Full-sea-depth flexible electric mechanical clamp holder and using method

Abstract

The invention discloses a full-sea-depth flexible electric mechanical clamp holder and a using method, the full-sea-depth flexible electric mechanical clamp holder comprises an upper shell, a main shell and a lower shell, a main shaft is installed in the main shell in a matched mode, a rotor of a frameless motor is fixedly installed on the main shaft, and a driver is fixed on a stator of the frameless motor in an adhesive mode; a harmonic reducer is fixedly installed in the upper shell and connected with the end of the main shaft, an output flange of the harmonic reducer is connected with a coupler through a bolt, the coupler is inserted into the ball screw, an extending shaft and a nut of the ball screw are fixed through a bolt, and rotary motion output by the harmonic reducer is converted into linear motion of the extending shaft. The connecting block is fixedly connected with the extending shaft through a countersunk bolt, three sets of clamping jaws are evenly hinged to the outer circumferential face of the end of the upper shell at intervals through a first pin shaft, each clamping jaw is hinged to the connecting block through a connecting rod, under the power effect of extending or retracting of the extending shaft, the three sets of clamping jaws envelope and clamp an object, and the action is stable and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater working tools for underwater engineering, and in particular to a full-sea-depth flexible electric mechanical clamp and a use method thereof. Background Art

[0002] In recent years, with the development of marine technology, people's underwater activities have become more frequent, deep-sea archaeology and deep-sea biological surveys have gradually developed, and a large number of cultural relics sunk to the bottom of the sea have become brittle and fragile due to seawater corrosion and scouring.

[0003] When a submersible performs grabbing operations underwater, it mainly relies on hydraulic manipulators, which have a large power-to-weight ratio and high reliability and can complete most operational tasks.

[0004] However, most traditional manipulator end grippers are rigid structures, and the force is difficult to control. As a result, they have poor precision operation capabilities and object grasping stability, and can easily damage fragile cultural relics. Summary of the invention

[0005] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a full-sea-depth flexible electric mechanical clamp and a method of use, which can conveniently complete deep-sea clamping actions, greatly improve underwater fine work capabilities, and is not prone to damaging targets.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A full-sea-depth flexible electric mechanical clamper comprises an electric mechanical clamper housing, wherein the electric mechanical clamper housing adopts a split structure, including an upper housing, a main housing and a lower housing, a main shaft is cooperatively installed in the main housing, a rotor of a frameless motor is fixedly installed on the main shaft, bearings are installed on the main shafts on both sides of the frameless motor, and a driver is fixed to the stator of the frameless motor by gluing; a harmonic reducer is fixedly installed in the upper housing, the harmonic reducer is connected to the end of the main shaft, and the output flange of the harmonic reducer is connected to the coupling by bolts, the coupling is inserted into the ball screw, the extension shaft and the nut of the ball screw are fixed with bolts, and the rotational motion output by the harmonic reducer is converted into the linear motion of the extension shaft; the connecting block is fixedly connected to the extension shaft by countersunk bolts, and the outer circumferential surface of the end of the upper housing is evenly hinged with three groups of jaws through a No. 1 pin shaft, and each jaw is hinged to the connecting block by a connecting rod. Under the power of extending or retracting the extension shaft, the three groups of jaws realize the enveloping and clamping action of the object.

[0008] Its further technical solution is:

[0009] The upper shell, the main shell and the lower shell are fixed by bolts and sealed by a sealing ring.

[0010] The position between the main housing and the lower housing is filled with compensation oil, and forms a sealed oil chamber with the inner cavity of the clamp through a compensation membrane.

[0011] The bottom of the compensation film is clamped between the compensation film pressure plate and the piston, and is compressed and sealed by the venting bolt.

[0012] A guide seat and a No. 1 compression spring are provided at the bottom of the piston. When the No. 1 compression spring is in a compressed state, pre-pressure is generated on the compensation oil of the compensation membrane through the movable piston.

