An underwater salvage mechanical claw device for fire rescue

Abstract

This invention discloses an underwater salvage mechanical claw device for fire rescue, comprising an operating lever and an operating frame. A mechanical claw mechanism is connected to the bottom of the operating lever, and a clamping mechanism is connected to the mechanical claw mechanism. The mechanical claw mechanism includes a fixed base and multiple inclined claw plate mounting bases evenly fixed along its outer side. Two single claw plates are symmetrically rotatably connected to the outer end of each claw plate mounting base. A connecting shaft is fixed to the top of the two single claw plates and connected to the clamping mechanism. A cutting blade is provided between the two single claw plates. The top of the cutting blade is rotatably mounted in a rotating groove at the bottom of the claw plate mounting base via a cutting shaft. Both ends of the cutting shaft extend into the claw plate mounting base and are connected to a drive assembly. This device controls the rotation of the cutting blade through the drive assembly, actively cutting obstacles such as fishing nets and aquatic plants entangled on the mechanical claw to avoid jamming. Simultaneously, the inclined double claw plate structure improves the stability and reliability of the gripping action, making it suitable for complex underwater rescue environments.

Description

Technical Field

[0001] This invention relates to the field of underwater rescue technology, specifically to an underwater salvage mechanical claw device for fire rescue. Background Technology

[0002] Underwater salvage operations are a crucial part of fire and rescue efforts, especially in rescue missions involving people falling into the water, vehicles crashing into the water, and underwater evidence searches, where equipment such as robotic claws is often needed to retrieve target objects. Currently commonly used underwater salvage robotic claws typically consist of a control lever, a drive mechanism, and a claw body, with the claw's opening and closing controlled manually or hydraulically.

[0003] However, the actual underwater environment is complex and changeable during salvage operations, and rescue sites often contain a large number of entanglement obstacles such as fishing nets, aquatic plants, ropes, and abandoned nets. These obstacles can easily become entangled between the claw plates or at the pivot points when the robotic claw approaches or grabs the target object, causing the claw to be unable to open and close properly, jamming, or even completely failing, seriously affecting the continuity and reliability of the salvage operation.

[0004] Existing robotic grippers generally lack the function of actively clearing entangled objects. Operators often have to try to free the object by repeatedly shaking, dragging, or even giving up the gripping, which is inefficient and can easily cause equipment damage or the target object to fall again.

[0005] Based on this, the present invention designs an underwater salvage mechanical claw device for fire rescue to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide an underwater salvage mechanical claw device for fire rescue, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An underwater salvage mechanical claw device for fire rescue includes an operating rod and an operating frame fixed to the top of the operating rod. The operating frame is connected to the operating mechanism of a rescue boat or shore rescue equipment to control the position of the mechanical claw device. The bottom of the operating rod is connected to a mechanical claw mechanism, and an opening and closing mechanism is connected to the mechanical claw mechanism. The mechanical claw mechanism includes a fixed base fixed to the bottom of the operating lever and multiple inclined claw plate mounting bases evenly fixed to the outside of the fixed base along the circumferential direction. Two single claw plates are symmetrically arranged and rotatably connected on both sides of the outer end of the claw plate mounting base. The top of the two single claw plates is fixed to a connecting shaft and connected to the opening and closing mechanism through the connecting shaft. A cutting blade is provided between two single claw plates located on the same claw plate mounting base. A rotating groove is provided in the middle of the lower part of the claw plate mounting base. The top of the cutting blade is located in the rotating groove and a cutting shaft is fixed thereon. Both ends of the cutting shaft are rotatably connected to the claw plate mounting base, and the ends extend into the interior of the claw plate mounting base and are connected to the drive assembly.

[0008] Preferably, the drive assembly includes two movable cavities symmetrically arranged on the lower side of the claw plate mounting base. The two movable cavities are symmetrically located on both sides of the rotating groove, and the top of the two movable cavities are connected to a spring cavity. The two ends of the cutter shaft extend into the corresponding movable cavities and are fixed with gears. The bottom of each gear meshes with a rack that is slidably connected to the bottom of the movable cavity. The top ends of the two racks extend into the spring cavity and are fixed with spring plates. One end of the spring plate is connected to one end of the spring cavity through a spring. The two sides of the spring plate are symmetrically fixed with first electromagnets, and the two ends of the spring cavity are correspondingly fixed with second electromagnets. The first electromagnets and the second electromagnets are electrically connected to a power source and a switch.

