CN110722580B - Multifunctional combined paw of underwater mechanical arm and working method thereof - Google Patents
Multifunctional combined paw of underwater mechanical arm and working method thereof Download PDFInfo
- Publication number
- CN110722580B CN110722580B CN201911029004.1A CN201911029004A CN110722580B CN 110722580 B CN110722580 B CN 110722580B CN 201911029004 A CN201911029004 A CN 201911029004A CN 110722580 B CN110722580 B CN 110722580B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- clamping
- manipulator
- finger
- mounting seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a multifunctional combined paw of an underwater mechanical arm and a working method thereof, belonging to the field of robots and comprising a clamping hydraulic cylinder, a clamping pull rod piston, a rotary hydraulic pump, an outer mounting seat, an inner mounting seat and a mechanical arm; be provided with the gear switching mechanism between gyration hydraulic pump and the gyration sleeve axle, turn into the gyration of outer mount pad with the gyration of gyration hydraulic pump, be provided with outer mounting hole and interior mounting hole on every finger of manipulator, circumference links firmly a plurality of outer dead levers on the outer mount pad, be connected the outer connecting rod between outer dead lever and the outer mounting hole, circumference links firmly a plurality of inner fixing rods on the inner mount pad, be connected the in-connection pole between inner fixing rod and the inner mounting hole, interior mount pad can follow centre gripping pull rod piston seesaw, the manipulator is jaw type manipulator, claw type manipulator, bucket type manipulator or lamella type manipulator. The invention can meet different operation requirements, has compact and reasonable structure, can replace fingers according to different task requirements and has better interchangeability.
Description
Technical Field
The invention relates to a multifunctional combined paw of an underwater mechanical arm and a working method thereof, belonging to the technical field of robots.
Background
With the development of ocean engineering equipment technology, the development of ocean also enters a new stage. The method develops from pure marine fishing to artificial marine culture, comprehensive utilization of marine energy, development of marine oil gas mineral resources and expansion of marine space (such as submarine tunnels, offshore airports and the like) in many aspects. Accordingly, underwater robot processing tasks, such as precise docking of pipelines, maintenance of devices, and underwater mineral sampling, have become more diverse. Therefore, the claws are required to better clamp the pipeline, clamp the line or drag for different minerals in the shape of stone blocks, broken stones and clay.
In the prior art, different tasks need to be provided with various special claws, the claws need to be connected with the mechanical arm again each time of replacement, interchangeability among the claws is poor, cost is increased, and various claws occupy available space of the ocean mobile platform, so that resources are wasted.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the multifunctional combined paw of the underwater mechanical arm and the working method thereof, which can meet different operation requirements, have compact and reasonable structure, can replace fingers according to different task requirements, and have good interchangeability.
In the present invention, unless otherwise specified, the direction from the arm to the manipulator is the rear direction, i.e., the arm is in front and the manipulator is in back.
The invention adopts the following technical scheme:
a multifunctional combined paw of an underwater mechanical arm comprises a cantilever, a clamping hydraulic cylinder fixing seat, a clamping hydraulic cylinder, a clamping pull rod piston, a rotary hydraulic pump fixing seat, a rotary hydraulic pump, a rotary sleeve shaft, an outer mounting seat, an outer fixing rod, an outer connecting rod, an inner mounting seat, an inner fixing rod, an inner connecting rod and a mechanical arm, wherein the cantilever is a part of the mechanical arm;
the clamping hydraulic cylinder fixing seat is arranged at the rear end of the cantilever, a clamping hydraulic cylinder is arranged at the front end of the clamping hydraulic cylinder fixing seat, a clamping pull rod piston is arranged in the clamping hydraulic cylinder, the rear end of the clamping hydraulic cylinder fixing seat is fixedly connected to the rotary hydraulic pump fixing seat, and a rotary hydraulic pump is arranged below the rotary hydraulic pump fixing seat;
a gear switching mechanism is arranged between the rotary hydraulic pump and the rotary sleeve shaft and is used for converting the rotation of the rotary hydraulic pump into the rotation of the rotary sleeve shaft, the rotary sleeve shaft is connected with an outer mounting seat, and a clamping hydraulic cylinder fixing seat, a clamping hydraulic cylinder, a clamping pull rod piston, a rotary hydraulic pump fixing seat, a rotary hydraulic pump, the rotary sleeve shaft and the like are the transmission system;
the manipulator comprises a plurality of fingers, each finger is provided with an outer mounting hole and an inner mounting hole, a plurality of outer fixing rods are uniformly mounted on the outer mounting seat in the circumferential direction, the rear end pin shaft of each outer fixing rod is connected with the front end of an outer connecting rod, the rear end pin shaft of each outer connecting rod is connected with the outer mounting hole of the finger, the inner mounting seat is positioned at the rear end of the outer mounting seat, the inner mounting seat is fixedly mounted on a clamping pull rod piston and can move back and forth along with the clamping pull rod piston, the inner fixing rods with the same number as the outer fixing rods are uniformly mounted on the mounting surface of the inner mounting seat in the circumferential direction, the rear end pin shafts of the inner fixing rods are connected with inner connecting rods, the rear end pin shafts of the inner connecting rods are connected with the inner mounting holes of;
the manipulator is a pincer type manipulator, a claw type manipulator, a bucket type manipulator or a petal type manipulator.