[0013] The structure of a single clamp is as follows: it includes joint No. 1, joint No. 2 and joint No. 3 which are interconnected by pin No. 2, and permanent magnet groups are provided between joint No. 1 and joint No. 2, and between joint No. 2 and joint No. 3, and the permanent magnet groups repel each other with the same polarity.

[0014] Each permanent magnet group is equipped with a force sensor, which transmits the electromagnet repulsive force between the joints when grasping objects to the force sensor through nylon pads.

[0015] Plastic pads are installed on the No. 1 joint, No. 2 joint and No. 3 joint.

[0016] The structure of the bleed bolt is as follows: it includes a bolt body, an adjusting nut, a guide column, a No. 2 compression spring and a sealing screw. A sealing ring is provided between the bolt body and the sealing screw. The bleed operation can be achieved by pulling the bolt body outward. The pre-tightening seal is achieved by the No. 2 compression spring and the guide column. The pre-tightening force can be adjusted by the adjusting nut, thereby achieving the adjustment of the sealing pressure in the cavity.

[0017] A method for using a full-sea-depth flexible electric mechanical gripper, comprising the following steps:

[0018] Step 1: Preparation;

[0019] During the preparation stage on deck, the electromechanical gripper is filled with compensation oil and the air in the cavity is discharged through the bleed bolt;

[0020] Step 2: Install the electric mechanical gripper at the end of the underwater manipulator to replace the gripper of the underwater manipulator;

[0021] Step 3: The electric mechanical gripper follows the submersible to the predetermined depth, and the submariner operates the manipulator to approach the target;

[0022] Step 4: The submariner starts the electromechanical gripper, controls the internal frameless motor to rotate forward, opens the gripper, and places the target in the gripper;

[0023] Step 5: Control the internal frameless motor to reverse, close the gripper, and clamp the target. The submariner can adjust the gripping force in real time through the feedback from the electromechanical gripper;

[0024] Step 6: Operate the manipulator to place the target in the sampling basket, close the electric mechanical gripper, operate the manipulator to reset, and the submersible floats back to the surface.

[0025] The beneficial effects of the present invention are as follows:

[0026] The present invention has a compact and reasonable structure and is easy to operate. By redesigning the structure of the clamping claws and the specific structural design of the electric mechanical clamp, it can easily complete fine clamping actions in a deep-sea environment, which greatly facilitates operations in a deep-sea environment. It has strong fine operation capabilities and good object grasping stability, and will not damage fragile cultural relics.

[0027] At the same time, the present invention also has the following advantages:

[0028] (1) The present invention adopts an operation mode in which an electric mechanical gripper is mounted on the end of an underwater hydraulic manipulator, which fully combines the high reliability of the hydraulic manipulator and the high control precision of the electric manipulator, and can improve the underwater fine operation capability.

[0029] (2) The present invention adopts a structural design of a frameless motor, a harmonic reducer and a ball screw, and a post-compensation film. The overall structural design is compact, highly integrated, and light in weight, and can be applied to most underwater manipulators.

[0030] (3) The electric mechanical gripper of the present invention realizes grasping buffering through the principle of repulsion between like-charged permanent magnets at the joints, and performs fine operations under the contact force feedback of the force sensor, thereby achieving non-destructive grasping of fragile and fragile objects underwater.

[0031] (4) The electric mechanical clamp of the present invention adopts a hydraulic compensation design, which transmits the external environmental pressure through the compensation membrane, can meet the operation requirements within the entire sea depth range, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the present invention.

[0033] Figure 2 It is a side view of the present invention.

[0034] Figure 3 It is a partial cross-sectional view of the device of the present invention.

[0035] Figure 4 It is a structural schematic diagram of the clamping jaw structure of the present invention.

[0036] Figure 5 It is a partial cross-sectional view of the clamping jaw of the present invention.

[0037] Figure 6 It is a schematic diagram of the relaxed state of the clamping jaws of the present invention.

[0038] Figure 7 It is a schematic diagram of the clamping jaws of the present invention under compression.

[0039] Figure 8 It is a schematic diagram of the structure of the vent bolt of the present invention.

[0040] Fig. 9 This is a schematic diagram of the application of the electric mechanical gripper of the present invention.

