Mantis bionic underwater grabbing mechanism

Abstract

The invention provides a mantis bionic underwater grabbing mechanism, which comprises a mechanical arm, a mantis bionic underwater grabbing mechanism, a mantis bionic underwater grabbing mechanism and a mantis bionic underwater grabbing mechanism, the clamping jaw assembly comprises a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are both arranged at the first end of the mechanical arm and connected with the driving part, and the driving part is used for driving the first clamping jaw and the second clamping jaw to be opened and closed; each of the first clamping jaw and the second clamping jaw comprises a clamping body and a bottom support arranged at the bottom of the clamping body; the marine product clamping jaw has the beneficial effects that the flexible sections of the S-shaped structures are arranged on the bottom supports of the first clamping jaw and the second clamping jaw, so that the marine product clamping jaw can adapt to the peripheral curvatures of objects with different rules during use, it is guaranteed that most of the flexible sections can effectively make contact with the wall faces of marine products through flexible deformation generated on the contact faces of the marine product clamping jaw and the objects, and the service life of the marine product clamping jaw is prolonged. Through the arrangement, marine products of different shapes and different textures can be effectively grabbed.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to a mantis-like underwater grasping mechanism. Background Art

[0002] In 2022, my country's marine aquaculture industry showed significant growth, with a marine aquaculture area of ​​207,442 hectares and a production of 22.757 million tons, occupying an important position in my country's fishery industry structure. Despite these achievements, the marine aquaculture industry still faces many challenges. In particular, in the breeding process of high-value seafood such as sea cucumbers and abalone, most of the operations from sowing to fishing rely on manual operations, which is labor-intensive, has high safety risks, and is inefficient.

[0003] Using underwater grabbing manipulators to catch seafood can significantly reduce labor intensity, improve work efficiency, and help improve the overall quality and market value of the product. However, the current underwater grabbing manipulators have some technical shortcomings, such as insufficient operating accuracy, poor performance stability, and lack of flexible grabbing devices that can adapt to the softness and shape of different seafood. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] In order to solve the above problems, the present application provides a mantis bionic underwater grasping mechanism, comprising:

[0006] A mechanical arm, wherein a driving unit is disposed on a first end of the mechanical arm;

[0007] A clamping jaw assembly, the clamping jaw assembly comprising a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are both arranged on the first end of the mechanical arm and connected to the driving part, the driving part is used to drive the first clamping jaw and the second clamping jaw to open and close;

[0008] The first clamping jaw and the second clamping jaw each include a clamping body and a base disposed at the bottom of the clamping body;

[0009] The base includes a connecting section and a flexible section. The first end of the connecting section is connected to the clamping body. A plurality of flexible sections are arranged at intervals on the second end of the connecting section. The flexible section is an S-shaped structure.

[0010] Optionally, the base further includes a contact section, and the contact section is arranged on a side of the flexible section away from the connecting section.

[0011] Optionally, an outward protrusion is formed on the outer wall of the clamping body to form a guide portion.

[0012] Optionally, limit rods are arranged at intervals at the bottom of the clamping body, and the limit rods are located on both sides of the base.

[0013] Optionally, the robotic arm comprises:

[0014] Initial connecting rod:

[0015] A middle connecting rod, wherein a first end of the middle connecting rod is connected to the initial connecting rod;

[0016] A tail connecting rod, the tail connecting rod being connected to the second end of the middle connecting rod;

[0017] A steering gear is arranged between the initial connecting rod, the middle connecting rod and the tail connecting rod.

[0018] Optionally, the driving unit includes:

[0019] A fixing plate, the fixing plate being arranged on an end of the tail connecting rod away from the middle connecting rod;

[0020] a first driving member, the first driving member being disposed on the fixing plate;

[0021] A first transmission member, the first transmission member is arranged on the output end of the first driving member, and the first transmission member is connected to the first clamping claw;

[0022] The second transmission member is rotatably disposed on the fixed plate and can drive the second transmission member to rotate when the first transmission member rotates. The second transmission member is connected to the second clamping claw.

