Water exploration device carrying mechanical gripper

Abstract

The utility model relates to a water exploration device carrying a mechanical gripper, which comprises an exploration device body capable of moving on the water surface, a swing arm capable of swinging up and down is arranged at the bottom of the exploration device body, and the mechanical gripper is arranged at the front end of the swing arm. The mechanical claw comprises a fixed cylinder coaxially and fixedly arranged on the outer side of the front end of the swing arm in a sleeving mode and three claw rods circumferentially and evenly distributed on the outer peripheral side of the fixed cylinder, the front ends of the claw rods are close to each other, the outer peripheral portion of the front end of the fixed cylinder is hinged to the three claw rods, and a moving assembly capable of moving in a reciprocating mode along the axis of the fixed cylinder is arranged in the fixed cylinder. The moving end of the moving assembly is hinged to the rear ends of the three claw rods, and the moving end of the moving assembly drives the three claw rods to swing when moving back and forth along the axis of the fixed cylinder. The underwater robot is reasonable in structural design, and can grab, move and release underwater objects by carrying the mechanical claw, so that the application range of the underwater robot in underwater exploration is expanded.

Description

Technical field:

[0002] The utility model relates to a water body exploration device equipped with a mechanical claw. Background technology:

[0004] About 71% of the Earth's surface is covered by water, of which 97% is seawater and the remaining 3% is freshwater. Water is not only the source of life, but also has a significant impact on the global climate system. Marine and freshwater ecosystems provide ecological services such as food, energy, water resources and biodiversity, and have great economic, social and cultural value to human society. Although water bodies are vital to humans, the harsh conditions of the underwater environment, such as high pressure, low temperature, darkness and complex terrain, make exploration and research extremely challenging. In addition, the impact of human activities on the aquatic environment, including pollution, overfishing and climate change, has put pressure on the ecosystem and increased the demand for water exploration equipment.

[0005] With the advancement of science and technology, especially the development of remote sensing technology, underwater robot technology and communication technology, water exploration devices have been continuously innovated and developed. These water exploration devices include submersibles, autonomous underwater vehicles (AUVs), remotely operated underwater vehicles (ROVs), buoys and underwater observation stations, which can conduct scientific research, resource exploration, environmental monitoring and disaster warning in extreme environments.

[0006] However, traditional water exploration devices often lack effective grasping tools and are unable to perform grasping operations in underwater environments, such as collecting rocks, sediments, and biological samples, and have certain limitations in use. Utility model content:

[0008] The present invention aims to improve upon the problems existing in the prior art. Specifically, the present invention aims to provide a water exploration device equipped with a mechanical claw, which has a reasonable design and can perform grasping operations in an underwater environment.

[0009] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a water exploration device equipped with a mechanical claw, comprising an exploration device body that can move on the water surface, a swing arm that can swing up and down is arranged at the bottom of the exploration device body, and a mechanical claw is arranged at the front end of the swing arm.

[0010] Furthermore, the mechanical claw includes a fixed cylinder coaxially fixed on the outside of the front end of the swing arm, three claw rods evenly distributed on the outer circumference of the fixed cylinder and with the front ends close to each other, the front end periphery of the fixed cylinder is hinged to the three claw rods respectively, and a moving component that can reciprocate along the axis of the fixed cylinder is provided inside the fixed cylinder, the moving end of the moving component is hinged to the rear ends of the three claw rods, and the moving end of the moving component drives the three claw rods to swing when it reciprocates along the axis of the fixed cylinder.

[0011] Furthermore, the front end of the fixed cylinder is open, and three radially penetrating sliding grooves are evenly distributed on the circumferential side walls of the fixed cylinder, the three sliding grooves correspond to the positions of the three claw rods, the sliding grooves extend along the axis of the fixed cylinder and the front end is connected to the front end opening of the fixed cylinder; the moving assembly includes a moving block slidably connected to the inner cavity of the fixed cylinder, and three sliding rods extending radially along the moving block are evenly distributed on the outer peripheral side surface of the moving block, the three sliding rods respectively penetrate the three sliding grooves and slide with the sliding grooves, and the end of the sliding rod away from the moving block is hinged to the rear end of the claw rod corresponding to the position; a fixed block is fixedly arranged inside the front end opening of the fixed cylinder, and three connecting rods extending radially along the moving block are evenly distributed on the outer peripheral side surface of the fixed block, the connecting rods penetrate the sliding grooves and are hinged to the claw rods corresponding to the position.