[0041] Among them: 1. Clamp; 2. Connecting block; 3. No. 1 pin; 4. Connecting rod; 5. Countersunk bolt; 6. Ball screw; 7. Coupling; 8. Harmonic reducer; 9. Bearing; 10. Driver; 11. Frameless motor; 12. Compensation oil; 13. Compensation film pressure plate; 14. Bleeding bolt; 15. Guide seat; 16. Extending shaft; 17. Main shaft; 18. Compensation film; 19. Piston; 20. No. 1 compression spring;

[0042] 21. Upper shell; 22. Main shell; 23. Lower shell; 101. Joint No. 1; 102. Joint No. 2; 103. Joint No. 3; 104. Pin No. 2; 105. Force sensor; 106. Nylon pad; 107. Permanent magnet group; 108. Plastic pad; 1401. Bolt body; 1402. Adjusting nut; 1403. Guide column; 1404. Compression spring No. 2; 1405. Sealing screw. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0044] like Figure 1-Figure 9 As shown, the full-sea-depth flexible electric mechanical gripper of this embodiment includes an electric mechanical gripper housing. The electric mechanical gripper housing adopts a split structure, including an upper housing 21, a main housing 22 and a lower housing 23. A main shaft 17 is installed in the main housing 22. The rotor of the frameless motor 11 is fixedly installed on the main shaft 17. Bearings 9 are installed on the main shaft 17 on both sides of the frameless motor 11. The driver 10 is fixed to the stator of the frameless motor 11 by gluing. A harmonic reducer 8 is fixedly installed in the upper housing 21. The harmonic reducer 8 is connected to the end of the main shaft 17. The output flange of the harmonic reducer 8 is connected to the coupling 7 by bolts, the coupling 7 is inserted into the ball screw 6, and the extension shaft 16 and the nut of the ball screw 6 are fixed with bolts, so as to convert the rotational motion output by the harmonic reducer 8 into the linear motion of the extension shaft 16; the connecting block 2 is fixedly connected to the extension shaft 16 by countersunk bolts 5, and the outer circumferential surface of the end of the upper shell 21 is evenly hinged with three groups of jaws 1 through a No. 1 pin 3, and each jaw 1 is hinged to the connecting block 2 by a connecting rod 4. Under the power of extending or retracting the extension shaft 16, the three groups of jaws 1 realize the enveloping and clamping action of the object.

[0045] The upper shell 21, the main shell 22 and the lower shell 23 are fixed by bolts and sealed by a sealing ring.

[0046] The position between the main housing 22 and the lower housing 23 is filled with compensation oil 12, and forms a sealed oil chamber with the inner cavity of the clamp through the compensation membrane 18.

[0047] The bottom of the compensation film 18 is clamped between the compensation film pressure plate 13 and the piston 19, and is compressed and sealed by the bleed bolt 14.

[0048] A guide seat 15 and a No. 1 compression spring 20 are provided at the bottom of the piston 19. When the No. 1 compression spring 20 is in a compressed state, pre-pressure is generated on the compensation oil 12 of the compensation membrane 18 through the movable piston 19.

[0049] The structure of a single clamp 1 is as follows: it includes a joint No. 1 101, a joint No. 2 102 and a joint No. 3 103 which are interconnected by a pin No. 2 104, and a permanent magnet group 107 is provided between the joint No. 1 101 and the joint No. 2 102, and between the joint No. 2 102 and the joint No. 3 103, and the permanent magnet groups 107 of the same polarity repel each other.

[0050] Each permanent magnet group 107 is provided with a force sensor 105, and the electromagnet repulsive force between the joints when grasping an object is transmitted to the force sensor 105 through the nylon pad column 106.

[0051] Plastic pads 108 are installed on the first joint 101 , the second joint 102 and the third joint 103 .

