A gripping device, a fishing device and a fishing method

Abstract

This invention discloses a gripping device, belonging to the technical field of deep-sea large target salvage devices. It includes a cable and symmetrically arranged first and second gripping arms. A first driving mechanism controls the opening and closing of the first and second gripping arms. The first gripping arm includes a first clamping rod, with a plug assembly between adjacent first clamping rods. The second gripping arm includes a second clamping rod, with a socket assembly between adjacent second clamping rods. The plug assembly is used to connect with the socket assembly. After the cable is connected to the second driving mechanism, both ends of the cable are fixedly connected to the plug assembly and the socket assembly, respectively. The plug assembly and the socket assembly are then inserted. After the plug assembly and socket assembly are inserted, the first and second gripping arms move away from each other under the driving action of the first driving mechanism. The plug assembly disengages from the first gripping arm, and the socket assembly disengages from the second gripping arm. The first driving mechanism drives the first and second gripping arms away from the target object, and the second driving mechanism moves the cable.

Description

Technical Field

[0001] This invention relates to the field of deep-sea large target salvage equipment, and in particular to a grabbing device, salvage device and salvage method. Background Technology

[0002] With the rapid development of deep-sea exploration, deep-sea scientific research, and marine engineering equipment technology, the application frequency and operating depth of various high-end deep-sea equipment such as submersibles and large underwater experimental equipment are constantly increasing. As a result, deep-sea equipment accidents and sinkings are occurring frequently, making the demand for precise and safe salvage operations of large underwater sunken targets increasingly prominent.

[0003] Unlike conventional small underwater equipment, large targets such as sunken submersibles and large underwater experimental equipment are characterized by high cost, large overall size, and large individual mass. Furthermore, the complex deep-sea environment, with its turbulent currents, complex seabed composition, and extremely high water pressure, significantly increases the difficulty of salvage operations. Therefore, salvage operations for large deep-sea targets place far more stringent demands on the load-bearing capacity, underwater gripping stability, adaptability to complex conditions, and operational safety of salvage equipment than those using conventional small equipment.

[0004] Currently, most of the mainstream underwater salvage operations in the industry adopt grab bucket salvage technology. This technology is widely used in the salvage of conventional underwater debris, small equipment and sand and gravel materials due to its advantages of simple structure and convenient operation. However, in the salvage of large sunken objects in the deep sea, there are many unavoidable technical defects, which cannot meet the requirements of high-precision and high-safety salvage operations.

[0005] First, existing grab-type salvage equipment suffers from insufficient load-bearing and gripping capacity, significantly limiting its suitability for large-scale, heavy-duty salvage scenarios. Traditional underwater grabs are limited in structural strength and hydraulic drive power, resulting in a limited rated load-bearing capacity. This makes it difficult to provide sufficient lifting torque and stable gripping force for large, deep-sea submerged targets weighing several tons. During actual salvage operations, the lifting process from the bottom is susceptible to problems such as target slippage and grab failure due to complex deep-sea currents and the target's own center of gravity shift, leading to low success rates and poor operational stability. To address the insufficient gripping force, existing technologies typically employ optimization methods such as increasing the grab's structural size and strengthening the drive structure. This results in a bulky and cumbersome overall grab structure, significantly increasing the difficulty of equipment design and manufacturing, and reducing the convenience and flexibility of underwater deployment, positioning, and operation, leading to extremely poor adaptability.

[0006] Secondly, existing salvage equipment has poor adaptability to the condition of irregularly shaped or damaged targets, easily causing secondary damage. During the sinking of large deep-sea objects, the shell is prone to compression deformation and structural damage, and most targets are partially embedded in seabed sediment such as mud and gravel, resulting in extremely irregular external contours. Existing rigid grabs and mechanical grippers are fixed rigid structures without adaptive contour envelope capabilities, making it impossible to conform to the irregular or deformed shape of the target for proper gripping. Especially for high-end equipment with strict requirements for shape preservation and damage prevention, such as submersibles and precision underwater experimental equipment, rigid gripping structures are prone to causing secondary damage such as compression and impact to the equipment shell and precision structure, seriously affecting the repair and reuse of the target after salvage, and making it impossible to achieve non-destructive and safe salvage operations.

[0007] In summary, current deep-sea large target salvage technologies generally suffer from poor stability under heavy loads, insufficient structural adaptability, and susceptibility to damage to the target. These issues make it difficult to meet the requirements of safe, efficient, and non-destructive salvage operations for large and expensive deep-sea equipment. There is an urgent need to develop a new type of deep-sea large target salvage device to address the many shortcomings of existing technologies. Summary of the Invention

[0008] The purpose of this invention is to solve the above-mentioned technical problems and provide a gripping device and gripping method. A first driving mechanism drives a first gripping arm and a second gripping arm to move and open and close relative to each other. After the first gripping arm and the second gripping arm are opened relative to each other and moved to a predetermined position, the first gripping arm and the second gripping arm close on the outside of the target object. The plug assembly on the first gripping arm and the socket assembly on the second gripping arm are inserted. After the first gripping arm and the second gripping arm are inserted, the first gripping arm and the second gripping arm open. The plug assembly and the plug-in assembly, which are respectively connected to the cable, are fitted onto the target object. The second driving component drives the cable to move. The plug assembly, the socket assembly and the cable work together to retrieve the target object.

