Mechanical gripper for an underwater robot for detecting a submarine pipeline

Abstract

This utility model discloses a mechanical gripper for an underwater robot used for inspecting subsea pipelines, belonging to the technical field of underwater operation equipment. It includes a waterproof box, a protective box, and a gripper. A rotary motor is installed inside the waterproof box, and the output shaft of the rotary motor is fixedly connected to the protective box. A water-proof plate is fixed inside the protective box, and a hydraulic cylinder is installed on the bottom wall of the inner cavity of the protective box. A limit post is fixed inside the protective box, and two guide seats are movably connected to the outside of the limit post. A stepper motor is installed inside the guide seats, and a positioning box movably connected to the guide seats is fixed to the top of the output shaft of the stepper motor. A positioning block fixedly connected to the gripper is inserted into the positioning box, and an arc-shaped groove is formed on one side of the outer wall of the gripper. This mechanical gripper for underwater robots used for inspecting subsea pipelines can not only grip targets of different shapes, making it more convenient to use, but also facilitates quick assembly and disassembly of the gripper, making later maintenance easier.

Description

Technical Field

[0001] This utility model belongs to the technical field of underwater operation equipment, specifically relating to a mechanical claw for an underwater robot used for inspecting subsea pipelines. Background Technology

[0002] In subsea pipeline inspection, the mechanical grippers of underwater robots play a crucial role. Traditional mechanical grippers have many problems in practical use, such as poor adaptability to gripping targets of different shapes, failing to meet the diverse inspection needs in complex seabed environments; moreover, the cumbersome process of assembling and disassembling the grippers causes great inconvenience to later maintenance work, increases maintenance costs and time costs, and affects the working efficiency and service life of underwater robots. Utility Model Content

[0003] The purpose of this invention is to provide a mechanical gripper for an underwater robot used for inspecting subsea pipelines, in order to solve the problems mentioned in the background art of the inconvenience of traditional mechanical grippers in clamping targets of different shapes and the difficulty in disassembling and assembling grippers.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a mechanical gripper for an underwater robot for inspecting subsea pipelines, comprising a waterproof box, a protective box, and grippers. A rotary motor is installed inside the waterproof box, and the output shaft of the rotary motor is fixedly connected to the protective box. A water-proof plate is fixed inside the protective box, and a hydraulic cylinder is installed on the bottom wall of the inner cavity of the protective box. A limit post is fixed inside the protective box, and two guide seats are movably connected to the outside of the limit post.

[0005] A stepper motor is installed inside the guide seat. A positioning box that is movably connected to the guide seat is fixed to the top of the output shaft of the stepper motor. A positioning groove is opened on the surface of the positioning box, and a positioning block that is fixedly connected to the gripper is inserted into the positioning groove on the surface of the positioning box. An arc-shaped groove is opened on one side of the outer wall of the gripper.

[0006] In a further embodiment, the output end of the hydraulic cylinder is fixed with a connecting seat one, the bottom of the guide seat is fixed with a connecting seat two, and a push-pull rod is rotatably connected between the connecting seat one and the connecting seat two.

[0007] In a further embodiment, a through hole is provided on one side of the outer wall of the positioning box, and a positioning pin is movably connected in the through hole of the positioning box, and a positioning hole matching the positioning pin is provided on the positioning block.

[0008] In a further embodiment, a limiting ring is fixed to the outside of the positioning pin, and a fixing spring for supporting the limiting ring is sleeved on the outside of the positioning pin.

[0009] In a further embodiment, the guide seat has multiple rotating grooves, and a sliding ball that fits against the limiting post is rotatably connected in the rotating groove of the guide seat.

[0010] In a further embodiment, anti-slip pads are fixed inside both sides of the gripper, and multiple drainage holes are provided on the outer walls of the protective box.

[0011] The technical effects and advantages of this utility model are as follows:

[0012] The mechanical gripper of this underwater robot for inspecting subsea pipelines uses a hydraulic cylinder, push-pull rod, and guide seat to adjust the opening and closing degree of the gripper. One side of the gripper's outer wall is flat, while the other side has an arc-shaped groove. A stepper motor can drive the positioning box to rotate. The angle of the gripper can be adjusted according to the shape of the target object to be gripped, so that it can better fit the target object of different shapes. Whether it is a circular subsea pipeline or other irregularly shaped objects, it can achieve stable gripping and make it more convenient to use.