[0052] The structure of the bleed bolt 14 is: including a bolt body 1401, an adjusting nut 1402, a guide column 1403, a No. 2 compression spring 1404 and a sealing screw 1405. A sealing ring is provided between the bolt body 1401 and the sealing screw 1405. The bleed operation can be achieved by pulling the bolt body 1401 outward; the pre-tightening seal is achieved by the No. 2 compression spring 1404 and the guide column 1403, and the pre-tightening force can be adjusted by the adjusting nut 1402, thereby achieving the adjustment of the sealing pressure in the cavity.

[0053] The method for using the full-sea-depth flexible electric mechanical gripper of this embodiment includes the following steps:

[0054] Step 1: Preparation;

[0055] During the preparation stage on the deck, the electromechanical gripper is filled with compensation oil 12 and the air in the cavity is exhausted through the bleed bolt 14;

[0056] Step 2: Install the electric mechanical gripper at the end of the underwater manipulator to replace the gripper of the underwater manipulator;

[0057] Step 3: The electric mechanical gripper follows the submersible to the predetermined depth, and the submariner operates the manipulator to approach the target;

[0058] Step 4: The submariner starts the electromechanical gripper, controls the internal frameless motor 11 to rotate forward, opens the gripper, and places the target in the gripper 1;

[0059] Step 5: Control the internal frameless motor 11 to reverse, the gripper 1 closes, and the target is clamped. The submariner can adjust the gripping force in real time through the feedback of the electromechanical gripper;

[0060] Step 6: Operate the manipulator to place the target in the sampling basket, close the electric mechanical gripper, operate the manipulator to reset, and the submersible floats back to the surface.

[0061] The specific structure and function of the full-sea-depth flexible electric mechanical gripper described in the present invention are as follows:

[0062] It mainly includes a clamping jaw 1, a connecting block 2, a No. 1 pin shaft 3, a connecting rod 4, a countersunk bolt 5, a ball screw 6, a coupling 7, a harmonic reducer 8, a bearing 9, a driver 10, a frameless motor 11, compensation oil 12, a compensation film pressure plate 13, a bleed bolt 14, a guide seat 15, an extension shaft 16, a main shaft 17, a compensation film 18, a piston 19, a No. 1 compression spring 20, an upper shell 21, a main shell 22, and a lower shell 23.

[0063] The housing of the electric mechanical gripper is mainly composed of an upper housing 21, a main housing 22 and a lower housing 23. The housings are fixed by bolts and sealed by a sealing ring.

[0064] A main shaft 17 is arranged in the main housing 22, and the rotor of the frameless motor 11 is fixed on the main shaft 17. The stator of the frameless motor 11 is fixed inside the main housing 22 by cylindrical pins. Bearings 9 are arranged on both sides of the frameless motor 11 to ensure that the frameless motor 11 is not affected by radial force and axial force when driving the main shaft 17 to rotate, and the driver 10 is fixed on the stator of the frameless motor 11 by gluing. The harmonic reducer 8 is fixed in the upper housing 21 by bolts. The harmonic reducer 8 is connected to the end of the main shaft 17 as the input end of the torque of the frameless motor 11, and the output flange of the harmonic reducer 8 is connected to the coupling 7 by bolts to output the rotational motion after the torque is increased. The other end of the coupling 7 is inserted into the screw shaft of the ball screw 6, and the extension shaft 16 is fixed to the nut of the ball screw 6 by bolts, so as to convert the rotational motion output by the harmonic reducer 8 into the linear motion of the extension shaft 16. The three groups of jaws 1, connecting rod 4 and connecting block 2 outside the housing of the electric mechanical clamp are fixedly connected by a No. 1 pin shaft 3 to form a connecting rod mechanism. The connecting block 2 is fixedly connected to the extension shaft 16 by a countersunk bolt 5. Under the power of extending / retracting the extension shaft 16, the three groups of jaws 1 can achieve enveloping and clamping of the object.

