Underwater robot clamping device with multiple matching and adjusting structures

Abstract

The utility model relates to an underwater robot clamping device with multiple matching and adjusting structures, which comprises a supporting plate, a hydraulic cylinder is fixedly connected to the outer side of the supporting plate, and a suction cup is fixedly connected to the output end of the hydraulic cylinder. Firstly, the supporting plate is installed on a mechanical arm of the underwater robot, during clamping, the supporting plate is tightly attached to the surface of an object through the suction cups, then a water pump is started, water flow and air between the suction cups and the object are driven by the water pump to be pumped out, and the object is tightly adsorbed by the suction cups; the first horizontal gear is driven by the toothed plate to rotate, so that the first clamping plate is further attached to the outer side of an object, the invisible object is adsorbed through the suction cup to be clamped, the first clamping plate is made to be close to each other through rotation of the first clamping plate, the object is further reinforced, and the clamping stability and clamping convenience of the device are further improved.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to an underwater robot gripping device with a multi-adjustment structure. Background Technology

[0002] Underwater robots, also known as unmanned remotely operated vehicles or submersibles, are robots that can dive into the water to replace or assist humans in performing extreme underwater operations.

[0003] To facilitate underwater salvage operations, underwater robots have become an important tool for ocean exploration. However, existing underwater robot gripping structures are difficult to adjust according to the angle of the object during use, making gripping inconvenient. Summary of the Invention

[0004] Therefore, the technical problem to be solved by this utility model is to overcome the difficulty in adjusting the gripping structure of underwater robots according to the angle of the object during use, which makes gripping inconvenient.

[0005] To solve the above-mentioned technical problems, this utility model provides an underwater robot gripping device with a multi-adjustment structure, including a support plate. A hydraulic cylinder is fixedly connected to the outer side of the support plate. A suction cup is fixedly connected to the output end of the hydraulic cylinder. A water pipe is connected to the inner side of the suction cup, and a water pump is connected to the outer side of the water pipe. The water pump and the support plate are fixedly connected. A movable frame is fixedly connected to the output end of the hydraulic cylinder. A toothed plate is fixedly connected to the outer side of the movable frame. The toothed plate and the support plate are slidably connected. A first spur gear is rotatably connected to the outer side of the support plate. A first clamping plate is fixedly connected to the outer side of the first spur gear. This step involves setting up a water pump, a toothed plate, and a first clamping plate. The device consists of a flat gear and a first clamping plate. First, the support plate is installed on the robotic arm of the underwater robot. During clamping, the suction cup adheres tightly to the surface of the object. Then, the water pump is activated, which draws out the water and air between the suction cup and the object, causing the object to be firmly adsorbed by the suction cup. Next, the hydraulic cylinder is activated, which moves the gear plate and drives the first flat gear to rotate, causing the first clamping plate to adhere even tighter to the outside of the object. Thus, the object is clamped by the suction cup. The rotation of the first clamping plate brings the clamping plates closer together, further reinforcing the object and improving the stability and ease of clamping.

[0006] In one embodiment of this utility model, a gear ring is rotatably connected to the outer side of the support plate, and a second spur gear meshes with the outer side of the gear ring. A drive motor is fixedly connected to the outer side of the support plate, and the output end of the drive motor is fixedly connected to the second spur gear. A second clamping plate is fixedly connected to the outer side of the second spur gear, and the second clamping plate and the support plate are rotatably connected. This step, by setting up the gear ring, the second spur gear, the drive motor, and the second clamping plate, allows the second clamping plate to rotate after the suction cup and the first clamping plate have fixed the item. The drive motor drives one side of the second spur gear to rotate, and the gear ring meshes with the outer side of the second spur gear. The gear ring drives the remaining second spur gears to rotate, and the second spur gears drive the second clamping plate to rotate. This allows the second clamping plates to cooperate with each other to further clamp and fix the outer side of the item, improving the stability of the clamping device.

[0007] In one embodiment of this utility model, clamping pads are fixedly connected to the outer sides of both the first clamping plate and the second clamping plate. The clamping pads are used in conjunction with the suction cups. By setting the clamping pads, when the first clamping plate and the second clamping plate clamp the item, the deformation of the clamping pads increases the coefficient of friction between the device and the item, thereby further improving the stability of the device clamping.

[0008] In one embodiment of this utility model, a limiting plate is fixedly connected to the outside of the hydraulic cylinder, and a limiting rod is fixedly connected to the outside of the limiting plate. The limiting rod and the toothed plate are slidably connected. This step, by setting the limiting plate and the limiting rod, further restricts the movement trajectory of the toothed plate by the limiting rod, making the movement of the toothed plate more stable and improving the stability of the device.

