Underwater robot operation grabbing manipulator

Abstract

The utility model discloses an underwater robot operation grabbing manipulator, which belongs to the technical field of underwater robot manipulators and comprises a mounting block, an adjusting plate is arranged below the mounting block, three rotating grooves are formed in the peripheral side wall of the adjusting plate at equal intervals, and clamping jaws are rotatably arranged in the three rotating grooves. Connecting rods are fixedly connected to the peripheral side wall of the mounting block at equal intervals, the other ends of the connecting rods are rotationally connected with the middles of the clamping jaws, a motor groove is formed in the bottom of the mounting block, a clamping motor is fixedly arranged in the motor groove, a screw rod is coaxially and fixedly connected to the output end of the clamping motor, and a screw hole is formed in the center of the adjusting plate in a penetrating mode. The screw hole is in threaded fit with the screw rod. And the target object is clamped by adjusting the clamping motor, the stability is higher, and grabbing work is facilitated. And a rotating plate, a rotating block and a rotating motor are arranged above the mounting block, so that the grabbing angle of the clamping jaw can be adjusted, and the degree of freedom of the device is further improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater robot manipulators, and particularly relates to an underwater robot operation grabbing manipulator. Background Technique

[0002] At present, with the increasing number of underwater engineering services, the exploitation of offshore oil and gas resources, mineral resources, combustible ice, etc., and the booming development of the offshore wind power market, there will be a large number of underwater construction operations, and these underwater construction operations all need to be completed by underwater robots.

[0003] As proposed in a patent document with the publication number CN218052678U, an underwater robot clamping mechanical device includes a support platform, an anti-slip structure, a positioning structure, and a hydraulic clamping mechanism; one end of the support platform is provided with an opening, the inner side of the opening is connected with the positioning structure, the anti-slip structure is installed on the positioning structure, and the hydraulic clamping mechanism is installed at the opening; the hydraulic clamping mechanism includes: a clamping arm, a hydraulic cylinder, a cylinder fixed rotating shaft, a clamping arm rotating shaft, a guide wheel rotating shaft, and a cylinder rotating shaft; one end of the hydraulic cylinder is rotatably connected to the support platform through the cylinder fixed rotating shaft, and the other end is rotatably connected to one end of the clamping arm through the cylinder rotating shaft; the other end of the clamping arm is provided with a guide wheel through the guide wheel rotating shaft, and the middle part of the clamping arm is rotatably connected to the support platform through the clamping arm rotating shaft.

[0004] After reading the above document, it is found that it clamps the target object through two clamping arms, with poor stability, a risk of the target object slipping, which is not conducive to the progress of the grabbing work; at the same time, when clamping the target object through two clamping arms, angle adjustment cannot be performed, the degree of freedom is low, and the practicability is low, and it needs to be optimized. Content of the Utility Model

[0005] The purpose of the utility model is to provide an underwater robot operation grabbing manipulator to solve the problems raised in the above background technique.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] An underwater robot operation grabbing manipulator includes a mounting block, an adjusting plate is arranged below the mounting block, three first rotating grooves are equidistantly opened on the peripheral side wall of the adjusting plate, and clamping claws are rotatably arranged in all three first rotating grooves. The peripheral side wall of the mounting block is equidistantly fixedly connected with connecting rods, and the other end of the connecting rod is rotatably connected with the middle part of the clamping claw. A motor groove is opened at the bottom of the mounting block, a clamping motor is fixedly arranged in the motor groove, the output end of the clamping motor is arranged vertically downward, and the output end of the clamping motor is coaxially fixedly connected with a screw rod. A threaded hole is penetrated through the center position of the adjusting plate, and the threaded hole is in threaded cooperation with the screw rod.

[0008] Preferably, a rotating plate is fixedly arranged on the top end face of the mounting block. The other end of the rotating plate is provided with a rotating block. A second rotating groove is formed in the rotating block. The rotating plate is rotatably arranged in the second rotating groove. A rotating motor is fixedly arranged on the side wall of the rotating block. The output end of the rotating motor is fixedly connected with the rotating plate.

[0009] Preferably, one end of the rotating block away from the rotating plate is provided with a telescopic cylinder. The output end of the telescopic cylinder is fixedly connected with the rotating block.

[0010] Preferably, a monitoring head is fixedly arranged on the bottom end face of the adjusting plate.

[0011] Preferably, an anti-slip gasket is fixedly arranged on the inner wall of the clamping end of the clamping jaw. The anti-slip gasket is made of anti-slip rubber material.

