Mechanical gripper for underwater operation

Abstract

A mechanical gripper for underwater operation comprises a waterproof protective cover, an air cylinder, a bottom, a gripper body, an adapter plate and a connecting plate. A dowel bar of the air cylinder is hinged to the gripper through the adapter plate and the connecting plate; a dowel bar through hole is formed in the base, and the dowel bar passes through the dowel bar through hole; the gripper is mounted on the lower side of the base, and the gripper and the base can generate relative movement in the horizontal direction; the waterproof shield is provided with an open end; the waterproof protective cover cylinder covers the outer side of the air cylinder, and the open end of the waterproof protective cover cylinder makes contact with the base in a pressing mode. Normal operation in water can be achieved, the service life of the air cylinder and the service life of the whole device are prolonged, and cost is saved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to portable machine tool, more particularly, relate to a kind of mechanical gripper for underwater operation. BACKGROUND

[0002] For the mechanical gripper operating in water, due to the problem of working environment, the expensive mechanical gripper cannot be used for a long time due to water immersion, and the existing mechanical gripper also has the problem that multiple grippers are not synchronized when grabbing objects. INVENTION CONTENTS

[0003] To solve the above problems, the utility model provides a kind of mechanical gripper for underwater operation, including waterproof shield, air cylinder, base, gripper, adapter plate, connecting plate;

[0004] The air cylinder is provided with an air inlet pipe and an air outlet pipe above the air cylinder;

[0005] The force transmission rod of the air cylinder is hinged to the gripper through the adapter plate and the connecting plate;

[0006] The base is provided with a force transmission rod through hole, and the force transmission rod passes through the force transmission rod through hole;

[0007] The gripper is installed on the lower side of the base, and the gripper and the base can move relative to each other in the horizontal direction;The waterproof shield cover cylinder has an open end, a sealing ring is installed between the waterproof shield cover cylinder and the base, and the waterproof shield has an open end;The waterproof shield cover cylinder covers the outside of the air cylinder, and the open end of the cover cylinder presses the sealing ring against the base.

[0008] Beneficial effect: the mechanical gripper is covered on the base by the waterproof shield, and the sealing ring is pressed against the base by the cover cylinder, which isolates water and ensures that water does not enter the air cylinder when operating underwater.

[0009] An optional embodiment, the end of the air inlet pipe and the air outlet pipe is connected with air inlet valve and air outlet valve, the air inlet valve and the air outlet valve are located outside the top of the waterproof shield;The air inlet valve and the air outlet valve are split structure and are connected by threads.

[0010] Beneficial effect: the end of the air inlet pipe and the air outlet pipe of the air cylinder is connected with split air inlet valve and air outlet valve, when the valve body is damaged and needs to be replaced, only the upper part of the valve body needs to be replaced, the lower valve body does not need to be replaced, which is convenient to replace and saves cost.

[0011] An optional embodiment, on the lower side of the base, the horizontal guide mechanism is installed away from the center of the base;The gripper can approach or move away from the center of the base along the horizontal guide mechanism.

[0012] Beneficial effects: installing a horizontal guide mechanism below the base along the center of the base in the direction away from the center ensures the back-and-forth movement of the gripper in the direction away from the center of the base, ensures the smooth operation of the gripper in the horizontal direction, and improves the problem of different steps of the gripper.

[0013] An optional embodiment, the upper surface of the base is provided with a sealing ring groove, the sealing ring groove is used for installing a sealing ring, and the size of the sealing ring groove is the same as the contact surface between the waterproof cover cylinder and the base.

[0014] Beneficial effects: the contact between the waterproof cover cylinder and the base is sealed by the cooperation of the sealing ring and the sealing groove, and the size of the sealing groove is the same as the contact surface between the waterproof cover cylinder and the base, which further ensures the sealing effect and strengthens the waterproof effect of the air cylinder.

[0015] An optional embodiment, the sealing ring is a sealing ring that can be deformed, and the outer wall of the deformed sealing ring is in close abutment with the sealing ring groove.