[0012] Furthermore, a grabbing motor is fixedly installed at the inner rear end of the fixed cylinder, and the output shaft of the grabbing motor is connected to a driving screw, which is coaxially distributed with the fixed cylinder and is threadedly connected to the middle of the moving block.

[0013] Furthermore, the exploration device body includes a support frame, and a propeller assembly for driving the support frame to move forward is installed at the bottom rear end of the support frame. A swing assembly for driving the swing arm to swing up and down is also provided at the bottom of the support frame.

[0014] Furthermore, the swing assembly includes a fixed rod, a first connecting rod and a second connecting rod which are arranged in sequence from top to bottom, the upper end of the fixed rod is fixedly connected to the bottom surface of the supporting frame, the lower end of the fixed rod is hinged to the upper end of the first connecting rod through a transversely arranged first rotating shaft, the lower end of the first connecting rod is hinged to the upper end of the second connecting rod through a transversely arranged second rotating shaft, and the lower end of the second connecting rod is hinged to the rear end of the swing arm through a transversely arranged third rotating shaft; the first rotating shaft is connected to a first brushless motor installed at the lower end of the fixed rod, and the first brushless motor drives the first connecting rod to swing through the first rotating shaft; the second rotating shaft is connected to a second brushless motor installed at the lower end of the first connecting rod, and the second brushless motor drives the second connecting rod to rotate through the second rotating shaft, and the third rotating shaft is connected to a third brushless motor installed at the lower end of the second connecting rod, and the third brushless motor drives the swing arm to swing through the third rotating shaft.

[0015] Furthermore, buoys are installed at the left and right ends of the support frame respectively.

[0016] Furthermore, a movable frame driven by a moving mechanism to move forward and backward is arranged on the top of the support frame body, and a first swing arm driven by a first motor to swing up and down is hinged at the front end of the movable frame, a second swing arm driven by a second motor to swing up and down is hinged at the lower end of the first swing arm, and a radar sensor is arranged at the lower end of the second swing arm.

[0017] Furthermore, the moving mechanism includes a driving chain and a moving guide rail both arranged in the front-to-back direction, the driving chain is driven to rotate by a driving motor, the top of the driving chain is fixedly connected to the bottom of the moving frame, a moving slider is slidably connected to the moving guide rail, and the moving slider is fixedly connected to the bottom of the moving frame. When the driving chain rotates, it drives the moving frame to move along the moving guide rail.

[0018] Furthermore, infrared sensors are disposed at both left and right ends of the front portion of the support frame, and an image transmission module is also disposed at the front end of the support frame.

[0019] Compared with the prior art, the utility model has the following effects: the utility model has a reasonable structural design, and by being equipped with a mechanical claw, the device can grasp, move and release underwater objects, thereby expanding its application scope in underwater exploration. Description of the drawings:

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the embodiment of the utility model Figure 1 ;

[0022] Figure 2 This is a three-dimensional structure diagram of an embodiment of the utility model. Figure 2 ;

[0023] Figure 3 It is a schematic diagram of the top view of the structure of an embodiment of the utility model;

[0024] Figure 4 It is a schematic diagram of the structure of the mechanical claw in the embodiment of the utility model;

[0025] Figure 5 yes Figure 1 A is an enlarged schematic diagram;

[0026] Figure 6 yes Figure 2 A is an enlarged schematic diagram;

[0027] Figure 7 It is a schematic diagram of the structure of the moving mechanism in the embodiment of the utility model. Specific implementation method:

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] like Figures 1 to 7 As shown, the utility model is a water exploration device equipped with a mechanical claw, comprising an exploration device body 1 that can move on the water surface, a swing arm 2 that can swing up and down is arranged at the bottom of the exploration device body 1, and a mechanical claw 3 is arranged at the front end of the swing arm 2. The mechanical claw is used to achieve a grasping action, such as grasping rocks, sediments and biological samples. By carrying a mechanical claw, the device can grasp, move and release underwater objects, thereby expanding its application range in underwater exploration.