[0012] Preferably, serrated grooves are formed in the inner wall of the anti-slip gasket. The serrated grooves are horizontally formed on the anti-slip gasket.

[0013] In summary, the technical effects and advantages of the present utility model are as follows:

[0014] 1. By arranging an adjusting plate below the mounting block, three clamping jaws are rotatably arranged at equal intervals on the peripheral side wall of the adjusting plate. Then, connecting rods are fixedly connected at equal intervals on the peripheral side wall of the mounting block. The other end of the connecting rod is rotatably connected with the middle part of the clamping jaw. A clamping motor is arranged at the bottom of the mounting block. A screw rod is coaxially and fixedly connected to the output end of the clamping motor. A screw hole threadedly matched with the screw rod is formed through the center position of the adjusting plate. The target object is clamped by adjusting the clamping motor. Compared with the prior art, the stability is higher, which is beneficial to the grasping operation.

[0015] 2. By arranging a rotating plate, a rotating block and a rotating motor above the mounting block, the grasping angle of the clamping jaw can be adjusted, thereby further improving the freedom degree of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present utility model;

[0017] Figure 2 is a schematic diagram of the position where the rotating groove of the present utility model is opened;

[0018] Figure 3 is a schematic diagram of the position where the monitoring head of the present utility model is arranged;

[0019] Figure 4 is Figure 3 a schematic enlarged view of the structure at A in

[0020] In the figure: 1. mounting block; 2. adjusting plate; 3. first rotating groove; 4. clamping jaw; 5. connecting rod; 6. motor groove; 7. clamping motor; 8. screw; 9. threaded hole; 10. rotating plate; 11. rotating block; 12. second rotating groove; 13. rotating motor; 14. telescopic cylinder; 15. monitoring head; 16. anti-slip gasket; 17. serrated groove. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0022] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0023] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0024] As Figures 1-3 shown, an underwater robot operation grasping manipulator includes a mounting block 1. A regulating plate 2 is arranged below the mounting block 1. Three first rotating grooves 3 are equidistantly opened on the peripheral side wall of the regulating plate 2. Clamping jaws 4 are rotatably arranged in the three first rotating grooves 3. Connecting rods 5 are fixedly connected to the peripheral side wall of the mounting block 1 at equal intervals. The other ends of the connecting rods 5 are rotatably connected to the middle parts of the clamping jaws 4. A motor groove 6 is opened at the bottom of the mounting block 1. A clamping motor 7 is fixedly arranged in the motor groove 6. The output end of the clamping motor 7 is arranged vertically downward. The output end of the clamping motor 7 is coaxially fixedly connected with a screw 8. A threaded hole 9 is penetrated through the center position of the regulating plate 2. The threaded hole 9 is in threaded cooperation with the screw 8.

[0025] Furthermore, in order to improve the freedom of use and operation of the device, a rotating plate 10 is fixedly arranged on the top end face of the mounting block 1. A rotating block 11 is arranged at the other end of the rotating plate 10. A second rotating groove 12 is opened on the rotating block 11. The rotating plate 10 is rotatably arranged in the second rotating groove 12. A rotating motor 13 is fixedly arranged on the side wall of the rotating block 11. The output end of the rotating motor 13 is fixedly connected to the rotating plate 10.

[0026] Further, a telescopic cylinder 14 is provided at one end of the rotating block 11 away from the rotating plate 10, and the output end of the telescopic cylinder 14 is fixedly connected to the rotating block 11.

[0027] It should be noted that when the grasping manipulator is in use, first adjust the clamping motor 7 to drive the screw rod 8 to rotate reversely, so that the adjusting plate 2 moves downward along the screw rod 8, and then the three clamping jaws 4 open. Then, adjust the telescopic cylinder 14 to extend the clamping jaws 4 to the position of the target object, and start the rotating motor 13 to drive the rotating plate 10 to rotate together to adjust the clamping angle of the clamping jaws 4. Finally, start the clamping motor 7 to drive the screw rod 8 to rotate forward, so that the adjusting plate 2 moves upward along the screw rod 8, and then the three clamping jaws 4 close to realize the grasping of the target object.

[0028] With the above settings, the adjusting plate 2 is arranged below the mounting block 1, three clamping jaws 4 are rotatably arranged equidistantly on the peripheral side wall of the adjusting plate 2, the connecting rods 5 are fixedly connected equidistantly on the peripheral side wall of the mounting block 1, and the other ends of the connecting rods 5 are rotatably connected to the middle parts of the clamping jaws 4. The clamping motor 7 is arranged at the bottom of the mounting block 1, and the screw rod 8 is coaxially and fixedly connected to the output end of the clamping motor 7. A screw hole 9 threadedly matched with the screw rod 8 is penetrated and opened at the central position of the adjusting plate 2. By adjusting the clamping motor 7, the target object is clamped. Compared with the prior art, the stability is higher, which is beneficial to the progress of the grasping work.