[0009] In one embodiment of this utility model, a cylinder is fixedly connected to the outer side of the support plate, and a fixed frame is fixedly connected to the output end of the cylinder. The fixed frame and the second clamping plate are used together. By setting up the cylinder and the fixed frame, after the second clamping plate moves to a suitable position, the cylinder drives the fixed frame to move, so that the fixed frame is inserted into the inner side of the second clamping plate, thereby further fixing the position of the second clamping plate and further improving the stability of the device clamping.

[0010] In one embodiment of this utility model, a mounting plate is fixedly connected to the outer side of the support plate, and a mounting groove is provided on the surface of the mounting plate. This step, by setting the mounting plate and the mounting groove, makes it easy for the device to be installed on the underwater robot by passing bolts through the mounting groove, thereby improving the convenience of device installation.

[0011] In one embodiment of this utility model, a limiting plate is fixedly connected to the outside of the support plate. The limiting plate works in conjunction with the gear ring. This step, by setting the limiting plate, allows it to be pressed tightly against one side of the gear ring, thereby further restricting the range of motion of the gear ring in conjunction with the support plate, thus improving the stability of the device operation.

[0012] In one embodiment of this utility model, the outer side of the fixing frame is provided with uniform protrusions, and the inner side of the second clamping plate is provided with a recess. The fixing frame and the second clamping plate are used together. By setting the fixing frame and the second clamping plate, after the second clamping plate rotates, any protrusion of the fixing frame can be inserted into the inner recess of the second clamping plate to fix it, so that the fixing effect of the fixing frame can be stably achieved and the stability of the device is improved.

[0013] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art:

[0014] The underwater robot gripping device with a multi-adjustment structure described in this utility model, by setting up a water pump, a toothed plate, a first spur gear, and a first clamping plate, firstly, a support plate is installed on the robotic arm of the underwater robot. During gripping, the suction cup adheres tightly to the surface of the object. Then, the water pump is started, which drives the water and air between the suction cup and the object to be extracted, so that the object is tightly attracted by the suction cup. Then, the hydraulic cylinder is started, which drives the toothed plate to move, and the toothed plate drives the first spur gear to rotate, so that the first clamping plate further adheres to the outside of the object. Thus, the object is gripped by the suction cup. The rotation of the first clamping plate brings the clamping plates closer together, thereby further reinforcing the object and improving the stability and convenience of gripping.

[0015] The underwater robot gripping device with a multi-adjustment structure described in this utility model, by setting up a gear ring, a second spur gear, a drive motor, and a second clamping plate, after the suction cup and the first clamping plate fix the object, the drive motor drives one side of the second spur gear to rotate. The gear ring meshes with the outer side of the second spur gear, and the gear ring drives the other second spur gears to rotate. The second spur gears drive the second clamping plate to rotate, so that the second clamping plates cooperate with each other to further clamp and fix the outer side of the object, thereby improving the gripping stability of the device. Attached Figure Description

[0016] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is the front view of this utility model;

[0018] Figure 2 This is a bottom view of the present invention;

[0019] Figure 3 This is a schematic diagram of the hydraulic cylinder structure of this utility model;

[0020] Figure 4 This is a schematic diagram of the gear ring structure of this utility model;

[0021] Figure 5 This is a schematic diagram of the second clamping plate structure of this utility model;

