Mechanical grabbing device of underwater robot

Abstract

The utility model discloses a mechanical grabbing device of an underwater robot, and belongs to the technical field of underwater robots. The device mainly comprises a support; the winding box is installed on one side of the support, a rotating roller is rotationally connected to the interior of the winding box, and a steel wire rope is wound on the rotating roller; the robot is installed at the other end of the steel wire rope, and a clamping jaw is installed at one side end of the robot; the rotating shaft is mounted on one side of the rotating roller, and the rotating shaft penetrates through one side end of the winding box and protrudes outwards; the ratchet wheel is installed on the rotating shaft, ratchets are installed on one side of the winding box and connected with the ratchet wheel in a meshed mode, a baffle is arranged on one side of the ratchets, and a compression spring is installed between the baffle and the ratchets; the clamping rod is arranged on the side, away from the compressed spring, of the ratchet. According to the mechanical grabbing device of the underwater robot, the situation that the robot drives the steel wire rope to reversely pull to fall into water again in the recovery process is avoided, grabbed objects are prevented from falling off, and the grabbing efficiency is guaranteed.

Description

Technical Field

[0001] This application relates to the field of underwater robot technology, specifically to an underwater robot mechanical grasping device. Background Technology

[0002] Underwater robotic mechanical gripping devices are grasping tools specifically designed for underwater environments. They mainly consist of a gripper, a drive system, sensors, and a control system. The gripper can adjust its opening and closing force to accommodate objects of different sizes and shapes. The drive system typically uses electric or hydraulic actuation to ensure precise and powerful grasping movements. Sensors monitor force and displacement in real time during the grasping process, providing feedback to optimize the grasping effect. The control system integrates all components, ensuring operational accuracy and stability. This device is widely used in deep-sea exploration, repair, and object recovery tasks.

[0003] Currently, when underwater robots perform tasks, they often use a mother ship to release a small boat. The small boat is equipped with a fixed support, and a retractable steel cable and a hook are connected to the fixed support. The hook is then fixed to the underwater robot, and the steel cable is controlled by the drive system to complete the lowering and retrieval actions.

[0004] However, during the retrieval of a robot that has completed its task, environmental factors, such as high-speed movement or rough seas, or malfunctions in the electrical system, can cause the drive system to stop retrieving the wire rope. This can lead to the robot pulling the wire rope in the opposite direction during retrieval and falling back into the water. In severe cases, this can cause the captured object to fall off, affecting the retrieval efficiency. Therefore, it is necessary to provide an underwater robot mechanical grasping device to solve the above problems.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0006] Based on the aforementioned problems in the existing technology, the problem to be solved by this application is to provide an underwater robot mechanical grasping device that prevents the robot from pulling the steel cable in the opposite direction and falling back into the water during the retrieval process, and also prevents the grasped object from falling off, thus ensuring grasping efficiency.

[0007] The technical solution adopted by this application to solve its technical problem is: an underwater robot mechanical grasping device, comprising:

[0008] support;

[0009] A winding box is installed on one side of the bracket. A rotating roller is rotatably connected inside the winding box. A steel wire rope is wound on the rotating roller, and the other end of the steel wire rope is attached to the top of the bracket.

[0010] A robot is mounted on the other end of the steel wire rope, and a gripper is mounted on one side of the robot.

[0011] A rotating shaft is mounted on one side of the rotating roller, and the rotating shaft passes through one end of the winding box and protrudes outward;

[0012] A ratchet is mounted on the rotating shaft. A ratchet tooth is mounted on one side of the winding box. The ratchet tooth is meshed with the ratchet. A baffle is provided on one side of the ratchet tooth. The baffle is mounted on the winding box. A compression spring is installed between the baffle and the ratchet tooth.

[0013] A lever is provided on the side of the ratchet away from the compression spring, and the lever is detachable.

[0014] Furthermore, the winding box has a mounting hole on the side near the ratchet, the mounting hole being located on the side of the ratchet away from the compression spring, and the locking rod is installed in the mounting hole.

[0015] Furthermore, a drive motor is fixedly installed on the outer side of one end of the winding box, and the output shaft of the drive motor is fixedly installed on the rotating roller.

[0016] Furthermore, the bracket has a support column, the lower end of which is fixedly mounted with a chassis, the upper end of which is rotatably connected with a crossbeam, and a push cylinder is hinged to the side of the support column near the crossbeam, the output shaft of which is hinged to the lower end of the crossbeam.

[0017] Furthermore, drive wheels are fixedly installed at both ends of the crossbeam, and the steel wire rope is attached to the drive wheels.

