Underwater grabbing device for underwater cave and operation method

Abstract

The invention relates to the technical field of underwater grabbing equipment, in particular to an underwater grabbing device for an underwater cave and an operation method.The underwater grabbing device comprises a main body cylinder frame, clamping jaws, a fixing assembly, an adsorption assembly and a drainage pipeline, the clamping jaws are arranged at the front end of the main body cylinder frame, and the clamping jaws are opened or closed through transmission of a connecting rod mechanism; the fixing assembly is in sliding connection with the main cylinder frame through transmission of a lead screw mechanism, a plurality of anti-skid claws are arranged on the outer side of the fixing assembly and abut against the inner wall of a cave, the adsorption assembly is in telescopic movable connection with the main cylinder frame through transmission of a gear and rack mechanism, and the drainage pipeline is vertically and fixedly arranged at the tail end of the main cylinder frame. The main body cylinder frame is communicated with the interior of the adsorption assembly, and two ends of the drainage pipeline and the front end of the adsorption assembly are communicated with the underwater environment; the operation method is applied to the underwater grabbing device, the grabbing range of the device can be expanded in a narrow space of a cave, collision of the device is avoided, and the success rate of grabbing the flowing object is increased.

Description

Technical Field

[0001] This invention relates to the field of underwater grasping equipment technology, and specifically to an underwater grasping device and operating method for underwater caves. Background Technology

[0002] During underwater operations, underwater grabbing devices are frequently used to grab underwater objects. However, when grabbing objects in narrow underwater caves, the limited space restricts the movement of existing underwater grabbing devices, which are easily affected by water currents and prone to impacting the cave walls. This can cause the underwater grabbing devices to become difficult to move or even be damaged. At the same time, the objects in the caves are also easily moved around by the water currents, increasing the difficulty for the underwater grabbing devices to effectively grab objects. Summary of the Invention

[0003] The purpose of this invention is to provide an underwater grasping device and operating method for underwater caves, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An underwater gripping device for underwater caves includes a main cylindrical frame, grippers, a fixing component, an adsorption component, and a drainage pipe. The main cylindrical frame extends into the underwater cave. The grippers are located at the front end of the main cylindrical frame and open or close via a linkage mechanism. The fixing component is sleeved in the middle of the main cylindrical frame and is slidably connected to the main cylindrical frame via a lead screw mechanism. Multiple anti-slip claws are provided on the outer side of the fixing component, and the anti-slip claws abut against the inner wall of the cave. The adsorption component is telescopically connected to the main cylindrical frame via a gear and rack mechanism. The drainage pipe is vertically fixed at the end of the main cylindrical frame and is internally connected to the adsorption component. Both ends of the drainage pipe and the front end of the adsorption component are connected to the underwater environment.

[0006] Furthermore, the fixing assembly includes an inner ring, a middle ring, and an outer ring arranged sequentially from the inside to the outside. The inner ring is slidably connected to the main body frame, the middle ring is rotatably connected to the inner ring, and the rotation axis of the middle ring is arranged radially along the inner ring. The outer ring is rotatably connected to the middle ring, and the rotation axis of the outer ring is arranged radially along the middle ring. The rotation axes of the middle ring and the inner ring are perpendicular to each other.

[0007] Furthermore, the plurality of anti-slip claws are evenly spaced along the circumference of the outer ring, and a scissor arm is provided between the anti-slip claws and the outer ring, the scissor arm being extended and retracted by a gear mechanism.

[0008] Furthermore, the adsorption assembly includes a telescopic pipe and a suction cup. The telescopic pipe is slidably connected to the inside of the main body frame. The front end of the telescopic pipe passes through the main body frame. The suction cup is fixedly installed at the front end of the telescopic pipe. The inside of the suction cup, the telescopic pipe, and the middle of the drainage pipe are connected in sequence.

[0009] Furthermore, propellers are installed at both ends of the drainage pipe, and the two propellers are installed symmetrically. The two propellers rotate in the same direction and at the same speed around their respective main shafts.