[0032] In this embodiment, the mechanical claw 3 includes a fixed cylinder 4 coaxially fixedly sleeved on the outside of the front end of the swing arm 2, three claw rods 5 uniformly distributed on the outer peripheral side of the fixed cylinder 4 and with the front ends close to each other, the front peripheral part of the fixed cylinder 4 is hinged with the three claw rods 5 respectively, and the hinge is the swing fulcrum of the claw rod, and the interior of the fixed cylinder 4 is provided with a moving component that can reciprocate along the axis of the fixed cylinder 4, and the moving end of the moving component is hinged with the rear end of the three claw rods 5, and the moving end of the moving component drives the three claw rods 5 to swing when it reciprocates along the axis of the fixed cylinder 4, so as to realize the mutual approach (i.e., grasping action) and separation (i.e., release action) of the front ends of the three claw rods. Specifically: when the moving end of the moving component moves forward, the front ends of the three claw rods are close to each other to realize the grasping action; when the moving end of the moving component moves backward, the front ends of the three claw rods are separated from each other to realize the release action.

[0033] In this embodiment, the front end of the fixed cylinder 4 is open, and three radially penetrating slide grooves 6 are evenly distributed on the circumferential side wall of the fixed cylinder 4. The three slide grooves 6 correspond to the positions of the three claw rods 5. The slide groove 6 extends along the axis of the fixed cylinder 4 and the front end is connected to the front end opening of the fixed cylinder 4; the moving assembly includes a circular moving block 7 slidably connected to the inner cavity of the fixed cylinder 4, and three sliding rods 8 extending radially along the moving block are evenly distributed on the outer peripheral side of the moving block 7. The three sliding rods 8 respectively penetrate the three slide grooves 6 and slide with the slide grooves 6, and the end of the sliding rod 8 away from the moving block 7 is hinged to the rear end of the claw rod 5 corresponding to the position; a fixed block 9 is fixedly arranged inside the front end opening of the fixed cylinder 4, and three connecting rods 10 extending radially along the moving block are evenly distributed on the outer peripheral side of the fixed block 9. The connecting rods 10 penetrate the slide grooves 6 and are hinged to the claw rods 5 corresponding to the position.

[0034] In this embodiment, a grabbing motor 11 is fixedly installed at the rear end of the fixed cylinder 4, and the output shaft of the grabbing motor 11 is connected to a driving screw 12, which is coaxially distributed with the fixed cylinder 4 and screwed to the middle of the moving block 7. During operation, the grabbing motor drives the screw to rotate, and the rotation of the driving screw is converted into a linear motion of the moving block, which drives the claw rod to swing through the sliding rod. Preferably, the grabbing motor can adopt a brushless motor.

[0035] In this embodiment, the exploration device body 1 includes a support frame 13, and a propeller assembly for driving the support frame 13 to move forward is installed at the bottom rear end of the support frame 13, and a swing assembly for driving the swing arm to swing up and down is also provided at the bottom of the support frame 13. Further, the propeller assembly includes a stepper motor 14 installed in the middle of the bottom rear end of the support frame 13, and the output shaft of the stepper motor 14 extends to the rear side and is connected to a propeller 15, and the stepper motor drives the propeller to rotate, thereby driving the entire device to move on the water surface.

