Multifunctional combined gripper for underwater mechanical arm

Abstract

The invention belongs to the field of mechanical arms, and particularly relates to an underwater mechanical arm multifunctional combined gripper which comprises a base. A steering wheel is arranged at the top of the base, the top of the base is movably connected with the bottom of the steering wheel, a fixing column is arranged at the top of the steering wheel, the top of the steering wheel is fixedly connected with the bottom of the fixing column, a connecting mechanism is arranged on the outer surface of the fixing column, and the outer surface of the fixing column is movably connected with the inner wall of the connecting mechanism. A supporting rod is arranged at the top of the connecting mechanism, the top of the connecting mechanism is movably connected with the bottom of the supporting rod, a directional block is arranged at the top of the supporting rod, the top of the supporting rod is fixedly connected with the right end of the directional block, a connecting rod is arranged at the left end of the directional block, and the left end of the directional block is fixedly connected with the right end of the connecting rod. A connecting block is arranged at the left end of the connecting rod, and the left end of the connecting rod is movably connected with the inner wall of the connecting block.

Description

Technical Field

[0001] The invention belongs to the field of mechanical arms, in particular to a multifunctional combined gripper of a mechanical arm used underwater. Background Art

[0002] With the development of marine engineering equipment technology, the development of the ocean has entered a new stage, and the tasks handled by underwater robots have become more diverse, such as precise docking of pipelines, maintenance of equipment, and underwater mineral sampling. This requires the gripper to be able to better grip pipelines, clamp lines, or scoop up different minerals in the form of stones, gravel, and clay. In the prior art, different tasks require various special grippers, and each replacement requires reconnection to the robotic arm. The interchangeability between various grippers is poor, which increases costs, and various grippers also occupy the available space of the marine mobile platform, wasting resources. A multifunctional combined gripper for an underwater robotic arm is now proposed to solve the above-mentioned problems. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a multifunctional combined gripper of a robotic arm for underwater use, which solves the problem of poor interchangeability between different grippers.

[0004] The technical solution adopted by the present invention to solve its technical problems is: the multifunctional combined gripper of a mechanical arm for underwater use described in the present invention comprises a base; a steering wheel is arranged on the top of the base, and the top of the base is movably connected to the bottom of the steering wheel, a fixing column is arranged on the top of the steering wheel, and the top of the steering wheel is fixedly connected to the bottom of the fixing column, a connecting mechanism is arranged on the outer surface of the fixing column, and the outer surface of the fixing column is movably connected to the inner wall of the connecting mechanism, a supporting rod is arranged on the top of the connecting mechanism, and the top of the connecting mechanism is movably connected to the bottom of the supporting rod, an orienting block is arranged on the top of the supporting rod, and the top of the supporting rod is fixedly connected to the right end of the orienting block, a connecting rod is arranged on the left end of the orienting block, and the left end of the orienting block is fixedly connected to the right end of the connecting rod, a connecting block is arranged on the left end of the connecting rod, and the left end of the connecting rod is movably connected to the inner wall of the connecting block, a hand grasping mechanism is arranged on the bottom of the connecting block, and the bottom of the connecting block is movably connected to the top of the hand grasping mechanism.

[0005] The connecting mechanism includes a main body, the front side of the main body is evenly provided with limiting rings, and the front side of the main body is fixedly connected to the two ends of the limiting rings, the right end of the main body is provided with a connecting column, the left end of the connecting column is fixedly connected to the right end of the main body, the right end of the connecting column is provided with a rotating column, the back side of the rotating column is movably connected to the right end of the connecting column, and the front side of the rotating column is provided with a clamping column, and the back side of the clamping column is fixedly connected to the front side of the rotating column.

[0006] The support rod includes a clamping rod, a connecting disk is provided on the front side of the clamping rod, and the front side of the clamping rod is fixedly connected to the back side of the connecting disk, a support plate is provided on the front side of the connecting disk, and the front side of the connecting disk is movably connected to the back side of the support plate, and fixing bolts are evenly provided on the top of the support plate, and the inner wall of the support plate is in contact with the outer surface of the fixing bolts.

