Underwater mechanical clamping device

Abstract

An underwater mechanical clamping device is characterized by comprising a mounting frame, a turnover frame, a telescopic rod, a base plate, a rotating shaft, a containing disc, an inserting groove, an inserting frame, an electric push rod, clamping jaws and anti-skid teeth, the turnover frame is arranged on the mounting frame, the telescopic rod is arranged on the turnover frame, the base plate is arranged on the telescopic rod, the rotating shaft is arranged on the base plate, and the clamping jaws are arranged on the rotating shaft. A placing disc is arranged on the rotating shaft, an inserting groove is formed in the placing disc, an inserting frame is arranged on the inserting groove, an electric push rod is arranged in the inserting frame, a clamping jaw is arranged on the inserting frame, anti-skid teeth are arranged on the clamping jaw, and three-dimensional space position adjustment is achieved through the electric rotating shaft, a telescopic rod and the rotating shaft; the clamping jaw is driven by the electric push rod and is combined with the design of anti-skid teeth, so that workpieces with different sizes can be stably grabbed; the integration of the sonar and the camera improves the environment perception capability, the waterproof structure enables the system to be suitable for the underwater environment, the operation is flexible, the operation range is large, and the operation coverage area is large.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater machinery, and in particular to an underwater machinery clamping device. Background Art

[0002] A humanoid manned submersible is a single-person manned submersible that looks like a human. The maximum diving depth of this submersible can reach 600 meters underwater, which is much greater than conventional diving or saturation diving. The driver does not need to take isolation measures such as pressurization and decompression, so it can replace divers to achieve underwater observation, underwater operations and other functions. When the humanoid manned submersible performs underwater tasks, a clamp will be equipped at the end of the arm of the humanoid submersible. When it is necessary to perform underwater clamping, underwater fixing and other tasks, the driver manually drives the clamp in the cabin. Through the conversion and amplification of the clamp, the driver's grip, wrist rotation and swing are converted into clamping, rotation and swing of the clamp, and the clamp then drives the underwater operation tools equipped on the submersible, thereby achieving the predetermined functions of the submersible. However, the existing underwater clamping equipment is not flexible enough when used, and the operating range is narrow and the operating coverage area is small. In order to solve the above problems, an underwater mechanical clamping device is proposed. Summary of the invention

[0003] In view of the above technical problems, the present invention provides an underwater mechanical clamping device, which is characterized by comprising a mounting frame, a folding frame, a telescopic rod, a base plate, a rotating shaft, a placement plate, a plug-in slot, a plug-in frame, an electric push rod, a clamping claw, and anti-slip teeth. The mounting frame is provided with a folding frame, the folding frame is provided with a telescopic rod, the telescopic rod is provided with a base plate, the base plate is provided with a rotating shaft, the rotational shaft is provided with a placement plate, the placement plate is provided with a plug-in slot, the plug-in slot is provided with a plug-in frame, an electric push rod is provided in the plug-in frame, the plug-in frame is provided with a clamping claw, and the clamping claw is provided with anti-slip teeth.

[0004] Furthermore, the mounting frame is connected to the flip frame via an electric rotating shaft, a telescopic rod is fixedly arranged on the flip frame, an electric telescopic structure is arranged inside the telescopic rod, a base plate is fixedly arranged at the front end of the telescopic rod, the electric rotating shaft is connected to an external controller, the electric telescopic structure of the telescopic rod is connected to an external controller, and the telescopic rod adopts a three-stage telescopic structure;

[0005] Furthermore, one end of the base plate is fixedly connected to the front end of the telescopic rod, a rotating shaft is arranged in the middle of the other end, a placement plate is fixedly arranged on the rotating shaft, a plug-in slot is fixedly arranged on the placement plate, a rotating motor is arranged in the rotating shaft, the rotating motor of the rotating shaft is connected to an external controller, and a threaded hole penetrating the plug-in slot is arranged on the plug-in slot;

