An underwater robot gripping mechanism

Abstract

This utility model discloses an underwater robot grasping mechanism, including a robot body. A column is rotatably connected to the top of the robot body, and a base is fixedly connected to one end of the column. A fixed frame is fixedly connected to the top of the base, and a seesaw is rotatably connected to the fixed frame. The beneficial effects of this utility model are that a first servo motor can drive the base to rotate, and the base drives the seesaw to rotate through the fixed frame, thereby adjusting the angle of the seesaw. By opening a hydraulic cylinder, the seesaw is pulled to rotate on the fixed frame. By opening a second servo motor, the clamping seat is pushed to move, thereby facilitating the adjustment of the clamping seat above the grasped object. By opening a third servo motor, a second lead screw is driven to rotate, and the second lead screw drives the threaded movable plate to move, thereby facilitating the adjustment of the arc-shaped clamping plate to grasp the object. It is easy to adjust and facilitates grasping from multiple directions.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to an underwater robot grasping mechanism. Background Technology

[0002] Underwater robots are often used in water quality surveys and biological sample collection. When underwater conditions are complex, such as when surveying coral reefs, underwater robots need to avoid coral reefs during the sampling and surveying process to prevent collisions and avoid damaging the ecological environment.

[0003] Existing underwater robot grasping mechanisms have certain drawbacks. They are not convenient for multi-directional adjustment, which means that the robot needs to be driven to perform displacement and positioning each time it grasps. The robot is not easy to adjust its direction underwater, which has certain impacts. Therefore, there is an urgent need for an underwater robot grasping mechanism to solve the above problems. Utility Model Content

[0004] To solve the above problems, this utility model provides an underwater robot grasping mechanism, which is achieved through the following technical solution.

[0005] An underwater robot grasping mechanism includes a robot body, a column rotatably connected to the top of the robot body, a base fixedly connected to one end of the column, a fixed frame fixedly connected to the top of the base, a seesaw rotatably connected to the fixed frame, a movable seat movably connected to one end of the seesaw, a telescopic rod fixedly connected to the front end of the movable seat, a clamping seat fixedly connected to one end of the telescopic rod passing through the seesaw, sliding rods fixedly connected to both ends of the clamping seat, movable plates movably connected to the sliding rods, an arc-shaped clamping plate fixedly connected to one end of the movable plate, a transmission box fixedly connected to the top of the clamping seat, second lead screws rotatably connected to both sides of the transmission box, and a third servo motor fixedly connected to the top of the transmission box for driving the second lead screws to rotate. The mechanism also includes:

[0006] The second servo motor is fixed on the seesaw and is used to drive the movable seat to move.

[0007] The first servo motor is fixed inside the robot body and is used to drive the column to rotate.

[0008] A hydraulic cylinder is used to pull the seesaw to rotate on the fixed frame, and the hydraulic cylinder is rotatably connected to the base.

[0009] Furthermore, the output shaft of the second servo motor is fixedly connected to a first lead screw, which passes through and is threaded into the movable seat, and one end of the first lead screw rotates on a seesaw.

[0010] Furthermore, the seesaw has a rotation range of 0-30°.

[0011] Furthermore, the output shaft of the first servo motor is fixedly connected to a second gear, and the first gear fixed on the column meshes with the second gear.

[0012] Furthermore, the rotation range of the column is 0-270°.

[0013] Furthermore, a second helical gear is fixedly connected to one end of the second lead screw that extends into the transmission box, and the first helical gear fixed to the output shaft of the third servo motor meshes with the second helical gear.