[0018] Furthermore, a control box is fixedly installed on one side of the bracket, and the control box is electrically connected to the robot, the gripper, and the drive motor.

[0019] The beneficial effects of this application are: the underwater robot mechanical grasping device provided by this application, by setting up a reel box, will not cause the robot to pull the steel wire rope back into the water during the recovery process if it encounters strong winds and waves or electrical system problems, and will also prevent the grasped object from falling off, thus ensuring grasping efficiency.

[0020] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0022] Figure 1 This is an overall schematic diagram of an underwater robot mechanical grasping device according to this application;

[0023] Figure 2 for Figure 1 Schematic diagrams of the take-up cassette from different perspectives;

[0024] Figure 3 for Figure 2 Enlarged view of region A in the middle;

[0025] The following are the labeling elements in the figure:

[0026] 1. Bracket; 11. Chassis; 12. Support column; 13. Crossbeam; 14. Push cylinder; 15. Drive wheel;

[0027] 2. Rewind box; 21. Rotary roller; 22. Drive motor; 23. Shaft; 24. Ratchet; 25. Ratchet tooth; 26. Baffle; 27. Compression spring; 28. Locking lever;

[0028] 3. Steel wire rope; 4. Robot; 5. Gripper; 6. Control box. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0031] like Figures 1-2As shown, this application provides an underwater robot mechanical grasping device, which is installed on a small boat. The grasping device includes a bracket 1 with a support column 12. A chassis 11 is fixedly installed at the lower end of the support column 12, which facilitates the fixation of the support column 12 to the small boat. A crossbeam 13 is rotatably connected to the upper end of the support column 12, and a push cylinder 14 is hinged to the side of the support column 12 near the crossbeam 13. The output shaft of the push cylinder 14 is hinged to the lower end of the crossbeam 13. Therefore, activating the push cylinder 14 can drive the crossbeam 13 to rotate along the upper end of the support column 12, causing the bracket 1 to retract and expand.

[0032] Meanwhile, a winding box 2 is fixedly installed at the end of the support column 12 away from the crossbeam 13. A rotating roller 21 is rotatably connected inside the winding box 2. A steel wire rope 3 is wound on the rotating roller 21. One end of the steel wire rope 3 is fixed to the rotating roller 21. A drive motor 22 is fixedly installed on the outer side of one end of the winding box 2. The output shaft of the drive motor 22 is fixedly installed on the rotating roller 21. Therefore, by driving the drive motor 22, the rotating roller 21 can be driven to rotate, thereby controlling the winding operation of the steel wire rope 3.

[0033] Furthermore, both ends of the crossbeam 13 are fixedly equipped with transmission wheels 15. It should be noted that the wire rope 3 is normally attached to the transmission wheels 15, and the other end of the wire rope 3 is fixedly equipped with a robot 4. The robot 4 is existing technology and can be a Chinese patent with publication number CN107323637A, which enables the robot 4 to turn left and right in place and move left and right.

[0034] Furthermore, a gripper 5 is fixedly installed on one side of the robot 4. The gripper 5 is used to grasp the object to be recycled. In this application, the gripper 5 can be replaced according to the size of the object being gripped. It should be noted that the gripper 5 is a common gripping device in the art. For details, please refer to relevant materials. It will not be elaborated here.

[0035] A control box 6 is fixedly installed on one side of the support column 12. The control box 6 is electrically connected to the robot 4, gripper 5 and drive motor 22. Therefore, the operator can easily control the robot 4, gripper 5 and drive motor 22 through the control box 6.

[0036] like Figures 2-3 As shown, in order to prevent the robot 4 from pulling the wire rope 3 in the opposite direction and falling back into the water during the recycling process, a rotating shaft 23 is fixedly installed at the end of the roller 21 away from the drive motor 22. The rotating shaft 23 passes through one side of the winding box 2 and protrudes outward, and a ratchet 24 is fixedly installed at the protruding end of the rotating shaft 23.

[0037] Meanwhile, a ratchet 25 is fixedly installed on the side of the winding box 2 near the ratchet 24. The ratchet 25 is meshed with the ratchet 24. A baffle 26 is also provided on the side of the ratchet 25 away from the ratchet 24. The baffle 26 is fixedly installed on the winding box 2. A compression spring 27 is fixedly installed between the baffle 26 and the ratchet 25.