[0065] Among them, the electric mechanical clamp is filled with compensation oil 12, and a sealed oil chamber is formed with the inner cavity of the clamp through the compensation membrane 18, which transmits the external water pressure to achieve the compensation effect, ensuring that the electric mechanical clamp can work normally at a great depth on the seabed; the bottom of the compensation membrane 18 is clamped between the compensation membrane pressure plate 13 and the piston 19, and is compressed and sealed by the bleed bolt 14 to ensure that the compensation membrane 18 can be displaced up and down in an orderly manner during the change of external water pressure. A guide seat 15 and a No. 1 compression spring 20 are provided at the bottom of the piston 19. The No. 1 compression spring 20 is in a compressed state, and the compensation oil 12 of the compensation membrane 18 is pre-pressed through the movable piston 19, so that the pressure in the sealed oil chamber is always higher than the seawater pressure to prevent the backflow of external seawater when the seawater pressure changes.

[0066] The gripper 1 is mainly composed of three sections, namely, a joint 101, a joint 102, and a joint 103, which are connected to each other through a pin 104. A permanent magnet group 107 is provided between the joint 101 and the joint 102 or between the joint 102 and the joint 103. The permanent magnet groups 107 are of the same polarity and repel each other. When clamping an object, the greater the clamping force, the smaller the distance between the permanent magnets of the three joints, and the greater the repulsion force, thereby forming a flexible clamping and enveloping of the grasped object; each permanent magnet group 107 is provided with a force sensor 105, and the electromagnet repulsion between the joints is transmitted to the force sensor 105 through a nylon pad column 106 when grasping an object. Through conversion, real-time feedback of the grasping force can be achieved; plastic pads 108 are provided on the three joints, which can increase the friction of the clamped object and avoid hard contact with the object when grasping. With the above three functions, the gripper 1 can realize non-destructive grasping of fragile and fragile objects underwater.

[0067] The deflation bolt 14 is mainly composed of a bolt body 1401, an adjusting nut 1402, a guide column 1403, a second compression spring 1404, and a sealing screw 1405. A sealing ring is provided between the bolt body 1401 and the sealing screw 1405. The deflation operation can be achieved by pulling the bolt body 1401 outward. The second compression spring 1404 and the guide column 1403 are used to achieve pre-tightening and sealing. The pre-tightening force can be adjusted by adjusting the nut 1402, thereby adjusting the sealing pressure in the cavity.

[0068] The specific working process of the present invention is as follows:

[0069] During the deck preparation phase, the electromechanical gripper is first filled with compensation oil 12 and the air in the cavity is exhausted through the bleed bolt 14;

[0070] Install the electric mechanical gripper at the end of the underwater manipulator to replace the gripper 1 of the underwater manipulator;

[0071] The electric mechanical gripper follows the submersible down to a predetermined depth, and the submariner operates the manipulator to approach the target;

[0072] The submariner starts the electromechanical gripper, controls the internal frameless motor 11 to rotate forward, opens the gripper 1, and places the target in the gripper 1;

[0073] The internal frameless motor 11 is controlled to reverse, the gripper 1 is closed, and the target is clamped. The submariner can adjust the gripping force in real time through the feedback of the electromechanical gripper;

[0074] The manipulator is operated to place the target in the sampling basket, the electric mechanical gripper is closed, the manipulator is operated to reset, and the submersible floats back to the surface.

[0075] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A full-sea-depth flexible electromechanical gripper, characterized in that: The invention comprises an electric mechanical clamp housing, wherein the electric mechanical clamp housing adopts a split structure, including an upper housing (21), a main housing (22) and a lower housing (23); a main shaft (17) is installed in the main housing (22); a rotor of a frameless motor (11) is fixedly installed on the main shaft (17); bearings (9) are installed on the main shaft (17) on both sides of the frameless motor (11); a driver (10) is fixed to the stator of the frameless motor (11) by gluing; a harmonic reducer (8) is fixedly installed in the upper housing (21); the harmonic reducer (8) is connected to the end of the main shaft (17); an output flange of the harmonic reducer (8) is The coupling (7) is connected to the connecting block (21) by bolts, the coupling (7) is inserted into the ball screw (6), the extension shaft (16) and the nut of the ball screw (6) are fixed by bolts, and the rotational motion output by the harmonic reducer (8) is converted into the linear motion of the extension shaft (16); the connecting block (2) is fixedly connected to the extension shaft (16) by countersunk bolts (5), and the outer circumferential surface of the end of the upper shell (21) is evenly spaced and hinged with three groups of clamping jaws (1) by a No. 1 pin (3), and each clamping jaw (1) is hinged to the connecting block (2) by a connecting rod (4). Under the dynamic action of the extension or retraction of the extension shaft (16), the three groups of clamping jaws (1) realize the enveloping and clamping action of the object.