[0007] The connecting rod includes a connecting bolt, a load-bearing rod is arranged at the left end of the connecting bolt, and the left end of the connecting bolt is fixedly connected to the right end of the load-bearing rod, a mounting plate is arranged at the left end of the establishing rod, and the left end of the load-bearing rod is fixedly connected to the right end of the mounting plate, a mounting block is arranged inside the mounting plate, and the inner wall of the mounting plate is movably connected to the outer surface of the mounting block.

[0008] The hand grip mechanism includes a limit column, a mounting plate is provided at the bottom of the limit column, and the bottom of the limit column is fixedly connected to the top of the mounting plate, a telescopic block is symmetrically provided at the bottom of the mounting plate, and the bottom of the mounting plate is fixedly connected to the top of the telescopic block, telescopic rods are symmetrically provided at both ends of the telescopic block, and the left end of the telescopic block is movably connected to the right end of the telescopic rod, a clamping plate is provided at the left end of the telescopic rod, and the left end of the telescopic rod is fixedly connected to the right end of the clamping plate.

[0009] A clamping plate is provided at the bottom of the mounting plate, and the bottom of the mounting plate is fixedly connected to the top of the clamping plate, a rubber rod is provided at the right end of the clamping plate, and the right end of the clamping plate is fixedly connected to the left end of the rubber rod, a movable spring is provided directly above the rubber rod, the left end of the movable spring is fixedly connected to the right end of the clamping plate, an extrusion plate is provided at the right end of the movable spring, and the left end of the extrusion plate is fixedly connected to the right end of the movable spring.

[0010] The beneficial effects of the present invention are as follows: 1. The present invention can greatly improve the stability of the underwater manipulator arm multifunctional combination gripper by setting a connecting mechanism, and can tighten the connection between the connecting mechanism and the steering wheel by a limiting ring set inside the connecting mechanism, thereby greatly improving the use stability of the underwater manipulator arm multifunctional combination gripper, and can greatly improve the practicality of the underwater manipulator arm multifunctional combination gripper by a rotating column set at the right end of the connecting mechanism, and can greatly improve the flexibility of the underwater manipulator arm multifunctional combination gripper by setting a rotating column.

[0011] 2. The present invention can greatly improve the flexibility of the multifunctional combination gripper of the underwater robotic arm by setting up a hand grasping mechanism. By setting up the hand grasping mechanism, the multifunctional combination gripper of the underwater robotic arm can complete the grasping work by replacing different hand grasping mechanisms when performing various complex grasping tasks. The multifunctional combination gripper of the underwater robotic arm can complete the fixed-point grasping work by using a telescopic block and a clamping plate in combination. The multifunctional combination gripper of the underwater robotic arm can complete the overall object grasping work by using a clamping plate and an extrusion plate in combination. By replacing different types of hand grasping mechanisms, the grasping effect of the multifunctional combination gripper of the underwater robotic arm can be greatly improved.

[0012] 3. The present invention can greatly improve the use effect of the multifunctional combination gripper of the underwater robotic arm by arranging the support rod and the connecting rod. By arranging the support rod, the multifunctional combination gripper of the underwater robotic arm can transmit force energy through the support rod during installation, and the installation connection between the directional block and the gripping mechanism is performed through the connecting rod. The stability of the gripping mechanism during use can be greatly improved by the connecting rod, thereby greatly improving the use effect of the multifunctional combination gripper of the underwater robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a front view of the present invention; Figure 2 It is a structural schematic diagram of the connection mechanism of the present invention; Figure 3 It is a schematic structural diagram of the support rod of the present invention; Figure 4 It is a structural schematic diagram of the connecting rod of the present invention; Figure 5 It is a structural schematic diagram of the hand grasping mechanism of the present invention; Figure 6 It is a structural schematic diagram of the hand grasping mechanism of the present invention; In the figure: base 1, steering wheel 2, fixed column 3, connecting mechanism 4, support rod 5, directional block 6, connecting rod 7, connecting block 8, hand grip mechanism 9, clamping column 41, rotating column 42, connecting column 43, main body 44, limiting ring 45, clamping rod 51, connecting plate 52, supporting plate 53, fixing bolt 54, connecting bolt 71, load-bearing rod 72, mounting plate 73, mounting block 74, limiting column 91, mounting plate 92, telescopic block 93, telescopic rod 94, clamping plate 95, clamping plate 96, extrusion plate 97, rubber rod 98, movable spring 99. DETAILED DESCRIPTION

[0014] use Figure 1-Figure 6 A multifunctional combined gripper of a robotic arm for underwater use according to one embodiment of the present invention is described as follows.

