Miniaturized amphibious tail end grabbing mechanism

Abstract

A miniaturized amphibious tail end grabbing mechanism relates to the field of robots, is a miniaturized amphibious clamp device suitable for an amphibious platform, has a lightweight structure, high adaptability and environmental tolerance, and can be applied to complex scenes such as emergency rescue. After the sliding block and the guide rail base are inserted in a matched mode, a through hole in a concave block at the upper end of the sliding block is aligned with a through hole of the groove connecting rod and then is externally connected and fixed with through holes in the two ends of the three-way hole connecting rod through primary and secondary rivets; one through hole of the arc-shaped connecting rod is aligned with the through hole in the groove of the groove connecting rod, is sleeved with the claw head, is aligned with the through hole and is fixedly connected with the claw head through a primary-secondary rivet; the other two-end through hole of the three-way hole connecting rod is connected with the other through hole of the arc-shaped connecting rod through a primary-secondary rivet; a rear convex groove of the guide rail base is aligned with one through hole of the straight connecting rod and is connected with the straight connecting rod through a primary-secondary rivet; the other through hole of the straight connecting rod is connected with the middle through hole of the three-way hole connecting rod through a primary-secondary rivet to form a transmission system of the grabbing part; the invention further provides a circuit of the mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot end gripping mechanism, and particularly to a miniaturized amphibious clamp device suitable for amphibious platform, which has light weight structure, high adaptability and environmental tolerance, and can be widely applied to complex working condition scenes such as emergency rescue, underwater operation and exploration sampling. BACKGROUND

[0002] Current multipurpose robots are widely used in rescue and exploration fields, and the end gripping mechanism thereof is often limited in operation efficiency due to complex structure, excessive weight or insufficient environmental adaptability. Especially in amphibious platform, the traditional clamp has problems such as multiple transmission chain, complex control system, poor sealing performance, insufficient corrosion resistance and the like, and cannot meet the comprehensive requirements of rapid response, efficient gripping and environmental adaptability. Therefore, there is an urgent need for an end gripping mechanism with simple structure, light weight, flexible control and reliable sealing to improve the operation ability of amphibious robots. SUMMARY

[0003] The present application provides a miniaturized amphibious end gripping mechanism, the core structure of which adopts one guide rail cooperating with two sliders, and the symmetric driving of the sliders is realized by waterproof servo, so as to complete the gripping and releasing operations. The structure greatly simplifies the transmission system, reduces the weight and complexity, and realizes stable operation in land and underwater environment by selecting waterproof servo.

[0004] In order to achieve the above purpose, the present application provides the following technical solutions:

[0005] The end gripping mechanism main body is composed of a groove connecting rod (2), an arc connecting rod (5), a three-hole connecting rod (6), a straight connecting rod (7), a driving connecting rod (9), a guide rail base (8), two symmetrically arranged sliders (4), a waterproof steering engine (12), a letter-shaped steering arm (10), a claw head (1), a sub-mother rivet (3), and a base shell (13). One hole of the arc connecting rod (5) is aligned with the through hole in the groove (14) of the groove connecting rod (2), and then the claw head (1) is connected through the sub-mother rivet (3). Another through hole of the groove connecting rod (2) is aligned with the through hole in the groove of the upper part of the slider (4), and then one two-end through hole (17) of the three-hole connecting rod (6) is connected through the sub-mother rivet (3). Another through hole of the arc connecting rod (5) and another two-end through hole (15) of the three-hole straight connecting rod (6) are connected through the letter rivet (3). The middle through hole (16) of the three-hole connecting rod (6) and one through hole of the straight connecting rod (7) are connected through the sub-mother rivet (3). Another through hole of the straight connecting rod (7) and the groove (18) of the base protrusion are connected through the letter rivet (3). The slider (4) and the guide rail of the guide rail base (8) are slid into the side surface. The small through hole (20) at the lowermost end of the slider (4) mechanism and one through hole of the driving connecting rod (9) are aligned, and then connected through the letter rivet (3). Another through hole of the driving connecting rod (9) and the outermost through hole of the letter-shaped steering arm (10) are connected through the sub-mother rivet (3). The letter-shaped steering arm (10) and the output gear of the waterproof steering engine (12) are directly connected. The steering engine (12) is embedded in the inner groove of the guide rail base (8) and connected through the letter rivet (3). The base shell (13) and the guide rail base (8) are connected through four sub-mother rivets. Finally, the line of the steering engine (12) is connected out of the outlet (19) of the base shell (13).

