Underwater telescopic holding claw robot

Abstract

The utility model relates to the technical field of underwater robots, in particular to an underwater telescopic holding claw robot. The robot comprises a frame, a first driving mechanism and an embracing claw mechanism installed at the bottom of the frame, the embracing claw mechanism comprises at least two embracing claw assemblies, and each embracing claw assembly comprises two embracing claw units which are oppositely arranged; each holding claw unit comprises a first driving part, a connecting part, a second driving part and a clamping claw part, and the clamping claw parts can horizontally move and can be rotationally opened and closed relative to the frame; the clamping jaw part is composed of an upper clamping jaw and a lower clamping jaw which are hinged and can rotate relatively. Through the specific arrangement of the holding claw mechanism, the grabbing effect of various irregular objects can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to an underwater telescopic claw robot. Background Art

[0002] The ocean is rich in hydrothermal sulfides, biological gene banks, tuberculosis crusts, oil, combustible ice and other resources. Since the 1980s, human exploration, research and development of deep-sea resources have continued to deepen, and the demand for exploration equipment has continued to increase. In order to facilitate underwater salvage operations, underwater robots have become an important tool for developing the ocean. However, the existing underwater robot gripping structure is not easy to adjust to adapt to various shapes of objects during use, especially for irregular objects. The grasping effect is poor, which limits the use of underwater robots. Therefore, there is an urgent need for a new underwater robot that can better adapt to the grasping of various irregular objects. Utility Model Content

[0003] The purpose of the present application is to provide an underwater telescopic claw robot to solve the problem that existing underwater robots are unable to adapt well to the grasping of irregular objects.

[0004] The embodiments of the present application can be implemented through the following technical solutions:

[0005] An underwater telescopic claw robot comprises a frame, a first driving mechanism and a claw mechanism installed at the bottom of the frame, wherein the first driving mechanism is used to drive the robot to move underwater; the claw mechanism comprises at least two groups of claw assemblies, each group of claw assemblies comprises two claw units arranged opposite to each other; each claw unit comprises a first driving part, a connecting part, a second driving part and a clamping part, the clamping part is slidably connected to the frame through the connecting part, the output end of the first driving part is connected to the connecting part, and is used to drive the clamping part to move horizontally; the clamping part is hinged to the connecting part, and the output end of the second driving part is connected to the hinge between the clamping part and the connecting part, and is used to drive the clamping part to rotate; the clamping part comprises an upper clamping jaw and a lower clamping jaw, which are hinged.

[0006] Furthermore, the gripping claw unit also includes a third driving part, an output end of which is connected to the hinge of the upper jaw and the lower jaw, and is used to drive the upper jaw and the lower jaw to rotate relative to each other.

[0007] Furthermore, each driving part of the claw unit can be controlled individually, so that each claw unit together forms a clamping space of different forms.

[0008] Furthermore, the connecting portion includes a guide rail, a sliding block slidably connected to the guide rail, and a sliding mounting seat fixedly connected to the lower end of the sliding block.

[0009] Furthermore, the sliding mounting seat is fixedly connected to the output end of the first driving part, and the sliding mounting seat is hinged to the clamping claw part.

[0010] Furthermore, the claw mechanism also includes a load-bearing connecting seat, the upper end of which is detachably connected to the frame, and the lower end of which is fixedly connected to the guide rail.

[0011] Furthermore, each group of claw assemblies are arranged in parallel or opposite to each other.

[0012] Furthermore, the first driving part is a hydraulic telescopic cylinder, in which a displacement sensor is provided for feeding back the position of the sliding mounting seat; and a pressure sensor is provided on the hydraulic circuit for monitoring the pressure value.

[0013] Furthermore, the first driving mechanism includes a propeller and a motor driver, and the motor driver is used to control the start and stop of each group of propellers.

[0014] Furthermore, the underwater telescopic claw robot also includes a sonar, which is installed in front of the lower layer of the frame 1 through a sonar pan-tilt platform to scan the position information of the object.

[0015] Furthermore, the underwater telescopic claw robot also includes a camera and a lighting fixture installed at the bottom of the frame 1 to provide a clear field of view for the robot's underwater salvage operations.