Preferably, the gear conversion mechanism comprises a transmission gear and a worm, the rotary hydraulic pump is connected with the transmission gear, one end of the worm is provided with a worm gear, the transmission gear is meshed with the worm gear, the rotary sleeve shaft is provided with a sleeve shaft gear, and the worm is meshed with the sleeve shaft gear;
when the device works, an output shaft of the rotary hydraulic pump drives the transmission gear to rotate, the transmission gear further drives the worm gear meshed with the transmission gear to rotate, and the worm gear and the worm rotate coaxially to drive the rotary sleeve shaft meshed with the worm to rotate.
Preferably, the rotary sleeve shaft is connected to the front end of the outer mounting seat through a sleeve shaft spline;
preferably, the rotary sleeve shaft is of a hollow structure, and the clamping pull rod piston is positioned in the hollow structure of the rotary sleeve shaft;
when the outer mounting seat rotates, the outer fixing rod, the outer connecting rod and the fingers are sequentially driven to rotate, and the inner connecting rod is also mounted on the fingers, so that the fingers can drive the inner fixing rod, the inner mounting seat and the clamping pull rod piston to rotate together, wherein the axial movement of the clamping pull rod piston needs to be driven by the clamping hydraulic cylinder, but can freely rotate around a shaft in the clamping hydraulic cylinder.
Preferably, a fastening nut and a hexagon nut are arranged at one end of the outer fixing rod connected with the outer mounting seat, when the hexagon nut is clamped in the hexagonal groove hole, the hexagonal nut is fastened by the fastening nut, and the fastening nut is of a circular structure;
the outer mounting seat comprises a bottom surface, the bottom surface is a circular surface, an annular connecting body is arranged on the bottom surface along the circumferential direction, the outer surface of the annular connecting body is an arc surface, and the included angle between the longitudinal tangent line of the outer surface and the bottom surface is smaller than 90 degrees, namely the outer surface of the annular connecting body has an outward included angle (in an open state) relative to the bottom surface, so that an outer fixing rod on the outer connecting body has a certain open angle, and the middle part of the bottom surface of the outer mounting seat is provided with a through hole for the clamping of the pull rod piston to;
the upper surface of the annular connecting body is uniformly divided into 8 mounting planes, each mounting plane is a plane, a certain included angle is formed between every two adjacent mounting planes, each mounting plane is provided with an annular slide way, each annular slide way comprises a first rail and a second rail, the second rails are communicated with the upper surface of each mounting plane, the width of the first rail is larger than the length of the longest diagonal of the hexagon nut, and the width of the second rail is smaller than the length of the longest diagonal of the hexagon nut;
the middle part of each section of the annular slide way is provided with an installation position, the top surface of the first rail at the installation position is provided with a hexagonal groove matched with a hexagonal nut to prevent rotation, and the top surface of the second rail at the installation position is provided with a circular groove matched with a fastening nut;
the adjacent annular slide ways are connected with a taking hole, the taking hole is communicated with the first rail, and the width of the taking hole is larger than the longest diagonal length of the hexagon nut;
the taking and placing holes replace small holes of the second rail, the width of the taking and placing holes can be the same as that of the first rail, or slightly smaller than that of the first rail, and the hexagonal nuts can be guaranteed to pass through as long as the width of the taking and placing holes is larger than the length of the longest diagonal line of the hexagonal nuts.