[0009] To achieve the above objectives, the present invention provides the following solution: a gripping device, 1. a gripping device, characterized in that: it includes a cable and symmetrically arranged first and second gripping arms; a first driving mechanism is capable of controlling the opening and closing of the first and second gripping arms and driving the first and second gripping arms to move; the first gripping arm includes a first clamping rod, and a plug assembly is provided between adjacent first clamping rods; the second gripping arm includes a second clamping rod, and a socket assembly is provided between adjacent second clamping rods; the plug assembly is used to plug into the socket assembly; after the cable is connected to the second driving mechanism, the cable is then fixedly connected to the plug assembly and the socket assembly respectively; When the clamping ends of the first clamping arm and the second clamping arm approach each other under the driving action of the first driving mechanism, the plug assembly and the socket assembly are plugged in; after the plug assembly and the socket assembly are plugged in, the first clamping arm and the second clamping arm move away from each other under the driving action of the first driving mechanism, the plug assembly is disconnected from the first clamping arm, the socket assembly is disconnected from the second clamping arm, the first driving mechanism drives the first clamping arm and the second clamping arm away from the target object, and the second driving mechanism drives the cable to move.

[0010] Preferably, the plug assembly includes a plug, a plug guide plate, a plug drive plate, a plug fixing seat, a plug limiting plate, a plug pressure plate, and a plug fixing plate; The plug guide plate is fixedly connected to the first clamping rod, and the plug drive plate is connected to the plug guide plate; the plug fixing seat is disposed on the plug drive plate; one end of the plug limiting plate is connected to the fixing seat and disposed on the outside of the fixing seat, the plug pressure plate is disposed on one side of the plug limiting plate and located on the side away from the plug fixing seat, the other end of the plug limiting plate is located on the outside of the plug, and a guide head is disposed on the side of the plug limiting plate near the plug; The plug fixing plate is provided with a plug fixing rod, and the plug is provided with a plug fixing groove corresponding to the plug fixing rod. The plug fixing rod is used to insert into the plug fixing groove.

[0011] Preferably, the socket assembly includes a socket, a socket drive board, a socket fixing plate, a first socket baffle, a second socket baffle, a socket pressure plate, a socket pin, and a socket spring; The second clamping rod has a receiving groove, and the socket driving plate is located in the receiving groove; the first socket baffle is fixed in the receiving groove, and the socket fixing plate and the second socket baffle are located between the socket driving plate and the first socket baffle in sequence; the socket fixing plate is provided with a socket fixing rod, and the socket is provided with a socket limiting groove corresponding to the socket fixing rod, and the socket fixing rod is inserted into the socket limiting groove; the socket is provided with a pin fixing groove for accommodating the socket pin, one end of the socket pin is located in the pin fixing groove, the other end of the pin socket is provided with a limiting block, the pin spring is sleeved on the socket pin, and the two ends of the socket spring are respectively connected to the limiting block and the outer wall of the pin fixing groove.

[0012] Preferably, the socket drive board is provided with a socket slide rod, the socket slide rod is fixedly connected to the socket drive board, the socket slide rod passes through the socket fixing plate and the second socket baffle respectively and is fixedly connected to the socket fixing plate and the second socket baffle, and the socket slide rod passes through the first socket baffle and is slidably connected to the first socket baffle.

[0013] Preferably, the socket assembly further includes a socket cover, and the socket is provided with a socket cover on the side of the socket near the first socket cover.

[0014] Preferably, the insertion end of the plug is provided with a tip, the bottom of which forms an inwardly narrowing stepped surface with the rod-shaped connection of the plug; the side of the pin near the tip is tapered towards the pin, so that the plug is inserted between adjacent pins.

[0015] Preferably, it further includes a plug degreasing mechanism and a socket degreasing mechanism, wherein the plug degreasing mechanism is disposed between adjacent first clamping rods and the socket degreasing mechanism is disposed between adjacent second clamping rods; The plug mud removal mechanism includes a plug water spray fixing pipe and a plug water suction fixing pipe. A plug water spray connecting pipe is connected to the side of the plug water spray fixing pipe away from the plug. A plug water spray release pipe is connected to the side of the plug water spray fixing pipe near the plug. A plug water suction connecting pipe is connected to the side of the plug water suction fixing pipe away from the plug. A plug water suction absorption pipe is connected to the side of the plug water suction fixing pipe near the plug. The socket mud removal mechanism includes a socket mud removal mechanism and a socket water absorption fixing pipe. A socket water spray connection pipe is connected to the side of the socket mud removal mechanism away from the socket, and a socket water spray release pipe is connected to the side of the socket mud removal mechanism close to the socket. A socket water absorption connection pipe is connected to the side of the socket water absorption fixing pipe away from the socket, and a socket water absorption absorption pipe is connected to the side of the socket water absorption fixing pipe close to the socket.

[0016] Preferably, it further includes a first drive cylinder and a second drive cylinder; The fixed end of the first driving cylinder is fixedly connected to the plug water spray fixing pipe, and the movable end of the first driving cylinder is connected to the plug driving plate. The plug driving plate is slidably connected to the plug guide plate. The first driving cylinder is used to drive the plug driving plate to slide on the plug guide plate. The fixed pipe of the second drive cylinder is fixedly connected to the socket mud removal mechanism, and the movable end of the second drive cylinder is connected to the socket drive plate. The second cylinder is used to drive the socket drive plate to slide in the receiving groove.

