Mechanical gripper for underwater robot

Abstract

The utility model relates to an underwater robot, in particular to a mechanical gripper for an underwater robot, which comprises the underwater robot, a mechanical gripper body and a camera, the mechanical gripper body is arranged below the underwater robot, and the camera is mounted on the inner side of the mechanical gripper body. A dismounting and replacing mechanism is arranged at the position, located on one side of the underwater robot, of the top end of the mechanical gripper body and comprises a fixing base, a bidirectional threaded rod, a rotating wheel, a displacement block, an L-shaped rod, a guide block, a guide groove and a locking groove, the fixing base is arranged at the bottom end of the underwater robot, and the bidirectional threaded rod is arranged in the fixing base. One end of the bidirectional threaded rod is connected with a rotating wheel, the surface of the bidirectional threaded rod is in threaded connection with a displacement block, one end of the displacement block is connected with an L-shaped rod, and the other end of the displacement block is connected with a guide block. The mechanical gripper body is convenient to disassemble and replace, and a camera on the surface can be protected.

Description

Technical Field

[0001] The utility model relates to an underwater robot, in particular to a mechanical gripper used for the underwater robot. Background Art

[0002] With the development of AI technology, intelligent robots are being used more and more widely in various industries. For example, when underwater objects need to be salvaged, robots equipped with mechanical grippers are placed into the water to replace manual salvage. This can not only improve salvage efficiency but also reduce risks.

[0003] When the mechanical gripper of an existing underwater robot is in use, the movement of the mechanical gripper is controlled by the extension and contraction of a hydraulic cylinder, so that the telescopic rod drives the clamping claws to clamp and relax. Since the mechanical gripper is dirty after long-term use, the gripper is prone to slipping when grasping underwater objects, affecting the grasping efficiency and easily damaging the objects during the grasping process. In addition, the mechanical gripper is generally installed and disassembled by multiple bolts, which makes it time-consuming and labor-intensive to replace the mechanical gripper. Summary of the invention

[0004] The purpose of the utility model is to provide a mechanical gripper for an underwater robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a mechanical gripper for an underwater robot, comprising an underwater robot, a mechanical gripper body and a camera, wherein the mechanical gripper body is arranged below the underwater robot, the camera is installed on the inner side of the mechanical gripper body, the top of the mechanical gripper body is located on one side of the underwater robot and a disassembly and replacement mechanism is arranged, the disassembly and replacement mechanism comprises a fixed seat, a bidirectional threaded rod, a rotating wheel, a displacement block, an L-shaped rod, a guide block, a guide groove and a locking groove, a fixed seat is arranged at the bottom end of the underwater robot, a bidirectional threaded rod is arranged inside the fixed seat, one end of the bidirectional threaded rod is connected to a rotating wheel, a displacement block is threadedly connected to the surface of the bidirectional threaded rod, one end of the displacement block is connected to an L-shaped rod, and the other end of the displacement block is connected to a guide block, a guide groove is opened at one end of the fixed seat close to the guide block, and the displacement block and the guide block form a sliding structure through the guide groove.

[0006] Preferably, the mechanical gripper body includes a hydraulic cylinder, a support seat, a clamp, an adjusting rod and a movable seat, the hydraulic cylinder is connected through the support seat, the surface of the support seat is rotatably connected with the clamp, the surface of the clamp is connected with the adjusting rod, and the movable seat is movably connected between one end of the hydraulic cylinder that passes through the support seat and the adjusting rod.

[0007] Preferably, locking grooves are provided on both sides of the underwater robot, and the fixing seat and the underwater robot form a locking structure through an L-shaped rod and the locking grooves.

[0008] Preferably, a protective mechanism is provided on the inner side of the mechanical gripper body, located outside the camera, and the protective mechanism includes a first connecting rod, a horizontal plate, a spring, a pull rod, a moving block, a displacement groove, a second connecting rod and a protective frame. The first connecting rod is internally slidably connected to the horizontal plate, and one end of the horizontal plate is connected to the pull rod.

[0009] Preferably, a spring is connected between the first connecting rod and the pull rod, and the pull rod and the first connecting rod form an elastic structure through the spring.

[0010] Preferably, one end of the pull rod is connected to a moving block, a displacement groove is provided on one side of the mechanical gripper body close to the moving block, and the pull rod and the mechanical gripper body form a sliding structure through the displacement groove and the moving block.

