Embedded underwater passive flexible clamping mechanism

Abstract

The utility model discloses an embedded underwater passive flexible clamping mechanism, which belongs to the technical field of clamp equipment and comprises a support, the support is arranged at the working end of a six-axis mechanical arm, a mounting seat is arranged at the bottom of the support, a pneumatic sliding rail is arranged at the bottom of the mounting seat, and sliding blocks are arranged on the left side and the right side of the pneumatic sliding rail. A flexible clamping jaw is arranged at the bottom of the sliding block, a displacement sensor is arranged in the center of the support, and a contact seat is arranged below the displacement sensor. The flexible clamping mechanism is installed on the six-axis mechanical arm, the six-axis mechanical arm is used for driving the flexible clamping mechanism to catch fishes, the fishing efficiency is improved, and the labor intensity of workers is reduced; a passive clamping mechanism is adopted, when a fish touches the contact seat, the flexible clamping jaw grabs the fish, the living body grabbing difficulty is reduced, and the grabbing success rate is increased from the response speed.

Description

Technical Field

[0001] The utility model relates to the technical field of clamp equipment, in particular to an embedded underwater passive flexible clamping mechanism. Background Art

[0002] Currently, fishing nets are mostly used for catching fish, which is difficult to catch, especially bottom-dwelling fish are more difficult to catch. Fishing nets are inefficient and require a lot of labor for workers.

[0003] The existing clamping mechanisms used to catch fish are mainly rigid claws, which can cause harm to living fish. There are also some flexible clamping mechanisms, most of which are active clamping mechanisms that are controlled by a host computer for clamping and require active triggering by the host computer. However, since living fish will avoid them, higher requirements are placed on the response speed. Utility Model Content

[0004] The utility model aims to provide an embedded underwater passive flexible clamping mechanism to solve the problems existing in the prior art.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0006] The utility model discloses an embedded underwater passive flexible clamping mechanism, comprising a bracket, wherein the bracket is arranged at the working end of a six-axis mechanical arm, a mounting seat is arranged at the bottom of the bracket, a pneumatic slide rail is arranged at the bottom of the mounting seat, sliders are arranged on the left and right sides of the pneumatic slide rail, a flexible clamping claw is arranged at the bottom of the slider, a displacement sensor is arranged at the center position of the bracket, and a contact seat is arranged below the displacement sensor.

[0007] Furthermore, the number of the flexible clamping jaws is set to two pairs, and the two pairs of flexible clamping jaws are arranged in parallel front and back.

[0008] Furthermore, the contact seat includes a body and a stopper, the body is provided with a mounting groove for mounting a measuring rod of the displacement sensor, the stopper is arranged on the outside of the mounting groove, and the stopper is connected to the body.

[0009] Furthermore, the contact seat is made of plastic.

[0010] Compared with the prior art, the beneficial technical effects of the utility model are:

[0011] The flexible clamping mechanism of the utility model is installed on a six-axis mechanical arm, and the six-axis mechanical arm is used to drive the flexible clamping mechanism to catch fish, thereby improving fishing efficiency and reducing the labor intensity of staff; the utility model adopts a passive clamping mechanism, and the flexible clamping claw will only grab the fish when the fish touches the contact seat, thereby reducing the difficulty of grabbing living fish and improving the success rate of grabbing in terms of response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The utility model will be further described below in conjunction with the accompanying drawings.

[0013] Figure 1 This is a front view of the utility model based on the embedded underwater passive flexible clamping mechanism;

[0014] Figure 2 This is a side view of the embedded underwater passive flexible clamping mechanism of the utility model; (the six-axis mechanical arm is omitted)

[0015] Figure 3 It is a three-dimensional structural schematic diagram of the contact seat of the utility model;

[0016] Explanation of the accompanying drawings: 1. bracket; 2. mounting seat; 3. pneumatic slide rail; 4. slider; 5. flexible clamp; 6. displacement sensor; 7. contact seat; 8. six-axis robot arm; 7-1. main body; 7-2. block; 7-1-1. mounting groove. DETAILED DESCRIPTION

[0017] like Figure 1-3 As shown, an embedded underwater passive flexible clamping mechanism includes a bracket 1, which is connected to the working end of a six-axis robotic arm 8 by bolts, a mounting seat 2 is connected to the bottom of the bracket 1, a pneumatic slide rail 3 is installed at the bottom of the mounting seat 2, a slider 4 is slidably connected to the left and right sides of the pneumatic slide rail 3, a flexible clamp 5 is connected to the bottom of the slider 4, a displacement sensor 6 is installed at the center of the bracket 1, and a contact seat 8 is connected below the displacement sensor 6; specifically, the number of the flexible clamps 5 is set to two pairs, and the two pairs of the flexible clamps 5 are arranged in parallel front and back; the clamping part of the flexible clamp will deform under force to better adapt to the shape of the target object, while the clamping part of the ordinary rigid clamp is two metal structural parts, which are generally controlled according to a preset torque or closing degree (setting a two-finger distance parameter), and the use of pneumatic flexible clamps has more advantages in response speed and protection of the target object, and the damage to living fish is reduced by setting flexible clamps.