[0038] Furthermore, the winding box 2 has a mounting hole (not shown) on the side near the ratchet 24. The mounting hole is located on the side of the ratchet 25 away from the compression spring 27. A locking rod 28 is provided in the mounting hole. The locking rod 28 is detachable, so the locking rod 28 can prevent the ratchet 25 from being pushed upward when the ratchet 24 rotates.

[0039] In summary: When using robot 4 to grab objects, first activate the push cylinder 14 to raise the crossbeam 13 so that robot 4 is above the water surface, and then pull out and disassemble the clamp 28.

[0040] At this time, the drive motor 22 is started, causing the roller 21 to rotate clockwise, which slides the wire rope 3 outward along the transmission wheel 15, driving the robot 4 downward into the water until it reaches the desired grab position. At the same time, the ratchet 24 rotates and pushes the ratchet 25 outward, which stretches the compression spring 27 until it enters the groove of the next ratchet 25, and so on, repeating the rotation.

[0041] The operator controls the robot 4 and gripper 5 to grip the item to be grabbed. After gripping, the lever 28 is inserted into the mounting hole to limit the ratchet 25.

[0042] Then, the drive motor 22 is started to run in the direction of rotation and drive the roller 21 to rotate in the opposite direction. At this time, the ratchet 24 rotates counterclockwise, pushing the ratchet 25 downward, causing the compression spring 27 to contract until the ratchet 25 enters the groove of the next ratchet 25, and so on, repeating the rotation.

[0043] If a large storm or electrical system malfunctions, the driving force of the drive motor 22 will not be able to drive the rotating roller 21 to continue rotating. The weight of the robot 4 will pull the wire rope 3 outward, causing the rotating roller 21 to reverse, that is, to rotate clockwise again.

[0044] At this time, the ratchet 24 reverses. Since the lever 28 limits the ratchet 25, the ratchet 24 cannot rotate counterclockwise after the ratchet 25 engages with the ratchet 24. This will keep the robot 4 in its original position and prevent it from falling back into the water. Then the operator can manually pull the robot 4 back to complete the grabbing operation. Thus, if there are large waves or electrical system problems during the use of the grabbing device, the robot 4 will not be pulled backward and fall back into the water during the retrieval process, and the grabbed object will not fall off, ensuring grabbing efficiency.

[0045] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An underwater robot mechanical grasping device, characterized in that: include: Support (1); A winding box (2) is installed on one side of the bracket (1). A rotating roller (21) is rotatably connected inside the winding box (2). A steel wire rope (3) is wound on the rotating roller (21). The other end of the steel wire rope (3) is attached to the top of the bracket (1). Robot (4), which is installed at the other end of the wire rope (3), and a gripper (5) is installed on one side of the robot (4). A rotating shaft (23) is mounted on one side of the rotating roller (21), the rotating shaft (23) passes through one end of the winding box (2) and protrudes outward; A ratchet (24) is mounted on the rotating shaft (23). A ratchet tooth (25) is mounted on one side of the winding box (2). The ratchet tooth (25) is meshed with the ratchet (24). A baffle (26) is provided on one side of the ratchet tooth (25). The baffle (26) is mounted on the winding box (2). A compression spring (27) is installed between the baffle (26) and the ratchet tooth (25). A lever (28) is located on the side of the ratchet (25) away from the compression spring (27), and the lever (28) is detachable.

2. The underwater robot mechanical grasping device according to claim 1, characterized in that: The winding box (2) has a mounting hole on one side near the ratchet (24). The mounting hole is located on the side of the ratchet (25) away from the compression spring (27). The locking bar (28) is installed in the mounting hole.

3. The underwater robot mechanical grasping device according to claim 1, characterized in that: A drive motor (22) is fixedly installed on the outer side of one end of the winding box (2), and the output shaft of the drive motor (22) is fixedly installed on the roller (21).

4. The underwater robot mechanical grasping device according to claim 1, characterized in that: The bracket (1) has a support column (12), the lower end of which is fixedly mounted with a chassis (11), the upper end of which is rotatably connected with a crossbeam (13), and a push cylinder (14) is hinged to the side of the support column (12) near the crossbeam (13). The output shaft of the push cylinder (14) is hinged to the lower end of the crossbeam (13).

5. The underwater robot mechanical grasping device according to claim 4, characterized in that: Both ends of the crossbeam (13) are fixedly equipped with drive wheels (15), and the wire rope (3) is attached to the drive wheels (15).

6. The underwater robot mechanical grasping device according to claim 3, characterized in that: A control box (6) is fixedly installed on one side of the bracket (1), and the control box (6) is electrically connected to the robot (4), the gripper (5) and the drive motor (22).

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