[0009] Preferably, the opening and closing mechanism includes a movable cylinder slidably connected to the outside of the operating rod. The top of the movable cylinder is fixed with an annular movable end plate, and multiple movable cylinders are connected between the movable end plate and the operating frame. The bottom of the movable cylinder is fixed with an annular movable seat. The movable seat is evenly provided with multiple mounting slots along the circumferential direction. An adjusting rod is rotatably connected in each mounting slot, and the bottom end of the adjusting rod is rotatably connected to the connecting shaft at the corresponding position.

[0010] Preferably, the fixed base has an internal receiving cavity with an opening at the bottom. The bottom of the receiving cavity is provided with a sealing component, and a telescopic magnetic attraction component is provided inside. The telescopic magnetic attraction component includes a telescopic cylinder connected to the top of the fixed base. The bottom of the telescopic cylinder is fixed with a telescopic base, and the bottom of the telescopic base is provided with an electromagnet. The electromagnet is electrically connected to a power source and a switch.

[0011] Preferably, the sealing structure includes telescopic cavities symmetrically arranged on both sides of the lower part of the receiving cavity. A sealing block is slidably connected in the telescopic cavity. The inner end of the sealing block is connected to the inner end of the telescopic cavity through a spring. A third electromagnet and a fourth electromagnet are respectively fixed on the inner ends of the sealing block and the telescopic cavity, and the third electromagnet and the fourth electromagnet are electrically connected to a power source and a switch.

[0012] Preferably, the operating lever has a cylindrical cavity along the axial direction inside to accommodate the telescopic cylinder and to arrange other control and power supply wires.

[0013] Preferably, a reinforcing rod is fixed between the lower parts of two single claw plates located on the same claw plate mounting base.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, by setting an actively rotating cutting blade between two single-claw plates, can promptly cut off obstacles such as fishing nets and aquatic plants when the mechanical claw becomes entangled, effectively avoiding jamming and ensuring the continuous and reliable grasping action; 2. By employing multiple inclined claw plate mounting seats and a double single claw plate structure, this invention significantly increases the gripping contact area and optimizes the force distribution, making the mechanical claw more stable and secure in gripping target objects in complex underwater environments. 3. The cutting blade of this invention is built into the rotating groove at the bottom of the claw plate mounting base, and does not interfere with the opening and closing mechanism. It has a compact structure and independent control, and can realize the active obstacle removal function without changing the conventional operation process. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the operating lever of the present invention; Figure 3 This is a schematic diagram of the structure of the single-claw plate of the present invention; Figure 4 This is a schematic diagram of the cutting blade of the present invention; Figure 5 This is a schematic diagram of the moving cavity and spring cavity of the present invention; Figure 6 This is a schematic diagram of the internal structure of the fixing base of the present invention.

[0017] The attached diagram lists the components represented by each number as follows: 100-Operating lever, 101-Operating frame, 102-Moving cylinder, 103-Telescopic cylinder, 104-Telescopic seat, 105-Attractive electromagnet; 200-Moving cylinder, 201-Moving end plate, 202-Moving base, 203-Adjusting rod, 204-Mounting slot; 300-Fixed base, 301-Accommodation cavity, 302-Telescopic cavity, 303-Sealing block, 304-Third electromagnet, 305-Fourth electromagnet; 400-Single claw plate, 401-Claw plate mounting base, 402-Rotating groove, 403-Reinforcing rod, 404-Connecting shaft, 405-Moving cavity, 406-Spring cavity, 407-Second electromagnet; 500-Cutting blade, 501-Cut shaft, 502-Gear, 503-Rack, 504-Spring plate, 505-First electromagnet. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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.