[0023] Optionally, the first transmission member and the second transmission member are gears, and the first transmission member is meshingly connected with the second transmission member.

[0024] Optionally, it further includes a base, which is connected to the mechanical arm and is used to drive the mechanical arm to rotate horizontally, and the base includes:

[0025] A bottom plate connected to the carrier;

[0026] A transmission assembly, wherein the transmission assembly is arranged on the bottom plate;

[0027] A second driving member, wherein the second driving member is disposed on the base plate, and the second driving member drives the mechanical arm to rotate horizontally through the transmission assembly.

[0028] Optionally, the transmission assembly includes:

[0029] A limiting plate, wherein the limiting plate is arranged on the base;

[0030] A third transmission member, the third transmission member is disposed on the bottom plate and connected to the second driving member:

[0031] A rotating disk, the rotating disk is arranged in the limiting disk, and the rotating disk is meshedly connected with the third transmission member;

[0032] A connecting plate is disposed on the rotating disk and is connected to the mechanical arm.

[0033] Optionally, a plurality of rotors are arranged between the limiting disk and the rotating disk.

[0034] Beneficial Effects

[0035] A mantis-inspired underwater grasping mechanism provided in an embodiment of the present invention has an S-shaped flexible section on the bottom support of the first clamp and the second clamp, so that it can adapt to the peripheral curvature of objects with different rules when in use. Through the flexible deformation occurring on the contact surface with the object, it is ensured that most of the flexible sections can form effective contact with the wall surface of the seafood. Through such an arrangement, seafood with different shapes and textures can be effectively grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is the main structural diagram of the present invention;

[0037] Figure 2 This is a structural diagram of the clamping jaw assembly of the present invention from a first perspective;

[0038] Figure 3 It is a structural diagram of the clamping jaw assembly of the present invention from a second viewing angle;

[0039] Figure 4 It is a structural diagram of the bottom support of the present invention;

[0040] Figure 5 It is a base structure diagram of the present invention;

[0041] Figure 6 This is a structural diagram of the connection between the base, the robotic arm and the drive unit of the present invention.

[0042] The reference numerals are as follows:

[0043] 1. Robotic arm; 11. Initial connecting rod; 12. Middle connecting rod; 13. Tail connecting rod; 14. Servo; 2. Driving unit; 21. Fixed plate; 22. First driving member; 23. First transmission member; 24. Second transmission member; 3. Clamping jaw assembly; 31. First clamping jaw; 32. Second clamping jaw; 311. Clamping body; 3111. Guide part; 312. Bottom support; 3121. Connecting section; 3122. Flexible section; 3123. Contact section; 313. Limiting rod; 4. Base; 41. Bottom plate; 42. Transmission assembly; 421. Limiting disk; 422. Third transmission member; 423. Rotating disk; 424. Connecting plate; 43. Second driving member. DETAILED DESCRIPTION

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 invention.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0048] See also Figure 1-6 As shown, according to an embodiment of the present application, a mantis bionic underwater grasping mechanism is provided, comprising:

[0049] A mechanical arm 1, wherein a driving unit 2 is provided on a first end of the mechanical arm 1;

[0050] A clamping jaw assembly 3, the clamping jaw assembly 3 includes a first clamping jaw 31 and a second clamping jaw 32, the first clamping jaw 31 and the second clamping jaw 32 are both arranged on the first end of the mechanical arm 1 and connected to the driving unit 2, and the driving unit 2 is used to drive the first clamping jaw 31 and the second clamping jaw 32 to open and close;

[0051] The first clamping jaw 31 and the second clamping jaw 32 each include a clamping body 311 and a base 312 disposed at the bottom of the clamping body 311;

[0052] The base 312 includes a connecting section 3121 and a flexible section 3122 . The first end of the connecting section 3121 is connected to the clamping body 311 . A plurality of flexible sections 3122 are spaced apart on the second end of the connecting section 3121 . The flexible section 3122 is an S-shaped structure.