[0016] Beneficial effects: the deformable sealing ring can be inserted into the sealing ring groove, and the outer wall of the deformed sealing ring is in abutment with the sealing ring groove, which ensures the sealing effect of the sealing ring and the sealing groove and further enhances the sealing effect.

[0017] An optional embodiment, the force transmission rod through hole is arranged at the center of the base, a groove is arranged on the wall of the force transmission rod through hole in the circumferential direction, the groove is used for installing an O-ring, the inner wall of the installed O-ring is in abutment with the outer wall of the force transmission rod, and the outer wall of the O-ring is in abutment with the inner wall of the groove.

[0018] Beneficial effects: the groove is arranged on the wall of the force transmission rod through hole in the circumferential direction and the O-ring is installed, and the abutment of the O-ring with the force transmission rod and the groove strengthens the sealing of the upper waterproof cover of the force transmission rod.

[0019] An optional embodiment, the groove is located between the bottom surface of the base and the half height of the force transmission rod through hole.

[0020] Beneficial effects: the position of the O-ring can be adjusted, and if the position needs to be adjusted, the groove can be adjusted downward or upward, and there is space for grooving upward and downward.

[0021] An optional embodiment, the force transmission rod is fixedly connected with the adapter plate, the adapter plate and the connecting plate are hingedly connected through a pin shaft assembly, the connecting plate and the gripper are hingedly connected through the pin shaft assembly, and the pin shaft assembly comprises a pin shaft and a self-lubricating bushing.

[0022] Beneficial effect: the adapter plate, the connecting plate and the handle are hinged through the pin shaft and the self-lubricating bushing, the self-lubricating bushing has the lubricating function, and the problem that the handles are not synchronized due to inconsistent processing hole sizes is further improved.

[0023] An optional embodiment, the force transmission rod is provided with a first limiting nut, the first limiting nut is located at one half of the extended part of the force transmission rod when the force transmission rod is fully extended from the base; or, a second limiting nut, the second limiting nut is located at the lower end of the force transmission rod.

[0024] Beneficial effect: the first limiting nut limits the upper limit of the force transmission rod contraction; the second limiting nut limits the lower end of the adapter plate.

[0025] An optional embodiment, the waterproof shield is provided with a bolt hole, the bolt hole is arranged on one side of the opening end of the waterproof shield and away from the shield cylinder part, the bolt hole of the base corresponds to the bolt hole of the waterproof shield one by one; the waterproof shield and the base are fixedly connected through the bolt passing through the bolt hole.

[0026] Beneficial effect: the waterproof shield and the base are fixed and sealed, and the combination gap between the two is more firm and sealed.

[0027] The technical scheme provided by the utility model has the following advantages compared with the prior art:

[0028] 1. By the cooperation of the waterproof shield and the base, the sealing ring and the sealing ring groove, and the O-shaped ring and the groove, the cylinder in the device is isolated from water, so that water entering the cylinder during underwater operation is avoided, and the service life of the cylinder and the entire device is prolonged.

[0029] 2. The horizontal guide mechanism is arranged on the lower side of the base, and the pin shaft assembly of the pin shaft and the self-lubricating bushing is used between the adapter plate, the connecting plate and the handle, so that the handle runs smoothly and stably in the horizontal direction during the operation of the entire device, and the synchronous operation of the handle is also ensured. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the utility model or the technical scheme in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0031] Figure 1 is a sectional view of the utility model,

[0032] Figure 2is a perspective view of the utility model.

[0033] Mark explanation:

[0034] 1 - waterproof shield, 2 - cylinder, 3 - base, 4 - grab hand, 5 - adapter plate, 6 - connecting plate, 7 - air inlet pipe, 71 - air inlet valve, 8 - air outlet pipe, 81 - air outlet valve, 9 - force link, 10 - horizontal guide mechanism, 11 - sealing ring, 12 - O-ring, 13 - first limit nut, 14 - second limit nut, 15 - pin shaft assembly, 151 - pin shaft, 152 - self-lubricating bearing, 16 - bolt. DETAILED DESCRIPTION

[0035] The technical scheme of the utility model will be described clearly and completely below in conjunction with the drawings, obviously, the described embodiments are a part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the protection scope of the utility model.