[0013] The positioning box and positioning block are quickly connected through the cooperation of positioning pins and positioning holes. The positioning pins are supported by fixed springs, making disassembly and assembly simple and convenient. This facilitates the individual repair or replacement of the grippers in the future, reduces maintenance costs, and improves the working efficiency of the underwater robot.

[0014] The sliding ball bearings inside the guide seat reduce friction, making the movement of the gripper smoother; the anti-slip pads on both sides of the gripper ensure the reliability of the gripping; the drainage hole of the protective box facilitates the discharge of seawater and prevents seawater from remaining inside the protective box. These designs work together to improve the efficiency and stability of the mechanical gripper in underwater operations. This mechanical gripper for the underwater robot used for inspecting subsea pipelines can not only grip targets of different shapes, making it more convenient to use, but also facilitates quick assembly and disassembly of the gripper, making it convenient for later maintenance. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a structural schematic diagram of the waterproof box of this utility model in a cut-open state;

[0018] Figure 3 This is a schematic diagram of the hydraulic cylinder and gripper of this utility model;

[0019] Figure 4 This is a cross-sectional view of the guide seat and positioning box of this utility model.

[0020] In the diagram: 1. Waterproof box; 2. Rotary motor; 3. Protective box; 4. Waterproof plate; 5. Hydraulic cylinder; 6. Connecting seat one; 7. Limiting post; 8. Guide seat; 9. Connecting seat two; 10. Push-pull rod; 11. Sliding ball; 12. Stepper motor; 13. Positioning box; 14. Positioning block; 15. Gripper; 16. Positioning pin; 17. Limiting ring; 18. Fixing spring. Detailed Implementation

[0021] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0022] Unless otherwise defined, the directions mentioned herein, such as up, down, left, right, front, back, inside, and outside, are based on the directions shown in the figures of this utility model, and are explained here together.

[0023] This utility model provides, for example Figure 1-4 The mechanical gripper for an underwater robot used for inspecting subsea pipelines includes a waterproof box 1, a protective box 3, and grippers 15. The waterproof box 1 serves as the basic protective component of the entire mechanical gripper. A rotary motor 2 is bolted inside the waterproof box 1, and the output shaft of the rotary motor 2 is fixedly connected to the protective box 3. This connection method allows the rotary motor 2 to drive the protective box 3 to rotate. In actual operation, the angle of the protective box 3 and its connected components can be adjusted by controlling the rotary motor 2 according to different operational needs, so that the mechanical gripper can better adapt to different operational scenarios. In addition, multiple drainage holes are provided on the outer walls of the protective box 3 to facilitate the drainage of seawater from the protective box 3 and prevent seawater residue.

[0024] Inside the protective box 3, a water-proof plate 4 is fixed with bolts. The water-proof plate 4 divides the interior of the protective box 3 into different areas, which prevents water from entering certain critical areas and affecting the normal operation of the internal equipment. A hydraulic cylinder 5 is installed on the bottom wall of the inner cavity of the protective box 3 with bolts. The output end of the hydraulic cylinder 5 is fixed with a connecting seat 6. At the same time, a limit post 7 is fixed inside the protective box 3 with bolts. Two guide seats 8 are movably connected to the outside of the limit post 7. The bottom of each guide seat 8 is fixed with a connecting seat 9. A push-pull rod 10 is rotatably connected between the connecting seat 6 and the connecting seat 9. When the hydraulic cylinder 5 works, its output end will extend or retract, driving the connecting seat 6 to move. The connecting seat 6 pushes or pulls the connecting seat 9 through the push-pull rod 10, thereby causing the guide seat 8 to move along the limit post 7. In order to reduce the friction between the guide seat 8 and the limit post 7 and make the guide seat 8 move more smoothly, multiple rotating grooves are opened in the guide seat 8, and sliding balls 11 that fit against the limit post 7 are rotatably connected in the rotating grooves.

[0025] A stepper motor 12 is installed inside the guide seat 8. A positioning box 13, which is movably connected to the guide seat 8, is fixed to the top of the output shaft of the stepper motor 12. A positioning groove is opened on the surface of the positioning box 13. A positioning block 14, which is fixedly connected to the gripper 15, is inserted into the positioning groove. An arc-shaped groove is opened on one side of the outer wall of the gripper 15, and anti-slip pads are fixed on both sides of the gripper 15. In actual use, the positioning box 13 can be rotated by the stepper motor 12 to adjust the angle of the gripper 15 so that it fits the target object better. The anti-slip pads on both sides of the gripper 15 increase the friction between the gripper and the target object, ensuring that the target object will not slip during the gripping process.