[0053] Specifically, the first end of the robot arm 1 is provided with a driving unit 2, and the driving unit 2 is used to control the opening and closing drive of the clamping jaw assembly 3. The clamping jaw assembly 3 is a component for achieving grasping, and is composed of a first clamping jaw 31 and a second clamping jaw 32. The two are arranged at the first end of the robot arm 1 and are closely connected to the driving unit 2. Through the power output by the driving unit 2, the first clamping jaw 31 and the second clamping jaw 32 can quickly and accurately achieve the opening and closing action to achieve the grasping of seafood. The first clamping jaw 31 and the second clamping jaw 32 both include a clamping body 311 and a bottom support 312, and the bottom support 312 includes a connecting section 3121 and a flexible section 3122. The first end of the connecting section 3121 is firmly connected to the clamping body 311 to ensure the solidity and reliability of the entire structure, and a plurality of flexible sections 3122 in an S-shaped structure are arranged in an orderly manner at intervals on the second end of the connecting section 3121, thereby reducing interference between adjacent flexible sections 3122 and being able to adapt to the peripheral curvature of objects of different rules. Through the flexible deformation occurring on the contact surface with the object, it is ensured that most of the flexible sections 3122 can form effective contact with the wall surface of the seafood. Through such an arrangement, seafood of different shapes and textures can be effectively grasped. For example, when dealing with seafood with a soft texture and varied shapes such as sea cucumbers, the S-shaped flexible section 3122 can rely on its unique elastic deformation ability to gently and tightly fit the surface of the sea cucumber, effectively avoiding physical damage to the seafood, and relying on its special curved shape, it increases the friction and gripping force between the seafood and ensures stable and precise gripping; when encountering seafood with a hard shell and irregular shape such as abalone, the flexible section 3122 can also adaptively adjust the fitting angle and force according to the contour of the abalone, tightly surround the abalone's shell, and cooperate with the clamping body 311 to achieve efficient and reliable gripping tasks.

[0054] Among them, the clamping body 311 is a U-shaped structure. The U-shaped clamping body 311 can realize that when the driving part 2 drives the clamping body 311 to clamp, the side of the clamping body 311 away from the driving part 2 can be closed, so as to achieve the sealing of the clamping of seafood, and a plurality of holes are opened on its side wall, so that during the clamping and transportation process of seafood, liquid can flow out through the holes and only retain the seafood.

[0055] Among them, the connecting section 3121 and the flexible section 3122 are made of TPU material through 3D printing technology, which not only ensures a tensile strength of up to 70MPa and an elongation at break of up to 1000%, but also achieves non-destructive grasping while the clamping strength is not affected. Even when performing functions such as loading and clamping, it can still maintain good performance.

[0056] The base 312 further includes a contact section 3123 , and the contact section 3123 is disposed on a side of the flexible section 3122 away from the connecting section 3121 .

[0057] Specifically, the contact segments 3123 are regularly arranged at intervals on the side of the flexible segment 3122 away from the connecting segment 3121, and there are multiple contact segments 3123. When the grasping operation is carried out, whether it is facing a soft target such as a sea cucumber, or an object with a hard shell and irregular shape such as an abalone, the contact segment 3123 can contact the surface of the seafood at the first time, so that it can fit closely according to the instant shape of the seafood, thereby maximizing the stability of the grasping and ensuring that the gripper assembly 3 can also accurately and efficiently complete the grasping task in a complex underwater environment.

[0058] The contact section 3123 is also made of TPU material and is printed into an integrated structure with the connecting section 3121 and the flexible section 3122 through 3D printing technology.

[0059] The outer wall of the clamping body 311 protrudes outward to form a guide portion 3111 .

[0060] Specifically, the guide part 3111 protrudes outwardly on the outer wall of the clamping body 311. The guide part 3111 is imitating shark shield scales and is regularly arranged in the direction of water flow. It can change the distribution of water flow velocity, greatly reduce the shear resistance caused by surface water flow, and significantly reduce the extra-layer turbulence. When the device travels through the underwater environment at high speed, the guide part 3111 can effectively eliminate the eddy currents generated on the surface, greatly reduce the contact area between water and the surface, and thus sharply reduce the surface shear stress. Therefore, the setting of the guide part 3111 allows the jaw assembly 3 to approach the seafood in the most suitable posture and the most accurate angle, greatly improving the accuracy of grasping; on the other hand, with its excellent drag reduction performance, the jaw assembly 3 can move more agilely and smoothly underwater, reducing energy loss. The adaptability and reliability of the entire grasping mechanism in a complex and changeable underwater environment are comprehensively improved.