[0017] This application also discloses a salvage device, including the above-mentioned gripping device, comprising the gripping device, a first driving device and a second driving device, wherein the first driving mechanism can control the opening and closing of the first clamping arm and the second clamping arm and drive the first clamping arm and the second clamping arm to move, and the second driving mechanism can drive the cable to move.

[0018] This application also discloses a method for grasping using a retrieval device, including the aforementioned retrieval device, and the operating steps are as follows: a: The first driving mechanism drives the first clamping arm and the second clamping arm to move. After the first clamping arm and the second clamping arm are in a predetermined position, the first driving mechanism drives the clamping end of the first clamping arm and the clamping end of the second clamping arm to open. The first driving mechanism continues to drive the first clamping arm and the second clamping arm to move, so that the first clamping arm and the second clamping arm are respectively located on both sides of the target object. b: The first driving mechanism drives the first clamping arm and the second clamping arm to close, so that the clamping ends of the first clamping arm and the second clamping arm are both located below the target object. After the clamping ends of the first clamping arm and the second clamping arm are closed, the plug assembly and the socket assembly are plugged in. c: After the plug assembly and the socket assembly are plugged in, the first driving mechanism drives the first clamping arm and the second clamping arm to open, the plug assembly disengages from the first clamping arm, and the socket assembly disengages from the second clamping arm; d: The first drive component drives the first clamping arm and the second clamping arm away from the target object, and the second drive component drives the target object to move through the cable.

[0019] Compared with the prior art, the present invention achieves the following technical effects: a plug assembly and a second clamping arm socket assembly are respectively fixedly connected to the cable on the first clamping arm. The first driving mechanism controls the opening and closing of the first and second clamping arms to make the plug assembly and the socket assembly plug in. Correspondingly, the plug assembly, the socket assembly and the cable wrap around the target object. The second driving device drives the cable to move, thereby moving the target object. This can avoid the problem of insufficient clamping force due to excessive weight of the target object, and also avoid the problem of difficulty in holding the target object due to its irregular shape. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in 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 by analyzing these drawings without creative effort.

[0021] Figure 1 This is a front view schematic diagram of the gripping device in an embodiment of the present invention; Figure 2 This is a bottom view of the gripping device in an embodiment of the present invention; Figure 3 This is a top view of the gripping device in an embodiment of the present invention; Figure 4 This is a side view of the gripping device in an embodiment of the present invention; Figure 5 This is a top view of the fastener in an embodiment of the present invention; Figure 6 This is a side view of the fastener in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the first clamping arm in an embodiment of the present invention; Figure 8 This is a schematic diagram of the plug assembly (without plug mud removal mechanism) in an embodiment of the present invention (a, b, and c in the figure represent the structural diagrams of the plug assembly with plug, without plug, and with plug, respectively; a and c are exactly the same, and b is only to show the structural diagram of the plug assembly without plug). Figure 9 This is a schematic diagram of the plug assembly (with plug mud removal mechanism) in an embodiment of the present invention; Figure 10 This is a schematic diagram of the plug structure in an embodiment of the present invention. Figure 11 This is a schematic diagram of the structure of the second clamping arm in an embodiment of the present invention; Figure 12 This is a schematic diagram of the plug assembly (without a socket cleaning mechanism) in an embodiment of the present invention (a, b, and c in the figure represent the structure of no socket and no socket cover, no socket and only socket cover, and socket and socket cover, respectively. The structures of a, b, and c are the same, only the components are different, which are used to show the internal structure of the socket assembly). Figure 13 This is a schematic diagram of the plug assembly (with a socket mud removal mechanism) in an embodiment of the present invention; Figure 14 This is a schematic diagram of the plug and socket connection in an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached drawings: 1. First clamping arm; 11. First clamping rod; 12. Plug assembly; 121. Plug; 1211. Plug fixing groove; 1212. Plug through hole; 122. Plug guide plate; 123. Plug drive plate; 124. Plug fixing seat; 125. Plug limiting plate; 1251. Guide head; 126. Plug pressure plate; 127. Plug fixing plate; 1271. Plug fixing rod; 13. First connecting rod; 14. First connecting piece; 2. Second clamping arm; 21. Second clamping rod; 22. Socket assembly; 221. Receiving groove; 222. Socket; 2221. Socket fixing groove; 2222. Socket through hole; 223. Socket drive plate; 2231. Socket slide rod; 224. Socket fixing plate; 225. Second socket baffle; 226. 1. Socket baffle; 227. Socket pin; 228. Socket spring; 229. Socket cover; 230. Third socket baffle; 231. Socket pressure plate; 23. Second connecting rod; 24. Second connecting piece; 3. Cable; 4. Target object; 5. Telescopic device; 6. Fixing piece; 7. Plug mud removal mechanism; 71. Plug water spray fixing pipe; 72. Plug water spray connecting pipe; 73. Plug water spray release pipe; 74. Plug water suction fixing pipe; 75. Plug water suction connecting pipe; 76. Plug water suction absorption pipe; 8. Socket mud removal mechanism; 81. Socket mud removal mechanism; 82. Socket water spray connecting pipe; 83. Socket water spray release pipe; 84. Socket water suction fixing pipe; 85. Socket water suction connecting pipe; 86. Socket water suction absorption pipe; 9. First drive cylinder; 10. Second drive cylinder. Detailed Implementation