[0011] Preferably, a second connecting rod is connected to a side of the pull rod away from the horizontal plate, a protective frame is sleeved on the outer side of the camera, and the pull rod forms a snap-fit ​​structure with the protective frame through the second connecting rod.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. When the mechanical gripper body of the utility model needs to be replaced, the rotating wheel drives the bidirectional threaded rod connected on one side to rotate, the bidirectional threaded rod drives the displacement block connected on one side to move, the displacement block drives the L-shaped rod connected on one side to move, and drives the guide block connected on the other side to move in the guide groove. When the L-shaped rod moves, one end can be locked with the locking groove, so that the L-shaped rod is locked with the underwater robot, thereby facilitating the disassembly and replacement of the mechanical gripper body;

[0014] 2. The utility model pulls the pull rod so that the pull rod squeezes the spring connected on one side when it moves. At the same time, the pull rod drives the horizontal plate connected on one side to move inside the first connecting rod when it moves, and drives the second connecting rod connected on the other side to separate from the protective frame. Conversely, the pull rod and the protective frame are locked through spring reset, so that the protective frame can protect the camera on the surface of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 This is a front view structural schematic diagram of the utility model;

[0017] Figure 2 It is a schematic diagram of a partial cross-sectional structure of the utility model in a front view;

[0018] Figure 3 It is a front view enlarged cross-sectional structural schematic diagram of the protective mechanism of the utility model.

[0019] In the figure: 1. underwater robot; 2. mechanical gripper body; 201. hydraulic cylinder; 202. support seat; 203. clamping claw; 204. adjusting rod; 205. movable seat; 3. camera; 4. disassembly and replacement mechanism; 5. protection mechanism; 401. fixed seat; 402. two-way threaded rod; 403. rotating wheel; 404. displacement block; 405. L-shaped rod; 406. guide block; 407. guide groove; 408. locking groove; 501. first connecting rod; 502. cross plate; 503. spring; 504. pull rod; 505. moving block; 506. displacement groove; 507. second connecting rod; 508. protection frame. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions 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. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] See also Figure 1 and Figure 2It can be seen that the utility model provides a technical solution: a mechanical gripper for an underwater robot, comprising an underwater robot 1, a mechanical gripper body 2 and a camera 3, the mechanical gripper body 2 is arranged below the underwater robot 1, the camera 3 is installed on the inner side of the mechanical gripper body 2, the top of the mechanical gripper body 2 is located on one side of the underwater robot 1 and is provided with a disassembly and replacement mechanism 4, the disassembly and replacement mechanism 4 comprises a fixed seat 401, a bidirectional threaded rod 402, a rotating wheel 403, a displacement block 404, an L-shaped rod 405, a guide block 406, a guide groove 407 and a locking groove 408, the bottom end of the underwater robot 1 is provided with a fixed seat 401, the fixed seat A bidirectional threaded rod 402 is arranged inside 401, one end of the bidirectional threaded rod 402 is connected to a rotating wheel 403, a displacement block 404 is threadedly connected to the surface of the bidirectional threaded rod 402, one end of the displacement block 404 is connected to an L-shaped rod 405, and the other end of the displacement block 404 is connected to a guide block 406, a guide groove 407 is provided at one end of the fixed seat 401 close to the guide block 406, the displacement block 404 and the guide block 406 form a sliding structure through the guide groove 407, locking grooves 408 are provided on both sides of the underwater robot 1, and the fixed seat 401 and the underwater robot 1 form a locking structure through the L-shaped rod 405 and the locking groove 408.

[0022] See also Figure 1 and Figure 2 It can be seen that by rotating the rotating wheel 403, the bidirectional threaded rod 402 is driven to rotate, so that the displacement block 404 moves, and at the same time drives the L-shaped rod 405 to move. When the L-shaped rod 405 moves, one end can be locked with the locking groove 408, so that the L-shaped rod 405 is locked with the underwater robot 1, thereby facilitating the disassembly and replacement of the mechanical gripper body 2.

[0023] See also Figure 1 and Figure 2 It can be seen that the mechanical gripper body 2 includes a hydraulic cylinder 201, a support seat 202, a clamp 203, an adjusting rod 204 and a movable seat 205. The hydraulic cylinder 201 is connected through the support seat 202, the surface of the support seat 202 is rotatably connected with the clamp 203, the surface of the clamp 203 is connected with the adjusting rod 204, and the movable seat 205 is movably connected between one end of the hydraulic cylinder 201 that passes through the support seat 202 and the adjusting rod 204.

[0024] See also Figure 1-Figure 3It can be seen that the inner side of the movable seat 205 is located outside the camera 3 and is provided with a protective mechanism 5, which includes a first connecting rod 501, a horizontal plate 502, a spring 503, a pull rod 504, a moving block 505, a displacement groove 506, a second connecting rod 507 and a protective frame 508. The first connecting rod 501 is internally slidably connected to the horizontal plate 502, one end of the horizontal plate 502 is connected to the pull rod 504, a spring 503 is connected between the first connecting rod 501 and the pull rod 504, and the pull rod 504 is connected to the first connecting rod 50 The spring 503 forms an elastic structure, one end of the pull rod 504 is connected to the moving block 505, a displacement groove 506 is provided on the inner side of the movable seat 205 close to the moving block 505, the pull rod 504 and the movable seat 205 form a sliding structure through the displacement groove 506 and the moving block 505, the side of the pull rod 504 away from the horizontal plate 502 is connected to the second connecting rod 507, the outer side of the camera 3 is sleeved with a protective frame 508, and the pull rod 504 forms a snap-fit ​​structure with the protective frame 508 through the second connecting rod 507.