[0036] In this embodiment, the swing assembly includes a fixed rod 16, a first connecting rod 17 and a second connecting rod 18 which are arranged in sequence from top to bottom. The upper end of the fixed rod 16 is fixedly connected to the bottom surface of the support frame 13, the lower end of the fixed rod 16 is hinged to the upper end of the first connecting rod 17 through a transversely arranged first rotating shaft, the lower end of the first connecting rod 17 is hinged to the upper end of the second connecting rod 18 through a transversely arranged second rotating shaft, and the lower end of the second connecting rod 18 is hinged to the rear end of the swing arm 2 through a transversely arranged third rotating shaft; the first rotating shaft is connected to a first brushless motor 19 installed at the lower end of the fixed rod 16, and the first brushless motor 19 drives the first connecting rod 17 to swing through the first rotating shaft; the second rotating shaft is connected to a second brushless motor 20 installed at the lower end of the first connecting rod 17, and the second brushless motor 20 drives the second connecting rod to rotate through the second rotating shaft, and the third rotating shaft is connected to a third brushless motor 21 installed at the lower end of the second connecting rod 18, and the third brushless motor 21 drives the swing arm 2 to swing through the third rotating shaft. The first connecting rod, the second connecting rod and the swing arm are driven by three brushless motors to swing, thereby realizing the swinging motion of the mechanical claw in the vertical plane.

[0037] In this embodiment, in order to maintain the balance of the entire device on the water surface, buoys 21 are installed at the left and right ends of the support frame 13 respectively.

[0038] In another embodiment, a moving frame 22 driven by a moving mechanism to move forward and backward is arranged on the top of the support frame 13, and a first swing rod 24 driven by a first motor 23 to swing up and down is hinged at the front end of the moving frame 22, and the swing axis of the first swing rod is arranged in the transverse direction, and a second swing rod 26 driven by a second motor 25 to swing up and down is hinged at the lower end of the first swing rod 24, and the swing axis of the second swing rod is arranged in the transverse direction, and a radar sensor 27 is arranged at the lower end of the second swing rod 26, and the radar sensor is used to obtain water area information. The moving mechanism adjusts the front and rear positions of the radar sensor through the moving frame, and the first swing rod and the second swing rod are combined to drive the swing angle of the radar sensor to improve the detection range. Preferably, the first motor and the second motor can adopt a steering gear.

[0039] Specifically, the moving mechanism includes a driving chain 28 and a moving guide rail 29, both of which are arranged in the front-rear direction. The driving chain 28 is driven to rotate by a driving motor 30. The top of the driving chain 28 is fixedly connected to the bottom of the moving frame 22. A moving slider is slidably connected to the moving guide rail 29. The moving slider is fixedly connected to the bottom of the moving frame 22. When the driving chain 28 rotates, the moving frame 22 is driven to move along the moving guide rail 29. During operation, the driving motor drives the driving chain to rotate, and the driving chain drives the moving frame along the moving guide rail. By rotating the driving motor forward and backward, the moving frame can be moved forward and backward along the moving guide rail.

[0040] In another embodiment, infrared sensors 34 are provided at both left and right ends of the front portion of the support frame 13. The infrared sensors can cooperate with radar sensors to obtain water area information and achieve a certain degree of automatic obstacle avoidance.

[0041] In another embodiment, a picture transmission module 31 is further disposed at the front end of the support frame 13 , and the picture transmission module is responsible for transmitting back the visual image of the water situation.

[0042] In another embodiment, a communication module 32 and a control module 33 are provided on the top of the support frame 13. The infrared sensor can cooperate with the radar sensor to obtain water area information, which can be remotely transmitted back through the communication module. The control module obtains control information through the communication module, thereby controlling the operation of the first brushless motor, the second brushless motor, the third brushless motor and the mechanical claw. The control module can also control the operation of the propeller assembly.

[0043] The utility model greatly promotes the progress of underwater technology by equipping the water exploration device with a mechanical claw, improves the efficiency and safety of underwater operations, and makes important contributions to the fields of deep-sea exploration, scientific research, and resource utilization.

[0044] If the present invention discloses or involves components or structures that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connection using bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by one-piece molding using a casting process) (except where it is obviously impossible to use an one-piece molding process).

[0045] In addition, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in the above utility model include states or shapes that are approximate, similar or close thereto.

[0046] Any component provided by the utility model can be assembled from multiple separate components, or can be a separate component manufactured by an integrated molding process.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the utility model can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the utility model, which should be included in the scope of the technical solution for protection of the utility model.