[0061] Limiting rods 313 are disposed at intervals at the bottom of the clamping body 311 , and the limiting rods 313 are located at two sides of the base 312 .

[0062] Specifically, by setting the limit rod 313 at the bottom of the clamping body 311 and on both sides of the bottom support 312, the limit rod 313 plays an important role in the underwater grabbing operation. On the one hand, the limit rod 313 is not a completely closed structure, and it is installed at intervals at the bottom of the clamping body 311, so that seawater can flow smoothly, ensuring that when grabbing seafood, the water flow will not be disturbed due to obstruction, maintaining the stability of the underwater working environment, and ensuring that the grabbing action is not disturbed by abnormal water flow. On the other hand, the limit rod 313 plays a key protective role in preventing seafood from leaking out, and can also greatly reduce the situation where seafood accidentally slips from the bottom.

[0063] The mechanical arm 1 comprises:

[0064] First stage connecting rod 11:

[0065] A middle connecting rod 12, wherein a first end of the middle connecting rod 12 is connected to the initial connecting rod 11;

[0066] A tail section connecting rod 13, wherein the tail section connecting rod 13 is connected to the second end of the middle section connecting rod 12;

[0067] A servo 14 is provided between the initial connecting rod 11 , the middle connecting rod 12 and the final connecting rod 13 .

[0068] Specifically, the robot arm 1 is composed of an initial connecting rod 11, a middle connecting rod 12, a tail connecting rod 13 and a steering gear 14. As the starting part of the robot arm 1, the initial connecting rod 11 has good rigidity and stability, and provides support for the connection and action execution of subsequent connecting rods. The first end of the middle connecting rod 12 is connected to the initial connecting rod 11. The connection method of the two can not only ensure the effective transmission of force, but also achieve a certain degree of relative rotation to adapt to the complex and changeable underwater working posture requirements. The tail connecting rod 13 is connected to the second end of the middle connecting rod 12, which further extends the operable range of the robot arm 1, allowing the mechanical claw to accurately reach seafood in different positions.

[0069] Servos 14 are arranged between the initial connecting rod 11, the middle connecting rod 12 and the tail connecting rod 13. These servos 14 control the angle changes between adjacent connecting rods. When performing underwater grabbing tasks, the servos 14 quickly and accurately adjust the angles between the connecting rods according to the instructions issued by the control system. For example, during the grabbing process, the servos 14 rotate and adjust the posture of the connecting rod, and cooperate with the opening and closing action of the clamping jaw assembly 3 to ensure the stable grabbing of the seafood, whether facing the soft and slippery sea cucumber or the abalone with strong adsorption and hard shell, it can accurately apply force. Moreover, through the setting of multiple degrees of freedom, the servos 14 can also drive the grabbing assembly to move, pour the grabbed seafood into the storage frame, and realize the process of automatic collection of seafood.

[0070] The driving unit 2 comprises:

[0071] A fixing plate 21, wherein the fixing plate 21 is disposed on an end of the tail connecting rod 13 away from the middle connecting rod 12;

[0072] A first driving member 22, wherein the first driving member 22 is disposed on the fixing plate 21;

[0073] A first transmission member 23, wherein the first transmission member 23 is disposed on an output end of the first driving member 22, and the first transmission member 23 is connected to the first clamping jaw 31;

[0074] The second transmission member 24 is rotatably disposed on the fixing plate 21 , and can drive the second transmission member 24 to rotate when the first transmission member 23 rotates. The second transmission member 24 is connected to the second clamping jaw 32 .