Preferably, the structure of interior mount pad is the same with the structure of outer mount pad, and the connected mode between interior mount pad and the interior dead lever is also the same with the connected mode between outer mount pad and the outer dead lever, the one end that interior dead lever and interior mount pad are connected also is provided with fastening nut and hexagon nut, and interior mount pad also includes bottom surface and annular connector, also is provided with on the interior mount pad with hexagon nut matched with hexagon groove, with fastening nut matched with circle groove and access hole, concrete structure is not being repeated, during the installation, interior mount pad is located outer mount pad rear end, and the middle part and the centre gripping pull rod piston of interior mount pad link firmly, need not to set up the through-hole.
Preferably, the front ends of the fingers are provided with finger mounting surfaces, the outer mounting holes are arranged above the outer side of the finger mounting surfaces, the inner mounting holes are arranged at the bottom of the finger mounting surfaces, the number of the outer mounting holes and the number of the inner mounting holes of each finger are two, the two outer mounting holes are connected with the outer connecting rods through pin shafts, and the two inner mounting holes are connected with the inner connecting rods through pin shafts;
be provided with the recess between the mounting hole in two on the mounting plane to reserve space installation in-connection pole, the recess top is provided with the spacing inclined plane that leans out for inject the swing angle scope of in-connection pole, and then prevent that the motion that the reversal was interfered from appearing in the finger.
Further preferably, the clamp-type manipulator comprises a pair of clamp-type fingers, a semi-small hole is formed in a clamping surface of each clamp-type finger and used for increasing friction force between the clamp-type finger and a clamped object, a semi-large hole is formed in the inner end of the clamping surface of each clamp-type finger and used for clamping a round tubular object, and the semi-small hole and the semi-large hole can be selected according to a common operation environment and are not repeated here.
Further preferably, claw formula manipulator includes 2, 4 or 8 claw formula fingers, and tip is the tip when a plurality of claw formula fingers close up, conveniently inserts and treat in the cramping thing for cubic mineral sample, and claw formula finger wholly adopts bending shrinkage deformation structural design, has increased the centre gripping space when closing up, and 2 fingers can snatch lighter cubic or tubulose, and 4 fingers can be used for snatching great cubic, and 8 fingers then can grab rubble form mineral, also can snatch other.
Preferably, the bucket type mechanical arm comprises a pair of bucket type fingers, the bucket type fingers adopt a bucket type structure, a closed space is formed when the bucket type fingers are closed, the volume is large, meanwhile, the bucket type tip is arranged, so that the excavating and sampling are more labor-saving, and the bucket type mechanical arm is mainly used for grabbing soil sample minerals and can also grab other materials.
Preferably, the petal type mechanical arm comprises 4 petal type fingers, the petal type fingers adopt a round peach type structure, the end parts of the 4 petal type fingers are pointed when the 4 petal type fingers are folded, the whole body is in smooth transition, the volume is larger, and the petal type mechanical arm is mainly used for sampling gravel minerals and grabbing other parts;
the back of the petal-shaped finger is provided with a reinforcing rib, so that the bearing acting force can be increased.
A working method of the multifunctional combined paw of the underwater mechanical arm is characterized in that the type of the manipulator is selected according to the working environment, when pressure oil enters a left cavity of a clamping hydraulic cylinder, a clamping pull rod piston is pushed out, an inner mounting seat moves forwards under the driving of the clamping pull rod piston, a five-link mechanism consisting of an inner fixing rod, an inner connecting rod, a connecting rod between an outer mounting hole and the inner mounting hole, an outer fixing rod and an outer connecting rod is pushed to move, each finger is driven to open, and the releasing action of the manipulator is completed;
when pressure oil enters a right cavity of the clamping hydraulic cylinder, the clamping pull rod piston is pushed to retract, the inner mounting seat moves backwards under the driving of the clamping pull rod piston, and a five-link mechanism consisting of an inner fixed rod, an inner connecting rod, a connecting rod between the outer mounting hole and the inner mounting hole, an outer fixed rod and an outer connecting rod is driven to move, so that each finger is closed, and the clamping action of the manipulator is completed;
meanwhile, when pressure oil enters a front oil port of the rotary hydraulic pump, the rotary hydraulic pump rotates clockwise to drive the transmission gear to move clockwise, the worm gear meshed with the transmission gear rotates reversely and anticlockwise and drives the worm to do the same anticlockwise movement, the sleeve shaft gear meshed with the worm moves clockwise and drives the outer mounting seat to do clockwise rotation movement through the sleeve shaft spline, and therefore the clockwise rotation movement of the clamp manipulator is achieved;
when pressure oil enters a rear oil port of the rotary hydraulic pump, the rotary hydraulic pump rotates in a reverse time manner to drive the transmission gear to move in a reverse time manner, the worm gear meshed with the transmission gear rotates in a reverse time manner and drives the worm to do the same forward time movement, the sleeve shaft gear meshed with the worm moves in a reverse time manner and drives the outer mounting seat to do reverse time rotation movement through the sleeve shaft spline, and therefore reverse time rotation movement of the clamp manipulator is achieved;
when the working environment is different, the manipulator is replaced.