[0014] The beneficial effects of this utility model are as follows: During operation, the robot body first moves underwater and grasps objects. The first servo motor rotates the column, which in turn rotates the base. The base, via a fixed frame, rotates a seesaw, thus adjusting the seesaw's angle. Then, a hydraulic cylinder pulls the seesaw to rotate on the fixed frame. Next, the second servo motor moves the movable seat on the seesaw, which, via a telescopic rod, moves the gripping seat, facilitating adjustment of the gripping seat above the object being grasped. Finally, the third servo motor drives the second lead screw to rotate, which in turn moves the threaded movable plate, allowing for adjustment of the arc-shaped gripping plate to grasp the object. This facilitates adjustment and allows for grasping from multiple directions. Attached Figure Description

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

[0016] Figure 1 : A schematic diagram of the structure of an underwater robot grasping mechanism according to this utility model;

[0017] Figure 2 : A schematic diagram showing the connection between the arc-shaped clamping plate and the transmission box of this utility model;

[0018] Figure 3 : Internal schematic diagram of the transmission box of this utility model;

[0019] Figure 4 : A schematic diagram showing the connection between the robot body and the base of this utility model.

[0020] The attached figures are labeled as follows:

[0021] 1. Robot body; 11. Column; 111. First gear; 12. Base; 121. Fixture; 13. First servo motor; 131. Second gear; 14. Hydraulic cylinder;

[0022] 2. Seesaw; 21. Movable seat; 211. Telescopic rod; 22. Second servo motor; 221. First lead screw;

[0023] 3. Clamping seat; 31. Slide rod; 32. Movable plate; 33. Arc-shaped clamping plate;

[0024] 4. Transmission box; 41. Third servo motor; 411. First helical gear; 42. Second lead screw; 421. Second helical gear. Detailed Implementation

[0025] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0026] like Figure 1-4 As shown, the present invention has the following specific embodiments.

[0027] Example:

[0028] An underwater robot grasping mechanism includes a robot body 1, a column 11 rotatably connected to the top of the robot body 1, a base 12 fixedly connected to one end of the column 11, a fixed frame 121 fixedly connected to the top of the base 12, a seesaw 2 rotatably connected to the fixed frame 121, a movable seat 21 movably connected to one end of the seesaw 2, a telescopic rod 211 fixedly connected to the front end of the movable seat 21, a clamping seat 3 fixedly connected to one end of the telescopic rod 211 passing through the seesaw 2, a sliding rod 31 fixedly connected to both ends of the clamping seat 3, a movable plate 32 movably connected to the sliding rod 31, an arc-shaped clamping plate 33 fixedly connected to one end of the movable plate 32, a transmission box 4 fixedly connected to the top of the clamping seat 3, second lead screws 42 rotatably connected to both sides of the transmission box 4, and a third servo motor 41 fixedly connected to the top of the transmission box 4 for driving the second lead screws 42 to rotate. The mechanism also includes:

[0029] The second servo motor 22 is fixed on the seesaw 2 and is used to drive the movable seat 21 to move.

[0030] The first servo motor 13 is fixed inside the robot body 1 and is used to drive the column 11 to rotate.

[0031] Hydraulic cylinder 14 is used to pull the seesaw 2 to rotate on the fixed frame 121, and hydraulic cylinder 14 is rotatably connected to the base 12.

[0032] Specifically, the output shaft of the second servo motor 22 is fixedly connected to a first lead screw 221. The first lead screw 221 passes through and is threaded into the movable seat 21. One end of the first lead screw 221 rotates on the seesaw 2. The second servo motor 22 can drive the first lead screw 221 to rotate, and the first lead screw 221 can drive the movable seat 21 to move on the seesaw 2. The movable seat 21 pushes the clamping seat 3 to move through the telescopic rod 211.

[0033] Specifically, the rotation range of seesaw 2 is 0-30°.

[0034] The output shaft of the first servo motor 13 is fixedly connected to the second gear 131. The first gear 111 fixed on the column 11 meshes with the second gear 131. The first servo motor 13 can drive the second gear 131 to rotate, the second gear 131 can drive the first gear 111 to rotate, the first gear 111 can drive the column 11 to rotate, the column 11 can drive the base 12 to rotate, and the base 12 can drive the seesaw 2 on the fixed frame 121 to rotate.