[0019] Example 1 Please refer to the accompanying drawings. This invention provides a technical solution: An underwater salvage mechanical claw device for fire rescue includes an operating lever 100 and an operating frame 101 fixed to the top of the operating lever 100. The operating frame 101 is connected to the operating mechanism of a rescue boat or shore rescue equipment to control the position of the mechanical claw device. The bottom of the operating lever 100 is connected to a mechanical claw mechanism, and an opening and closing mechanism is connected to the mechanical claw mechanism. The mechanical claw mechanism includes a fixed base 300 fixed to the bottom of the operating rod 100 and multiple inclined claw plate mounting bases 401 uniformly fixed to the outside of the fixed base 300 along the circumferential direction. Two single claw plates 400 are symmetrically arranged and rotatably connected on both sides of the outer end of the claw plate mounting base 401. The top of the two single claw plates 400 is fixed to a connecting shaft 404 and connected to the opening and closing mechanism through the connecting shaft 404. A cutting blade 500 is provided between two single claw plates 400 located on the same claw plate mounting base 401. A rotating groove 402 is provided in the middle of the lower part of the claw plate mounting base 401. The top end of the cutting blade 500 is located in the rotating groove 402 and is fixed with a blade shaft 501. Both ends of the blade shaft 501 are rotatably connected to the claw plate mounting base 401, and the end extends into the interior of the claw plate mounting base 401 and is connected to the drive assembly.

[0020] During the salvage operation, the system connects to the rescue equipment via the operating lever 100 and the operating frame 101, and uses the opening and closing mechanism to drive the mechanical claw mechanism to complete the grasping action.

[0021] The opening and closing mechanism drives the two symmetrical single claw plates 400 on each claw plate mounting base 401 to rotate around the axis via the connecting shaft 404. The claw plates open outward and close inward when they move to the location of the retrieved item, thereby realizing the opening and closing gripping.

[0022] During the salvage process, if the mechanical claw mechanism is entangled with obstacles such as fishing nets or aquatic plants, the drive component drives the cutter shaft 501 to rotate, thereby driving the cutting blade 500 located between the two single claw plates 400 to rotate, actively cutting the entangled fishing nets, aquatic plants, etc., to avoid the obstacles from hindering the work of the mechanical claw mechanism.

[0023] The multiple inclined claw plate mounting seats 401 of this device make the gripping more stable. The double single claw plate 400 structure increases the gripping contact area and distributes the force, improving the gripping reliability. The built-in actively controllable cutting blade 500 can clear entangled objects in time and avoid mechanical claw jamming, thereby improving the efficiency and safety of underwater rescue operations.

[0024] The drive assembly includes two symmetrically arranged movable cavities 405 on the lower side of the claw plate mounting base 401. The two movable cavities 405 are symmetrically located on both sides of the rotating groove 402, and the top of the two movable cavities 405 are connected to a spring cavity 406. The two ends of the cutter shaft 501 extend into the corresponding movable cavities 405 and are fixed with gears 502. The bottom of each gear 502 is engaged with a rack 503 that is slidably connected to the bottom of the movable cavity 405. The top ends of the two racks 503 extend into the spring cavity 406 and are fixed with spring plates 504. One end of the spring plate 504 is connected to one end of the spring cavity 406 through a spring. The two sides of the spring plate 504 are symmetrically fixed with first electromagnets 505, and the two ends of the spring cavity 406 are correspondingly fixed with second electromagnets 407. The first electromagnets 505 and the second electromagnets 407 are electrically connected to a power source and a switch.

[0025] When cutting is required, the switch is turned on, and the first electromagnet 505 and the second electromagnet 407 generate magnetic force, driving the spring plate 504 to move to one side against the spring force, thereby driving the two racks 503 to slide synchronously. The racks 503 drive the cutter shaft 501 to rotate through the gear 502, so that the cutting blade 500 rotates to the working position. After the power is turned off, the electromagnetic force disappears, the spring pushes the spring plate 504 to reset, and the cutting blade 500 automatically retracts. The drive component is integrated inside the claw plate mounting base 401, which has good waterproofness and space utilization, and improves the convenience and safety of underwater rescue operations.

[0026] The opening and closing mechanism includes a movable cylinder 200 slidably connected to the outside of the operating rod 100. The top of the movable cylinder 200 is fixed with an annular movable end plate 201, and multiple movable cylinders 102 are connected between the movable end plate 201 and the operating frame 101. The bottom of the movable cylinder 200 is fixed with an annular movable seat 202. The movable seat 202 is evenly provided with multiple mounting slots 204 along the circumferential direction. An adjusting rod 203 is rotatably connected in each mounting slot 204, and the bottom end of the adjusting rod 203 is rotatably connected to the connecting shaft 404 at the corresponding position.