[0015] like Figure 1-Figure 6 As shown, a multifunctional combined gripper of a mechanical arm for underwater use of the present invention comprises a base 1; a steering wheel 2 is arranged on the top of the base 1, and the top of the base 1 is movably connected to the bottom of the steering wheel 2; a fixing column 3 is arranged on the top of the steering wheel 2, and the top of the steering wheel 2 is fixedly connected to the bottom of the fixing column 3; a connecting mechanism 4 is arranged on the outer surface of the fixing column 3, and the outer surface of the fixing column 3 is movably connected to the inner wall of the connecting mechanism 4; a supporting rod 5 is arranged on the top of the connecting mechanism 4, and the top of the connecting mechanism 4 is movably connected to the bottom of the supporting rod 5, and the supporting rod 5 is arranged on the top of the connecting mechanism 4. An orienting block 6 is provided at the top of the rod 5, and the top of the support rod 5 is fixedly connected to the right end of the orienting block 6, a connecting rod 7 is provided at the left end of the orienting block 6, and the left end of the orienting block 6 is fixedly connected to the right end of the connecting rod 7, a connecting block 8 is provided at the left end of the connecting rod 7, and the left end of the connecting rod 7 is movably connected to the inner wall of the connecting block 8, a hand grasping mechanism 9 is provided at the bottom of the connecting block 8, and the bottom of the connecting block 8 is movably connected to the top of the hand grasping mechanism 9, and the purpose of setting the hand grasping mechanism 9 is to improve the use function of the multifunctional combined gripper of the underwater robotic arm.

[0016] The connecting mechanism 4 includes a main body 44, a limiting ring 45 is evenly arranged on the front of the main body 44, and the front of the main body 44 is fixedly connected to the two ends of the limiting ring 45, a connecting column 43 is arranged at the right end of the main body 44, the left end of the connecting column 43 is fixedly connected to the right end of the main body 44, a rotating column 42 is arranged at the right end of the connecting column 43, the back of the rotating column 42 is movably connected to the right end of the connecting column 43, a clamping column 41 is arranged on the front of the rotating column 42, and the back of the clamping column 41 is fixedly connected to the front of the rotating column 42. By setting the connecting mechanism 4, it can be In order to greatly improve the stability of the multifunctional combination gripper of the underwater robotic arm, the limit ring 45 arranged inside the connecting mechanism 4 can make the connection between the connecting mechanism 4 and the steering wheel 2 tightened, thereby greatly improving the use stability of the multifunctional combination gripper of the underwater robotic arm, and the rotating column 42 arranged at the right end of the connecting mechanism 4 can greatly improve the practicality of the multifunctional combination gripper of the underwater robotic arm, and the flexibility of the multifunctional combination gripper of the underwater robotic arm can be greatly improved by setting the rotating column 42.

[0017] The support rod 5 includes a clamping rod 51, a connecting disk 52 is provided on the front side of the clamping rod 51, and the front side of the clamping rod 51 is fixedly connected to the back side of the connecting disk 52, a support plate 53 is provided on the front side of the connecting disk 52, and the front side of the connecting disk 52 is movably connected to the back side of the support plate 53, fixing bolts 54 are evenly provided on the top of the support plate 53, and the inner wall of the support plate 53 is in contact with the outer surface of the fixing bolts 54. By arranging the support rod 5 and the connecting rod 7, the use effect of the multifunctional combination gripper of the underwater manipulator arm can be greatly improved. By arranging the support rod 5, the multifunctional combination gripper of the underwater manipulator arm can transmit force energy through the support rod 5 during installation, and the installation connection between the directional block 6 and the hand grasping mechanism 9 is performed through the connecting rod 7, and the stability of the hand grasping mechanism during use can be greatly improved through the connecting rod 7, which greatly improves the use effect of the multifunctional combination gripper of the underwater manipulator arm.

