Multifunctional integrated manipulator for underwater operation

Abstract

A multifunctional integrated manipulator for underwater operation comprises a mechanical arm, a clamping jaw connecting base is installed at the end of the mechanical arm, a clamping jaw mechanism is hinged to the end of the clamping jaw connecting base, and the clamping jaw mechanism is driven by a hydraulic power system to be opened or closed. The clamping jaw mechanism comprises an upper jaw and a lower jaw, and the upper jaw and the lower jaw are each of an arc-shaped structure with the middle protruding outwards. A blade structure is vertically and upwards arranged at the rear part of the lower claw; a cutting part is arranged at the corresponding position of the upper claw; when the upper claw and the lower claw are closed, the blade structure and the cutting part complete shearing; the middle of the front portion of the upper claw is sunken upwards to form a groove, and when the upper claw and the lower claw are completely closed, the lower claw enters the groove. And a digging shovel is fixed at the upper part of the groove. The multifunctional integrated manipulator for underwater operation provided by the utility model integrates actions of grabbing, shearing, digging and shoveling and the like, realizes multiple purposes by one hand, saves the tool replacement time, and remarkably improves the underwater operation efficiency.

Description

Technical Field

[0001] The utility model relates to a mechanical chuck, in particular to a multifunctional integrated manipulator for underwater operations. Background Art

[0002] During the underwater dredging operation, the underwater dredging robot needs to choose to replace different equipment for underwater dredging operations according to the needs of the actual dredging environment. These operations mainly include grabbing, shearing, shoveling and other actions, which correspond to claws with different functions. Usually, every time a functional chuck is replaced, the underwater robot needs to be lifted to the surface for operation, which is time-consuming and labor-intensive, reducing the efficiency of the dredging operation. Others use multiple operating devices that need to be installed on an underwater operating platform for underwater operations, and replace the functional operating claws underwater according to the required functions. Remote underwater operations also waste a lot of time and are prone to replacement and installation failures, which greatly reduces the efficiency of underwater dredging operations and cannot meet actual usage needs. Summary of the Invention

[0003] The technical problem to be solved by the utility model is to provide a multifunctional integrated manipulator for underwater operations, which integrates actions such as grabbing, shearing, and shoveling, thereby achieving multi-purpose use with one hand, saving tooling replacement time, and greatly increasing operation efficiency.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A multifunctional integrated manipulator for underwater operations, comprising a manipulator arm, a gripper connection seat being mounted at the end of the manipulator arm, a gripper mechanism being hingedly connected to the end of the gripper connection seat, and the gripper mechanism being driven to open or close by a hydraulic power system;

[0006] The clamping mechanism includes an upper jaw and a lower jaw;

[0007] The rear part of the lower jaw is provided with a blade structure vertically upward, and the upper jaw is provided with a cutting portion at the corresponding position; when the upper and lower jaws are closed, the blade structure and the cutting portion complete the shearing;

[0008] A groove is formed at the front of the upper claw, and when the upper claw and the lower claw are completely closed, the lower claw enters the groove; a digging shovel is fixed on a side of the groove away from the lower claw.

[0009] A rotating base is installed at the front end of the mechanical arm, and the rotating base is driven by a rotating hydraulic cylinder to drive the clamping claw connecting seat to rotate.

[0010] The upper claw and the lower claw are both arc-shaped structures with the middle bulging outward.

[0011] The inner working surfaces of the upper claw and the lower claw are both arc-shaped surfaces, and anti-slip teeth are provided on the arc-shaped surfaces.

[0012] The inner front end portions of the upper claw and the lower claw are both smoothly transitioned from back to front to a pointed flat structure.

[0013] The groove is arc-shaped, the width of the lower claw is smaller than the width of the groove, and the shape of the lower claw matches the shape of the groove.

[0014] The clamping jaw connecting seat includes two vertical supporting splints, which are fixed by a horizontal connecting shaft; a support block is provided between the two vertical supporting splints, and a splint group is hinged at both ends of the support block; the other end of each splint group is hinged to the hanging ring plate of the upper claw or the lower claw; the upper claw and the lower claw are rotatably connected to the central axis fixed at the front of the two vertical supporting splints.

[0015] The width of the two side walls of the shovel is equal to the width of the upper claw; the tops of the two side walls located at the opening of the shovel are arc-shaped structures.

[0016] A limiting portion is provided at the inner rear portion of the upper claw and the lower claw.

[0017] The utility model provides a multifunctional integrated manipulator for underwater operations, which has the following technical effects: grasping can be achieved by arranging upper claws and lower claws with the middle protruding outward and the front end being a pointed end; shearing can be achieved by arranging blade structures and cutting parts that cooperate with each other at the tails of the upper claws and the lower claws; the upper claw is provided with a digging shovel with a groove, and the lower claw matches the groove; in this way, when used as a digging shovel, the lower claw can be hidden in the groove to achieve a single excavation function; at the same time, the rotation of the rotating base is utilized to turn the digging shovel downward to facilitate operation. When not working, the digging shovel is directed upward without affecting the operation of other functional modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0019] Figure 1 It is the main view of the present utility model.