[0010] Furthermore, the gripper includes a front finger baffle and a rear finger baffle, and three of each are provided. A triangular disk is fixedly provided at the front end of the main cylinder frame. The side edges of the front finger baffle, the rear finger baffle, and the triangular disk correspond one-to-one. One end of the rear finger baffle is hinged to the corresponding side edge of the triangular disk, and the other end is hinged to the corresponding front finger baffle. When the gripper is fully closed, the three front finger baffles, the three rear finger baffles, and the triangular disk combine to form a basically closed cavity.

[0011] Furthermore, a fingertip pressure sensor is provided on the inner side of the front finger guard, a fingertip pressure sensor is provided on the inner side of the non-hinged end of the front finger guard, and a camera is mounted on the triangular disk.

[0012] Furthermore, the linkage mechanism has three parts. The main frame is slidably fitted with a sliding ring near the linkage mechanism. An electric push rod is installed on the outside of the main frame. The movable end of the electric push rod is fixedly connected to the sliding ring. Three push rods are hinged on the sliding ring. The linkage mechanism, push rods, and rear finger baffle correspond one to one. The other end of the push rod is hinged to the linkage mechanism.

[0013] The present invention also provides an operating method for an underwater grasping device for underwater caves, applied to the aforementioned underwater grasping device for underwater caves, comprising the following steps:

[0014] S1: Slowly lower the device into the underwater cave, turn on the camera to detect the device's position in the underwater cave, until it reaches a suitable position in the underwater cave;

[0015] S2: The scissor arm extends and the anti-slip claw moves to the contact wall and locks;

[0016] S3: The camera identifies the location of the target object, adjusts the device posture, controls the rotation of the middle ring and inner ring, and after the posture of the main tube frame is aligned with the location of the target object, the screw mechanism is activated, and the front end of the main tube frame moves closer to the target object.

[0017] S4: The telescopic tube extends forward, the two propellers are activated, the suction cups adhere to the target object, and then the telescopic tube retracts backward.

[0018] S5: The electric push rod extends, the grippers close and hold the target object, and the two propellers are shut off;

[0019] S6: Control the rotation of the middle ring and inner ring to the same plane as the outer ring, the scissor arm retracts, the anti-slip claw leaves the cave wall, and the device slowly moves out of the underwater cave.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention provides an underwater gripping device for underwater caves. The fixing component includes an inner ring, a middle ring, and an outer ring. The inner ring is coaxially arranged with the main body frame. The middle ring can rotate radially around the inner ring, and the outer ring can rotate radially around the middle ring. When the outer ring is fixed to the cave wall by a retractable anti-slip claw, the posture of the main body frame can be adjusted by controlling the rotation angle of the middle ring and the inner ring. The position of the main body frame can be adjusted by controlling the movement of the inner ring and the main body frame. Under the premise of ensuring the overall stability of the device, the gripper and suction cup can reach most of the cave area in the narrow space of the cave, thereby increasing the gripping range of the underwater gripping device.

[0022] 2. The present invention provides an operating method for an underwater grasping device for underwater caves. Using the aforementioned underwater grasping device, a retractable suction cup is first used to pre-adsorb a flowing object, and then a flexible gripper precisely grasps the object. This avoids grasping failures when the object moves around due to water flow, thus improving the success rate of object grasping. Furthermore, the negative pressure suction force of the suction cup is provided by two propellers whose thrust and torque cancel each other out, ensuring the stability of the device during suction. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the underwater grasping device for underwater caves according to the present invention;

[0024] Figure 2 This is a schematic diagram of the gripper structure described in this invention;

[0025] Figure 3 This is a schematic diagram of the linkage mechanism described in this invention;

[0026] Figure 4 This is a schematic diagram of the fixed component structure described in this invention;

[0027] Figure 5 This is a schematic diagram of the adsorption component structure described in this invention;

[0028] Figure 6 This is a schematic diagram of the cross-sectional structure of the adsorption component described in this invention;

[0029] Figure 7 This is a schematic diagram of the attitude adjustment state structure of an underwater grasping device for underwater caves according to the present invention;

[0030] Figure 8 This is a schematic diagram of the gripper fully converged structure described in this invention;

[0031] Figure 9 This is a schematic diagram of the gripper of the present invention when holding a large object.