[0018] The connecting rod 7 includes a connecting bolt 71, a load-bearing rod 72 is provided at the left end of the connecting bolt 71, and the left end of the connecting bolt 71 is fixedly connected to the right end of the load-bearing rod 72, a mounting plate 73 is provided at the left end of the connecting rod 72, and the left end of the load-bearing rod 72 is fixedly connected to the right end of the mounting plate 73, a mounting block 74 is provided inside the mounting plate 73, and the inner wall of the mounting plate 73 is movably connected to the outer surface of the mounting block 74, and the purpose of setting the connecting rod 7 is to improve the stability of the hand grasping mechanism 9.

[0019] The hand gripping mechanism 9 includes a limit column 91, a mounting plate 92 is provided at the bottom of the limit column 91, and the bottom of the limit column 91 is fixedly connected to the top of the mounting plate 92, a telescopic block 93 is symmetrically provided at the bottom of the mounting plate 92, and the bottom of the mounting plate 92 is fixedly connected to the top of the telescopic block 93, telescopic rods 94 are symmetrically provided at both ends of the telescopic block 93, and the left end of the telescopic block 93 is movably connected to the right end of the telescopic rod 94, a clamping plate 95 is provided at the left end of the telescopic rod 94, and the left end of the telescopic rod 94 is fixedly connected to the right end of the clamping plate 95. By setting the hand gripping mechanism 9, the multifunctional combined gripper of the underwater manipulator arm can be greatly improved. The multifunctional combination gripper of the underwater manipulator arm has the advantages of flexibility. By setting the hand grasping mechanism 9, the multifunctional combination gripper of the underwater manipulator arm can complete the grasping work by replacing different hand grasping mechanisms 9 when performing various complex grasping tasks. The multifunctional combination gripper of the underwater manipulator arm can complete the fixed-point grasping work by using the telescopic block 93 and the clamping plate 95. The multifunctional combination gripper of the underwater manipulator arm can complete the overall object grasping work by using the clamping plate 96 and the extrusion plate 97. By replacing different types of hand grasping mechanisms 9, the grasping effect of the multifunctional combination gripper of the underwater manipulator arm can be greatly improved.

[0020] A clamping plate 96 is provided at the bottom of the mounting plate 92, and the bottom of the mounting plate 92 is fixedly connected to the top of the clamping plate 96, a rubber rod 98 is provided at the right end of the clamping plate 96, and the right end of the clamping plate 96 is fixedly connected to the left end of the rubber rod 98, a movable spring 99 is provided just above the rubber rod 98, the left end of the movable spring 99 is fixedly connected to the right end of the clamping plate 96, an extrusion plate 97 is provided at the right end of the movable spring 99, the left end of the extrusion plate 97 is fixedly connected to the right end of the movable spring 99, and the purpose of setting the mounting plate 92 is to install hand-gripping mechanisms 9 with different functions.

[0021] The specific workflow is as follows: When working, the multifunctional combination gripper of the underwater manipulator arm can rotate freely through the steering wheel 2 arranged at the bottom, and the parts can be connected through the connecting mechanism 4 arranged at the top, and the hand grasping mechanism 9 arranged on the top of the multifunctional combination gripper of the underwater manipulator arm can be used. The multifunctional combination gripper of the underwater manipulator arm can use a variety of grasping functions. The telescopic block 93 and the clamping plate 95 arranged at the bottom of the hand grasping mechanism 9 are used in combination to enable the hand grasping mechanism 9 to achieve the function of fixed-point grasping. The extrusion plate 97 and the clamping plate 96 arranged at the bottom of the hand grasping mechanism 9 are used in combination to enable the hand grasping mechanism 9 to achieve the effect of overall grasping.