According to the invention, the five-bar mechanism is a planar five-bar mechanism, two ends of the five-bar mechanism are respectively fixed on the outer mounting seat and the inner mounting seat, the planar five-bar mechanism has 3 degrees of freedom, when the manipulator is opened, the inner mounting seat extends forwards under the pushing of the clamping pull rod piston, and simultaneously drives the inner fixing rod and the inner connecting rod to push fingers to open around the outer fixing rod through the outer connecting rod; when the manipulator clamps, the inner mounting seat retracts backwards under the pulling of the clamping pull rod piston to drive the inner fixed rod and the inner connecting rod to pull the fingers to rotate around the outer fixed rod for closing; due to the redundancy of the plane freedom degree, when a hard object is clamped, namely when the stress of the object clamped by the front and the back of the finger clamping surface is uneven, the stress point of the five-link mechanism, such as an outer connecting rod and the like, can rotate to drive the finger to swing within a certain range, the stress is adjusted to be more reasonable, but the design of the limiting inclined plane can lead the finger to swing within a reasonable range.
Further preferably, the robot replacement process is:
when the first mechanical arm needs to be replaced by the second mechanical arm, the fastening nuts on all the outer fixing rods of the first mechanical arm are unscrewed, the hexagonal nuts are pressed downwards to exit the hexagonal grooves, so that the hexagonal nuts slide in the first rail, when the hexagonal nuts slide to the adjacent taking and placing holes, the hexagonal nuts are taken out of the taking holes, then all the inner fixing rods of the first mechanical arm are taken out of the inner mounting seat, the method is the same as that of the outer fixing rods from the outer mounting seat, and disassembly is completed;
and installing a second mechanical arm, determining the number of the outer fixing rods according to the finger type of the second mechanical arm, determining installation positions, putting the hexagonal nut of each outer fixing rod into the first track from the corresponding taking and placing hole, sliding in the first track, pulling the hexagonal nut outwards to clamp the hexagonal nut in the hexagonal groove when sliding to the installation positions, screwing the fastening nut, just embedding the fastening nut in the circular groove at the moment, and then installing all the inner fixing rods on the inner installation seat.
The structure of the inner connecting rods from the wrist arm at the front end to the rear end is the same, and the number of the outer fixing rods, the inner fixing rods, the outer connecting rods and the inner connecting rods is different (the number of the outer fixing rods, the inner fixing rods, the outer connecting rods and the inner connecting rods is the same as that of corresponding fingers) according to different types of manipulators in operating environments.
The invention is mainly applied underwater, the waterproof problem mainly considers the waterproof of the clamping hydraulic cylinder, the rotary hydraulic cylinder and the gear reversing mechanism, and can be carried out by referring to the prior art, for example, sealing gaskets and sealing fillers can be adopted between a clamping pull rod piston rotary sleeve shaft in the clamping hydraulic cylinder, between a rotary hydraulic pump transmission gear installation shaft and a rotary hydraulic pump body, and between the rotary sleeve shaft and a rotary hydraulic pump fixing seat for composite waterproof, in addition, the clamping hydraulic cylinder can be installed on or in the clamping hydraulic cylinder fixing seat, the rotary hydraulic pump and the gear reversing mechanism can be installed on or in the rotary hydraulic pump fixing seat, when the clamping hydraulic cylinder and the rotary hydraulic pump transmission gear are installed in the rotary hydraulic.
The invention is not described in detail, and can be carried out by adopting the prior art.
The invention has the beneficial effects that:
1) the invention can change different manipulators according to different operation environments, the replacement among the manipulators is simple, the outer mounting seat, the inner mounting seat and the transmission system can be shared among the manipulators, only the outer fixing rod and the inner fixing rod which are connected with the manipulators are needed to be replaced, the outer fixing rod and the outer mounting seat, and the inner fixing rod and the inner mounting seat can be mutually matched through the annular slide way, the hexagonal groove, the circular groove and the taking and placing hole of each mounting plane, and the connection and the disassembly are easily realized.