[0026] A through hole is provided on one side of the outer wall of the positioning box 13, and a positioning pin 16 is movably connected in the through hole. A positioning hole matching the positioning pin 16 is provided on the positioning block 14. A limit ring 17 is fixed to the outside of the positioning pin 16, and a fixing spring 18 for supporting the limit ring 17 is sleeved on the outside of the positioning pin 16. When it is necessary to install the gripper 15, the positioning block 14 is inserted into the positioning groove of the positioning box 13, and the fixing spring 18 pushes the limit ring 17, so that the positioning pin 16 is inserted into the positioning hole of the positioning block 14, thus completing the installation of the gripper 15 and ensuring the stability of the gripper 15 during operation. When it is necessary to remove the gripper 15, the positioning pin 16 is pulled to compress the fixing spring 18, so that the positioning pin 16 is disengaged from the positioning hole, and the gripper 15 can be removed, which facilitates the individual maintenance or replacement of the gripper 15 in the future.

[0027] All standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The control method of this utility model is through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0028] In the description of this utility model, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this utility model and simplifying the description, and is not intended to 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.

[0029] Working principle:

[0030] The underwater robot for inspecting subsea pipelines uses a mechanical gripper. First, based on the shape of the target object, the controller starts the stepper motor 12, which drives the positioning box 13 to rotate, adjusting the gripper 15 to a suitable angle. Then, the hydraulic cylinder 5 is activated, pushing the connecting seat 6. The connecting seat 6 drives the connecting seat 9 through the push-pull rod 10, causing the guide seat 8 to move along the limiting post 7, thereby controlling the opening and closing degree of the gripper 15 and achieving the gripping of the target object.

[0031] When it is necessary to replace or repair the gripper 15, pull the positioning pin 16 to disengage the positioning pin 16 from the positioning hole of the positioning block 14, and remove the positioning block 14 from the positioning groove of the positioning box 13 to complete the disassembly of the gripper 15. When installing, simply reverse the operation.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripper for an underwater robot used for inspecting subsea pipelines, comprising a waterproof housing (1), a protective housing (3), and grippers (15), characterized in that: A rotary motor (2) is installed inside the waterproof box (1). The output shaft of the rotary motor (2) is fixedly connected to the protective box (3). A water-proof plate (4) is fixed inside the protective box (3). A hydraulic cylinder (5) is installed on the bottom wall of the inner cavity of the protective box (3). A limit post (7) is fixed inside the protective box (3). Two guide seats (8) are movably connected to the outside of the limit post (7). A stepper motor (12) is installed inside the guide seat (8). A positioning box (13) that is movably connected to the guide seat (8) is fixed on the top of the output shaft of the stepper motor (12). A positioning groove is opened on the surface of the positioning box (13), and a positioning block (14) that is fixedly connected to the gripper (15) is inserted into the positioning groove on the surface of the positioning box (13). An arc-shaped groove is opened on one side of the outer wall of the gripper (15).

2. The mechanical gripper for an underwater robot used for inspecting subsea pipelines according to claim 1, characterized in that: The output end of the hydraulic cylinder (5) is fixed with a connecting seat one (6), and the bottom of the guide seat (8) is fixed with a connecting seat two (9). A push-pull rod (10) is rotatably connected between the connecting seat one (6) and the connecting seat two (9).

3. The mechanical gripper for an underwater robot used for inspecting subsea pipelines according to claim 1, characterized in that: The positioning box (13) has a through hole on one side of its outer wall, and a positioning pin (16) is movably connected in the through hole of the positioning box (13). The positioning block (14) has a positioning hole that matches the positioning pin (16).

4. The mechanical gripper for an underwater robot used for inspecting subsea pipelines according to claim 3, characterized in that: The positioning pin (16) is externally fixed with a limiting ring (17), and the positioning pin (16) is externally sleeved with a fixing spring (18) for supporting the limiting ring (17).

5. The mechanical gripper for an underwater robot used for inspecting subsea pipelines according to claim 1, characterized in that: The guide seat (8) has multiple rotating grooves, and the rotating grooves of the guide seat (8) are rotatably connected to sliding balls (11) that fit against the limiting post (7).

6. The mechanical gripper for an underwater robot used for inspecting subsea pipelines according to claim 1, characterized in that: Anti-slip pads are fixed on both sides of the gripper (15), and multiple drainage holes are provided on the outer walls of the protective box (3).

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