[0036] In the description of the utility model, it needs to be explained that the orientation or position relation indicated by the terms "up", "down", "left", "right", "inner", "outer" and the like is the orientation or position relation based on the drawing shown, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, cannot be understood as the limitation of the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, the technical features involved in different embodiments of the utility model described below can be combined with each other as long as there is no conflict.

[0038] The utility model will be further described below in conjunction with the drawings and embodiments.

[0039] Please refer to Figure 1 The utility model provides a kind of mechanical grab hand for underwater operation.

[0040] Embodiment 1

[0041] The utility model provides a kind of mechanical grab for underwater operation, waterproof shield 1, base 3, grab 4 are sequentially arranged from top to bottom, there is a cover cylinder in waterproof shield 1, cylinder 2 is arranged between base 3 and cover cylinder, cylinder 2 top has air inlet pipe 7 and air outlet pipe 8, the end of air inlet pipe 7 and air outlet pipe 8 is connected with air inlet valve 71 and air outlet valve 81, air inlet valve 71 and air outlet valve 81 are located at the outside of the top of waterproof shield 1;Air inlet valve 71 and air outlet valve 81 are split structure and are all by screw thread connection;Sealing ring groove is set on the upside of base 3, the size of sealing ring 11 groove is same with the contact surface of cover cylinder and base 3, sealing ring 11 is installed in sealing groove, cover cylinder bottom edge is sealed and abuts on base 3 through sealing ring 11, sealing ring 11 is the sealing ring 11 that can be deformed, the outer wall of sealing ring 11 after deformation is abutted with sealing ring 11 groove;Horizontal guide mechanism 10 is installed on the downside of base 3, the installation direction of guide mechanism is in the direction of being away from the center of base 3 from the center of base 3, and grab 4 can move back and forth on horizontal guide mechanism 10;The middle of cylinder 2 has force transmission rod 9, first limiting nut 13 and second limiting nut 14 are arranged on force transmission rod 9, first limiting nut 13 is located at the one half of the part of being stretched out when force transmission rod 9 is completely stretched out of base 3, second limiting nut 14 is located at the lower end of force transmission rod 9, adapter plate 5 is arranged between first limiting nut 13 and second limiting nut 14;Adapter plate 5 is hinged with connecting plate 6 and grab 4, and is connected between adapter plate 5 and connecting plate 6 through pin shaft 151 and self-lubricating bearing 152, and connecting plate 6 and grab 4 are also connected through pin shaft 151 and self-lubricating bearing 152, in addition, the through hole of force transmission rod 9 is provided on base 3, the inner wall of through hole is circumferentially provided with recess, and the recess is located between the bottom surface of base 3 and the one half height of the through hole of force transmission rod 9, for installing O-shaped ring 12, the inner wall of installed O-shaped ring 12 is abutted with the outer wall surface of force transmission rod 9, and the outer wall 12 of O-shaped ring is abutted with the inner wall of recess;Bolt 16 hole is set up on waterproof shield 1, bolt 16 hole is set up on the opening end side of waterproof shield 1 and is away from cover cylinder part, and the bolt 16 hole of base 3 is corresponding with the bolt 16 hole of waterproof shield 1, and waterproof shield 1 and base 3 are fixedly connected through bolt 16 passing through bolt 16 hole.

[0042] Working process:

[0043] A kind of mechanical grab for underwater operation, when the transmission rod of cylinder in waterproof shield is stretched out downward, it can drive adapter plate to drive connecting plate in turn to drive grab to move along horizontal guide mechanism from the center of base to the direction of being away from base, realize the stretching out of mechanical grab;When the transmission rod of cylinder in waterproof shield is retracted upward, it can drive adapter plate to drive connecting plate in turn to drive grab to move along horizontal guide mechanism from the direction of being away from base to the direction of being close to the center of base, realize the retraction of mechanical grab.

[0044] The foregoing is merely illustrative of the various implementations of the present disclosure and the general principles thereof. Numerous modifications can be made to these illustrations, and equivalents can be substituted therefor, without departing from the scope of the present disclosure. The specific embodiments commensurate with the specific application are intended to be illustrative only and not limiting of the scope of the application as set forth in the following claims.