[0020] Figure 2 It is a structural diagram of the mechanical chuck in the utility model.

[0021] Figure 3 This is the installation front view of the utility model.

[0022] Figure 4 It is the left side view of the installation of the utility model.

[0023] Figure 5 This is a structural diagram of the first bracket in the present utility model.

[0024] Figure 6 This is a schematic diagram of the arrangement of the hydraulic cylinders in the robotic arm of the present invention.

[0025] Figure 7This is a schematic diagram of the interior of the clamping jaw connecting seat in the present invention.

[0026] In the figure: robotic arm 1, rotating base 101, clamping claw connecting base 2, clamping claw mechanism 3, upper claw 301, lower claw 302, clamping plate group 4, anti-slip teeth 5, blade structure 6, cutting part 7, digging shovel 8, tip plane structure 9. DETAILED DESCRIPTION

[0027] like Figure 1-4 The figure shows a multifunctional integrated underwater operation manipulator, comprising a manipulator arm 1, a mechanical chuck, a hydraulic power system, and a controller. The manipulator arm 1 is mounted on a mobile underwater operation platform and can move with the platform. The manipulator arm 1 and the mechanical chuck are both hydraulically driven, with the hydraulic power system providing power to the entire manipulator arm 1 and the mechanical chuck. The controller is used to control the movements of the manipulator arm 1 and the mechanical chuck.

[0028] like Figure 6 As shown, the robotic arm 1 comprises a multi-segmented, articulated arm, each hinged and driven by a hydraulic cylinder. A rotating base 101 is mounted at the front end of the robotic arm 1, which is driven by a rotating hydraulic cylinder. A mechanical chuck is mounted on the rotating base 101, which rotates to efficiently select and switch between required functional modules, improving flexibility and facilitating precise and flexible underwater operations, saving time and effort.

[0029] The mechanical chuck includes a clamping jaw connecting seat 2 at the rear end and a clamping jaw mechanism 3 at the front end.

[0030] like Figure 7 As shown, the clamping jaw connection base 2 includes two vertical support plates 201, which are fixed together by a transverse connecting shaft. A support block 202 is positioned between the two vertical support plates 201. Clamping jaws 4 are hingedly connected to the protrusions at the upper and lower ends of the support block 202. The other end of each clamping jaw 4 is connected to the clamping jaw mechanism 3.

[0031] like Figure 7 As shown, the clamping mechanism 3 comprises an upper jaw 301 and a lower jaw 302 that cooperate with each other. A central shaft 203 is fixed to the corresponding two vertical support clamping plates 201. Both the upper jaw 301 and the lower jaw 302 are rotatably mounted on the central shaft 203 through perforations. Furthermore, a hanging ring plate 303 is fixed to the rear end of either the upper jaw 301 or the lower jaw 302, and is hingedly connected to the front end of the clamping plate assembly 4.

[0032] The controller controls the hydraulic power system to provide hydraulic power to the support block 202. Driven by a hydraulic cylinder, the support block 202, as it moves forward and backward, drives the hook plate 303 via the clamping plate assembly 4, which in turn drives the upper and lower jaws 301, 302 to rotate about the central axis 203, thereby controlling the relative opening and closing of the upper and lower jaws 301, 302. This structural design enables remote control of the relative opening and closing of the upper and lower jaws 301, 302 underwater from land, enabling gripping and release operations for underwater dredging.

[0033] like Figure 3-5 As shown, preferably, the entire inner side of the upper claw 301 and the lower claw 302 are both curved structures, facilitating the effective grasping and release of underwater objects. Anti-slip teeth 5 are provided on the entire inner curved surface of the upper claw 301 and the lower claw 302 to improve the anti-slip performance when grasping underwater objects. The inner front end of the upper claw 301 and the lower claw 302 smoothly transitions from back to front to the pointed flat structure 9, and the end can be further inserted to ensure effective and precise grasping and positioning of underwater objects, meet actual usage requirements, and improve the efficiency of underwater dredging operations.

[0034] like Figure 4 As shown, preferably, a blade structure 6 arranged vertically upward is provided at the inner rear portion of the lower claw 302, and a cutting portion 7 matching the blade structure 6 is provided at the inner rear portion of the upper claw 301 to realize shearing operations during underwater operations.

[0035] Preferably, the front portion of the upper jaw 301 is a U-shaped tooth structure with a central groove. The front portion of the lower jaw 302 is a single tooth structure corresponding to the U-shaped tooth structure, and its width is smaller than the width of the central groove of the U-shaped tooth structure. When the upper jaw 301 and the lower jaw 302 are closed, the lower jaw 302 can extend into the central groove of the U-shaped tooth structure. A digging shovel 8 with an upward opening is connected to the upper portion of the upper jaw 301. The bottom of the digging shovel 8 is designed to match the central groove of the U-shaped tooth structure, and the bottom of the central groove of the U-shaped tooth structure has an arc-shaped bottom surface structure that matches the inner curved surface of the lower jaw 302.