[0075] Specifically, the fixing plate 21 is fixedly mounted on one end of the tail connecting rod 13 away from the middle connecting rod 12, providing a stable installation position for other components of the driving unit 2, ensuring that the various components installed subsequently always maintain a relatively stable position and will not be offset due to external interference factors such as water flow impact and mechanical vibration, thereby providing a basis for the stability and accuracy of the entire driving process.

[0076] The first driving member 22 is located on the fixed plate 21, and provides power for driving the jaw assembly 3 to open and close. The driving member can select a motor with high torque and excellent waterproof performance to meet the power requirements of underwater operations. When the control system issues an instruction according to the grasping task, the first driving member 22 can respond quickly, convert electrical energy into mechanical energy, and provide power for subsequent transmission. The first transmission member 23 is connected to the output end of the first driving member 22 and is connected to the first jaw 31. It is responsible for transmitting the rotational power generated by the first driving member 22 to the first jaw 31. The second transmission member 24 is rotatably arranged on the fixed plate 21 through a rotating shaft. When the first transmission member 23 starts to rotate under the drive of the first driving member 22, the two realize docking and synchronous rotation through gear meshing, chain transmission or friction transmission, thereby driving the second transmission member 24 to operate. The second transmission member 24 is closely connected to the second clamping jaw 32. Therefore, the first clamping jaw 31 and the second clamping jaw 32, driven by the first driving member 22 and the first transmission member 23 and the second transmission member 24, can accurately and synchronously complete the opening and closing action, and can capture seafood.

[0077] The first transmission member 23 and the second transmission member 24 are gears, and the first transmission member 23 is meshedly connected with the second transmission member 24 .

[0078] Specifically, the first transmission member 23 and the second transmission member 24 are gears. When the first driving member 22 is started and drives the first transmission member 23 to rotate, due to the meshing action between the gears, the second transmission member 24 will rotate synchronously and accurately. When in use, when the control system issues a grabbing command, the first driving member 22 runs quickly, and the power is transmitted to the second transmission member 24 meshed therewith through the first transmission member 23. For the soft sea cucumber, the first transmission member 23 and the second transmission member 24 rotate at a relatively slow and stable speed, driving the first clamping jaw 31 and the second clamping jaw 32 to close gently and synchronously, which can not only achieve a stable grasping of the sea cucumber, but also avoid damage to it to the greatest extent; when facing abalone, the first driving member 22 increases the output torque, and the first transmission member 23 and the second transmission member 24 rely on their reliable gear transmission characteristics to accurately transmit the strong clamping force to the clamping jaws, ensuring that the abalone shell can be firmly grasped, and the seafood can be efficiently grasped.

[0079] It also includes a base 4, which is connected to the mechanical arm 1 and is used to drive the mechanical arm 1 to rotate horizontally. The base 4 includes:

[0080] A bottom plate 41, wherein the bottom plate 41 is connected to the carrier;

[0081] A transmission assembly 42, wherein the transmission assembly 42 is disposed on the bottom plate 41;

[0082] The second driving member 43 is disposed on the bottom plate 41 , and the second driving member 43 drives the mechanical arm 1 to rotate horizontally through the transmission assembly 42 .

[0083] Specifically, the base 4 is composed of a bottom plate 41, a transmission assembly 42 and a second driving member 43. The bottom plate 41 is the basic part of the base 4, and is firmly connected to a carrier, which can be a specific installation structure of an underwater operation robot, a breeding boat, or an adapted bearing part on a shore fixed facility. Through this reliable connection, the bottom plate 41 provides a stable support foundation for the entire base 4 and the mechanical arm 1 above, so that it can resist external interference such as water flow impact and equipment vibration in a complex and changeable underwater environment, and always maintain a relatively fixed position.

[0084] The second driving member 43 is installed on the bottom plate 41 to provide power for the horizontal rotation of the robot arm 1. It can use waterproof motors or hydraulic motors and other equipment. When the control system issues a rotation command according to the operation requirements, the second driving member 43 starts, transmits power to the robot arm 1 through the transmission assembly 42, and drives the robot arm 1 to rotate horizontally. In the actual underwater grasping operation scenario, when it is necessary to grasp the seafood distributed on one side of the robot arm 1, the second driving member 43 drives the transmission assembly 42 to prompt the robot arm 1 to quickly rotate horizontally to the target position, and cooperates with the structural design of the robot arm 1 itself to realize the grasping of seafood, and comprehensively improve the operation efficiency in the complex underwater environment.

