Fishing clamping jaw capable of being prevented from falling off

Abstract

The utility model provides a salvage clamping jaw capable of avoiding falling, which relates to the technical field of underwater salvage and comprises a machine body, a plurality of groups of connecting seats are mounted on the outer wall of the machine body, the inner walls of the connecting seats are hinged to the top end of an upper clamping arm, the bottom end of the upper clamping arm is hinged to the top end of a lower clamping arm, and a rotating shaft is rotatably mounted on the inner wall of the bottom end of the lower clamping arm. The rotating shaft penetrates through a connecting column, and a suction cup is fixedly installed at one end of the connecting column. And a lifting assembly is mounted on the inner wall of the bottom of the lower clamping arm. By arranging the speed reducing mechanism, when the arc-shaped surface with the multiple sets of sawteeth makes contact with the arc-shaped protruding block, friction to the arc-shaped protruding block can be increased, the tendency of reverse rotation of the arc-shaped protruding block is reduced, and therefore the situation that the suction cup and the connecting column are driven to deflect downwards due to the fact that objects suffer from water resistance is effectively avoided; and the situation that objects fall off due to the fact that the resistance is too large is avoided, and then the safety of the objects in the salvage process is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater salvage, in particular to a salvage clamping claw which can avoid falling off. Background Art

[0002] An underwater salvage robot is a common device used for underwater exploration and underwater environment maintenance. It is usually equipped with an underwater driving walking structure and a gripper for grabbing materials, so that it can explore and sample deep waters in the target waters. It can easily reach underwater depths that are difficult for humans to reach. During operation, most of the time, a salvage gripper is needed to grab and bring back underwater objects.

[0003] According to a disclosed salvage device for underground operations (publication number: CN216277769U), in the above application, the two clamping arms can be bent through the various driving structures on the clamping claws, so as to clamp the underwater target object, and then cooperate with the transmission structure above so that the clamping claws can be brought upward to complete the salvage work of the object.

[0004] However, during actual use of the above-mentioned device, the gripper is not a completely closed structure, and is often composed of multiple clamping arms arranged in a circle to clamp objects. However, when working underwater, due to the resistance of water and the influence of undercurrent, the object may not be able to maintain a relatively safe posture in the area surrounded by multiple groups of clamping arms during the clamping process. When the underwater robot moves upward and drives the object out of the water, the resistance of water may cause the object to fall off the salvage gripper, affecting the safety of salvage. In view of this, we propose a salvage gripper that can avoid falling off. Utility Model Content

[0005] The utility model provides a salvage clamping claw which can avoid falling off, thus solving the problems of unsafe salvage and falling off of the existing clamping claws.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A salvage clamp that can avoid falling off comprises a body, a plurality of groups of connecting seats are installed on the outer wall of the body, the inner wall of the connecting seat is hinged to the top of the upper clamp arm, the bottom end of the upper clamp arm is hinged to the top of the lower clamp arm, a rotating shaft is rotatably installed on the inner wall of the bottom end of the lower clamp arm, the rotating shaft passes through a connecting column, and a suction cup is fixedly installed at one end of the connecting column; a lifting assembly is installed on the inner wall of the bottom of the lower clamp arm.

[0008] Furthermore, the lifting assembly includes a transmission rod, which is installed at the end of the rotating shaft. A gear ring is sleeved on the arc-shaped outer wall of the transmission rod, and the transmission rod is fixedly connected to the gear ring.

[0009] Furthermore, a sleeve is rotatably mounted on the inner wall of the bottom end of the lower clamping arm, teeth are arranged on the inner wall of the sleeve, a pinion is meshedly connected with the teeth, and the pinion is meshedly transmitted with a gear ring.

[0010] Furthermore, one end of the sleeve away from the inner wall of the bottom end of the lower clamping arm is connected to one end of the spiral spring, and the other end of the spiral spring is connected to the outer wall of the rotating shaft.

[0011] Furthermore, a reduction mechanism is installed on the side wall of the sleeve, and the reduction mechanism includes a reduction cylinder, one end of which is fixedly connected to the outer wall of the sleeve close to the connecting column, and a reduction tooth is installed on the outer wall of the other end of the reduction cylinder.

[0012] Furthermore, the number of the speed reduction mechanisms is two groups, and the two groups of speed reduction mechanisms are mirror-imaged on the side walls of the sleeve and are respectively located on the left and right sides of the connecting column.