[0022] Explanation of reference numerals in the accompanying drawings: 1. Support plate; 2. Hydraulic cylinder; 3. Suction cup; 4. Water pipe; 5. Water pump; 6. Movable frame; 7. Gear plate; 8. First spur gear; 9. First clamping plate; 10. Gear ring; 11. Second spur gear; 12. Drive motor; 13. Second clamping plate; 14. Clamping pad; 15. Limiting plate; 16. Limiting rod; 17. Cylinder; 18. Fixed frame; 19. Mounting plate; 20. Mounting groove; 21. Limiting plate. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0024] Reference Figures 1 to 5 As shown, this utility model discloses an underwater robot gripping device with a multi-adjustment structure, comprising a support plate 1, a hydraulic cylinder 2 fixedly connected to the outer side of the support plate 1, a suction cup 3 fixedly connected to the output end of the hydraulic cylinder 2, a water pipe 4 connected to the inner side of the suction cup 3, a water pump 5 connected to the outer side of the water pipe 4, the water pump 5 and the support plate 1 being fixedly connected, a movable frame 6 fixedly connected to the output end of the hydraulic cylinder 2, a toothed plate 7 fixedly connected to the outer side of the movable frame 6, the toothed plate 7 and the support plate 1 being slidably connected, a first spur gear 8 rotatably connected to the outer side of the support plate 1, and a first clamping plate 9 fixedly connected to the outer side of the first spur gear 8. This step involves setting up the water pump 5, the toothed plate 7, and the first... The flat gear 8 and the first clamping plate 9 are used to first install the support plate 1 on the robotic arm of the underwater robot. During clamping, the suction cup 3 adheres tightly to the surface of the object. Then, the water pump 5 is started, which drives the water flow and air between the suction cup 3 and the object to be extracted, so that the object is tightly attracted by the suction cup 3. Then, the hydraulic cylinder 2 is started, which drives the toothed plate 7 to move. The toothed plate 7 drives the first flat gear 8 to rotate, so that the first clamping plate 9 adheres even tighter to the outside of the object. Thus, the object is attracted and clamped by the suction cup 3. The rotation of the first clamping plate 9 brings the first clamping plates 9 closer together, thereby further reinforcing the object and improving the stability and convenience of clamping.

[0025] Reference Figure 3As shown, a gear ring 10 is rotatably connected to the outer side of the support plate 1, and a second spur gear 11 meshes with the outer side of the gear ring 10. A drive motor 12 is fixedly connected to the outer side of the support plate 1, and the output end of the drive motor 12 is fixedly connected to the second spur gear 11. A second clamping plate 13 is fixedly connected to the outer side of the second spur gear 11, and the second clamping plate 13 is rotatably connected to the support plate 1. In this step, by setting up the gear ring 10, the second spur gear 11, the drive motor 12, and the second clamping plate 13, after the suction cup 3 and the first clamping plate 9 fix the item, the drive motor 12 drives one side of the second spur gear 11 to rotate. The gear ring 10 meshes with the outer side of the second spur gear 11, and the gear ring 10 drives the other second spur gears 11 to rotate. The second spur gears 11 drive the second clamping plate 13 to rotate, so that the second clamping plates 13 cooperate with each other to further clamp and fix the outer side of the item, thereby improving the stability of the device clamping.

[0026] Reference Figure 1 As shown, clamping pads 14 are fixedly connected to the outer sides of the first clamping plate 9 and the second clamping plate 13. The clamping pads 14 are used in conjunction with the suction cup 3. By setting the clamping pads 14, when the first clamping plate 9 and the second clamping plate 13 clamp the item, the deformation of the clamping pads 14 increases the coefficient of friction between the device and the item, thereby further improving the stability of the device clamping.

[0027] Reference Figure 5 As shown, a limiting plate 15 is fixedly connected to the outside of the hydraulic cylinder 2, and a limiting rod 16 is fixedly connected to the outside of the limiting plate 15. The limiting rod 16 and the toothed plate 7 are slidably connected. This step, by setting the limiting plate 15 and the limiting rod 16, further restricts the movement trajectory of the toothed plate 7 by the limiting rod 16, making the movement of the toothed plate 7 more stable and improving the stability of the device.

[0028] Reference Figure 1 , Figure 3 and Figure 4 As shown, a cylinder 17 is fixedly connected to the outer side of the support plate 1, and a fixed frame 18 is fixedly connected to the output end of the cylinder 17. The fixed frame 18 works in conjunction with the second clamping plate 13. In this step, by setting up the cylinder 17 and the fixed frame 18, after the second clamping plate 13 moves to a suitable position, the cylinder 17 drives the fixed frame 18 to move, so that the fixed frame 18 is inserted into the inner side of the second clamping plate 13, thereby further fixing the position of the second clamping plate 13 and further improving the stability of the device clamping.

[0029] Reference Figure 1As shown, a mounting plate 19 is fixedly connected to the outer side of the support plate 1. The mounting plate 19 has a mounting groove 20 on its surface. This step, by setting the mounting plate 19 and the mounting groove 20, makes it easier for the device to be installed by passing bolts through the mounting groove 20 and screwing it onto the underwater robot, thus improving the ease of installation.

[0030] Reference Figure 2 As shown, a limiting plate 21 is fixedly connected to the outside of the support plate 1. The limiting plate 21 works in conjunction with the gear ring 10. By setting the limiting plate 21, the limiting plate 21 is pressed against one side of the gear ring 10, thereby further limiting the range of motion of the gear ring 10 in conjunction with the support plate 1, thus improving the stability of the device operation.