[0085] The transmission assembly 42 includes:

[0086] A limiting plate 421, wherein the limiting plate 421 is disposed on the base 4;

[0087] A third transmission member 422, the third transmission member 422 is disposed on the bottom plate 41 and connected to the second driving member 43:

[0088] A rotating disk 423, wherein the rotating disk 423 is disposed in the limiting disk 421, and the rotating disk 423 is meshedly connected with the third transmission member 422;

[0089] A connecting plate 424 , wherein the connecting plate 424 is disposed on the rotating disk 423 , and the connecting plate 424 is connected to the robotic arm 1 .

[0090] Specifically, the transmission assembly 42 is mainly composed of a limit plate 421, a third transmission member 422, a rotating plate 423 and a connecting plate. The limit plate 421 is firmly set on the base 4, providing a limit and guide function for the movement of subsequent components. In the complex underwater working environment, factors such as the impact of water flow and mechanical vibration can easily interfere with the normal operation of the transmission components, and the limit plate 421 can ensure that the rotating plate 423 connected thereto can only rotate smoothly inside it, effectively avoiding transmission failure caused by excessive shaking or deviation.

[0091] The rotating disk 423 is arranged in the limiting disk 421 and meshed with the third transmission member 422. The inner circumferential tooth shape of the rotating disk 423 is closely matched with the tooth shape of the third transmission member 422. When the third transmission member 422 starts to rotate under the drive of the second driving member 43, the rotating disk 423 will rotate synchronously and accurately.

[0092] The connecting plate 424 is disposed on the rotating disk 423 and is connected to the robot arm 1, transmitting the rotation of the rotating disk 423 to the robot arm 1. The connecting plate 424 must ensure a firm connection with the rotating disk 423 and an accurate connection with the robot arm 1, so that the robot arm 1 can be driven by the rotating disk 423 to perform a stable and smooth horizontal rotation around the vertical axis. In actual underwater grabbing operations, when it is necessary to grab seafood that is distributed at a long distance on one side of the robot arm 1, the second driving member 43 drives the third transmission member 422, thereby driving the rotating disk 423 to rotate, and transmitting power through the connecting plate 424, so that the robot arm 1 can be quickly and accurately rotated horizontally to the target position to achieve the grabbing of seafood.

[0093] A plurality of rotors are disposed between the limiting plate 421 and the rotating plate 423 .

[0094] Specifically, several rotors are installed in the gap space between the limiting plate 421 and the rotating plate 423, which play an auxiliary role in the rotation process. On the one hand, when the rotating plate 423 starts to rotate under the drive of the third transmission member 422, the rotor can effectively reduce the friction resistance between the rotating plate 423 and the limiting plate 421. Compared with the traditional direct contact rotation, the setting of the rotor makes the relative movement between the two smoother, reduces the energy loss caused by friction, and thus improves the mechanical efficiency of the entire transmission system, ensuring that the robot arm 1 can perform horizontal rotation operations with a faster response speed.

[0095] On the other hand, the rotor also has a certain buffering function. When working underwater, it is inevitable to encounter various sudden impact forces. For example, when the robot arm 1 quickly turns to grab seafood and suddenly encounters an undercurrent impact, the rotor can absorb and disperse part of the impact force by virtue of its own rotation characteristics, avoiding the impact force from directly acting on the connection between the rotating disk 423 and the limit disk 421, effectively protecting the key structure of the transmission assembly 42, reducing the risk of component damage, and extending the service life of the entire transmission system.