2. A full-sea-depth flexible electromechanical gripper as claimed in claim 1, characterized in that: The upper shell (21), the main shell (22) and the lower shell (23) are fixed by bolts and sealed by a sealing ring.

3. A full-sea-depth flexible electromechanical gripper as claimed in claim 2, characterized in that: The position between the main housing (22) and the lower housing (23) is filled with compensation oil (12), and forms a sealed oil chamber with the inner cavity of the clamp through a compensation membrane (18).

4. A full-sea-depth flexible electromechanical gripper as claimed in claim 3, characterized in that: The bottom of the compensation film (18) is clamped between the compensation film pressure plate (13) and the piston (19), and is compressed and sealed by the bleed bolt (14).

5. A full-sea-depth flexible electromechanical gripper as claimed in claim 4, characterized in that: A guide seat (15) and a No. 1 compression spring (20) are provided at the bottom of the piston (19). When the No. 1 compression spring (20) is in a compressed state, the compensation oil (12) of the compensation film (18) is pre-pressed through the movable piston (19).

6. A full-sea-depth flexible electromechanical gripper as claimed in claim 5, characterized in that: The structure of a single clamping jaw (1) is as follows: it comprises a first joint (101), a second joint (102) and a third joint (103) which are connected to each other via a second pin shaft (104); a permanent magnet group (107) is provided between the first joint (101) and the second joint (102), and between the second joint (102) and the third joint (103); and the permanent magnet groups (107) of the same polarity repel each other.

7. A full-sea-depth flexible electromechanical gripper as claimed in claim 6, characterized in that: Each permanent magnet group (107) is provided with a force sensor (105), and the electromagnet repulsive force between joints when grasping an object is transmitted to the force sensor (105) through the nylon pad column (106).

8. A full-sea-depth flexible electromechanical gripper as claimed in claim 7, characterized in that: Plastic pads (108) are installed on the first joint (101), the second joint (102) and the third joint (103).

9. A full-sea-depth flexible electromechanical gripper as claimed in claim 1, characterized in that: The structure of the bleed bolt (14) is as follows: it includes a bolt body (1401), an adjusting nut (1402), a guide column (1403), a No. 2 compression spring (1404) and a sealing screw (1405); a sealing ring is provided between the bolt body (1401) and the sealing screw (1405); the bleed operation can be achieved by pulling the bolt body (1401) outwards; a pre-tightening seal is achieved by the No. 2 compression spring (1404) and the guide column (1403); the pre-tightening force can be adjusted by the adjusting nut (1402), thereby achieving the adjustment of the sealing pressure in the cavity.

10. A method for using the full-sea-depth flexible electromechanical gripper as claimed in claim 9, characterized in that: The steps are as follows: Step 1: Preparation; During the preparation stage on the deck, the electromechanical clamp is filled with compensation oil (12) and the air in the cavity is discharged through the bleed bolt (14); Step 2: Install the electric mechanical gripper at the end of the underwater manipulator to replace the gripper of the underwater manipulator; Step 3: The electric mechanical gripper follows the submersible to the predetermined depth, and the submariner operates the manipulator to approach the target; Step 4: The submariner starts the electromechanical gripper, controls the internal frameless motor (11) to rotate forward, opens the gripper, and places the target in the gripper (1); Step 5: Control the internal frameless motor (11) to reverse, the gripper (1) to close, and grip the target. The submariner can adjust the gripping force in real time through the feedback from the electromechanical gripper; Step 6: Operate the manipulator to place the target in the sampling basket, close the electric mechanical gripper, operate the manipulator to reset, and the submersible floats back to the surface.

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