[0035] The rotation range of column 11 is 0-270°.

[0036] The second lead screw 42 is fixedly connected to a second helical gear 421 at one end that passes through the transmission box 4. The first helical gear 411 fixed to the output shaft of the third servo motor 41 meshes with the second helical gear 421. The third servo motor 41 can drive the second lead screw 42 to rotate. The second lead screw 42 drives the threaded movable plate 32 to move. The movable plate 32 can push the arc-shaped clamping plate 33 to move.

[0037] The working principle of this utility model:

[0038] When using the device, the robot body 1 first moves underwater. When grasping, the first servo motor 13 is turned on, which drives the column 11 to rotate. The column 11 drives the base 12 to rotate. The base 12 drives the seesaw 2 to rotate through the fixed frame 121, thereby adjusting the angle of the seesaw 2. Then, the hydraulic cylinder 14 is turned on to pull the seesaw 2 to rotate on the fixed frame 121. Next, the second servo motor 22 is turned on to push the movable seat 21 to move on the seesaw 2. The movable seat 21 can push the gripping seat 3 to move through the telescopic rod 211, thereby facilitating the adjustment of the gripping seat 3 to above the grasped object. Finally, the third servo motor 41 is turned on to drive the second lead screw 42 to rotate. The second lead screw 42 drives the threaded movable plate 32 to move, thereby facilitating the adjustment of the arc-shaped gripping plate 33 to grasp the grasped object. This allows for easy adjustment and multi-directional grasping.

[0039] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. An underwater robotic gripping mechanism comprising a robotic body (1), characterized in that, A column (11) is rotatably connected to the top of the robot body (1). A base (12) is fixedly connected to one end of the column (11). A fixed frame (121) is fixedly connected to the top of the base (12). A seesaw (2) is rotatably connected to the fixed frame (121). A movable seat (21) is movably connected to one end of the seesaw (2). A telescopic rod (211) is fixedly connected to the front end of the movable seat (21). A clamp is fixedly connected to one end of the telescopic rod (211) that passes through the seesaw (2). The clamping seat (3) has slide rods (31) fixedly connected to both ends, a movable plate (32) movably connected to the slide rods (31), an arc-shaped clamping plate (33) fixedly connected to one end of the movable plate (32), a transmission box (4) fixedly connected to the top of the clamping seat (3), a second lead screw (42) rotatably connected to both sides of the transmission box (4), and a third servo motor (41) fixedly connected to the top of the transmission box (4) for driving the second lead screw (42) to rotate. The clamping seat (3) also includes: The second servo motor (22) is fixed on the seesaw (2) to drive the movable seat (21) to move. The first servo motor (13) is fixed inside the robot body (1) to drive the column (11) to rotate; A hydraulic cylinder (14) is used to pull the seesaw (2) to rotate on the fixed frame (121), and the hydraulic cylinder (14) is rotatably connected to the base (12).

2. The underwater robotic gripping mechanism of claim 1, wherein: The output shaft of the second servo motor (22) is fixedly connected to a first lead screw (221). The first lead screw (221) passes through and is threadedly engaged with the movable seat (21). One end of the first lead screw (221) rotates on the seesaw (2).

3. The underwater robotic gripping mechanism of claim 2, wherein: The seesaw (2) has a rotation range of 0-30°.

4. The underwater robotic gripping mechanism of claim 1, wherein: The output shaft of the first servo motor (13) is fixedly connected to a second gear (131), and the first gear (111) fixed on the column (11) meshes with the second gear (131).

5. The underwater robot grasping mechanism according to claim 4, characterized in that: The rotation range of the column (11) is 0-270°.

6. The underwater robot grasping mechanism according to claim 1, characterized in that: The second lead screw (42) is fixedly connected to a second helical gear (421) at one end that passes through the transmission box (4). The first helical gear (411) fixed to the output shaft of the third servo motor (41) meshes with the second helical gear (421).

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