Mechanical clamping device for underwater pier cleaning robot

Abstract

The utility model discloses a mechanical clamping device for an underwater bridge pier cleaning robot, and aims to provide a mechanical clamping device capable of enabling the underwater bridge pier cleaning robot to resist high-flow-speed interference to perform continuous operation, which comprises a clamping jaw support frame, an arc-shaped jaw, a clamping jaw connecting rod and a lead screw, meanwhile, nut guide rails are used; the motor is connected with the nut through the lead screw, and rotary motion is converted into linear motion according to the mechanical principle of a screw pair. The arc-shaped claw is connected with the nut through the clamping claw connecting rod, the fractal claw is arranged on the arc-shaped claw and makes direct contact with the bridge pier when the robot conducts cleaning operation, the spring is connected with the arc-shaped claw and the fractal claw, and the nut moves up and down in the guide rail to drive the arc-shaped claw to clamp and loosen the target bridge pier. The mechanical clamping device has the advantages that the characteristics of high precision and high load capacity of lead screw transmission are utilized, so that the mechanical clamping device can effectively clamp piers with different diameters, and a safe and stable working environment of a robot is ensured.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically a mechanical clamping device for an underwater bridge pier cleaning robot. Background Technology

[0002] Because cross-sea bridge piers are submerged in seawater for extended periods, they suffer from severe corrosion. The pier surfaces are also covered with large amounts of oysters, barnacles, and other organisms, which not only affect the safety of equipment use but also reduce its lifespan. With the development of cross-sea bridge engineering, cleaning robots for cleaning bridge piers face challenges such as insufficient stability against ocean currents, inadequate adaptability to irregular surfaces, and high risks. The difficulty of operation increases dramatically, especially in strong current environments. Therefore, developing a mechanical gripping device for underwater bridge pier cleaning robots is of great significance for ensuring the safety of cleaning robot operations. Utility Model Content

[0003] The purpose of this invention is to provide a mechanical clamping device for an underwater bridge pier cleaning robot, thereby solving the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A mechanical gripping device for an underwater bridge pier cleaning robot. It includes a gripper support frame, an arc-shaped gripper, a gripper connecting rod, a nut, a fractal gripper, a spring, a motor, and a lead screw. The motor is fixed on the gripper support frame, which also acts as a guide rail for the nut. The motor is connected to the nut via the lead screw, utilizing the mechanical principle of a screw pair to convert rotational motion into linear motion. The arc-shaped gripper is connected to the nut via the gripper connecting rod. The arc-shaped gripper has a fractal gripper that directly contacts the bridge pier during cleaning operations. The spring connects the arc-shaped gripper and the fractal gripper. The nut moves up and down within the guide rail, causing the arc-shaped gripper to clamp and release the target bridge pier.

[0006] As a further embodiment of this utility model: the fractal claw includes a primary claw, a wheel cover, and a wheel, which are symmetrically installed at the end of the arc-shaped claw.

[0007] As a further embodiment of this utility model: the arc-shaped claw and the split claw are symmetrically distributed on both sides of the underwater bridge pier cleaning robot.

[0008] As a further embodiment of this utility model: the spring connects the arc-shaped claw and the fractal claw, ensuring that the axis of the fractal claw is aligned with the center of the pier, which facilitates the clamping of the target pier by a mechanical clamping device for an underwater pier cleaning robot.

[0009] As a further embodiment of this utility model: a motor is fixed on the gripper support frame, which also serves as a nut guide rail.

[0010] As a further aspect of this utility model: the arc-shaped claw has a fractal claw that directly contacts the bridge pier when the robot is performing cleaning operations.

[0011] As a further embodiment of this utility model: the arc-shaped claw and the nut are connected by a claw connecting rod.

[0012] As a further embodiment of this utility model: the arc-shaped claw is bolted to the claw support frame.

[0013] As a further embodiment of this utility model: the nut moves up and down in the guide rail, driving the arc-shaped claw to clamp and release the target bridge pier. At the same time, when the claw support frame acts as the nut guide rail, the upper and lower ends of the claw support frame are limited, restricting the nut's movement space and controlling the maximum opening angle and minimum clamping angle of the arc-shaped claw.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: The advantage of this utility model is that it utilizes the high precision and high load capacity of the screw drive, enabling the mechanical clamping device to effectively clamp bridge piers of different diameters, ensuring a safe and stable working environment for the robot. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a mechanical clamping device for an underwater bridge pier cleaning robot.

[0016] Figure 2 A front view of a mechanical gripping device used in an underwater bridge pier cleaning robot;

[0017] Figure 3 Left view of a mechanical gripping device for an underwater bridge pier cleaning robot;

[0018] Figure 4 A top view of a mechanical gripping device used in an underwater bridge pier cleaning robot;

[0019] Figure 5 This is a detailed drawing of a fractal claw, a mechanical gripping device used in an underwater bridge pier cleaning robot.