[0023] 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 a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments analyzed and obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The purpose of this invention is to provide a gripping device to solve the problems existing in the prior art. A first driving mechanism drives a first gripping arm and a second gripping arm to move and open and close relative to each other. After the first gripping arm and the second gripping arm are opened relative to each other and moved to a predetermined position, the first gripping arm and the second gripping arm close on the outside of the target object. The plug assembly on the first gripping arm and the socket assembly on the second gripping arm are inserted. After the first gripping arm and the second gripping arm are inserted, the first gripping arm and the second gripping arm open. The plug assembly and the plug-in assembly, which are respectively connected to the cable, are fitted onto the target object. The second driving component drives the cable to move. The plug assembly, the socket assembly, and the cable work together to retrieve the target object.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1: This embodiment provides a grasping device, such as Figures 1-14 As shown, the device includes a cable 3 and symmetrically arranged first clamping arms 1 and second clamping arms 2. A first driving mechanism can control the opening and closing of the first clamping arms 1 and second clamping arms 2, thereby moving the first clamping arms 1 and second clamping arms 2. The first clamping arm 1 includes a first clamping rod 11, and a plug assembly 12 is provided between adjacent first clamping rods 11. The second clamping arm 2 includes a second clamping rod 21, and a socket assembly 22 is provided between adjacent second clamping rods 21. The plug assembly 12 is used to connect with the socket assembly 22. After the cable 3 is connected to the second driving mechanism, both ends of the cable 3 are then fixedly connected to the plug assembly 12 and the socket assembly 22, respectively.

[0027] When the clamping ends of the first clamping arm 1 and the second clamping arm 2 approach each other under the driving action of the first driving mechanism, the plug assembly 12 and the socket assembly 22 are plugged in; after the plug assembly 12 and the socket assembly 22 are plugged in, the first clamping arm 1 and the second clamping arm 2 move away from each other under the driving action of the first driving mechanism, the plug assembly 12 is disconnected from the first clamping arm 1, the socket assembly 22 is disconnected from the second clamping arm 2, the first driving mechanism drives the first clamping arm 1 and the second clamping arm 2 away from the target object 4, and the second driving mechanism drives the cable 3 to move.

[0028] In one embodiment, the plug assembly 12 includes a plug 121, a plug guide plate 122, a plug drive plate 123, a plug fixing seat 124, a plug limiting plate 125, a plug pressure plate 126, and a plug fixing plate 127.

[0029] The plug guide plate 122 is fixedly connected to the first clamping rod 11, and the plug drive plate 123 is connected to the plug guide plate 122. The plug fixing seat 124 is fixedly connected to the plug drive plate 123 by bolts or the like. One end of the plug limiting plate 125 is connected to the fixing seat and is located on the outside of the fixing seat. The plug pressure plate 126 is located on one side of the plug limiting plate 125 and is located away from the plug fixing seat 124. The plug limiting plate 125 is fixed to the outside of the fixing seat by the plug pressure plate 126. Preferably, the plug pressure plate 126 and the fixing seat are fixedly connected by bolts. The other end of the plug limiting plate 125 is located on the outside of the plug. A guide head 1251 is provided on the side of the plug limiting plate 125 near the plug. The plug is located between the guide heads 1251. The position of the plug 121 is limited by the guide heads 1251. The plug 121 is provided with a plug through hole 1212 for the cable 3 to pass through.

[0030] The plug fixing plate 127 is provided with a plug fixing rod 1271, and the plug 121 is provided with a plug fixing groove 1211 corresponding to the plug fixing rod 1271. The plug fixing rod 1271 is used to insert into the plug fixing groove 1211, and the plug 121 is fixed by the insertion relationship between the plug fixing rod 1271 and the plug fixing groove 1211.

[0031] In one embodiment, a rod-shaped structure is used to transition between the limiting end of the plug 121 and the insertion end of the plug 121. The rod-shaped structure on the plug 121 and the limiting end of the plug 121 are inclined transition types, so that the plug limiting plate 125 is located outside the rod-shaped mechanism.

[0032] In one embodiment, the plug limiting plate 125 is made of a material that combines elasticity and rigidity. Preferably, carbon fiber is used as the material for the plug limiting plate 125. When the plug 121 is inserted between two adjacent plug limiting plates 125, the limiting end of the plug 121 will pass through the plug limiting plate 125 before being inserted. When the limiting end of the plug 121 passes through the plug limiting plate 125, the properties of the carbon fiber material will cause the plug limiting plate 125 to deform, making it easier for the limiting end of the plug to be inserted.

[0033] In one embodiment, the socket assembly 22 includes a socket 222, a socket drive plate 223, a socket fixing plate 224, a first socket baffle 226, a second socket baffle 225, a socket pressure plate 231, a socket pin 227, and a socket spring 228.