[0032] In the diagram: 1. Gripper; 1-1. Finger tip pressure sensor; 1-2. Finger pad pressure sensor; 1-3. Front finger guard; 1-4. Rear finger guard; 2. Linkage mechanism; 2-1. Gripping link; 2-2. Transmission link; 2-3. Spring; 2-4. Connecting rod; 2-5. Front knuckle link; 3. Push rod; 4. Sliding ring; 5. Electric push rod; 6. Drainage pipe; 6-1. Propeller; 7. Main frame; 7-1. Internal pipe; 8. Moving motor; 9. Lead screw; 10. Fixing assembly; 10-1. Outer ring; 10-2. Inner rotating shaft; 10-3. Outer rotating motor; 10- 4. Telescopic motor; 10-5. Scissor arm; 10-6. Telescopic gear; 10-7. Anti-slip claw; 10-8. Gear housing; 10-9. Inner ring; 10-10. Fixing frame; 10-11. Outer shaft; 10-12. Intermediate ring; 10-13. Inner rotary motor; 11. Adsorption assembly; 11-1. Suction cup; 11-2. Filter screen; 11-3. Drive gear; 11-4. Internal support; 11-5. Roller support; 11-6. Telescopic pipe; 11-7. Drive motor; 11-8. Rack; 11-9. Glycerin ring; 12. Triangular disc; 12-1. Camera. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In the following description of the invention, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. The term "connection" simply indicates a connection between devices and has no special meaning.

[0035] Furthermore, the technical fields and installation methods involved in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0036] Specific implementation examples Figures 1-9The underwater grasping device for underwater caves includes a main cylindrical frame 7, grippers 1, a fixing component 10, an adsorption component 11, and a drainage pipe 6. The main cylindrical frame 7 extends into the underwater cave. The grippers 1 are located at the front end of the main cylindrical frame 7 and open or close via a linkage mechanism 2 to grasp target objects inside the cave. The fixing component 10 is sleeved in the middle of the main cylindrical frame 7 and is slidably connected to the main cylindrical frame 7 via a screw mechanism. Multiple anti-slip claws 10-7 are provided on the outer side of the fixing component 10 and abut against the inner wall of the cave. The adsorption component 11 is telescopically connected to the front end of the main cylindrical frame 7 via a gear and rack mechanism to telescopically adsorb target objects. The drainage pipe 6 is vertically fixed at the end of the main cylindrical frame 7 and is internally connected to the main cylindrical frame 7 and the adsorption component 11. Both ends of the drainage pipe 6 and the front end of the adsorption component 11 are connected to the underwater environment.

[0037] Furthermore, a triangular disk 12 is fixedly installed at the front end of the main body frame 7. The gripper 1 includes a front finger baffle 1-3 and a rear finger baffle 1-4. Three of each of the front finger baffle 1-3 and the rear finger baffle 1-4 are provided. The side edges of the front finger baffle 1-3, the rear finger baffle 1-4, and the triangular disk 12 correspond one-to-one. One end of the rear finger baffle 1-4 is hinged to the corresponding side edge of the triangular disk 12, and the other end is hinged to the corresponding front finger baffle 1-3. When the gripper 1 is fully open, the corresponding front finger baffle 1-3 and the rear finger baffle 1-4 are located on the same plane and combine to form a trapezoid. When the gripper 1 is fully closed, the three front finger baffles 1-3, the three rear finger baffles 1-4, and the triangular disk 12 combine to form a base. This closed cavity can store small objects in the cave, preventing them from escaping from the gripper 1. The front finger baffle 1-3 can be set as a triangular plate, which improves the closure effect of the cavity. A fingertip pressure sensor 1-2 is set on the inner side of the front finger baffle 1-3, and a fingertip pressure sensor 1-1 is set on the inner side of the non-hinged end of the front finger baffle 1-3. The fingertip pressure sensor 1-1 and the fingertip pressure sensor 1-2 are used to sense the gripping status of the gripper 1 on the object. The fingertip pressure sensor 1-1 is covered with rubber to absorb shock when the gripper 1 closes and protect the fingertip pressure sensor 1-1 from damage. A camera 12-1 is installed on the triangular disk 12 to determine the orientation of the target object and the position and posture of the device in the cave.