[0022] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A multifunctional combined gripper of a robotic arm for underwater use, comprising a base (1); characterized in that: A steering wheel (2) is arranged on the top of the base (1), and the top of the base (1) is movably connected to the bottom of the steering wheel (2); a fixing column (3) is arranged on the top of the steering wheel (2), and the top of the steering wheel (2) is fixedly connected to the bottom of the fixing column (3); a connecting mechanism (4) is arranged on the outer surface of the fixing column (3), and the outer surface of the fixing column (3) is movably connected to the inner wall of the connecting mechanism (4); a supporting rod (5) is arranged on the top of the connecting mechanism (4), and the top of the connecting mechanism (4) is movably connected to the bottom of the supporting rod (5). The top of the support rod (5) is provided with an orientation block (6), and the top of the support rod (5) is fixedly connected to the right end of the orientation block (6); the left end of the orientation block (6) is provided with a connecting rod (7), and the left end of the orientation block (6) is fixedly connected to the right end of the connecting rod (7); the left end of the connecting rod (7) is provided with a connecting block (8), and the left end of the connecting rod (7) is movably connected to the inner wall of the connecting block (8); the bottom of the connecting block (8) is provided with a hand grip mechanism (9), and the bottom of the connecting block (8) is movably connected to the top of the hand grip mechanism (9).

2. The multifunctional combined gripper of a mechanical arm for underwater use according to claim 1, characterized in that: The connecting mechanism (4) comprises a main body (44), the front side of the main body (44) is evenly provided with a limiting ring (45), and the front side of the main body (44) is fixedly connected to both ends of the limiting ring (45), the right end of the main body (44) is provided with a connecting column (43), the left end of the connecting column (43) is fixedly connected to the right end of the main body (44), the right end of the connecting column (43) is provided with a rotating column (42), the back side of the rotating column (42) is movably connected to the right end of the connecting column (43), and the front side of the rotating column (42) is provided with a clamping column (41), and the back side of the clamping column (41) is fixedly connected to the front side of the rotating column (42).

3. The multifunctional combined gripper of a manipulator arm for underwater use according to claim 1, characterized in that: The support rod (5) comprises a clamping rod (51), a connecting disk (52) is arranged on the front of the clamping rod (51), and the front of the clamping rod (51) is fixedly connected to the back of the connecting disk (52), a supporting plate (53) is arranged on the front of the connecting disk (52), and the front of the connecting disk (52) is movably connected to the back of the supporting plate (53), and fixing bolts (54) are evenly arranged on the top of the supporting plate (53), and the inner wall of the supporting plate (53) is in contact with the outer surface of the fixing bolts (54).

4. The multifunctional combined gripper of a manipulator arm for underwater use according to claim 1, characterized in that: The connecting rod (7) comprises a connecting bolt (71), a load-bearing rod (72) is arranged at the left end of the connecting bolt (71), and the left end of the connecting bolt (71) is fixedly connected to the right end of the load-bearing rod (72), a mounting plate (73) is arranged at the left end of the establishing rod (72), and the left end of the load-bearing rod (72) is fixedly connected to the right end of the mounting plate (73), a mounting block (74) is arranged inside the mounting plate (73), and the inner wall of the mounting plate (73) is movably connected to the outer surface of the mounting block (74).

5. The multifunctional combined gripper of a manipulator arm for underwater use according to claim 1, characterized in that: The hand grip mechanism (9) comprises a limit column (91), a mounting plate (92) is arranged at the bottom of the limit column (91), and the bottom of the limit column (91) is fixedly connected to the top of the mounting plate (92), a telescopic block (93) is symmetrically arranged at the bottom of the mounting plate (92), and the bottom of the mounting plate (92) is fixedly connected to the top of the telescopic block (93), telescopic rods (94) are symmetrically arranged at both ends of the telescopic block (93), and the left end of the telescopic block (93) is movably connected to the right end of the telescopic rod (94), and a clamping plate (95) is arranged at the left end of the telescopic rod (94), and the left end of the telescopic rod (94) is fixedly connected to the right end of the clamping plate (95).

6. The multifunctional combined gripper of a manipulator arm for underwater use according to claim 5, characterized in that: A clamping plate (96) is provided at the bottom of the mounting plate (92), and the bottom of the mounting plate (92) is fixedly connected to the top of the clamping plate (96); a rubber rod (98) is provided at the right end of the clamping plate (96), and the right end of the clamping plate (96) is fixedly connected to the left end of the rubber rod (98); a movable spring (99) is provided directly above the rubber rod (98), and the left end of the movable spring (99) is fixedly connected to the right end of the clamping plate (96); an extrusion plate (97) is provided at the right end of the movable spring (99), and the left end of the extrusion plate (97) is fixedly connected to the right end of the movable spring (99).

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