusted by the spring 1 214 and the spring 2 215, thereby stabilizing the stability of the gripping state of the claw assembly.

[0044] According to the shape and size of the target 6, the size of each connecting rod and triangular plate in the first connecting rod assembly and the size of each claw plate in the claw assembly can be adjusted to adjust the claw angle. In order to detect the claw angle, a first angle sensor is connected to the hinge of the claw plate 1 201 and the base 204, a second angle sensor is connected to the hinge of the claw plate 1 201 and the claw plate 2 202, and a third angle sensor is connected to the hinge of the claw plate 2 202 and the claw plate 3 203.

[0045] like Figure 5 As shown, the detailed design parameters of the connecting rod and the claw plate are as follows:

[0046] Under the condition that the above parameters are known, mechanical analysis shows that the vertical forces f1, f2, and f3 of the claw plate 1 201, the claw plate 202, and the claw plate 3 203 are respectively:

[0047]

[0048] Where:

[0049] U=k1k2h3+k2k3l2-h2k3l2cosθ2+h2h3l2cosθ2cosθ3-h2h3k2cos(θ2+θ3) (4)

[0050] T a is the torque of the hydraulic cylinder, h i For L i-1 Extension cord with bi-1 The length of the line segment before the intersection can be calculated based on f1, f2, and f3. 竖直 、F 水平 , as an important basis for grasping status:

[0051] F 竖直 =f1×sinσ1+f2×sinσ2+f3×sinσ3

[0052] F 水平 =f1×cosσ1+f2×cosσ2+f3×cosσ3

[0053] like Figure 6 , Figure 7 and Figure 8 As shown, the deep underwater target salvage device can also include a rotating telescopic mechanism, and the claw device 2 is connected to the rotating telescopic mechanism, which is used to drive the claw device 2 to rotate and move. The rotating telescopic mechanism includes: an X-axis moving slide rail 701, a Y-axis moving slide rail 702, and a rotating table 703, which are respectively used to drive the claw device 2 to move in the X-axis, the Y-axis, and the rotation. The X-axis moving slide rail 701 and the Y-axis moving slide rail 702 realize the moving function by driving the lead screw through an underwater servo motor or a motor. By carrying the X-axis moving slide rail 701 and the Y-axis moving slide rail 702, the claw mechanism 1 can move the target point arbitrarily within a certain range of the plane. The X-axis moving slide rail 701 and the Y-axis moving slide rail 702 are installed on the rotating table 703. The rotating table 703 realizes the rotation function by driving the gear to rotate through a motor or a motor. By carrying the rotating table 703, the claw mechanism 1 can realize the angle adjustment function within a certain range of the plane, thereby realizing the adjustment function of the position and angle of the claw mechanism. By carrying multiple gripping mechanisms with mobile platforms, the optimal gripping of underwater columnar or spherical targets can be achieved by configuring different gripping claw angles and positions, greatly improving the efficiency of the gripping claw mechanism. Users can adjust the posture of each gripping claw mechanism according to the operation requirements. For columnar targets, the gripping claw mechanisms can be combined into a symmetrical form or a cross form according to the needs to grab the target. For spherical targets, the gripping claw mechanism angle and XY axis displacement can be rotated, and the gripping claws can be combined into a triangular arrangement to grab the spherical target. The configuration is flexible and improves the efficiency of underwater salvage.

[0054] The present invention also provides an underwater salvage device, comprising a carrier 1 and the above-mentioned underwater salvage claw device, the underwater salvage claw device is connected to the carrier 1, and the carrier 1 can be an underwater vehicle.

[0055] The holding and grabbing process of the present invention is as follows:

[0056] (1) Before grabbing and seizing, the detection system is used to determine the size and shape of the target, and a salvage plan is planned accordingly.

[0057] (2) Adjust the rotating telescopic mechanism, open the grabbing device, and open the grabbing device to an appropriate distance to adapt to the shape of the target.

[0058] (3) The grasping device is in an open state and moves with the carrier toward the salvage target.

[0059] (4) After the carrier adjusts the grasping device to a suitable position, the driving cylinder is pushed forward until the pressure sensor on the first grasping claw plate senses a sudden change in pressure. When the first angle sensor stops changing, it is determined that the first grasping claw plate has contacted the target.

[0060] (5) After the first gripper plate contacts the target, the propulsion speed of the drive cylinder is reduced until the pressure sensor on the second gripper plate senses a sudden change in pressure. When the second angle sensor stops changing, it is determined that the second gripper plate has contacted the target.