[0025] See also Figure 1-Figure 3 It can be known that when the pull rod 504 is pulled, the spring 503 can be squeezed, and at the same time, the pull rod 504 drives the horizontal plate 502 to move inside the first connecting rod 501, so that the pull rod 504 drives the second connecting rod 507 on the other side to separate from the protective frame 508. Conversely, the spring 503 is reset to lock the pull rod 504 and the protective frame 508, so that the protective frame 508 can protect the camera 3 on the surface of the utility model.

[0026] To sum up, when the mechanical gripper body 2 of the utility model needs to be replaced, the bidirectional threaded rod 402 is driven to rotate by rotating the rotating wheel 403, thereby driving the displacement block 404 to move, and the displacement block 404 drives the L-shaped rod 405 to move. When the L-shaped rod 405 moves, one end can be locked with the locking groove 408, so that the L-shaped rod 405 can be locked with the underwater robot 1, thereby facilitating the disassembly and replacement of the mechanical gripper body 2. The contents not described in detail in this description belong to the existing technology known to professional and technical personnel in this field.

[0027] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mechanical gripper for an underwater robot, comprising an underwater robot (1), a mechanical gripper body (2), and a camera (3), characterized in that: A mechanical gripper body (2) is arranged below the underwater robot (1), a camera (3) is installed on the inner side of the mechanical gripper body (2), a disassembly and replacement mechanism (4) is arranged at the top of the mechanical gripper body (2) on one side of the underwater robot (1), the disassembly and replacement mechanism (4) comprises a fixing seat (401), a bidirectional threaded rod (402), a rotating wheel (403), a displacement block (404), an L-shaped rod (405), a guide block (406), a guide groove (407) and a locking groove (408), the bottom end of the underwater robot (1) is provided with a fixing seat (401), the fixing seat (402) is arranged at the bottom end of the underwater robot (1), the fixing seat (401 ... A bidirectional threaded rod (402) is arranged inside the fixed seat (401), one end of the bidirectional threaded rod (402) is connected to a rotating wheel (403), a displacement block (404) is threadedly connected to the surface of the bidirectional threaded rod (402), one end of the displacement block (404) is connected to an L-shaped rod (405), and the other end of the displacement block (404) is connected to a guide block (406), a guide groove (407) is provided at one end of the fixed seat (401) close to the guide block (406), and the displacement block (404) and the guide block (406) form a sliding structure through the guide groove (407).

2. A mechanical gripper for an underwater robot according to claim 1, characterized in that: Locking grooves (408) are provided on both sides of the underwater robot (1), and the fixing seat (401) and the underwater robot (1) form a locking structure through an L-shaped rod (405) and the locking grooves (408).

3. A mechanical gripper for an underwater robot according to claim 1, characterized in that: The mechanical gripper body (2) comprises a hydraulic cylinder (201), a support seat (202), a clamping jaw (203), an adjusting rod (204) and a movable seat (205); the hydraulic cylinder (201) is connected through the support seat (202); the surface of the support seat (202) is rotatably connected with the clamping jaw (203); the surface of the clamping jaw (203) is connected with the adjusting rod (204); and the movable seat (205) is movably connected between one end of the hydraulic cylinder (201) that passes through the support seat (202) and the adjusting rod (204).

4. A mechanical gripper for an underwater robot according to claim 3, characterized in that: A protective mechanism (5) is arranged on the inner side of the movable seat (205) and located on the outer side of the camera (3), and the protective mechanism (5) includes a first connecting rod (501), a horizontal plate (502), a spring (503), a pull rod (504), a moving block (505), a displacement groove (506), a second connecting rod (507) and a protective frame (508), wherein the first connecting rod (501) is internally slidably connected to the horizontal plate (502), and one end of the horizontal plate (502) is connected to the pull rod (504).

5. A mechanical gripper for an underwater robot according to claim 4, characterized in that: A spring (503) is connected between the first connecting rod (501) and the pull rod (504), and the pull rod (504) and the first connecting rod (501) form an elastic structure through the spring (503).

6. A mechanical gripper for an underwater robot according to claim 5, characterized in that: One end of the pull rod (504) is connected to a moving block (505), a displacement groove (506) is provided inside the movable seat (205) on one side close to the moving block (505), and the pull rod (504) and the movable seat (205) form a sliding structure through the displacement groove (506) and the moving block (505).

7. A mechanical gripper for an underwater robot according to claim 6, characterized in that: A second connecting rod (507) is connected to the side of the pull rod (504) away from the horizontal plate (502), a protective frame (508) is sleeved on the outer side of the camera (3), and the pull rod (504) forms a snap-fit ​​structure with the protective frame (508) through the second connecting rod (507).

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