[0013] Furthermore, there are a plurality of reduction teeth, and the reduction teeth are evenly distributed in a circular array on the end surface of the reduction cylinder, the side surface of the reduction teeth is arranged in an arc shape, and a plurality of groups of saw teeth are arranged on the arc surface.

[0014] Furthermore, the connecting column is fixedly connected to the rotating shaft, and an arc-shaped protrusion is fixedly installed on the side wall of the connecting column, and the arc-shaped protrusion is arranged in the gap between two adjacent groups of reduction cylinders.

[0015] Furthermore, the plurality of connecting seats are evenly distributed on the arc-shaped outer wall of the body in a circular array, and driving devices are arranged on the inner wall of the connecting seat and the inner wall of the bottom end of the upper clamping arm.

[0016] Furthermore, an air extraction structure is provided inside the connecting column, and a limiting mechanism is provided at the bottom end of the lower clamping arm.

[0017] The beneficial effects of the utility model are:

[0018] The utility model discloses that after an object is grasped, when the underwater robot moves upward and is subject to the resistance of water and tends to move downward, the rotating shaft will be deflected, and due to the transmission of the gear ring and the pinion, the sleeve will rotate at a lower speed than the rotating shaft, thereby driving the volute spring to be tightened. Under the elastic force of the volute spring, the deflection trend of the rotating shaft is suppressed and it is kept deflected upward, so that the suction cup drives the object to keep being pushed upward, thereby suppressing the resistance of water to the object, avoiding the object from slipping during transportation, and thus ensuring the transportation safety of the object during the salvage process.

[0019] The utility model is provided with a deceleration mechanism, so that when the arc surface with multiple sets of serrations on one side contacts the arc convex block, the friction on the arc convex block can be increased, and the tendency of the arc convex block to rotate in the opposite direction can be reduced, thereby effectively preventing the suction cup and the connecting column from deflecting downward due to the resistance of water, avoiding the falling of the object due to excessive resistance, and thus ensuring the safety of the object during the salvage process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the main structure of the utility model.

[0022] Figure 2 It is a schematic diagram of the local three-dimensional structure of the suction cup in the utility model.

[0023] Figure 3 It is a partial explosion schematic diagram of the grabbing structure in the utility model.

[0024] Figure 4 It is a schematic diagram of the local three-dimensional structure of the reduction cylinder in the utility model.

[0025] Description of Figure Numbers:

[0026] 1. Machine body; 2. Connecting seat; 3. Upper clamping arm; 4. Lower clamping arm; 5. Rotating shaft; 6. Connecting column; 7. Suction cup; 8. Transmission rod; 9. Gear ring; 10. Pinion; 11. Sleeve; 12. Volute spring; 13. Reduction cylinder; 14. Reduction tooth; 15. Arc-shaped protrusion. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0029] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the utility model. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0031] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present utility model: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0032] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0033] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0034] The utility model provides a technical solution: a salvage clamp that can avoid falling off, such as Figure 1-4 As shown, it includes a body 1, a connecting seat 2 is fixedly installed on the arc-shaped outer wall of the body 1, the inner wall of the connecting seat 2 is hinged to the top of the upper clamping arm 3, the bottom end of the upper clamping arm 3 is hinged to the top of the lower clamping arm 4, and a rotating shaft 5 is rotatably installed on the inner wall of the bottom end of the lower clamping arm 4. The rotating shaft 5 passes through a connecting column 6, and the connecting column 6 is fixedly connected to the rotating shaft 5, and a suction cup 7 is fixedly installed on the end of the connecting column 6 away from the rotating shaft 5. A lifting assembly is arranged on the inner wall of the bottom of the lower clamping arm 4, and the lifting assembly includes a transmission rod 8, and the end of the transmission rod 8 is fixedly installed on the end of the rotating shaft 5. A gear ring 9 is sleeved on the arc-shaped outer wall of the transmission rod 8, a pinion 10 is rotatably installed on the inner wall of the bottom end of the lower clamping arm 4, and a sleeve 11 is rotatably installed on the inner wall of the bottom end of the lower clamping arm 4, and one end of the sleeve 11 away from the inner wall of the lower clamping arm 4 is fixedly connected to one end of a spiral spring 12, and the other end of the spiral spring 12 is fixedly connected to the arc-shaped outer wall of the rotating shaft 5.