[0006] The whole system works at 5V. The VIN (pin 15) of the Arduino Uno R3 UNO is connected to the 5V power supply, while the GND (pin 14) of the Arduino Uno R3 is connected to the power ground, ensuring stable power supply and system common ground. The D2 (pin 20) of the Arduino Uno R3 is used to read the button 1 key signal, one end of the button 1 is connected to the D2 pin 20, and the other end is grounded. D2 (pin 20) is connected to the +5V (pin 12) of the Arduino Uno R3 through a 10KΩ pull-up resistor R1 at the same time, ensuring that D2 (pin 20) remains high when button 1 is not pressed. When button 1 is pressed, D2 (pin 20) is grounded through the button, and the level is pulled low, realizing the key state detection. The D4 (pin 22) of the Arduino Uno R3 is used to read the button 2 key signal, one end of the button 2 is connected to the D4 (pin 22), and the other end is grounded. D4 (pin 22) is connected to the +5V (pin 12) of the Arduino Uno R3 through a 10KΩ pull-up resistor R2, ensuring that it maintains a high level when button 2 is not pressed. When button 2 is pressed, the level is pulled low, realizing the key input. The D9 (pin 27) of the Arduino Uno R3 is used to output PWM signal, connected to the Signal end (pin 2) of the servo, used to control the rotation of the servo. The VCC (pin 1) of the servo is connected to the +5V (pin 12) of the Arduino Uno R3, and the GND (pin 3) is connected to the GND (pin 14) of the Arduino Uno R3, forming a complete power supply and signal control path. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 isometric view of the present invention Figure 2 rear view of the present invention Figure 3 schematic diagram of the assembly of the gripping part of the present invention Figure 4 schematic diagram of the assembly of the servo and base of the present invention Figure 5 schematic diagram of the assembly of the servo of the present invention Figure 6 circuit schematic diagram of the end gripping mechanism of the present invention DETAILED DESCRIPTION

[0008] The present invention will be further described in conjunction with the drawings.

[0009] The application is composed of a groove connecting rod (2), an arc connecting rod (5), a three-hole connecting rod (6), a straight connecting rod (7), a driving connecting rod (9), a guide rail base (8), two symmetrically arranged sliders (4), a waterproof steering engine (12), a letter-shaped steering arm (10), a claw head (1), a sub-mother rivet (3) and a base shell (13).

[0010] By the attached Figure 4 , the waterproof steering engine (12) is embedded and connected with the internal groove (21) of the guide rail base (8) through four sub-mother rivets (3), and the base shell (13) is connected with the guide rail base (8) through the sub-mother rivet (3). The line of the steering engine (12) is connected to the controller through the outlet (19) of the base shell (13).

[0011] After the slider (4) is inserted into the guide rail base (8), the through hole in the upper end recess of the slider is aligned with the through hole of the groove connecting rod (2), and then the two end through holes (17) of the three-hole connecting rod (6) are connected and fixed outside through the sub-mother rivet (3). The through hole of the arc-shaped connecting rod (5) is aligned with the through hole in the groove of the groove connecting rod (2), and then the claw head (1) is sleeved and aligned with the through hole through the sub-mother rivet (3). The other two end through holes (15) of the three-hole connecting rod (6) are connected with the other through hole of the arc-shaped connecting rod (5) through the sub-mother rivet (3). The rear convex groove (18) of the guide rail base (8) is aligned with the through hole of the straight connecting rod (7), and then connected through the sub-mother rivet (3). The other through hole of the straight connecting rod (7) is connected with the middle through hole (16) of the three-hole connecting rod (6) through the sub-mother rivet (3). The transmission system of the grabbing part is composed.