[0006] Furthermore, the insertion slot is coupled with the insertion rack. There are tightening bolts outside the insertion rack for fixing the insertion slot and the insertion rack. There is a slot inside the front end of the insertion rack, and an electric push rod is arranged on each side of the slot. The electric push rod is connected to an external controller. Two clamping jaws are arranged in the middle of the slot of the insertion rack through a central axis. The other ends of the two electric push rods are respectively connected to the clamping jaws. Anti-slip teeth are arranged on each clamping jaw, and the anti-slip teeth of the two clamping jaws are arranged opposite to each other;

[0007] Furthermore, a sonar detector is arranged on the substrate, and a camera is arranged on the substrate. The sonar detector and the camera are located on both sides of the rotating shaft and are connected to an external controller;

[0008] Furthermore, the mounting rack, folding rack, telescopic rod, substrate, rotating shaft, placement tray, insertion slot, insertion rack, electric push rod, clamping jaw, anti-slip teeth, sonar detector, and camera are all used with a waterproof structure.

[0009] Advantages of the present invention:

[0010] In the present invention, by controlling the electric rotating shaft on the mounting rack to drive the flipping rack to flip, the flipping angle is 180 degrees, achieving a larger coverage area. According to needs, control the three-stage telescopic structure of the telescopic rod to extend or shorten, driving the substrate to reach a suitable position, improving the working range and increasing the coverage area. Insert the insertion rack into the insertion slot, and then insert the tightening bolt into the threaded hole of the insertion slot to fix the insertion rack and the insertion slot. The sonar detector is used to detect the distance of surrounding obstacles, and the camera is used to collect real-time images of the workpiece. Both are connected to an external controller through data lines, providing environmental data and visual guidance for the grasping action of the clamping jaws. When clamping is required, control the two electric push rods on the insertion rack to extend, driving the two clamping jaws to move towards the center simultaneously to clamp the item to be clamped. The anti-slip teeth on the clamping jaws ensure clamping. Control the motor in the rotating shaft to drive the placement tray to rotate, driving the clamping jaws on the insertion rack to rotate, and clamping can be performed in different directions, with flexible use. The motor housings of the electric rotating shaft, rotating shaft, and telescopic rod all adopt IP67-level waterproof and dustproof design, and there are rubber sealing rings at the joints. A waterproof protective cover made of transparent material is installed outside the sonar detector and the camera. A waterproof rubber strip is arranged at the connection between the insertion rack and the insertion slot. The surface of the tightening bolt is coated with a waterproof coating. The materials of the clamping jaws and anti-slip teeth have water resistance, and a hydrophobic coating is applied to the surface. The electric rotating shaft, telescopic rod, and rotating shaft are used to realize three-dimensional spatial position adjustment. The clamping jaws are driven by electric push rods and combined with the anti-slip tooth design, which can stably grasp workpieces of different sizes; the integration of the sonar and the camera improves the environmental perception ability, and the waterproof structure makes it suitable for underwater environments, with flexible operation, a large working range, and a large working coverage area. Description of the Drawings

[0011] Figure 1Schematic diagram of the overall structure of an underwater mechanical clamping device of the present invention;

[0012] Figure 2 Schematic diagram of the internal structure of an underwater mechanical clamping device of the present invention;

[0013] Figure 3 Schematic diagram of the partial structure of an underwater mechanical clamping device of the present invention;

[0014] As shown in the figure: 1. Mounting frame; 2. Folding frame; 3. Telescopic rod; 4. Substrate; 5. Rotating shaft; 6. Placing plate; 7. Insertion slot; 8. Insertion frame; 9. Electric push rod; 10. Claw; 11. Anti-slip teeth; 12. Sonar detector; 13. Camera. Specific implementation mode

[0015] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0016] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0017] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0018] Embodiment 1