[0038] Furthermore, the linkage mechanism 2 has three sets, with each linkage mechanism 2 corresponding to a rear finger baffle 1-4. The linkage mechanism 2 is located on the outside of the gripper 1. The linkage mechanism 2 is connected to a clamping link 2-1, a transmission link 2-2, a spring 2-3, a connecting rod 2-4, and a front finger joint connecting frame 2-5. The clamping link 2-1 is located on the outside of the corresponding rear finger baffle 1-4. Both ends of the clamping link 2-1 are hinged to the rear finger baffle 1-4 and the front finger baffle 1-3 near the triangular disk 12, respectively. One end of the transmission link 2-2 is connected to the clamping link 2-1 near the triangular disk 12. One end of 2 is hinged, and the other end is hinged to one end of the connecting rod 2-4. The front finger joint connecting frame 2-5 is an obtuse-angled triangular structure. The edge of the obtuse angle side is fixedly set on the outside of the front finger baffle 1-3. The obtuse angle of the front finger joint connecting frame 2-5 is hinged to the end of the clamping connecting rod 2-1 away from the triangular disk 12, and the acute angle away from the front finger baffle 1-3 is hinged to the end of the connecting rod 2-4 away from the transmission connecting rod 2-2. The spring 2-3 is set between the transmission connecting rod 2-2 and the connecting rod 2-4 to provide the front finger baffle 1-3 with a driving force for bending inward.

[0039] The main cylindrical frame 7 has a sliding ring 4 slidably fitted near the linkage mechanism 2. The ends of three push rods 3, away from the transmission linkage 2-2, are hinged to the sliding ring 4, and their other ends are hinged to the end of the transmission linkage 2-2 away from the clamping linkage 2-1. An electric push rod 5 is installed on the outside of the main cylindrical frame 7. The fixed end of the electric push rod 5 is located on the side of the sliding ring 4 away from the linkage mechanism 2, and the movable end of the electric push rod 5 is fixedly connected to the sliding ring 4. When the electric push rod 5 extends, the sliding ring 4 moves along the main cylindrical frame 7 towards the gripper 1, causing the push rods 3 and the transmission linkage 2-2 to rotate away from the main cylindrical frame 7, driving the clamping linkage 2-1 to rotate towards the sliding ring 4, and the gripper 1 to open; conversely, the electric push rod 3 moves away from the main cylindrical frame 7, driving the clamping linkage 2-1 to rotate towards the sliding ring 4, and the gripper 1 to open. Push rod 5 retracts, sliding ring 4 moves along the main frame 7 away from gripper 1, and linkage mechanism 2 drives gripper 1 to converge; for larger target objects, after gripper 1 touches the target object, fingertip pressure sensor 1-1 and finger pad pressure sensor 1-2 sense the pressure, electric push rod 5 stops extending, rear finger baffle 1-4 and front finger baffle 1-3 are squeezed by the target object, causing spring 2-3 to stretch and deform, rear finger baffle 1-4 and front finger baffle 1-3 can adaptively conform to the target object, realizing flexible gripping of the object, after the gripping work is completed, spring 2-3 can make linkage mechanism 2 quickly return to its original position; for smaller target objects, the target object can be stored in gripper 1 after gripper 1 is fully converged.

[0040] Furthermore, the fixing component 10 includes a fixing frame 10-10, an outer ring 10-1, an inner ring 10-9, and a middle ring 10-12. The fixing frame 10-10 is fixed to the end of the main body cylindrical frame 7. The fixing frame 10-10 is triangular. Multiple guide rods are fixedly arranged circumferentially on the outside of the main body cylindrical frame 7. The front end of the guide rod is fixedly connected to the triangular disk 12. The inner ring 10-9 is arranged between the triangular disk 12 and the fixing frame 10-10. The multiple guide rods pass through the inner ring 10-9 and are slidably connected to it. A lead screw 9 is rotatably arranged on the outside of the fixing frame 10-10. The front end of the lead screw 9 is rotatably connected to the triangular disk 12. The end of the lead screw 9 is connected to a moving motor 8. The lead screw 9 passes through the inner ring 10-9 and is threadedly connected to it. When the moving motor 8 is started, the fixing frame 10-10 can move back and forth along the main body cylindrical frame 7.