[0096] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A mantis-like underwater grasping mechanism, characterized in that: include: A mechanical arm (1), wherein a driving unit (2) is provided on a first end of the mechanical arm (1); A clamping jaw assembly (3), the clamping jaw assembly (3) comprising a first clamping jaw (31) and a second clamping jaw (32), the first clamping jaw (31) and the second clamping jaw (32) being both arranged on the first end of the mechanical arm (1) and connected to the driving unit (2), the driving unit (2) being used for driving the first clamping jaw (31) and the second clamping jaw (32) to open and close; The first clamping jaw (31) and the second clamping jaw (32) both comprise a clamping body (311) and a base (312) disposed at the bottom of the clamping body (311); The base (312) comprises a connecting section (3121) and a flexible section (3122); the first end of the connecting section (3121) is connected to the clamping body (311); a plurality of flexible sections (3122) are arranged at intervals on the second end of the connecting section (3121); and the flexible section (3122) is an S-shaped structure.

2. The mantis bionic underwater grasping mechanism according to claim 1, characterized in that: The base (312) further comprises a contact section (3123), and the contact section (3123) is arranged on a side of the flexible section (3122) away from the connecting section (3121).

3. The mantis bionic underwater grasping mechanism according to claim 1, characterized in that: The outer wall of the clamping body (311) protrudes outwards to form a flow guide portion (3111).

4. The mantis bionic underwater grasping mechanism according to claim 1, characterized in that: Limiting rods (313) are arranged at intervals on the bottom of the clamping body (311), and the limiting rods (313) are located on both sides of the base (312).

5. The mantis bionic underwater grasping mechanism according to claim 1, characterized in that: The mechanical arm (1) comprises: First connecting rod (11): A middle connecting rod (12), wherein a first end of the middle connecting rod (12) is connected to the initial connecting rod (11); A tail section connecting rod (13), wherein the tail section connecting rod (13) is connected to the second end of the middle section connecting rod (12); A steering gear (14) is provided between the initial connecting rod (11), the middle connecting rod (12) and the tail connecting rod (13).

6. The mantis bionic underwater grasping mechanism according to claim 5, characterized in that: The driving unit (2) comprises: A fixing plate (21), the fixing plate (21) being arranged on an end of the tail connecting rod (13) away from the middle connecting rod (12); A first driving member (22), wherein the first driving member (22) is disposed on the fixing plate (21); A first transmission member (23), the first transmission member (23) being arranged on an output end of the first driving member (22), the first transmission member (23) being connected to the first clamping claw (31); A second transmission member (24), the second transmission member (24) is rotatably disposed on the fixed plate (21), and can drive the second transmission member (24) to rotate when the first transmission member (23) rotates, and the second transmission member (24) is connected to the second clamping claw (32).

7. The mantis bionic underwater grasping mechanism according to claim 6, characterized in that: The first transmission member (23) and the second transmission member (24) are gears, and the first transmission member (23) is meshingly connected with the second transmission member (24).

8. The mantis bionic underwater grasping mechanism according to claim 1, characterized in that: It also includes a base (4), which is connected to the mechanical arm (1) and is used to drive the mechanical arm (1) to rotate horizontally, and the base (4) includes: A bottom plate (41), wherein the bottom plate (41) is connected to the carrier; A transmission assembly (42), wherein the transmission assembly (42) is disposed on the base plate (41); A second driving member (43), wherein the second driving member (43) is arranged on the base plate (41), and the second driving member (43) drives the mechanical arm (1) to rotate horizontally through the transmission assembly (42).

9. The mantis bionic underwater grasping mechanism according to claim 8, characterized in that: The transmission assembly (42) comprises: a limiting plate (421), wherein the limiting plate (421) is arranged on the base (4); A third transmission member (422), the third transmission member (422) being disposed on the bottom plate (41) and connected to the second driving member (43): A rotating disk (423), wherein the rotating disk (423) is disposed inside the limiting disk (421), and the rotating disk (423) is meshingly connected with the third transmission member (422); A connecting plate (424), wherein the connecting plate (424) is arranged on the rotating disk (423), and the connecting plate (424) is connected to the mechanical arm (1).

10. The mantis bionic underwater grasping mechanism according to claim 9, characterized in that: A plurality of rotors are arranged between the limiting disk (421) and the rotating disk (423).

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