Claims

1. A mechanical gripper for underwater operations, characterized in that, It includes waterproof shield (1), cylinder (2), base (3), handle (4), adapter plate (5), connecting plate (6); the cylinder (2) has air inlet pipe (7) and air outlet pipe (8) above; the force link (9) of the cylinder (2) is hinged to the handle (4) through the adapter plate (5) and the connecting plate (6); the base (3) is provided with force link (9) through hole, the force link (9) passes through the force link (9) through hole; the handle (4) is installed on the lower side of the base (3), the handle (4) and the base (3) can produce relative movement in horizontal direction; the waterproof shield (1) cover cylinder and the base between installation sealing ring (11), the waterproof shield (1) has an open end; the waterproof shield (1) cover cylinder covers the outside of the cylinder (2) and the open end of the cover cylinder presses the sealing ring (11) against the base (3).

2. A mechanical gripper for underwater operations as claimed in claim 1, characterized in that, The end of the air inlet pipe (7) and the air outlet pipe (8) is connected with air inlet valve (71) and air outlet valve (81), the air inlet valve (71) and the air outlet valve (81) are located outside the top of the waterproof shield (1); the air inlet valve (71) and the air outlet valve (81) are split structure and are connected by thread.

3. A mechanical gripper for underwater operations as claimed in claim 1, characterized in that, On the lower side of the base (3), along the center of the base (3) to the center away from the direction of installation horizontal guide mechanism (10); the handle (4) along the horizontal guide mechanism (10) can be close to the base (3) center position or away from the base (3) center position.

4. A mechanical gripper for underwater operations as claimed in claim 1, characterized in that, The upper surface of the base (3) is provided with sealing ring (11) groove, the sealing ring (11) groove is used for installing the sealing ring (11), the size of the sealing ring (11) groove is same with the contact surface of the waterproof shield (1) cover cylinder and the base (3).

5. A mechanical gripper for underwater operations as claimed in claim 4, characterised in that, The sealing ring (11) is a sealing ring (11) that can be deformed, the outer wall of the sealing ring (11) after deformation abuts against the sealing ring (11) groove.

6. A mechanical gripper for underwater operations as claimed in claim 1, characterized in that, The force link (9) through hole is provided in the center of the base (3), the groove is provided on the wall of the force link (9) through hole, the groove is used for installing O-shaped ring (12), the inner wall of the O-shaped ring (12) after installation abuts against the outer wall of the force link (9), the outer wall of the O-shaped ring (12) abuts against the inner wall of the groove.

7. A mechanical gripper for underwater operations as claimed in claim 6, characterised in that, The groove is located between the bottom surface of the base (3) and the half height of the force link (9) through hole.

8. A mechanical gripper for underwater operations as claimed in claim 1, characterized in that, The force link (9) is fixedly connected with the adapter plate (5); the adapter plate (5) and the connecting plate (6) are hinged through pin shaft assembly (15), the connecting plate (6) and the handle (4) are hinged through the pin shaft assembly (15); the pin shaft assembly (15) includes pin shaft (151) and self-lubricating bushing (152).

9. A mechanical gripper for underwater operations as claimed in claim 1, characterized in that, The force transmission rod (9) is provided with a first limiting nut (13), and the first limiting nut (13) is located at the one-half position of the extended part of the force transmission rod (9) when the force transmission rod (9) is completely extended out of the base (3); or a second limiting nut (14), and the second limiting nut (14) is located at the lower end of the force transmission rod (9).

10. A mechanical gripper for underwater operations as claimed in claim 1, characterized in that, The waterproof shield (1) is provided with bolt (16) holes, the bolt (16) holes are provided on one side of the opening end of the waterproof shield (1) and away from the cover cylinder part, and the bolt (16) holes of the base (3) correspond to the bolt (16) holes of the waterproof shield (1) one by one; the waterproof shield (1) and the base (3) are fixedly connected through the bolt (16) penetrating through the bolt (16) holes.

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