[0027] When the cylinder extends or retracts, it pushes the movable end plate 201, the movable cylinder 200 and the bottom annular movable seat 202 to slide up and down along the outer wall of the operating rod 100. The adjusting rod 203 then pushes and pulls the connecting shaft 404, causing the single claw plate 400 to rotate around its hinge point with the claw plate mounting seat 401, thereby completing the synchronous opening or closing of all claw plates.

[0028] Example 2 The structure of this embodiment is basically the same as that of Embodiment 1. The difference is that the fixed base 300 has a receiving cavity 301 inside, and the bottom end of the receiving cavity 301 has an opening. The bottom of the receiving cavity 301 has a sealing assembly, and the inside has a telescopic magnetic suction assembly. The telescopic magnetic suction assembly includes a telescopic cylinder 103 connected to the top of the fixed base 300. The bottom end of the telescopic cylinder 103 is fixed with a telescopic base 104, and the bottom of the telescopic base 104 is provided with an electromagnet 105. The electromagnet 105 is electrically connected to a power source and a switch.

[0029] When assisted adsorption is needed, the sealing assembly at the bottom of the fixing seat 300 opens, the telescopic cylinder 103 starts and pushes the telescopic seat 104 downward, so that the adsorption electromagnet 105 extends out of the receiving cavity 301; after the power is turned on and the switch is turned on, the electromagnet generates magnetic force to adsorb the iron structure on the salvaged item, thereby working with the mechanical claw to fix the item; after the salvage and transfer are completed, the power is turned off and the magnetization is deactivated, the telescopic cylinder 103 retracts, and the adsorption electromagnet 105 is returned to the receiving cavity 301, and the sealing assembly closes.

[0030] By integrating the magnetic attraction function into the fixed base 300, which does not interfere with the mechanical claw, dual fixation of gripping and magnetic attraction is achieved, significantly improving the stability of transferring heavy or ferrous salvaged objects; the telescopic design allows the adsorption electromagnet 105 to extend only when needed and be stored in a sealed chamber when not in use, which can effectively prevent underwater debris from getting entangled or damaged by impact; the sealing component ensures the waterproof and anti-fouling performance of the adsorption electromagnet 105 and the telescopic mechanism, improving the reliability and service life of the device.

[0031] The sealing structure includes telescopic cavities 302 symmetrically arranged on both sides of the lower part of the receiving cavity 301. A sealing block 303 is slidably connected in the telescopic cavity 302. The inner end of the sealing block 303 is connected to the inner end of the telescopic cavity 302 through a spring. A third electromagnet 304 and a fourth electromagnet 305 are respectively fixed on the inner ends of the sealing block 303 and the telescopic cavity 302. The third electromagnet 304 and the fourth electromagnet 305 are electrically connected to a power source and a switch.

[0032] During sealing, the two sealing blocks 303, under the action of the spring, meet and close at the center of the lower part of the receiving cavity 301 to achieve a seal. When it is necessary to extend the telescopic magnetic component, the power is turned on so that the third electromagnet 304 and the fourth electromagnet 305 generate a magnetic force that attracts each other, overcoming the spring force and pulling the sealing block 303 back into the telescopic cavity 302, thereby opening the channel and allowing the telescopic magnetic component to extend. When the telescopic magnetic component returns to its original position, the third electromagnet 304 and the fourth electromagnet 305 are de-energized, and the spring pushes the sealing block 303 to automatically reset and close.

[0033] Example 3 The structure of this embodiment is basically the same as that of embodiment two. The difference is that the inside of the operating lever 100 is provided with a cylindrical cavity along the axial direction to accommodate the telescopic cylinder 103 and to arrange other control and power supply wires.

[0034] Example 4 The structure of this embodiment is basically the same as that of embodiment one. The difference is that a reinforcing rod 403 is fixed between the lower parts of the two single claw plates 400 located on the same claw plate mounting base 401. The reinforcing rod 403 improves the positional stability of the two single claw plates 400.