[0019] The present invention provides an underwater mechanical clamping device, which is characterized by comprising a mounting frame 1, a folding frame 2, a telescopic rod 3, a base plate 4, a rotating shaft 5, a placement disk 6, a plug-in slot 7, a plug-in frame 8, an electric push rod 9, a clamping jaw 10, and an anti-slip tooth 11. The mounting frame 1 is provided with the folding frame 2, the folding frame 2 is provided with the telescopic rod 3, the telescopic rod 3 is provided with the base plate 4, the base plate 4 is provided with the rotating shaft 5, the rotating shaft 5 is provided with the placement disk 6, the placement disk 6 is provided with the plug-in slot 7, the plug-in slot 7 is provided with the plug-in frame 8, the electric push rod 9 is arranged inside the plug-in frame 8, the clamping jaw 10 is arranged on the plug-in frame 8, and the anti-slip tooth 11 is arranged on the clamping jaw 10.

[0020] Further, the mounting frame 1 and the flipping frame are connected by an electric rotating shaft. The telescopic rod 3 is fixedly arranged on the flipping frame. There is an electric telescopic structure inside the telescopic rod 3. The front end of the telescopic rod 3 is fixedly provided with the base plate 4. The electric rotating shaft is connected to an external controller, and the electric telescopic structure of the telescopic rod 3 is connected to an external controller. The telescopic rod 3 adopts a three-stage telescopic structure.

[0021] Further, one end of the base plate 4 is fixedly connected to the front end of the telescopic rod 3, and a rotating shaft 5 is arranged in the middle of the other end. The placement disk 6 is fixedly arranged on the rotating shaft 5. The plug-in slot 7 is fixedly arranged on the placement disk 6. There is a rotating motor inside the rotating shaft 5, and the rotating motor of the rotating shaft 5 is connected to an external controller. There is a threaded hole passing through the plug-in slot 7 on the plug-in slot 7.

[0022] Further, the plug-in slot 7 is coupled with the plug-in frame 8. There is a tightening bolt outside the plug-in frame 8 for fixing the plug-in slot 7 and the plug-in frame 8. There is a slot inside the front end of the plug-in frame 8, and an electric push rod 9 is arranged on each side of the slot. The electric push rod 9 is connected to an external controller. Two clamping jaws 10 are arranged in the middle of the slot of the plug-in frame 8 through a central shaft. The other ends of the two electric push rods 9 are respectively connected to the clamping jaws 10. An anti-slip tooth 11 is arranged on each clamping jaw 10, and the anti-slip teeth 11 of the two clamping jaws 10 are arranged oppositely.

[0023] Further, a sonar detector 12 is arranged on the base plate 4, and a camera 13 is arranged on the base plate 4. The sonar detector 12 and the camera 13 are located on both sides of the rotating shaft 5 and are connected to an external controller.

[0024] Further, the mounting frame, the folding frame 2, the telescopic rod 3, the base plate 4, the rotating shaft 5, the placement disk 6, the plug-in slot 7, the plug-in frame 8, the electric push rod 9, the clamping jaw 10, the anti-slip tooth 11, the sonar detector 12, and the camera 13 are all used with a waterproof structure.