[0035] The top of the body 1 is arranged on the mechanical arm of the underwater robot. In addition, the number of the connecting seats 2 is arranged in multiple groups, and the multiple groups of connecting seats 2 are evenly distributed on the arc-shaped outer wall of the body 1 in a circular array. At the same time, the inner wall of the connecting seat 2 and the inner wall of the bottom end of the upper clamping arm 3 are provided with driving devices, so that the upper clamping arm 3 and the lower clamping arm 4 can rotate at a certain angle, so as to cooperate with the rotating shaft 5, the connecting column 6 and the suction cup 7 arranged at the bottom of the lower clamping arm 4 to grab the material directly below the body 1, and drive the body 1 to move through the mechanical arm of the underwater robot, and then leave the underwater to complete the object salvage work. The interior of the connecting column 6 is provided with an exhaust structure, and the exhaust structure can control the internal space of the suction cup 7 to be vacuumed, so that after the suction cup 7 contacts and presses against the surface of the object, the exhaust structure can form a negative pressure effect in the space surrounded by the suction cup 7 by exhausting air, so that the suction cup 7 is tightly attached to the surface of the object to prevent the object from shifting or falling off during the salvage process. A limiting mechanism is provided at the bottom end of the lower clamping arm 4 to prevent the connecting column 6 from excessively deflecting downward under the drive of the rotating shaft 5, so as to ensure that the suction cup 7 can better contact with the salvaged object under the movement of the lower clamping arm 4.

[0036] The transmission rod 8 is fixedly connected to the gear ring 9, so that when the rotating shaft 5 rotates on the bottom inner wall of the lower clamping arm 4, the transmission rod 8 can be driven to rotate, and the gear ring 9 and the transmission rod 8 keep synchronous rotation. In addition, the pinion 10 meshes with the gear ring 9 to realize transmission, and the arc-shaped inner surface of the sleeve 11 is provided with tooth patterns that can mesh with the pinion 10 to realize transmission, so that when the rotating shaft 5 drives the transmission rod 8 to rotate, the gear ring 9 and the pinion 10 are matched to make the sleeve 11 rotate at a speed lower than the rotation speed of the transmission rod 8, a speed difference is formed between the sleeve 11 and the rotating shaft 5, and the rotating shaft 5 and the sleeve 11 rotate in the opposite direction. In addition, the volute spring 12 is sleeved on the arc-shaped inner surface of the rotating shaft 5. shaped outer wall, so that the rotating shaft 5 can receive a more stable transmission effect. After the object is grasped, when the underwater robot moves upward and is subject to the resistance of the water and tends to move downward, the rotating shaft 5 will deflect. Due to the transmission of the gear ring 9 and the pinion 10, the sleeve 11 rotates at a lower speed than the rotating shaft 5, thereby causing the volute spring 12 to be tightened. Under the elastic force of the volute spring 12, the deflection trend of the rotating shaft 5 is suppressed, and it is kept deflected upward, so that the suction cup 7 drives the object to keep receiving an upward thrust, thereby suppressing the water resistance it is subjected to, avoiding it from slipping during transportation, thereby ensuring the transportation safety of the object salvage process.

[0037] In addition, in order to avoid the spiral spring 12 from shaking due to excessive water resistance and affecting the safety of object salvage, a deceleration mechanism is arranged on the side wall of the sleeve 11, and the deceleration mechanism includes a deceleration cylinder 13. The end of the deceleration cylinder 13 is fixedly connected to the outer wall of the sleeve 11 on the side close to the connecting column 6, and the other end of the outer wall of the deceleration cylinder 13 is fixedly installed with a deceleration tooth 14, and the side wall of the connecting column 6 is fixedly installed with an arc-shaped protrusion 15.

[0038] There are two groups of speed reduction mechanisms, and the two groups of speed reduction mechanisms are mirror-imaged on the left and right sides of the connecting column 6. At the same time, there are a plurality of speed reduction teeth 14, and the plurality of speed reduction teeth 14 are evenly distributed on the end surface of the speed reduction cylinder 13 in a circular array, and the arc-shaped protrusion 15 is arranged in the gap between two adjacent groups of speed reduction cylinders 13. Specifically, the side surface of the speed reduction tooth 14 is arranged in an arc shape, and a plurality of groups of serrations are arranged on the arc-shaped surface, so that when the arc-shaped surface on one side with the plurality of groups of serrations contacts the arc-shaped protrusion 15, the friction on the arc-shaped protrusion 15 can be increased, and the tendency of the arc-shaped protrusion 15 to rotate in the opposite direction can be reduced, thereby effectively preventing the objects from being subjected to the resistance of water and driving the suction cup 7 and the connecting column 6 to deflect downward, avoiding the situation where the resistance is too large and causing the objects to fall off, thereby ensuring the safety of the objects during the salvage process.