[0031] Reference Figure 1 and Figure 4 As shown, the fixed frame 18 has uniform protrusions on its outer side, and the second clamping plate 13 has a recess on its inner side. The fixed frame 18 and the second clamping plate 13 work together. By setting up the fixed frame 18 and the second clamping plate 13, after the second clamping plate 13 rotates, any protrusion of the fixed frame 18 can be inserted into the recess on the inner side of the second clamping plate 13 to fix it, so that the fixing effect of the fixed frame 18 can be stably achieved, and the stability of the device is improved.

[0032] Working principle: First, the support plate 1 is installed on the robotic arm of the underwater robot. During clamping, the suction cup 3 adheres tightly to the surface of the object. Then, the water pump 5 is started, which extracts the water and air between the suction cup 3 and the object, causing the object to be tightly adsorbed by the suction cup 3. Then, the hydraulic cylinder 2 is started, which moves the toothed plate 7. The toothed plate 7 drives the first flat gear 8 to rotate, causing the first clamping plate 9 to further adhere to the outside of the object. Thus, the suction cup 3 adsorbs and clamps the object. The rotation of the first clamping plate 9 brings the clamping plates 9 closer together, further reinforcing the object. Then, the drive motor 12 is started, which drives the second flat gear 11 on one side to rotate. The second flat gear 11 drives the gear ring 10 to rotate. The gear ring 10 drives the sampling second flat gear 11 to rotate. The remaining second flat gears 11 drive the second clamping plates 13 to move closer together, further reinforcing the object.

[0033] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. An underwater robot gripping device with a multi-adjustment structure, comprising a support plate (1), characterized in that: A hydraulic cylinder (2) is fixedly connected to the outside of the support plate (1). A suction cup (3) is fixedly connected to the output end of the hydraulic cylinder (2). A water pipe (4) is connected to the inside of the suction cup (3). A water pump (5) is connected to the outside of the water pipe (4). The water pump (5) is fixedly connected to the support plate (1). A movable frame (6) is fixedly connected to the output end of the hydraulic cylinder (2). A toothed plate (7) is fixedly connected to the outside of the movable frame (6). The toothed plate (7) is fixedly connected to the support plate (1). A first flat gear (8) is rotatably connected to the outside of the support plate (1). A first clamping plate (9) is fixedly connected to the outside of the first flat gear (8).

2. The underwater robot gripping device with a multi-adjustment structure according to claim 1, characterized in that: A gear ring (10) is rotatably connected to the outside of the support plate (1), and a second spur gear (11) meshes with the outside of the gear ring (10). A drive motor (12) is fixedly connected to the outside of the support plate (1), and the output end of the drive motor (12) is fixedly connected to the second spur gear (11). A second clamping plate (13) is fixedly connected to the outside of the second spur gear (11), and the second clamping plate (13) and the support plate (1) are rotatably connected.

3. The underwater robot gripping device with a multi-adjustment structure according to claim 2, characterized in that: The first clamping plate (9) and the second clamping plate (13) are both fixedly connected to the outer side of the clamping pad (14), and the clamping pad (14) and the suction cup (3) are used together.

4. The underwater robot gripping device with a multi-adjustment structure according to claim 3, characterized in that: The hydraulic cylinder (2) is fixedly connected to a limiting plate (15) on the outside, and a limiting rod (16) is fixedly connected to the outside of the limiting plate (15). The limiting rod (16) and the toothed plate (7) are slidably connected.

5. The underwater robot gripping device with a multi-adjustment structure according to claim 4, characterized in that: A cylinder (17) is fixedly connected to the outside of the support plate (1), and a fixed frame (18) is fixedly connected to the output end of the cylinder (17). The fixed frame (18) and the second clamping plate (13) are used together.

6. The underwater robot gripping device with a multi-adjustment structure according to claim 5, characterized in that: The support plate (1) is fixedly connected to the outer side of the mounting plate (1), and the mounting plate (19) has a mounting groove (20) on its surface.

7. The underwater robot gripping device with a multi-adjustment structure according to claim 6, characterized in that: A limiting plate (21) is fixedly connected to the outside of the support plate (1), and the limiting plate (21) and the toothed ring (10) are used together.

8. The underwater robot gripping device with a multi-adjustment structure according to claim 7, characterized in that: The fixed frame (18) has uniform protrusions on its outer side, and the second clamping plate (13) has a recess on its inner side.

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