[0036] When shovel 8 is needed for excavation, the upper and lower jaws 301 and 302 are closed, with the inner wall of the lower jaw 302 abutting against the bottom of the shovel 8. The rotating base 101 on the robotic arm 1 is then rotated to move the shovel 8 to the appropriate angle, and the robotic arm 1 then controls the shovel 8 to perform the excavation operation. This allows for switching between grabbing and excavating functions, saving time and effort and significantly improving the efficiency of underwater dredging operations.

[0037] Preferably, the width of the side walls of the shovel 8 is equal to the width of the upper jaws. The tops of the side walls at the opening of the shovel 8 are curved, achieving precise shoveling and meeting practical needs while also effectively utilizing space and enabling flexible switching between grabbing and shoveling functions without interference. Positioning limits are positioned oppositely on the inner and rear sides of the upper and lower jaws 301, 302 to control the closing angle between them and ensure effective gripping.

[0038] Working principle and process:

[0039] 1) The controller controls the hydraulic power system to provide hydraulic power to the support block 202, thereby controlling the relative opening and closing movement between the upper claw 301 and the lower claw 302, thereby performing the clamping and releasing operation for underwater dredging.

[0040] 2) According to the actual situation, the rear blade structure 6 and the cutting part 7 of the upper claw 301 and the lower claw 302 are selectively used to perform the shearing action.

[0041] 3) Use the front arc surface of the upper claw 301 and the lower claw 302 to effectively grasp underwater objects. The anti-slip teeth 5 and the tip flat structure 9 further ensure the accuracy of underwater grasping objects and the effectiveness of the grasping action.

[0042] 4) When shoveling is required, close the upper claw 301 and the lower claw 302, and the inner wall of the lower claw 302 abuts against the bottom of the shovel 8; rotate the rotating base 101 on the robotic arm 1 to turn the shovel 8 to a suitable angle, and control it through the robotic arm 1 to perform the shoveling action.

Claims

1. A multifunctional integrated manipulator for underwater operations, characterized by: The invention comprises a mechanical arm (1), wherein a clamping claw connecting seat (2) is installed at the end of the mechanical arm (1), a clamping claw mechanism (3) is hingedly connected to the end of the clamping claw connecting seat (2), and the clamping claw mechanism (3) is driven to open or close by a hydraulic power system; The clamping jaw mechanism (3) comprises an upper jaw (301) and a lower jaw (302); A blade structure (6) is provided vertically upward at the rear of the lower claw (302), and a cutting portion (7) is provided at a corresponding position of the upper claw (301); when the upper claw (301) and the lower claw (302) are closed, the blade structure (6) and the cutting portion (7) complete shearing; A groove is formed at the front of the upper claw (301), and when the upper claw (301) and the lower claw (302) are completely closed, the lower claw (302) enters the groove; a digging shovel (8) is fixed on a side of the groove away from the lower claw (302).

2. The multifunctional integrated underwater operation manipulator according to claim 1, characterized in that: A rotating base (101) is installed at the front end of the mechanical arm (1), and the rotating base (101) is driven by a rotating hydraulic cylinder to drive the clamping claw connecting base (2) to rotate.

3. The multifunctional integrated underwater operation manipulator according to claim 1, characterized in that: The upper claw (301) and the lower claw (302) are both arc-shaped structures with the middle bulging outward.

4. The multifunctional integrated underwater operation manipulator according to claim 3, characterized in that: The inner working surfaces of the upper claw (301) and the lower claw (302) are both arc-shaped surfaces, and anti-slip teeth (5) are provided on the arc-shaped surfaces.

5. The multifunctional integrated underwater operation manipulator according to claim 3, characterized in that: The inner front ends of the upper claw (301) and the lower claw (302) both smoothly transition from the back to the front to a tip plane structure (9).

6. The multifunctional integrated underwater operation manipulator according to claim 1, characterized in that: The groove is arc-shaped, the width of the lower claw (302) is smaller than the width of the groove, and the shape of the lower claw (302) matches the shape of the groove.

7. The multifunctional integrated underwater operation manipulator according to claim 1, characterized in that: The clamping jaw connecting seat (2) comprises two vertical supporting splints (201), which are fixed to each other via a transverse connecting shaft; a supporting block (202) is provided between the two vertical supporting splints (201), and a splint group (4) is hingedly connected at both ends of the supporting block (202); the other end of each splint group (4) is hingedly connected to a hanging ring plate (303) of an upper jaw (301) or a lower jaw (302); and both the upper jaw (301) and the lower jaw (302) are rotatably connected to a central shaft fixed at the front of the two vertical supporting splints (201).

8. The multifunctional integrated underwater operation manipulator according to claim 1, characterized in that: The width of the two side walls of the shovel (8) is equal to the width of the upper claw (301); the tops of the two side walls located at the opening of the shovel (8) are arc-shaped structures.

9. The multifunctional integrated underwater operation manipulator according to claim 1, characterized in that: A limiting portion is provided at the inner rear portion of the upper claw (301) and the lower claw (302).

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