[0039] When in use, the robot body 1 is controlled to move above the object by starting the mechanical arm of the underwater robot. At this time, the driving device inside the connecting seat 2 and the bottom end of the upper clamping arm 3 is started, so that the upper clamping arm 3 and the lower clamping arm 4 can rotate at a certain angle to cooperate with the rotating shaft 5 and the connecting column 6 set at the bottom of the lower clamping arm 4, so that the suction cup 7 is in contact with the surface of the object. At this time, the air pumping structure set in the connecting column 6 is controlled to form a negative pressure effect in the space surrounded by the suction cup 7 through air pumping, so that the suction cup 7 is tightly attached to the surface of the object, thereby grasping the object. After that, the robot body 1 is driven to move by the mechanical arm of the underwater robot, and then it leaves the water to complete the salvage of the object.

[0040] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes within the technical scope disclosed by the present invention according to the technical solution and inventive concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A salvage clamp capable of preventing from falling off, characterized in that: The invention comprises a machine body (1), wherein a plurality of connecting seats (2) are installed on the outer wall of the machine body (1), the inner wall of the connecting seat (2) is hinged to the top end of the upper clamping arm (3), the bottom end of the upper clamping arm (3) is hinged to the top end of the lower clamping arm (4), a rotating shaft (5) is rotatably installed on the inner wall of the bottom end of the lower clamping arm (4), the rotating shaft (5) passes through a connecting column (6), and a suction cup (7) is fixedly installed on one end of the connecting column (6); a lifting assembly is installed on the inner wall at the bottom of the lower clamping arm (4).

2. The salvage clamp capable of preventing from falling off according to claim 1, characterized in that: The lifting assembly comprises a transmission rod (8), the transmission rod (8) being mounted on the end of the rotating shaft (5), a gear ring (9) being sleeved on the arc-shaped outer wall of the transmission rod (8), and the transmission rod (8) being fixedly connected to the gear ring (9).

3. The salvage clamp capable of preventing from falling off according to claim 1, characterized in that: A sleeve (11) is rotatably mounted on the inner wall of the bottom end of the lower clamping arm (4), and teeth are arranged on the inner wall of the sleeve (11). The pinion (10) is meshedly connected with the teeth, and the pinion (10) is meshedly transmitted with the gear ring (9).

4. The salvage clamp capable of preventing from falling off according to claim 3, characterized in that: One end of the sleeve (11) away from the inner wall of the bottom end of the lower clamping arm (4) is connected to one end of a spiral spring (12), and the other end of the spiral spring (12) is connected to the outer wall of the rotating shaft (5).

5. The salvage clamp capable of preventing from falling off according to claim 3, characterized in that: A deceleration mechanism is installed on the side wall of the sleeve (11), and the deceleration mechanism includes a deceleration cylinder (13). One end of the deceleration cylinder (13) is fixedly connected to the outer wall of the sleeve (11) on the side close to the connecting column (6), and a deceleration tooth (14) is installed on the outer wall of the other end of the deceleration cylinder (13).

6. The salvage clamp capable of preventing from falling off according to claim 5, characterized in that: The number of speed reduction mechanisms provided is two groups, and the two groups of speed reduction mechanisms are provided on the side wall of the sleeve (11) in a mirror-image manner and are respectively located on the left and right sides of the connecting column (6).

7. The salvage clamp capable of preventing from falling off according to claim 5, characterized in that: The number of the reduction teeth (14) is set to be several, and the several reduction teeth (14) are evenly distributed on the end surface of the reduction cylinder (13) in a circular array, and the side surface of the reduction teeth (14) is set to be arc-shaped, and multiple groups of saw teeth are set on the arc-shaped surface.

8. The salvage clamp capable of preventing from falling off according to claim 1, characterized in that: The connecting column (6) is fixedly connected to the rotating shaft (5), and an arc-shaped protrusion (15) is fixedly installed on the side wall of the connecting column (6). The arc-shaped protrusion (15) is arranged in the gap between two adjacent groups of reduction cylinders (13).

9. The salvage clamp capable of preventing from falling off according to claim 1, characterized in that: The multiple groups of connection seats (2) are evenly distributed in a circular array on the arc-shaped outer wall of the body (1), and driving devices are arranged on the inner wall of the connection seat (2) and the inner wall of the bottom end of the upper clamping arm (3).

10. The salvage clamp capable of preventing from falling off according to claim 1, characterized in that: An air extraction structure is provided inside the connecting column (6), and a limiting mechanism is provided at the bottom end of the lower clamping arm (4).

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