[0016] The underwater telescopic claw robot provided by the embodiments of the present application has at least the following beneficial effects:

[0017] 1. The clamping jaws in this application can adjust the gripping range by horizontal displacement, and can also be opened and closed at different angles by rotation, so as to adapt to the gripping of irregular objects;

[0018] 2. The clamping jaws of the present application are composed of upper and lower clamping jaws, and the two can also rotate relative to each other to open and close at different angles. On the one hand, it can further increase the adaptability of clamping irregular targets, and on the other hand, it can increase the clamping stability.

[0019] 3. Each driving part of the present application can be controlled individually, so that the gripper can be adjusted to assume different shapes, which can further improve the grasping effect of various irregular targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a robot according to an embodiment of the present application;

[0021] Figure 2 This is a front view of a claw mechanism disposed opposite to a claw assembly in one embodiment of the present application;

[0022] Figure 3 This is a bottom view of a claw mechanism disposed opposite to a claw assembly in one embodiment of the present application;

[0023] Figure 4 This is a front view of a claw mechanism in which a claw assembly is arranged in parallel in one embodiment of the present application;

[0024] Figure 5 This is a side view of a claw mechanism in which a claw assembly is arranged in parallel in one embodiment of the present application;

[0025] Figure 6 A schematic diagram of the overall structure of a robot during operation according to an embodiment of the present application;

[0026] Figure 7 A schematic diagram of the overall structure of a robot when not working according to an embodiment of the present application;

[0027] Reference numerals: frame 1, claw mechanism 2, first driving part 21, connecting part 22, guide rail 221, slider 222, sliding mounting seat 223, second driving part 23, clamping part 24, upper clamping jaw 241, lower clamping jaw 242, third driving part 25, fixed connecting seat 26, load-bearing connecting seat 27 DETAILED DESCRIPTION

[0028] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.

[0029] In addition, various components in the drawings are enlarged or reduced in size for ease of understanding, but this practice is not intended to limit the scope of protection of the present application.

[0030] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the products of the embodiments of the present application are usually placed when in use, it is only for the convenience of describing the present application and simplifying the description, and does 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 cannot be understood as a limitation on the present application. In addition, in the description of the present application, in order to distinguish different units, the words first, second, etc. are used in this specification, but these are not limited by the order of manufacture, nor can they be understood as indicating or implying relative importance, and their names may be different in the detailed description and claims of the present application.

[0031] The vocabulary in this specification is used to illustrate the embodiments of the present application, but is not intended to limit the present application. It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be specifically understood.

[0032] The present application provides an underwater telescopic claw robot, Figure 1 The overall structure diagram of a robot according to an embodiment of the present application is shown in FIG. Figure 1 As shown, the robot of the present application includes a frame 1, a first driving mechanism and a claw mechanism 2, wherein the first driving mechanism is used to drive the robot to move underwater, and the frame 1 is used to install and fix other devices; during operation, the underwater target object is salvaged through the coordinated cooperation of the frame 1, the first driving mechanism and the claw mechanism 2.

[0033] Furthermore, the claw mechanism 2 is installed at the bottom of the frame 1, combined with Figure 1-Figure 3 As shown, the claw mechanism 2 includes two groups of claw assemblies, which are arranged opposite to each other at the bottom of the frame 1. Each group of claw assemblies includes two relatively arranged claw units, and the claw units cooperate to form a clamping space.

[0034] Furthermore, each claw unit includes a first driving part 21, a connecting part 22, a second driving part 23, a clamping part 24 and a third driving part 25, wherein the clamping part 24 is slidably connected to the frame 1 through the connecting part 22, specifically, the connecting part 22 includes a guide rail 221 fixedly connected to the frame 1, a slider 222 slidably connected to the guide rail 221 at the lower part, a sliding mounting seat 223 fixedly connected to the lower part of the slider 222, and the clamping part 24 is located at the lower part of the sliding mounting seat 223 and is hinged to the sliding mounting seat 223.