[0035] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0036] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An underwater salvage mechanical claw device for fire rescue, comprising an operating rod (100) and an operating frame (101) fixed to the top of the operating rod (100), wherein a mechanical claw mechanism is connected to the bottom of the operating rod (100), and an opening and closing mechanism is connected to the mechanical claw mechanism, characterized in that: The mechanical claw mechanism includes a fixed base (300) fixed to the bottom of the operating rod (100) and a plurality of inclined claw plate mounting bases (401) uniformly fixed to the outside of the fixed base (300) along the circumferential direction. Two single claw plates (400) are symmetrically arranged and rotatably connected on both sides of the outer end of the claw plate mounting base (401). The top of the two single claw plates (400) is fixed with a connecting shaft (404) and connected to the opening and closing mechanism through the connecting shaft (404). A cutting blade (500) is provided between two single claw plates (400) located on the same claw plate mounting base (401). A rotating groove (402) is provided in the middle of the lower part of the claw plate mounting base (401). The top of the cutting blade (500) is located in the rotating groove (402) and a cutting shaft (501) is fixed thereon. The two ends of the cutting shaft (501) are rotatably connected to the claw plate mounting base (401), and the end extends into the interior of the claw plate mounting base (401) and is connected to the drive assembly.

2. The underwater salvage mechanical claw device for fire rescue according to claim 1, characterized in that: The drive assembly includes two movable cavities (405) symmetrically arranged on the lower side of the claw plate mounting base (401). The two movable cavities (405) are symmetrically located on both sides of the rotating groove (402), and the top of the two movable cavities (405) are connected to a spring cavity (406). The two ends of the cutter shaft (501) extend into the corresponding movable cavities (405) and are fixed with gears (502). The bottom of each gear (502) is engaged with a sliding contact with the bottom of the movable cavity (405). The racks (503) are dynamically connected, and the tops of the two racks (503) extend into the spring cavity (406) and are fixed with spring plates (504). One end of the spring plate (504) is connected to one end of the spring cavity (406) through a spring. The two sides of the spring plate (504) are symmetrically fixed with first electromagnets (505), and the two ends of the spring cavity (406) are correspondingly fixed with second electromagnets (407). The first electromagnets (505) and the second electromagnets (407) are electrically connected to a power source and a switch.

3. The underwater salvage mechanical claw device for fire rescue according to claim 1, characterized in that: The opening and closing mechanism includes a movable cylinder (200) slidably connected to the outside of the operating rod (100). The top of the movable cylinder (200) is fixed with an annular movable end plate (201), and multiple movable cylinders (102) are connected between the movable end plate (201) and the operating frame (101). The bottom of the movable cylinder (200) is fixed with an annular movable seat (202). The movable seat (202) is evenly provided with multiple mounting slots (204) along the circumferential direction. An adjusting rod (203) is rotatably connected in each mounting slot (204), and the bottom of the adjusting rod (203) is rotatably connected to the connecting shaft (404) at the corresponding position.

4. The underwater salvage mechanical claw device for fire rescue according to claim 1, characterized in that: The fixed base (300) has a receiving cavity (301) inside, and the bottom end of the receiving cavity (301) has an opening. The bottom of the receiving cavity (301) has a sealing component, and the inside has a telescopic magnetic suction component. The telescopic magnetic suction component includes a telescopic cylinder (103) connected to the top of the fixed base (300). The bottom end of the telescopic cylinder (103) is fixed with a telescopic base (104), and the bottom of the telescopic base (104) is provided with an electromagnet (105). The electromagnet (105) is electrically connected to a power source and a switch.

5. The underwater salvage mechanical claw device for fire rescue according to claim 4, characterized in that: The sealing structure includes telescopic cavities (302) symmetrically arranged on both sides of the lower part of the receiving cavity (301). A sealing block (303) is slidably connected in the telescopic cavity (302). The inner end of the sealing block (303) is connected to the inner end of the telescopic cavity (302) through a spring. A third electromagnet (304) and a fourth electromagnet (305) are respectively fixed on the inner ends of the sealing block (303) and the telescopic cavity (302). The third electromagnet (304) and the fourth electromagnet (305) are electrically connected to a power source and a switch.

6. The underwater salvage mechanical claw device for fire rescue according to claim 4, characterized in that: The operating lever (100) has a cylindrical cavity along the axial direction inside.

7. The underwater salvage mechanical claw device for fire rescue according to any one of claims 1 to 6, characterized in that: A reinforcing rod (403) is fixed between the lower parts of the two single claw plates (400) located on the same claw plate mounting base (401).

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