[0034] The second clamping rod 21 has a receiving groove 221, and the socket driving plate 223 is located in the receiving groove 221. Specifically, both ends of the socket driving plate 223 are located in the receiving grooves 221 on the second clamping rods 21 on both sides of the socket driving plate 223. The first socket baffle 226 is fixed in the receiving groove 221, and similarly, both ends of the first socket baffle 226 are also located in the receiving groove 221. The socket fixing plate 224 and the second socket baffle 225 are located between the socket driving plate 223 and the first socket baffle 226, respectively. The socket fixing plate 224 is located close to the socket driving plate 223 and away from the first socket baffle 226, and the second socket baffle 225 is located away from the socket driving plate 223 and close to the first socket baffle 226. The socket fixing plate 224 is provided with a socket fixing rod 2241, and the socket 222 is provided with a socket fixing groove 2221 corresponding to the socket fixing rod 2241. The socket fixing rod 2241 is inserted into the socket fixing groove 2221, and the socket 222 is fixed by the insertion relationship between the socket fixing rod 2241 and the socket fixing groove 2221. The socket 222 is also provided with a socket through hole 2222 for the cable 3 to pass through. The socket 222 has a pin fixing groove for accommodating the socket pin 227. One end of the socket pin 227 is located in the pin fixing groove, and the other end of the socket pin 227 is provided with a limit stop. A pin spring is sleeved on the socket pin 227. The two ends of the socket spring 228 are connected to the limit stop and the outer wall of the pin fixing groove, respectively. When the plug 121 is inserted into the socket 222 and squeezes the socket pin 227, the socket pin 227 can continue to move into the pin fixing groove. At this time, the socket spring 228 is compressed. When the pressure of the plug 121 on the socket pin 227 decreases, the socket spring 228 can make the socket pin 227 move out of the pin fixing groove. The connection relationship of the socket spring 228 can prevent the socket pin 227 from completely disengaging from the pin fixing groove.

[0035] In one embodiment, both ends of the socket fixing plate 224 and the second socket baffle 225 are also located in the receiving groove 221, and the socket fixing plate 224 and the second socket baffle 225 can slide in the receiving groove 221.

[0036] In one embodiment, a socket slide rod 2231 is provided on the socket drive plate 223. The socket slide rod 2231 is fixedly connected to the socket drive plate 223. The socket slide rod 2231 passes through the socket fixing plate 224 and the second socket baffle 225 respectively and is fixedly connected to the socket fixing plate 224 and the second socket baffle 225. The socket slide rod 2231 passes through the first socket baffle 226 and is slidably connected to the first socket baffle 226.

[0037] In one embodiment, the socket assembly 22 further includes a socket cover 229, with the socket cover provided on the side of the socket near the first socket cover 226.

[0038] In one embodiment, the socket assembly 22 further includes a third socket baffle 230 and a socket pressure plate 231. The third socket baffle 230 is located between the socket pressure plate 231 and the first socket baffle 226. The socket pressure plate 231 is provided with bolt holes, and the socket pressure plate 231 and the third socket baffle 230 are mounted on the first socket baffle 226 by bolts. When the plug is inserted into the socket, the third socket baffle 230 abuts against the plug, preventing the plug from directly contacting the first socket baffle 226.

[0039] In one embodiment, the third socket cover 230 is also made of carbon fiber. In one embodiment, the insertion end of the plug is provided with a tip, the bottom of which forms an inwardly narrowing stepped surface with the rod-shaped connection of the plug; the side of the pin near the tip is tapered towards the pin, so that the plug can be inserted between adjacent pins.

[0040] In one embodiment, the device further includes a plug descaling mechanism 7 and a socket descaling mechanism 8. The plug descaling mechanism 7 is disposed between adjacent first clamping rods 11, and the socket descaling mechanism 8 is disposed between adjacent second clamping rods 21.

[0041] The plug descaling mechanism 7 includes a plug water spray fixing pipe 71 and a plug water suction fixing pipe 74. Both the plug water spray fixing pipe 71 and the plug water suction fixing pipe 74 are fixedly connected to the first clamping rod 11. Preferably, the plug water spray fixing pipe 71 and the plug water suction fixing pipe 74 are fixedly connected by bolts. A plug water spray connecting pipe 72 is connected to the side of the plug water spray fixing pipe 71 away from the plug. The plug water spray connecting pipe 72 is also connected to a first water spraying device. A second water spraying device is used to provide pressurized water to the plug water spray fixing pipe 71. A plug water spray release pipe 73 is connected to the side of the plug water spray fixing pipe 71 near the plug. The water in the plug water spray fixing pipe 71 is released through the plug water spray release pipe 73. A plug suction pipe 75 is connected to the side of the plug away from the plug. The plug suction pipe 75 is also connected to a device with suction function such as a water pump. A plug suction absorption pipe 76 is connected to the side of the plug suction pipe 74 near the plug. The plug suction absorption pipe 76 draws in water, and the drawn-in water enters the plug suction connection pipe 75 through the plug suction pipe 74.