[0041] The inner ring 10-9, middle ring 10-12, and outer ring 10-1 are arranged sequentially from the inside to the outside. An inner rotating shaft 10-2 is provided between the inner ring 10-9 and the middle ring 10-12. The inner rotating shaft 10-2 is arranged radially along the inner ring 10-9, and its two ends are rotatably connected to the inner ring 10-9 and the middle ring 10-12, respectively. An inner rotary motor 10-13 is installed on the inner ring 10-9 at a position away from the inner rotating shaft 10-2. The output shaft of the inner rotary motor 10-13 is rotatably connected to the middle ring 10-12, and the output shaft of the inner rotary motor 10-13 is coaxial with the inner rotating shaft 10-2. When the inner rotary motor 10-13 is started, the middle ring 10-12 can rotate around the inner rotating shaft 10-2. An outer rotating shaft 10-11 is provided between the middle ring 10-12 and the outer ring 10-1, and the outer rotating shaft 10-11 is located within the inner rotating shaft 10-12. Between shaft 10-2 and the output shaft of inner rotary motor 10-13, outer rotary shaft 10-11 is arranged radially along intermediate ring 10-12, inner rotary shaft 10-2 and outer rotary shaft 10-11 are arranged perpendicularly, and the two ends of outer rotary shaft 10-11 are rotatably connected to intermediate ring 10-12 and outer ring 10-1 respectively. An outer rotary motor 10-3 is installed on intermediate ring 10-12 at a position away from outer rotary shaft 10-11. The output shaft of outer rotary motor 10-3 is rotatably connected to outer ring 10-1. The output shaft of outer rotary motor 10-3 is coaxially arranged with outer rotary shaft 10-11. When outer rotary motor 10-3 is started, outer ring 10-1 can rotate around outer rotary shaft 10-11. Driven by inner rotary motor 10-13 and outer rotary motor 10-3, non-coaxial rotation of inner ring 10-9 and intermediate ring 10-12 relative to outer ring 10-1 can be realized.

[0042] The outer ring 10-1 is uniformly fixed with multiple gear housings 10-8 along its circumference. Anti-slip claws 10-7 correspond one-to-one with the gear housings 10-8. Each anti-slip claw 10-7 is connected to a gear housing 10-8 via a scissor arm 10-5. Specifically, each of the four ends of the scissor arm 10-5 is hinged with an extension arm, and the other end of each extension arm is fixedly connected to a telescopic gear 10-6. Two telescopic gears 10-6 located on either side of the scissor arm 10-5 are meshed together. Two of the telescopic gears 10-6 are rotatably connected to the gear housings 10-8. A telescopic motor 10-4 is mounted on the gear housing 10-8, and one of the telescopic gears 10-6 is connected to the output of the telescopic motor 10-4. The shaft is fixedly connected, and the other two telescopic gears 10-6 are rotatably connected to the anti-slip claw 10-7. When the telescopic motor 10-4 is started, the two meshing telescopic gears 10-6 rotate in opposite directions, driving the scissor arm 10-5 and the extension arm to extend or retract. The relative distance between the anti-slip claw 10-7 and the outer ring 10-1 is adjusted so that the anti-slip claw 10-7 can abut against the inner wall of the cave. When the anti-slip claw 10-7 abuts against the inner wall of the cave, the outer ring 10-1 is fixed relative to the cave. By controlling the inner rotary motor 10-13, the outer rotary motor 10-3 and the moving motor 8, the posture and position of the main cylinder frame 7 in the cave can be flexibly adjusted so that the grabbing range of the device can cover most of the cave.