Claims

1. A water exploration device equipped with a mechanical claw, characterized in that: The invention comprises an exploration device body which can move on the water surface, a swing arm which can swing up and down is arranged at the bottom of the exploration device body, and a mechanical claw is arranged at the front end of the swing arm; the mechanical claw comprises a fixed cylinder which is coaxially fixedly sleeved on the outside of the front end of the swing arm, and three claw rods which are evenly distributed on the outer circumference of the fixed cylinder and close to each other at the front end, the outer circumference of the front end of the fixed cylinder is hinged to the three claw rods respectively, and a moving component which can reciprocate along the axis of the fixed cylinder is arranged inside the fixed cylinder, the moving end of the moving component is hinged to the rear end of the three claw rods, and the moving end of the moving component drives the three claw rods to swing when it reciprocates along the axis of the fixed cylinder; the front end of the fixed cylinder is open, and three radially penetrating slide grooves are evenly distributed on the peripheral wall of the fixed cylinder, the three slide grooves correspond to the positions of the three claw rods, and the slide grooves are along the axis of the fixed cylinder. The cam is connected to the front end of the fixed cylinder by a movable block, and the movable block is connected to the inner cavity of the fixed cylinder by a movable block, and the movable block is connected to the rear end of the fixed cylinder by a movable block. The movable block is connected to the inner cavity of the fixed cylinder by a movable block, and the movable block is connected to the front end of the fixed cylinder by a movable block. The movable block is connected to the inner cavity of the fixed cylinder by a movable block, and the movable block is connected to the inner cavity of the fixed cylinder by a movable block. The movable block is connected to the inner cavity of the fixed cylinder by a movable block, and the movable block is connected to the inner cavity of the fixed cylinder by a movable block.

2. A water exploration device equipped with a mechanical claw according to claim 1, characterized in that: The exploration device body comprises a support frame, a propeller assembly for driving the support frame to move forward is installed at the bottom rear end of the support frame, and a swing assembly for driving the swing arm to swing up and down is also arranged at the bottom of the support frame.

3. The water exploration device equipped with a mechanical claw according to claim 2, characterized in that: The swing assembly includes a fixed rod, a first connecting rod and a second connecting rod which are arranged in sequence from top to bottom, the upper end of the fixed rod is fixedly connected to the bottom surface of the supporting frame, the lower end of the fixed rod is hinged to the upper end of the first connecting rod through a transversely arranged first rotating shaft, the lower end of the first connecting rod is hinged to the upper end of the second connecting rod through a transversely arranged second rotating shaft, and the lower end of the second connecting rod is hinged to the rear end of the swing arm through a transversely arranged third rotating shaft; the first rotating shaft is connected to a first brushless motor installed at the lower end of the fixed rod, and the first brushless motor drives the first connecting rod to swing through the first rotating shaft; the second rotating shaft is connected to a second brushless motor installed at the lower end of the first connecting rod, and the second brushless motor drives the second connecting rod to rotate through the second rotating shaft, and the third rotating shaft is connected to a third brushless motor installed at the lower end of the second connecting rod, and the third brushless motor drives the swing arm to swing through the third rotating shaft.

4. The water exploration device equipped with a mechanical claw according to claim 2, characterized in that: The left and right ends of the support frame are respectively provided with buoys.

5. The water exploration device equipped with a mechanical claw according to claim 2, characterized in that: A moving frame driven by a moving mechanism to move forward and backward is arranged on the top of the supporting frame body, a first swing arm driven by a first motor to swing up and down is hingedly connected to the front end of the moving frame, a second swing arm driven by a second motor to swing up and down is hingedly connected to the lower end of the first swing arm, and a radar sensor is arranged at the lower end of the second swing arm.

6. The water exploration device equipped with a mechanical claw according to claim 5, characterized in that: The moving mechanism includes a driving chain and a moving guide rail both arranged in the front-to-back direction, the driving chain is driven to rotate by a driving motor, the top of the driving chain is fixedly connected to the bottom of the moving frame, a moving slider is slidably connected to the moving guide rail, and the moving slider is fixedly connected to the bottom of the moving frame. When the driving chain rotates, the moving frame is driven to move along the moving guide rail.

7. The water exploration device equipped with a mechanical claw according to claim 6, characterized in that: Infrared sensors are arranged at both left and right ends of the front part of the support frame, and an image transmission module is also arranged at the front end of the support frame.

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