[0012] By the attached Figure 5 , the output teeth of the steering engine (12) are sleeved and assembled with the letter-shaped steering arm (10). The two farthest through holes of the letter-shaped steering arm (10) are connected with the through holes of the driving connecting rod (9) through the sub-mother rivet (3), and then the other through hole of the driving connecting rod (9) is connected with the lower end through hole (20) of the slider (4) through the sub-mother rivet (3). The driving system is composed.

[0013] The circuit of the end grabbing device is specifically connected as follows:

[0014] The working voltage of the circuit is 5V, and the VIN pin (pin 15) of the Arduino Uno R3 is connected to the 5V power supply through the power module to provide power for the entire system. At the same time, the GND (pin 14) of the Arduino Uno R3 is connected to the ground end of the power supply to ensure that the circuit is common ground. The D2 (pin 20) of the Arduino Uno R3 is used to read the button 1 key signal, one terminal of the button is connected to D2 (pin 20), and the other terminal is connected to the ground. D2 (pin 20) is connected to the +5V (pin 12) of the Arduino Uno R3 through a 10KΩ pull-up resistor (R1) at the same time. When the button is not pressed, D2 (pin 20) is pulled to high level (5V) through the pull-up resistor R1, so the voltage of D2 (pin 20) is 5V, indicating the unpressed state; when the button is pressed, D2 (pin 20) is directly connected to the ground through the button, causing the voltage to drop to 0V, indicating the pressed state. This configuration ensures that the button is maintained at high level when it is not pressed, and a clear low level signal is generated when the button is pressed.

[0015] Similarly, the D4 pin (pin 22) of the Arduino Uno R3 is used to read the button 2 key signal. One terminal of the button is connected to D4 (pin 22), and the other terminal is connected to the ground. D4 (pin 22) is also connected to the +5V (pin 12) of the Arduino Uno R3 through a 10KΩ pull-up resistor (R2), and when the button is not pressed, D4 (pin 22) is pulled to high level through the pull-up resistor. When the button is pressed, the D4 (pin 22) pin is connected to the ground through the button, and the voltage drops to 0V, indicating the pressed state. This pull-up resistor connection effectively avoids the interference caused by the signal hanging when the button is not pressed, ensuring that a clear low level signal is generated when the button is pressed.

[0016] In addition, two 100nF capacitors (C1 and C2) are used in the circuit, connected in parallel between D2 (pin 20) and button 1, and D4 (pin 22) and button 2 respectively. The role of the capacitor is to filter high-frequency noise in the circuit, ensuring that the signal can be transmitted stably when the button is pressed or released, avoiding false triggering due to electrical interference.

[0017] The D9 (pin 25) of the Arduino Uno R3 is used to output a PWM signal to control the action of the servo. The PWM signal is connected to the Signal (pin 2) of the servo, and by adjusting the duty cycle of the PWM signal, the Arduino Uno R3 can accurately control the angle or movement of the servo. The VCC (pin 1) of the servo is connected to the +5V (pin 12) of the Arduino Uno R3, and the GND (pin 3) is connected to the GND (pin 14) of the Arduino Uno R3 to ensure that the servo obtains stable power supply and ground potential.

[0018] In addition, a 4.7μF capacitor (C3) and a 100nF capacitor (C4) are also used in the circuit, which are connected in series and then in parallel to the power input for filtering, removing noise on the power supply and smoothing voltage fluctuations. Ensure the stable operation of the circuit. Through this design, the circuit can realize stable signal transmission from button input to servo control, while avoiding the interference of external noise, especially when the servo starts.

[0019] Overall, this circuit realizes servo control based on button input signal through the cooperation of pin configuration and elements such as resistance, capacitance, etc. The pull-up resistance connection method ensures stable detection of the button, and the capacitor filters possible electrical noise, while the PWM signal accurately controls the angle and action of the servo, providing a stable and efficient solution for button-controlled servo.