[0043] Furthermore, the adsorption component 11 includes a telescopic pipe 11-6 and a suction cup 11-1. An internal pipe 7-1 is fixedly installed inside the end of the main body frame 7. The internal pipe 7-1 is connected to the middle of the drainage pipe 6. The telescopic pipe 11-6 is sleeved on the front end of the internal pipe 7-1. The telescopic pipe 11-6 and the internal pipe 7-1 are slidably engaged. The front end of the telescopic pipe 11-6 passes through the middle of the triangular disk 12. The suction cup 11-1 is fixedly installed at the front end of the telescopic pipe 11-6. The inside of the suction cup 11-1 is connected to the telescopic pipe 11-6 and is used to suck up small objects in the cave. A filter screen 11-2 is installed between the suction cup 11-1 and the telescopic pipe 11-6 to block the entry of underwater sand and gravel. A grate ring 11-9 is installed at the front end of the internal pipe 7-1 at the position where it engages with the telescopic pipe 11-6. This ring is used to keep the telescopic pipe 11-6 sealed when it slides along the internal pipe 7-1 to prevent the internal water from overflowing and reducing the adsorption force of the suction cup 11-1.

[0044] An internal support 11-4 and a roller support 11-5 are provided between the telescopic pipe 11-6 and the inner wall of the main cylindrical frame 7. Both ends of the internal support 11-4 are fixedly connected to the inner wall of the main cylindrical frame 7. The telescopic pipe 11-6 passes through the internal support 11-4. Preferably, both ends of the internal support 11-4 are provided with first limiting blocks. The inner wall of the main cylindrical frame 7 has a first slot corresponding to the first limiting block. The internal support 11-4 is fixed by the cooperation of the first limiting block and the corresponding first slot. A drive motor 11-7 is installed on one side of the internal support 11-4. The output shaft of the drive motor 11-7 is connected to a drive gear 11-3. A rack 11-8 is fixedly provided along the direction of the telescopic pipe 11-6 near the drive gear 11-3. The internal support 11-4 has a clearance groove near the rack 11-8 and the drive gear 11-3. 1-8 passes through the clearance groove and meshes with the drive gear 11-3, starting the drive motor 11-7. The telescopic pipe 11-6 moves telescopically along the main body frame 7 under the meshing action of the drive gear 11-3, allowing the suction cup 11-1 to extend or retract from the open gripper 1. The roller bracket 11-5 is located at the position of the inner bracket 11-4 away from the suction cup 11-1. The outer side of the roller bracket 11-5 is fixedly connected to the inner wall of the main body frame 7. Preferably, the two ends of the roller bracket 11-5 are provided with second limiting blocks. The inner wall of the main body frame 7 is provided with a second slot corresponding to the second limiting block. The roller bracket 11-5 is fixed by the cooperation of the second limiting block and the corresponding second slot. Several rollers are arranged circumferentially on the inner side of the roller bracket 11-5. The rollers roll and cooperate with the outer wall of the telescopic pipe 11-6, which guides and limits the telescopic pipe 11-6.

[0045] Furthermore, propellers 6-1 are installed at both ends of the drainage pipe 6. The two propellers 6-1 are installed symmetrically. When the two propellers 6-1 rotate around their respective main shafts in the same direction and at the same speed, a negative pressure zone is formed inside the drainage pipe 6, which causes the suction cup 11-1 connected to the drainage pipe 6 to generate an adsorption force. At the same time, since the thrust and torque generated by the two propellers 6-1 cancel each other out, the entire device can remain stable when the propellers 6-1 are working.

[0046] Furthermore, the underwater grasping device for underwater caves is connected at its end to an underwater body, which can move underwater to deliver the device into the underwater cave and move the device along the cave's axis.

[0047] The present invention also provides an operating method for using the above-described underwater grasping device for underwater caves, comprising the following steps:

[0048] S1: The underwater body slowly sends the device into the underwater cave, and the camera 12-1 is turned on to detect the position of the device in the underwater cave until it reaches the appropriate position in the underwater cave.