[0029] At the same time, by arranging the rotating plate 10, the rotating block 11 and the rotating motor 13 above the mounting block 1, the clamping angle of the clamping jaws 4 can be adjusted, thereby further improving the degree of freedom of the device.

[0030] As Figure 3 shown, a monitoring head 15 is fixedly arranged on the bottom end surface of the adjusting plate 2.

[0031] Through the setting of the monitoring head 15, the underwater scene can be transmitted to the computer display screen, and then the target object can be observed more intuitively, which is beneficial to the progress of the grasping work.

[0032] As Figure 3 、 Figure 4 shown, an anti-slip gasket 16 is fixedly arranged on the inner wall of the clamping end of the clamping jaw 4. The anti-slip gasket 16 is made of anti-slip rubber material, and a sawtooth groove 17 is opened on the inner wall of the anti-slip gasket 16. The sawtooth groove 17 is transversely opened on the anti-slip gasket 16.

[0033] Through the setting of the anti-slip gasket 16, the friction between the clamping jaw 4 and the target object can be increased, and then the target object can be effectively prevented from falling off, improving the efficiency of the grasping work. Through the opening of the sawtooth groove 17, the friction between the clamping jaw 4 and the target object can be further increased.

[0034] Working principle: When the grasping manipulator is in use, first adjust the clamping motor 7 to drive the screw rod 8 to rotate reversely, so that the adjusting plate 2 moves downward along the screw rod 8, and then the three jaws 4 open. Then, adjust the telescopic cylinder 14 to extend the jaws 4 to the position of the target object, and start the rotating motor 13 to drive the rotating plate 10 to rotate together, so as to adjust the clamping angle of the jaws 4. Finally, start the clamping motor 7 to drive the screw rod 8 to rotate forward, so that the adjusting plate 2 moves upward along the screw rod 8, and then the three jaws 4 close to realize the grasping of the target object.

[0035] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater robot operation grasping manipulator, comprising a mounting block (1), characterized in that: An adjustment plate (2) is arranged below the mounting block (1), and three first rotation grooves (3) are equidistantly arranged on the peripheral side wall of the adjustment plate (2), and clamping claws (4) are rotatably arranged in the three first rotation grooves (3). Connecting rods (5) are equidistantly fixedly connected to the peripheral side wall of the mounting block (1), and the other end of the connecting rod (5) is rotatably connected to the middle of the clamping claw (4). A motor groove (6) is arranged at the bottom of the mounting block (1), and a clamping motor (7) is fixedly arranged in the motor groove (6). The output end of the clamping motor (7) is arranged vertically downward, and the output end of the clamping motor (7) is coaxially fixedly connected with a screw rod (8). A screw hole (9) is arranged through the center position of the adjustment plate (2), and the screw hole (9) is threadedly matched with the screw rod (8).

2. The underwater robot operation grabbing manipulator according to claim 1, characterized in that: A rotating plate (10) is fixedly arranged on the top end surface of the mounting block (1), a rotating block (11) is arranged at the other end of the rotating plate (10), a second rotating groove (12) is opened on the rotating block (11), the rotating plate (10) is rotatably arranged in the second rotating groove (12), a rotating motor (13) is fixedly arranged on the side wall of the rotating block (11), and the output end of the rotating motor (13) is fixedly connected to the rotating plate (10).

3. The underwater robot operation grabbing manipulator according to claim 2, characterized in that: A telescopic cylinder (14) is provided at one end of the rotating block (11) away from the rotating plate (10), and an output end of the telescopic cylinder (14) is fixedly connected to the rotating block (11).

4. The underwater robot operation grabbing manipulator according to claim 1, characterized in that: A monitoring head (15) is fixedly arranged on the bottom end surface of the adjustment plate (2).

5. The underwater robot operation grabbing manipulator according to claim 1, characterized in that: An anti-skid pad (16) is fixedly arranged on the inner wall of the clamping end of the clamping claw (4), and the anti-skid pad (16) is made of an anti-skid rubber material.

6. The underwater robot operation grabbing manipulator according to claim 5, characterized in that: A sawtooth groove (17) is provided on the inner wall of the anti-slip gasket (16), and the sawtooth groove (17) is horizontally provided on the anti-slip gasket (16).

Images