[0042] The socket cleaning mechanism 8 includes a socket water spray fixing pipe 81 and a socket water suction fixing pipe 84. Both the socket water spray fixing pipe 81 and the socket water suction fixing pipe 84 are fixedly connected to the second clamping rod 21. Preferably, the socket water spray fixing pipe 81 and the socket water suction fixing pipe 84 are fixedly connected by bolts. A socket water spray connecting pipe 82 is connected to the side of the socket water spray fixing pipe 81 away from the socket. The socket water spray connecting pipe 82 is also connected to a second water spraying device. The second water spraying device is used to provide pressurized water to the socket water spray fixing pipe 71. A socket water spray release pipe 83 is connected to the side of the socket water spray fixing pipe 81 near the socket. The water in the socket water spray fixing pipe 81 is released through the socket water spray release pipe 83. A socket water suction connecting pipe 85 is connected to the side of the socket away from the socket. The socket water suction connecting pipe 85 is also connected to a water pump or other device with suction function. A socket water suction absorption pipe 86 is connected to the side of the socket water suction fixing pipe 84 near the socket. The socket water suction absorption pipe 86 draws in water, and the drawn-in water enters the plug water suction connecting pipe 75 through the socket water suction fixing pipe 84.

[0043] When the plug and socket are obstructed by silt, water is sprayed through the plug water release pipe 73 and the socket water release pipe 83 to disperse the silt and form a mud-water mixture. Then, the mud-water mixture is extracted from the area where the plug and socket are located through the plug water absorption pipe 76 and the socket water absorption pipe 86. Extracting the mud-water mixture not only facilitates the plug and socket connection but also makes it easier to observe the situation in the area where the plug and socket are located through monitoring equipment.

[0044] In one embodiment, the first and second water spray devices can be the same type of water spray device or the same water spray device, as long as they can provide a stable water flow pressure for the plug water spray fixing pipe 71 and the socket water spray fixing pipe 81. Similarly, the water pump connected to the plug water suction connecting pipe 75 and the water pump connected to the socket water suction connecting pipe 85 can be the same type of water pump or the same water pump, as long as they can provide the ability to attract water flow for the plug water suction fixing pipe 74 and the socket water suction fixing pipe 84.

[0045] In one embodiment, it further includes a first drive cylinder 9 and a second drive cylinder 10.

[0046] The fixed end of the first driving cylinder 9 is fixedly connected to the plug spray water fixing pipe 71, and the movable end of the first driving cylinder 9 is connected to the plug driving plate 123. The plug driving plate 123 is slidably connected to the plug guide plate 122. The first driving cylinder 9 is used to drive the plug driving plate 123 to slide on the plug guide plate 122. When the first driving cylinder 9 drives the plug driving plate 123 to move, due to the connection relationship between the plug limiting plate 125 and the plug driving plate 123, the plug will follow the plug driving plate 123 to move under the drive of the plug limiting plate 125. The fixed pipe of the second drive cylinder 10 is fixedly connected to the socket spray water fixed pipe 81. The movable end of the second drive cylinder 10 is connected to the socket drive plate 223. The second cylinder is used to drive the socket drive plate 223 to slide in the receiving groove 221. Due to the specified connection relationship between the socket slide rod 2231 on the socket drive plate 223 and the socket fixing plate 224 and the second socket baffle 225, and the sliding connection relationship between the socket slide rod 2231 and the first socket baffle 226, when the socket drive plate 223 moves under the action of the second cylinder, the socket fixing plate 224 and the second socket baffle 225 will move with the socket drive plate 223. Due to the insertion relationship between the socket fixing rod on the socket fixing plate 224 and the socket limiting groove on the socket 222, the socket 222 will also move with the socket drive plate 223 (during this process, the position of the first socket baffle 226 is fixed).

[0047] Driven by the first driving cylinder 9 and the second driving cylinder 10, the plug 121 and the socket 222 will move closer to each other until they are connected. When the plug 121 is inserted into the socket 222, the shape of the socket pin 227 is adapted to the insertion end of the plug 121, allowing the plug 121 to pass through the gap between the socket pins 227. Once inserted into the gap between the socket pins 227, the plug 121 cannot come out, ensuring a stable connection between the plug 121 and the socket 222.

[0048] In one embodiment, the first driving device includes a telescopic device 5. A first connecting member 14 and a second connecting member 24 are respectively provided on the first clamping arm 1 and the second clamping arm 2. One end of the first connecting member 14 is fixedly connected to the first clamping arm 1, and the other end of the first connecting member 14 is hinged to one end of the telescopic device 5. One end of the second connecting member 24 is fixedly connected to the second clamping arm 2, and the other end of the second connecting member 24 is hinged to the other end of the telescopic device 5. The first clamping arm 1 and the second clamping arm 2 are also hinged to a fixing member 6. Under the hinged relationship between the fixing member 6 and the first clamping arm 1 and the second clamping arm 2, the extension and retraction of the telescopic device 5 can control the opening and closing of the first clamping arm 1 and the second clamping arm 2.

[0049] In one embodiment, the first driving device further includes a first winch, which is connected to the fixing member 6. The opening and closing of the first winch can drive the fixing member 6 to move up and down.

[0050] In one embodiment, the second drive device includes a second winch connected to a cable 3. The winding and unwinding of the second winch can drive the cable 3 to move. After the cable 3 is connected to a plug and a socket respectively, the winch can drive the target object 4 to move up and down by means of the cable 3, the plug 121 and the socket 222.

[0051] In one embodiment, a first connecting rod 13 is provided between adjacent first clamping rods 11, and the first connecting rod 13 and the first clamping rod 11 are connected by a fixed connection such as welding; a second connecting rod 23 is provided between adjacent second clamping rods 21, and the second clamping rod 21 and the second connecting rod 23 are connected by a fixed connection such as welding.