[0049] Furthermore, the specific process of the underwater vehicle sending the device into the cave is as follows: the underwater vehicle moves the device to the cave entrance, and the underwater vehicle always maintains a safe gap with the cave entrance, and continuously moves the device deeper into the cave along the cave axis at a low speed and constant posture until the camera 12-1 detects that the device has reached the appropriate position.

[0050] S2: Start the telescopic motor 10-4, the scissor arm 10-5 extends, and the anti-slip claw 10-7 moves to the wall of the hole and then locks;

[0051] S3: Camera 12-1 identifies the position of the target object, adjusts the device's orientation, starts the inner rotary motor 10-13 and the outer rotary motor 10-3, controls the main body frame 7 to align with the target object's position, starts the moving motor 8, and moves the front end of the main body frame 7 closer to the target object.

[0052] Furthermore, as the main frame 7 approaches the target object, the scissor arm 10-5 can simultaneously extend and retract for fine-tuning to optimize the posture of the main frame 7 and the field of view of the camera 12-1. When the image quality of the camera 12-1 is poor, or it is difficult to determine whether the posture of the main frame 7 is aligned with the orientation of the target object, a small-step cyclical strategy can be adopted to fine-tune the posture of the main frame 7 multiple times. Each time the posture of the main frame 7 is fine-tuned, the camera 12-1 performs target object orientation recognition until the posture of the main frame 7 is aligned with the orientation of the target object. As the front end of the main frame 7 approaches the target object... The anti-slip claw 10-7 always abuts against the cave wall, keeping the outer ring 10-1 fixed to the cave wall. By controlling the inner rotary motor 10-13 and the outer rotary motor 10-3, the inner ring 10-9 can be adjusted in different directions relative to the outer ring 10-1, thereby adjusting the attitude of the device and increasing the rotational freedom of the entire underwater gripping device in the cave. By controlling the moving motor 8, the main frame 7 can move along the axis of the inner ring 10-9. While the gripper 1 and suction cup 11-1 can reach most of the cave, the device avoids hitting the cave wall, making the device more suitable for the underwater cave working environment.

[0053] S4: Start the drive motor 11-7, extend the telescopic tube 11-6 forward, start the two propellers 6-1, and after the suction cup 11-1 adsorbs the target object, the telescopic tube 11-6 retracts backward.

[0054] S5: Electric push rod 5 extends, gripper 1 gathers and clamps the target object, and two propellers 6-1 are shut down;

[0055] Furthermore, when necessary, while the gripper 1 is holding the target object, the two propellers 6-1 can rotate at low speed, and the suction cup 11-1 can assist in stabilizing the target object under low negative pressure until the gripping is stable, and then the propellers 6-1 can be turned off. By pre-adsorbing the target object through the adsorption component 11, the gripper 1 can flexibly grasp the target object, which can avoid the situation where the gripper 1 fails to grasp the object due to the target object moving around due to the influence of water flow. This allows for more accurate and stable grasping of objects in underwater caves, thus improving the grasping efficiency.

[0056] S6: The inner rotary motor 10-13 and the outer rotary motor 10-3 control the inner ring 10-9 and the middle ring 10-12 to be on the same plane as the outer ring 10-1. The scissor arm 10-5 retracts, the anti-slip claw 10-7 leaves the cave wall, and the carrier slowly moves the device out of the underwater cave.

[0057] Furthermore, by employing the aforementioned operating method for an underwater grasping device for underwater caves, during the underwater cave grasping operation, the device's position can be adjusted to cover most of the cave area, and the device will not collide with the cave wall due to restricted movement during position adjustment; it can effectively grasp objects whose positions within the cave are constantly changing due to water flow by combining pre-adsorption and flexible grasping methods.

[0058] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An underwater grasping device for underwater caves, characterized in that, The device includes a main cylindrical frame, grippers, a fixing component, an adsorption component, and a drainage pipe. The main cylindrical frame extends into an underwater cave. The grippers are located at the front end of the main cylindrical frame and open or close via a linkage mechanism. The fixing component is sleeved in the middle of the main cylindrical frame and is slidably connected to the main cylindrical frame via a screw mechanism. Multiple anti-slip claws are provided on the outside of the fixing component, and the anti-slip claws abut against the inner wall of the cave. The adsorption component is telescopically connected to the main cylindrical frame via a gear and rack mechanism. The drainage pipe is vertically fixed at the end of the main cylindrical frame and is connected to the interior of the adsorption component. Both ends of the drainage pipe and the front end of the adsorption component are connected to the underwater environment.