[0035] Furthermore, the output end of the first driving part 21 is fixedly connected to the sliding mounting seat 223, and the other end is fixedly connected to the frame 1 through the fixed mounting seat 226. The first driving part 21 can drive the sliding mounting seat 223 to slide on the guide rail 221 through the slider 222, thereby driving the clamping claw part 24 to move horizontally relative to the frame 1; in some specific embodiments, the guide rail 221 is a linear guide; in some preferred embodiments, the first driving part 21 is a telescopic hydraulic cylinder, optionally, the first driving part 21 can also use a cylinder, an electric cylinder, etc., as long as it can drive the corresponding device to move in the required direction; in some preferred embodiments, a displacement sensor is also provided in the telescopic hydraulic cylinder for real-time feedback of the position of the sliding mounting seat 223, and a pressure sensor is provided in the hydraulic circuit of the telescopic hydraulic cylinder for monitoring the pressure value.

[0036] In some preferred embodiments, the slider 222 is a heavy-duty three-section slider, which can withstand a downward pulling force of a certain weight and drive the clamping claw portion 24 to slide more smoothly.

[0037] Furthermore, the output end of the second driving part 23 is connected to the hinge between the clamping claw part 24 and the sliding mounting seat 223, and is used to drive the clamping claw part 24 to rotate relative to the sliding mounting seat 223;

[0038] Furthermore, the clamping jaw portion 24 includes an upper clamping jaw 241 and a lower clamping jaw 242, one end of the upper clamping jaw 241 is hinged to the sliding mounting seat 223, and the other end is hinged to the lower clamping jaw 242, and the output end of the third driving portion 25 is connected to the hinge of the upper and lower clamping jaws to drive the upper and lower clamping jaws to rotate relative to each other; in some preferred embodiments, the upper and lower clamping jaws are made of aluminum alloy material, which helps to resist seawater corrosion; preferably, both the upper and lower clamping jaws are provided with hollowing, which helps to save material costs.

[0039] In some preferred embodiments, the second driving unit 23 and the third driving unit 25 are both rotary motors, which have large output torque and can meet the requirements of high-strength tooling, and the motors are stable in operation, long in service life, and easy to maintain.

[0040] In some preferred embodiments, the claw mechanism 2 also includes a load-bearing connecting seat 27, the upper end of which is detachably connected to the frame 1, and the lower end is fixedly connected to a guide rail 221 and a fixed mounting seat 226, so that the claw mechanism 2 and the frame 1 can be quickly disassembled and assembled by disassembling and assembling the load-bearing connecting seat 27 and the frame 1; preferably, the load-bearing connecting seat 27 has a protruding portion in the length direction and / or width direction compared to the frame 1, which can further increase the horizontal displacement space of the clamping claw part 24 and increase the clamping range; preferably, the sliding mounting seat 223, the fixed mounting seat 226 and the load-bearing connecting seat 27 are all made of aluminum alloy, which helps to resist seawater corrosion.

[0041] In some preferred embodiments, the robot of the present application further comprises a mounting frame 3 , and can be placed on the mounting frame 3 when not in operation.

[0042] During salvage operations, Figure 4 As shown, the first driving part 21 of each claw unit drives the sliding mounting seat 223 to move horizontally along the guide rail 221 to control the clamping range in the horizontal direction. The second driving part 23 drives the clamping claw part 24 to rotate relative to the sliding mounting seat 223, so that the clamping claw part 24 opens to grasp the target object. The third driving part 25 drives the lower clamping claw 242 to rotate relative to the upper clamping claw 241, which can better adapt to irregular-shaped objects and prevent the target object from falling off. Through the joint action of several driving parts, each clamping claw is put into different postures, and different forms of clamping spaces are formed between each claw unit, which can adapt to the grasping of various irregular-shaped targets underwater. When not in operation, such as Figure 5 As shown, the claw unit can be driven by each driving part to be in a folded state and placed on the mounting frame 3 to reduce space occupation.

[0043] In some preferred embodiments, each driving part of each claw unit can be driven individually, so that each claw unit can jointly form a clamping space of different shapes, thereby improving the grasping effect of various irregular objects.