[0061] (6) After the second gripper plate contacts the target, the propulsion speed of the drive cylinder is reduced until the third angle sensor stops changing, and it is determined that the third gripper plate has contacted the target.

[0062] (8) Slowly increase the stroke of the drive cylinder until the longitudinal support force is greater than 120% of the target gravity to complete the grasping process.

[0063] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0064] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A claw device for underwater salvage, characterized in that: include: Two or more claws, each of the claws comprising: a claw assembly and a drive assembly; The claw assembly includes a plurality of claw plates hinged in sequence, the driving assembly is connected to the claw assembly, and the driving assembly includes a first connecting rod assembly for driving the claw assembly and a second connecting rod assembly for limiting the claw assembly.

2. The underwater salvage claw device according to claim 1, characterized in that: The claw assembly comprises a claw plate 1 (201), a claw plate 2 (202) and a claw plate 3 (203) whose ends are hinged in sequence; The first claw plate (201) is hinged to the base (204), and the underwater salvage claw device is connected to the carrier via the base (204).

3. The underwater salvage claw device according to claim 2, characterized in that: The first connecting rod assembly includes: a connecting rod 1 (205), a connecting rod 2 (206), a triangular plate (207), and a connecting rod 3 (208) whose ends are hinged in sequence; One end of the connecting rod 1 (205) away from the connecting rod 2 (206) is hinged at the hinge between the claw plate 1 (201) and the base (204), the connecting rod 2 (206) is hinged at the first corner of the triangular plate (207), one end of the connecting rod 3 (208) is hinged at the second corner of the triangular plate (207), the other end of the connecting rod 3 (208) is hinged on the claw plate 3 (203), and the third corner of the triangular plate (207) is hinged at the hinge between the claw plate 1 (201) and the claw plate 2 (202); Wherein, the first connecting rod assembly further comprises a driving cylinder (200), the driving cylinder (200) is connected to the carrier, and the output end of the driving cylinder (200) is hinged on the connecting rod 1 (205).

4. The underwater salvage claw device according to claim 2, characterized in that: The second connecting rod assembly includes: connecting rod four (209), connecting rod five (210), connecting rod six (211), connecting rod seven (212) and connecting rod eight (213); The ends of the connecting rod four (209), the connecting rod five (210), and the connecting rod six (211) are hinged in sequence. The end of the connecting rod four (209) away from the connecting rod five (210) is hinged at the hinge between the claw plate one (201) and the base (204). The end of the connecting rod six (211) away from the connecting rod five (210) is hinged at the hinge between the claw plate one (201) and the claw plate two (202). A section of the connecting rod seven (212) is hinged at the middle of the connecting rod six (211). The other end of the connecting rod seven (212) is hinged to one end of the connecting rod eight (213). The other end of the connecting rod eight (213) is hinged at the hinge between the claw plate two (202) and the claw plate three (203). Wherein, the connecting rod four (209) is elastically connected to the carrier via a spring one (214), and the connecting rod eight (213) is elastically connected to the claw plate three (203) via a spring two (215).

5. The underwater salvage claw device according to claim 4, characterized in that: The connecting rod five (210) is parallel to the claw plate one (201), and the connecting rod four (209) is parallel to the connecting rod six (211); The connecting rod six (211) is parallel to the connecting rod eight (213), and the connecting rod seven (212) is parallel to the claw plate two (202).

6. The underwater salvage claw device according to claim 2, characterized in that: A first angle sensor is connected to the hinge between the first claw plate (201) and the base (204), a second angle sensor is connected to the hinge between the first claw plate (201) and the second claw plate (202), and a third angle sensor is connected to the hinge between the second claw plate (202) and the third claw plate (203).

7. The underwater salvage claw device according to claim 2, characterized in that: The surfaces of the first claw plate (201), the second claw plate (202) and the third claw plate (203) that are in contact with the salvage target are connected with anti-slip panels or suction cups.

8. The underwater salvage claw device according to claim 7, characterized in that: The underwater salvage claw device further comprises: an ejector (4) and a jet pump (5); The output end of the jet pump (5) is connected to the first input port of the ejector (4), and the second input port of the ejector (4) is connected to the internal space of the suction cup through a pipeline. The jet pump (5) generates a high-pressure water flow at the output end of the ejector (4), thereby generating a negative pressure in the suction cup to realize the adsorption function.

9. An underwater salvage device, characterized in that: It comprises a carrier (1) and an underwater salvaging claw device as claimed in any one of claims 1 to 8, wherein the underwater salvaging claw device is connected to the carrier (1).

10. The underwater salvage device according to claim 9, characterized in that: The carrier (1) comprises an underwater vehicle.

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