[0018] like Figure 3As shown, the contact seat 7 includes a main body 7-1 and a stopper 7-2. The main body 7-1 is provided with a mounting groove 7-1-1 for mounting the measuring rod of the displacement sensor 6. The stopper 7-2 is arranged on the outside of the mounting groove 7-1-1, and the stopper 7-2 is connected to the main body 7-1. As a possible implementation method, after the measuring rod of the displacement sensor 6 is installed in the mounting groove 7-1-1, the stopper 7-2 can be connected to the main body 7-1 by interference fit. Specifically, the contact seat 7 is made of plastic.

[0019] The utility model also includes an embedded system. The embedded end captures the displacement sensor parameters in real time through the STM32F103C8T6 single-chip microcomputer. When the parameters are greater than a preset value, the flexible clamp is controlled to open or close through a relay; all states are communicated with the host computer in real time through TCP / IP, and parameter setting and state control are performed according to the host computer. The above-mentioned electronic control components are all prior art, and their specific connection relationship, working principle, and working method are not repeated here. The utility model adopts a passive clamping mechanism. When the fish touches the contact seat 7, the flexible clamp 5 will grab the fish, reducing the difficulty of grabbing the living body and improving the success rate of grabbing in terms of response speed.

[0020] The working process of the utility model is as follows:

[0021] The six-axis robotic arm 8 drives the flexible clamping claw 5 to follow the target in the water according to the preset program. When the contact seat 7 touches the fish, the measuring rod moves up, and the displacement sensor 6 converts the displacement signal into an analog quantity and sends it to the single-chip microcomputer in real time. When the single-chip microcomputer determines that the displacement exceeds the preset value, the collected signal is transmitted to the host computer through the network port. At the same time, the electromagnetic relay is driven to control the pneumatic slide rail 3 to work, and the two sliders 4 approach each other along the pneumatic slide rail 3, and the left and right flexible clamping claws 5 approach each other to clamp the fish.

[0022] The above-mentioned preset program is another set of host computer algorithms, which belongs to the prior art and will not be described in detail here; the six-axis robotic arm 8 in this embodiment is currently on the water, and the model of the six-axis robotic arm 8 is UR10e; in actual production and use, a deep-sea robotic arm can also be used to replace the existing UR10e, and the entire machine can be placed underwater for operation.

[0023] The displacement sensor and the six-axis robotic arm in the utility model are both existing technologies, and their specific structures, working principles, etc. all belong to the existing technologies and will not be described in detail here.

[0024] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. An embedded underwater passive flexible clamping mechanism, Features: The invention comprises a bracket (1), wherein the bracket (1) is arranged at the working end of a six-axis robot arm (8), a mounting seat (2) is arranged at the bottom of the bracket (1), a pneumatic slide rail (3) is arranged at the bottom of the mounting seat (2), sliders (4) are arranged on the left and right sides of the pneumatic slide rail (3), a flexible clamping claw (5) is arranged at the bottom of the slider (4), a displacement sensor (6) is arranged at the center position of the bracket (1), and a contact seat (7) is arranged below the displacement sensor (6).

2. The embedded underwater passive flexible clamping mechanism according to claim 1, Features: The number of the flexible clamping jaws (5) is set to two pairs, and the two pairs of the flexible clamping jaws (5) are arranged in parallel front and back.

3. The embedded underwater passive flexible clamping mechanism according to claim 1, Features: The contact seat (7) comprises a body (7-1) and a stopper (7-2); the body (7-1) is provided with a mounting groove (7-1-1) for mounting a measuring rod of the displacement sensor (6); the stopper (7-2) is arranged outside the mounting groove (7-1-1); and the stopper (7-2) is connected to the body (7-1).

4. The embedded underwater passive flexible clamping mechanism according to claim 1, Features: The contact seat (7) is made of plastic material.

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