Claims

1. A miniaturized amphibious end-grasping mechanism, characterized in that: the end-grasping mechanism body comprises a groove connecting rod (2), an arc-shaped connecting rod (5), a three-hole connecting rod (6), a straight connecting rod (7), a driving connecting rod (9), a guide rail base (8), two symmetrically arranged sliders (4), a waterproof steering engine (12), a character-shaped steering arm (10), a claw head (1), a sub-mother rivet (3), and a base shell (13); the waterproof steering engine (12) is embedded and connected with the internal groove (21) of the guide rail base (8) through four sub-mother rivets (3), and the base shell (13) is connected with the guide rail base (8) through the sub-mother rivet (3); wherein the line of the steering engine (12) is connected to the controller through the outlet (19) of the base shell (13); after the slider (4) is inserted into the guide rail base (8), the through hole in the upper end recess of the slider is aligned with the through hole of the groove connecting rod (2), and then the two end through holes (17) of the three-hole connecting rod (6) are connected and fixed outside through the sub-mother rivet (3); one through hole of the arc-shaped connecting rod (5) is aligned with the through hole in the groove of the groove connecting rod (2), and then the arc-shaped connecting rod (5) is sleeved into the claw head (1) and aligned with the through hole of the claw head (1) and fixedly connected through the sub-mother rivet (3); the other two end through holes (15) of the three-hole connecting rod (6) are connected with the other through hole of the arc-shaped connecting rod (5) through the sub-mother rivet (3); the rear protrusion (18) of the guide rail base (8) is aligned with one through hole of the straight connecting rod (7) and connected through the sub-mother rivet (3); the other through hole of the straight connecting rod (7) is connected with the middle through hole (16) of the three-hole connecting rod (6) through the sub-mother rivet (3), forming a transmission system of the grasping part; the output gear of the steering engine (12) is sleeved and assembled with the character-shaped steering arm (10); the two farthest through holes of the character-shaped steering arm (10) are connected with the through hole of the driving connecting rod (9) through the sub-mother rivet (3), and then the other through hole of the driving connecting rod (9) is connected with the lower end through hole (20) of the slider (4) through the sub-mother rivet (3), forming a driving system.

2. A compact amphibious end effector mechanism according to claim 1, wherein, The following circuit is applied: The working voltage of the circuit is 5V, and the VIN pin (pin 15) of the Arduino Uno R3 is connected to the 5V power supply through the power module; at the same time, the GND (pin 14) of the Arduino Uno R3 is connected to the ground end of the power supply, ensuring that the circuit is common ground; the D2 (pin 20) of the Arduino Uno R3 is used to read the button 1 key signal, one terminal of the button is connected to the D2 (pin 20), and the other terminal is connected to the ground; D2 (pin 20) is connected to the +5V (pin 12) of the Arduino Uno R3 through a 10KΩ pull-up resistor (R1); when the button is not pressed, D2 (pin 20) is pulled to high level (5V) through the pull-up resistor R1, so the voltage of D2 (pin 20) is 5V, indicating the unpressed state; when the button is pressed, D2 (pin 20) is directly connected to the ground through the button, causing the voltage to drop to 0V, indicating the pressed state. The D4 pin (pin 22) of the Arduino Uno R3 is used to read the button 2 key signal; one terminal of the button is connected to the D4 pin (pin 22), and the other terminal is connected to the ground; D4 (pin 22) is also connected to the +5V (pin 12) of the Arduino Uno R3 through a 10KΩ pull-up resistor (R2), when the button is not pressed, the D4 pin (pin 22) is pulled to high level through the pull-up resistor; when the button is pressed, the D4 pin (pin 22) is connected to the ground through the button, the voltage drops to 0V, indicating the pressed state; Two 100nF capacitors (C1 and C2) are also used, connected in parallel between D2 pin (pin 20) and button 1, and between D4 pin (pin 22) and button 2 respectively; the D9 (pin 25) of the Arduino Uno R3 is used to output PWM signal to control the action of the servo; the PWM signal is connected to the Signal (pin 2) of the servo, by adjusting the duty cycle of the PWM signal, the Arduino Uno R3 controls the angle or movement of the servo; the VCC (pin 1) of the servo is connected to the +5V (pin 12) of the Arduino Uno R3, and the GND (pin 3) is connected to the GND (pin 14) of the Arduino Uno R3; A 4.7μF capacitor (C3) and a 100nF capacitor (C4) are also used, connected in series and then in parallel to the power input for filtering, removing noise on the power supply and smoothing voltage fluctuations.

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