[0044] Figure 6-Figure 7 Another embodiment of the present application is shown, which is different from the above-mentioned embodiment in that the two groups of claw assemblies of the claw mechanism 2 of this embodiment are arranged in parallel to adapt to targets of different shapes; in some other embodiments, the claw mechanism 2 can also include more than two groups of claw assemblies, and each group of claw assemblies can be arranged in parallel or opposite to each other, which can better adapt to targets of irregular shapes on the one hand, and increase the clamping stability on the other hand.

[0045] Furthermore, the first driving mechanism includes a propeller and a motor driver, which are installed on the frame 1. The motor driver is used to control the start and stop of the propeller, thereby controlling the adjustment of the underwater position of the robot.

[0046] In some preferred embodiments, the robot of the present application also includes a sonar, which is installed in front of the lower layer of the frame 1 through a sonar pan-tilt head. The robot can scan the location information of the object through the sonar to provide direction for the robot's salvage operation.

[0047] In some preferred embodiments, the robot of the present application further includes a camera and a lighting fixture installed at the bottom of the frame 1 to provide a clear field of view for the robot's underwater salvage operations.

[0048] The above is a detailed introduction to the specific implementation methods of the present application. For those skilled in the art, several improvements and modifications may be made to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An underwater telescopic claw robot, comprising a frame (1), a first driving mechanism and a claw mechanism (2) mounted on the bottom of the frame (1), wherein the first driving mechanism is used to drive the robot to move underwater, and is characterized in that: The claw mechanism (2) comprises at least two groups of claw assemblies, each group of claw assemblies comprises two claw units arranged opposite to each other; The gripping claw unit comprises a first driving part (21), a connecting part (22), a second driving part (23) and a clamping claw part (24); the clamping claw part (24) is slidably connected to the frame (1) via the connecting part (22); an output end of the first driving part (21) is connected to the connecting part (22) for driving the clamping claw part (24) to move horizontally; The clamping jaw portion (24) is hinged to the connecting portion (22), and the output end of the second driving portion (23) is connected to the hinge between the clamping jaw portion (24) and the connecting portion (22) for driving the clamping jaw portion (24) to rotate; The clamping jaw portion (24) comprises an upper clamping jaw (241) and a lower clamping jaw (242), which are hingedly connected.

2. The underwater telescopic claw robot according to claim 1, characterized in that: The gripping claw unit further comprises a third driving part (25), an output end of which is connected to a hinge point between the upper gripping claw (241) and the lower gripping claw (242) and is used for driving the upper gripping claw (241) and the lower gripping claw (242) to rotate relative to each other.

3. The underwater telescopic claw robot according to claim 1, characterized in that: The connecting portion (22) comprises a guide rail (221), a sliding block (222) slidably connected to the guide rail (221), and a sliding mounting seat (223) fixedly connected to the lower end of the sliding block (222).

4. The underwater telescopic claw robot according to claim 3, characterized in that: The sliding mounting seat (223) is fixedly connected to the output end of the first driving part (21), and the sliding mounting seat (223) is hinged to the clamping claw part (24).

5. The underwater telescopic claw robot according to claim 4, characterized in that: The claw mechanism (2) further comprises a load-bearing connection seat (27), the upper end of the load-bearing connection seat (27) being detachably connected to the frame (1) and the lower end being fixedly connected to the guide rail (221).

6. The underwater telescopic claw robot according to claim 1, characterized in that: Each group of claw assemblies are arranged in parallel or opposite to each other.

7. The underwater telescopic claw robot according to claim 1, characterized in that: The first driving part (21) is a hydraulic telescopic cylinder, in which a displacement sensor is provided for feeding back the position of the sliding mounting seat (223); a pressure sensor is provided on the hydraulic circuit for monitoring the pressure value.

8. The underwater telescopic claw robot according to claim 1, characterized in that: The first driving mechanism includes a propeller and a motor driver, and the motor driver is used to control the start and stop of the propeller.

9. The underwater telescopic claw robot according to claim 1, characterized in that: It also includes a sonar, which is installed in front of the lower layer of the frame (1) through a sonar platform.

10. The underwater telescopic claw robot according to claim 1, characterized in that: It also includes a camera and a lighting fixture, which are installed on the frame (1).

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