2. The underwater grasping device for underwater caves according to claim 1, characterized in that, The fixing assembly includes an inner ring, a middle ring, and an outer ring arranged sequentially from the inside to the outside. The inner ring is slidably connected to the main frame, the middle ring is rotatably connected to the inner ring, and the rotation axis of the middle ring is arranged radially along the inner ring. The outer ring is rotatably connected to the middle ring, and the rotation axis of the outer ring is arranged radially along the middle ring. The rotation axes of the middle ring and the inner ring are perpendicular to each other.

3. The underwater grasping device for underwater caves according to claim 2, characterized in that, The multiple anti-slip claws are evenly spaced along the circumference of the outer ring, and a scissor arm is provided between the anti-slip claws and the outer ring. The scissor arm extends and retracts through a gear mechanism.

4. The underwater grasping device for underwater caves according to claim 1, characterized in that, The adsorption assembly includes a telescopic pipe and a suction cup. The telescopic pipe is slidably connected to the inside of the main body frame. The front end of the telescopic pipe passes through the main body frame. The suction cup is fixedly installed at the front end of the telescopic pipe. The inside of the suction cup, the telescopic pipe, and the middle of the drainage pipe are connected in sequence.

5. The underwater grasping device for underwater caves according to claim 4, characterized in that, The drainage pipe is equipped with propellers at both ends. The two propellers are installed symmetrically, and the two propellers rotate in the same direction and at the same speed around their respective main shafts.

6. The underwater grasping device for underwater caves according to claim 1, characterized in that, The gripper includes a front finger baffle and a rear finger baffle, and three of each are provided. A triangular disk is fixedly provided at the front end of the main frame. The front finger baffle, the rear finger baffle, and the side edges of the triangular disk correspond one-to-one. One end of the rear finger baffle is hinged to the corresponding side edge of the triangular disk, and the other end is hinged to the corresponding front finger baffle. When the gripper is fully closed, the three front finger baffles, the three rear finger baffles, and the triangular disk combine to form a basically closed cavity.

7. An underwater grasping device for underwater caves according to claim 6, characterized in that, A fingertip pressure sensor is installed on the inner side of the front finger guard, and a fingertip pressure sensor is installed on the inner side of the non-hinged end of the front finger guard. A camera is mounted on the triangular disk.

8. The underwater grasping device for underwater caves according to claim 6, characterized in that, There are three linkage mechanisms. The main frame has a sliding ring slidably fitted near the linkage mechanism. An electric push rod is installed on the outside of the main frame. The movable end of the electric push rod is fixedly connected to the sliding ring. Three push rods are hinged on the sliding ring. The linkage mechanism, push rods, and rear finger baffle correspond one to one. The other end of the push rod is hinged to the linkage mechanism.

9. A method of operating an underwater grasping device for underwater caves, applied to the underwater grasping device for underwater caves as described in any one of claims 1-8, characterized in that, Includes the following steps: S1: Slowly lower the device into the underwater cave, turn on the camera to detect the device's position in the underwater cave, until it reaches a suitable position in the underwater cave; S2: The scissor arm extends and the anti-slip claw moves to the contact wall and locks; S3: The camera identifies the location of the target object, adjusts the device posture, controls the rotation of the middle ring and inner ring, and after the posture of the main tube frame is aligned with the location of the target object, the screw mechanism is activated, and the front end of the main tube frame moves closer to the target object. S4: The telescopic tube extends forward, the two propellers are activated, the suction cups adhere to the target object, and then the telescopic tube retracts backward. S5: The electric push rod extends, the grippers close and hold the target object, and the two propellers are shut off; S6: Control the rotation of the middle ring and inner ring to the same plane as the outer ring, the scissor arm retracts, the anti-slip claw leaves the cave wall, and the device slowly moves out of the underwater cave.

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