[0052] In one embodiment, to ensure the binding effect of the cable 3 on the target object 4, a cable 3 can be divided into multiple segments, or multiple segments of cable 3 can be set so that the cable 3 is spirally wrapped around the target object 4. Each segment of cable 3 is fixedly connected to the plug and socket, and the cable 3 passes through the adjacent first clamp 11 or the adjacent second clamp 21.

[0053] In one embodiment, the overall shape of the first clamping arm 1 and the second clamping arm 2 is an arc shape adapted to the target object 4, but the clamping ends of the first clamping arm 1 and the second clamping arm 2 are both straight, which makes it easier for the clamping ends of the first clamping arm 1 and the second clamping arm 2 to penetrate into the soil and reach the bottom of the target object 4. In addition, the straight clamping ends make it easier to connect the plug on the first clamping arm 1 and the socket on the second clamping arm 2.

[0054] Example 2: This embodiment provides a salvage device, such as... Figures 1-14 As shown, it includes a gripping device, a first driving device and a second driving device. The telescopic device 5 on the first driving device can control the opening and closing of the first clamping arm 1 and the second clamping arm 2. The first winch of the first driving device can drive the first clamping arm 1 and the second clamping arm 2 to move up and down. The second winch of the second driving mechanism can drive the cable 3 to move.

[0055] Example 3: This embodiment provides a method for grasping with a salvage device, such as... Figures 1-14 As shown, the operation steps are as follows: a: The first winch first moves the first clamping arm 1 and the second clamping arm 2 to the predetermined position. After the first clamping arm 1 and the second clamping arm 2 are in the predetermined position, the extension of the telescopic device 5 opens the clamping ends of the first clamping arm 1 and the second clamping arm 2. The first drive mechanism continues to move the first clamping arm 1 and the second clamping arm 2, so that the first clamping arm 1 and the second clamping arm 2 are respectively located on both sides of the target object 4. (In this step, the telescopic device 5 can also extend first to open the clamping ends of the first clamping arm 1 and the second clamping arm 2, and then the first winch moves the first clamping arm 1 and the second clamping arm 2 to both sides of the target object 4. The use of the first winch and the telescopic device 5 is not important in any particular order, as long as the first clamping arm 1 and the second clamping arm 2 are in the open state and located on both sides of the target object 4.) b: After the first clamping arm 1 and the second clamping arm 2 are respectively located on both sides of the target object 4, the first clamping arm 1 and the second clamping arm 2 are driven to close to the predetermined position by the telescopic mechanism. The clamping ends of the first clamping arm 1 and the second clamping arm 2 are both located below the target object 4. After the clamping ends of the first clamping arm 1 and the second clamping arm 2 are closed, the first driving cylinder 9 and the second driving cylinder 10 respectively drive the plug 121 and the socket 222 to move, so that the plug 121 is inserted into the socket 222. c: After the plug 121 and socket 222 are connected, the first clamping arm 1 and the second clamping arm 2 of the telescopic mechanism open. During the opening of the first clamping arm 1 and the second clamping arm 2, the plug is disengaged from the first clamping arm 1 and the socket is disengaged from the second clamping arm 2. The cable 3 connects the plug 121 and the socket 222 respectively to bind the target object 4. d: After the first winch drives the first clamping arm 1 and the second clamping arm 2 away from the target object 4, the second drive assembly drives the target object 4 to move through the cable 3 with the plug 121 and socket 222 connected.

[0056] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A gripping device, characterized in that: The device includes a cable and symmetrically arranged first and second clamping arms. A first drive mechanism controls the opening and closing of the first and second clamping arms, causing them to move. The first clamping arm includes a first clamping rod, and a plug assembly is provided between adjacent first clamping rods. The second clamping arm includes a second clamping rod, and a socket assembly is provided between adjacent second clamping rods. The plug assembly is used to connect with the socket assembly. After the cable is connected to the second drive mechanism, the cable is then fixedly connected to the plug assembly and the socket assembly respectively. When the clamping ends of the first clamping arm and the second clamping arm approach each other under the driving action of the first driving mechanism, the plug assembly and the socket assembly are plugged in. After the plug assembly and the socket assembly are plugged in, the first clamping arm and the second clamping arm move away from each other under the driving action of the first driving mechanism. The plug assembly is disconnected from the first clamping arm, the socket assembly is disconnected from the second clamping arm, the first driving mechanism drives the first clamping arm and the second clamping arm away from the target object, and the second driving mechanism drives the cable to move.

2. The gripping device according to claim 1, characterized in that: The plug assembly includes a plug, a plug guide plate, a plug drive plate, a plug fixing seat, a plug limiting plate, a plug pressure plate, and a plug fixing plate. The plug guide plate is fixedly connected to the first clamping rod, and the plug drive plate is connected to the plug guide plate; the plug fixing seat is disposed on the plug drive plate; one end of the plug limiting plate is connected to the fixing seat and disposed on the outside of the fixing seat, the plug pressure plate is disposed on one side of the plug limiting plate and located on the side away from the plug fixing seat, the other end of the plug limiting plate is located on the outside of the plug, and a guide head is disposed on the side of the plug limiting plate near the plug; The plug fixing plate is provided with a plug fixing rod, and the plug is provided with a plug fixing groove corresponding to the plug fixing rod. The plug fixing rod is used to insert into the plug fixing groove.