[0025] Embodiment 2

[0026] During use, control the electric rotating shaft on the mounting frame 1 to drive the flipping frame to flip, with a flipping angle of 180 degrees to achieve a larger coverage area. Control the three-stage telescopic structure of the telescopic rod 3 to extend or shorten as needed, driving the substrate 4 to reach the appropriate position, improving the operation range and increasing the coverage area. Insert the plug-in frame 8 into the plug-in slot 7, and then insert the tightening bolt into the threaded hole of the plug-in slot 7 to fix the plug-in frame 8 and the plug-in slot 7. The sonar detector 12 is used to detect the distance to surrounding obstacles, and the camera 13 is used to collect real-time images of the workpiece. Both are connected to an external controller through data lines to provide environmental data and visual guidance for the grasping action of the gripper 10. When grasping is required, control the two electric push rods 9 on the plug-in frame 8 to extend, driving the two grippers 10 to move towards the center simultaneously to clamp the item to be grasped. The anti-slip teeth 11 on the gripper 10 ensure a firm grip. Control the motor in the rotating shaft 5 to drive the placement disk 6 to rotate, driving the grippers 10 on the plug-in frame 8 to rotate, enabling grasping in different directions with flexible use. The motor housings of the electric rotating shaft, rotating shaft 5, and telescopic rod 3 all adopt an IP67-level waterproof and dustproof design, with rubber sealing rings at the joints. A transparent waterproof protective cover is installed outside the sonar detector 12 and the camera 13. A waterproof rubber strip is provided at the connection between the plug-in frame 8 and the plug-in slot 7. The surface of the tightening bolt is coated with a waterproof coating. The materials of the gripper 10 and the anti-slip teeth 11 have water resistance, and the surface is treated with a hydrophobic coating.

[0027] The above shows and describes the basic principles, main features, and advantages of the present invention. Each component mentioned in the present invention is a common technology in the existing field. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater mechanical clamping device, characterized in that, It includes a mounting frame, a folding frame, a telescopic rod, a substrate, a rotating shaft, a placement tray, a plugging groove, a plugging frame, an electric push rod, a clamping jaw, and anti-slip teeth. A folding frame is arranged on the mounting frame, a telescopic rod is arranged on the folding frame, a substrate is arranged on the telescopic rod, a rotating shaft is arranged on the substrate, a placement tray is arranged on the rotating shaft, a plugging groove is arranged on the placement tray, a plugging frame is arranged on the plugging groove, an electric push rod is arranged inside the plugging frame, a clamping jaw is arranged on the plugging frame, and anti-slip teeth are arranged on the clamping jaw.

2. The underwater mechanical clamping device according to claim 1, characterized in that, The mounting frame and the flipping frame are connected by an electric rotating shaft. A telescopic rod is fixedly arranged on the flipping frame. There is an electric telescopic structure inside the telescopic rod. The front end of the telescopic rod is fixedly provided with a substrate. The electric rotating shaft is connected to an external controller. The electric telescopic structure of the telescopic rod is connected to an external controller. The telescopic rod adopts a three-stage telescopic structure.

3. An underwater mechanical clamping device according to claim 1, characterized in that One end of the substrate is fixedly connected to the front end of the telescopic rod, and a rotating shaft is arranged in the middle of the other end. A placement tray is fixedly arranged on the rotating shaft. A plugging groove is fixedly arranged on the placement tray. There is a rotating motor inside the rotating shaft. The rotating motor of the rotating shaft is connected to an external controller. There are threaded holes passing through the plugging groove on the plugging groove.

4. An underwater mechanical clamping device according to claim 1, characterized in that, The plugging groove is coupled with the plugging frame. There is a tightening bolt outside the plugging frame for fixing the plugging groove and the plugging frame. There is a slot inside the front end of the plugging frame. An electric push rod is arranged on each side of the slot. The electric push rod is connected to an external controller. Two clamping jaws are arranged in the middle of the slot of the plugging frame through a central shaft. The other ends of the two electric push rods are respectively connected to the clamping jaws. Anti-slip teeth are arranged on each clamping jaw. The anti-slip teeth of the two clamping jaws are arranged oppositely.

5. An underwater mechanical clamping device according to claim 1, characterized in that, A sonar detector is arranged on the substrate, and a camera is arranged on the substrate. The sonar detector and the camera are located on both sides of the rotating shaft and are connected to an external controller.

6. An underwater mechanical clamping device according to claim 5, characterized in that, The mounting frame, the folding frame, the telescopic rod, the substrate, the rotating shaft, the placement tray, the plugging groove, the plugging frame, the electric push rod, the clamping jaw, the anti-slip teeth, the sonar detector, and the camera are all used with a waterproof structure.

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