[0020] In the diagram, 1. gripper support frame; 2. gripper connecting rod; 3. arc-shaped gripper; 4. spring; 5. fractal gripper; 6. pier; 7. wheel cover; 8. primary gripper; 9. wheel; 10. nut; 11. lead screw; 12. motor. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely to illustrate selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figure 1-3A mechanical gripping device for an underwater bridge pier cleaning robot includes a gripper support frame, an arc-shaped gripper, a gripper connecting rod, a nut, a fractal gripper, a spring, a motor, and a lead screw. The motor is fixed on the gripper support frame, which also serves as a guide rail for the nut. The motor is connected to the nut via the lead screw, and the rotational motion is converted into linear motion using the mechanical principle of a screw pair. The arc-shaped gripper is connected to the nut via the gripper connecting rod. The arc-shaped gripper has a fractal gripper that directly contacts the bridge pier during the robot's cleaning operation. The spring connects the arc-shaped gripper and the fractal gripper. The nut moves up and down in the guide rail, causing the arc-shaped gripper to clamp and release the target bridge pier.

[0026] The fractal claw includes a primary claw, a wheel cover, and wheels, which are symmetrically installed at the end of the arc-shaped claw. A spring connects the arc-shaped claw and the fractal claw, ensuring that the axis of the fractal claw is aligned with the center of the bridge pier. The fractal claw directly contacts the bridge pier during the robot's cleaning operation. The arc-shaped claw and the fractal claw are symmetrically distributed on both sides of the underwater bridge pier cleaning robot, which facilitates the clamping of the target bridge pier by a mechanical gripping device for the underwater bridge pier cleaning robot.

[0027] A motor is fixed on the gripper support frame, which also serves as a nut guide rail. The nut moves up and down in the guide rail. The upper and lower ends of the gripper support frame have limit positions, which restrict the nut's movement space and control the maximum opening angle and minimum clamping angle of the arc-shaped claw.

[0028] When the gripper support frame acts as a nut guide rail, the motor drives the lead screw to rotate, causing the nut to move upward. The arc-shaped claw is connected to the nut through the gripper connecting rod, and the arc-shaped claw is bolted to the gripper support frame, so that the end of the arc-shaped claw clamps, thereby clamping the bridge pier. When the motor drives the lead screw to rotate in the opposite direction, it causes the nut to move downward, causing the end of the arc-shaped claw to open, thereby releasing the bridge pier.

[0029] It should be noted that this utility model is a mechanical clamping device for an underwater bridge pier cleaning robot. Before use, the underwater bridge pier cleaning robot locates the target object, and then the arc-shaped claw and fractal claw clamp the bridge pier by means of a motor.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0031] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A mechanical gripping device for an underwater bridge pier cleaning robot, characterized in that, The system includes a gripper support frame (1), an arc-shaped gripper (3), a gripper connecting rod (2), a nut (10), a fractal gripper (5), a spring (4), a motor (12), and a lead screw (11). The gripper support frame (1) has a motor (12) fixed on it, which also serves as a guide rail for the nut (10). The motor (12) is connected to the nut (10) through the lead screw (11), and the rotational motion is converted into linear motion by utilizing the mechanical principle of the screw pair. The arc-shaped gripper (3) is connected to the nut (10) through the gripper connecting rod (2). The arc-shaped gripper (3) has a fractal gripper (5) that directly contacts the pier when the robot is cleaning. The spring connects the arc-shaped gripper (3) and the fractal gripper (5). The nut (10) moves up and down in the guide rail, which drives the arc-shaped gripper (3) to clamp and release the target pier.

2. The mechanical gripping device for the underwater bridge pier cleaning robot according to claim 1, characterized in that, The gripper support frame (1) is fixed with a motor (12) and also serves as a nut guide rail.

3. The mechanical gripping device for the underwater bridge pier cleaning robot according to claim 1, wherein The arc-shaped claw (3) is connected to the nut (10) via a claw connecting rod (2).

4. The mechanical gripping device for the underwater bridge pier cleaning robot according to claim 1, wherein When the gripper support frame (1) acts as a nut guide rail, the upper and lower ends of the gripper support frame (1) are limited.

5. The mechanical gripping device for the underwater bridge pier cleaning robot according to claim 1, wherein The arc-shaped claw (3) and the fractal claw (5) are symmetrically distributed on both sides of the underwater pier cleaning robot.

6. The mechanical gripping device for an underwater bridge pier cleaning robot according to claim 1, wherein The arc-shaped claw (3) is bolted to the claw support frame (1).

7. The mechanical gripping device for the underwater bridge pier cleaning robot according to claim 1, wherein The fractal claw (5) includes a primary claw (8), a wheel cover (7), and a wheel (9), which are installed at the end of the arc-shaped claw (3).

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