3. The gripping device according to claim 2, characterized in that: The socket assembly includes a socket, a socket drive board, a socket fixing plate, a first socket baffle, a second socket baffle, a socket pressure plate, a socket pin, and a socket spring; The second clamping rod has a receiving groove, and the socket driving plate is located in the receiving groove; the first socket baffle is fixed in the receiving groove, and the socket fixing plate and the second socket baffle are located between the socket driving plate and the first socket baffle in sequence; the socket fixing plate is provided with a socket fixing rod, and the socket is provided with a socket limiting groove corresponding to the socket fixing rod, and the socket fixing rod is inserted into the socket limiting groove; the socket is provided with a pin fixing groove for accommodating the socket pin, one end of the socket pin is located in the pin fixing groove, the other end of the pin socket is provided with a limiting block, the pin spring is sleeved on the socket pin, and the two ends of the socket spring are respectively connected to the limiting block and the outer wall of the pin fixing groove.

4. The gripping device according to claim 3, characterized in that: The socket drive board is provided with a socket slide rod, which is fixedly connected to the socket drive board. The socket slide rod passes through the socket fixing plate and the second socket baffle respectively and is fixedly connected to the socket fixing plate and the second socket baffle. The socket slide rod passes through the first socket baffle and is slidably connected to the first socket baffle.

5. The gripping device according to claim 4, characterized in that: The socket assembly also includes a socket cover, and the socket is provided with a socket cover on the side of the socket near the first socket cover.

6. The gripping device according to claim 4, characterized in that: The plug has an insertion end with a head, the bottom of which forms an inwardly narrowing stepped surface with the rod-shaped connection of the plug; the pin is tapered towards the pin from the side near the head to the side away from the head, so that the plug can be inserted between adjacent pins.

7. The gripping device according to claim 6, characterized in that: It also includes a plug descaling mechanism and a socket descaling mechanism, wherein the plug descaling mechanism is disposed between adjacent first clamps and the socket descaling mechanism is disposed between adjacent second clamps; The plug mud removal mechanism includes a plug water spray fixing pipe and a plug water suction fixing pipe. A plug water spray connecting pipe is connected to the side of the plug water spray fixing pipe away from the plug. A plug water spray release pipe is connected to the side of the plug water spray fixing pipe near the plug. A plug water suction connecting pipe is connected to the side of the plug water suction fixing pipe away from the plug. A plug water suction absorption pipe is connected to the side of the plug water suction fixing pipe near the plug. The socket mud removal mechanism includes a socket mud removal mechanism and a socket water absorption fixing pipe. A socket water spray connection pipe is connected to the side of the socket mud removal mechanism away from the socket, and a socket water spray release pipe is connected to the side of the socket mud removal mechanism close to the socket. A socket water absorption connection pipe is connected to the side of the socket water absorption fixing pipe away from the socket, and a socket water absorption absorption pipe is connected to the side of the socket water absorption fixing pipe close to the socket.

8. The gripping device according to claim 7, characterized in that: It also includes a first drive cylinder and a second drive cylinder; The fixed end of the first driving cylinder is fixedly connected to the plug water spray fixing pipe, and the movable end of the first driving cylinder is connected to the plug driving plate. The plug driving plate is slidably connected to the plug guide plate. The first driving cylinder is used to drive the plug driving plate to slide on the plug guide plate. The fixed pipe of the second drive cylinder is fixedly connected to the socket mud removal mechanism, and the movable end of the second drive cylinder is connected to the socket drive plate. The second cylinder is used to drive the socket drive plate to slide in the receiving groove.

9. A salvage device, characterized in that, The gripping device includes any one of claims 1-8, comprising the gripping device, a first driving device, and a second driving device, wherein the first driving mechanism is capable of controlling the opening and closing of the first clamping arm and the second clamping arm to move the first clamping arm and the second clamping arm, and the second driving mechanism is capable of driving the cable to move.

10. A method for grasping objects using a retrieval device, characterized in that: Including the salvage device as described in claim 9, the operation steps are as follows: a: The first driving mechanism drives the first clamping arm and the second clamping arm to move. After the first clamping arm and the second clamping arm are in a predetermined position, the first driving mechanism drives the clamping end of the first clamping arm and the clamping end of the second clamping arm to open. The first driving mechanism continues to drive the first clamping arm and the second clamping arm to move, so that the first clamping arm and the second clamping arm are respectively located on both sides of the target object. b: The first driving mechanism drives the first clamping arm and the second clamping arm to close, so that the clamping ends of the first clamping arm and the second clamping arm are both located below the target object. After the clamping ends of the first clamping arm and the second clamping arm are closed, the plug assembly and the socket assembly are plugged in. c: After the plug assembly and the socket assembly are plugged in, the first driving mechanism drives the first clamping arm and the second clamping arm to open, the plug assembly disengages from the first clamping arm, and the socket assembly disengages from the second clamping arm; d: The first drive component drives the first clamping arm and the second clamping arm away from the target object, and the second drive component drives the target object to move through the cable.

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