2) The outer mounting seat and the inner mounting seat of the invention adopt similar structural design, thus the inner mounting seat and the outer mounting seat can form mounting parts of the finger assembly parts which are in one-to-one correspondence, the structural design of the bottom surface and the mounting plane can be used for 8 outer fixing rods and 8 inner fixing rods at most, and the disassembly is convenient.
In conclusion, the invention can meet different operation environment requirements, has compact and reasonable structure, can replace fingers according to different task requirements and has better interchangeability.
Drawings
FIG. 1 is a schematic structural view of a multifunctional combined paw of an underwater manipulator of the present invention when the manipulator is a pincer-type manipulator;
FIG. 2 is a schematic view of the clamping cylinder and the clamping rod piston of the present invention;
FIG. 3 is a schematic structural diagram of a gear shifting mechanism of the present invention;
FIG. 4 is a schematic structural view of a multi-functional combination gripper for an underwater robotic arm of the present invention when the manipulator is a claw-type manipulator;
FIG. 5 is a schematic structural view of a multifunctional combined paw of an underwater manipulator of the present invention when the manipulator is a bucket manipulator;
FIG. 6 is a schematic structural view of a multifunctional combined paw of an underwater manipulator of the present invention when the manipulator is a petal-type manipulator;
FIG. 7 is a schematic view of a five-bar linkage mechanism of the present invention;
FIG. 8 is a schematic view of a pincer-like finger according to the present invention;
FIG. 9 is a schematic view of the claw finger configuration of the present invention;
FIG. 10 is a schematic view of the bucket finger structure of the present invention;
FIG. 11(a) is a schematic view of a petal-shaped finger of the present invention;
FIG. 11(b) is a schematic view of a petal-shaped finger of the present invention;
FIG. 12 is a schematic structural view of a claw type manipulator composed of 2 claw type fingers;
FIG. 13 is a schematic structural view of a claw type manipulator consisting of 4 claw type fingers;
FIG. 14 is a schematic structural view of a claw type manipulator composed of 8 claw type fingers;
FIG. 15 is a schematic view of the overall structure of the outer mount of the present invention;
FIG. 16 is a top view of the outer mount of the present invention;
FIG. 17 is a schematic partial cross-sectional view of the annular race of the outer mount;
FIG. 18 is a schematic partial cross-sectional view of the outer mount at the mounting location;
FIG. 19 is a partial cross-sectional view of the external mounting base at the access opening;
wherein, 1-wrist arm, 1.1-mounting hole, 2-clamping hydraulic cylinder fixing seat, 3-clamping hydraulic cylinder, 4-clamping pull rod piston, 5-rotary hydraulic pump fixing seat, 6-rotary hydraulic pump, 7-transmission gear, 8-worm gear, 9-worm, 10-sleeve shaft gear, 11-rotary sleeve shaft, 12-sleeve shaft spline, 13-outer mounting seat, 13.1-bottom surface, 13.2-annular connecting body, 13.3-through hole, 13.4-mounting plane, 13.5-annular slideway, 13.6-track I, 13.7-track II, 13.8-mounting position, 13.9-hexagonal groove, 13.10-circular groove, 13.11-taking hole, 14-outer fixing rod, 15-outer connecting rod, 16-inner mounting seat, 17-inner fixing rod, 18-inner connecting rod, 19-clamp finger, 20-claw finger, 21-bucket finger, 22-petal finger, 23-outer mounting hole, 24-inner mounting hole, 25-hexagon nut, 26-fastening nut, 27-finger mounting surface, 28-groove, 29-limit inclined surface, 30-half small hole, 31-half large hole, 32-reinforcing rib, 33-connecting rod between outer mounting hole and inner mounting hole.
The specific implementation mode is as follows:
in order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific examples, but not limited thereto, and the present invention is not described in detail and is in accordance with the conventional techniques in the art.
In this embodiment, the direction from the wrist arm to the manipulator is the rear direction, i.e. the wrist arm is in front and the manipulator is in back.
Example 1:
a multifunctional combined paw of an underwater mechanical arm is shown in figures 1-19 and comprises a cantilever 1, a clamping hydraulic cylinder fixing seat 2, a clamping hydraulic cylinder 3, a clamping pull rod piston 4, a rotary hydraulic pump fixing seat 5, a rotary hydraulic pump 6, a rotary sleeve shaft 11, an outer mounting seat 13, an outer fixing rod 14, an outer connecting rod 15, an inner mounting seat 16, an inner fixing rod 17, an inner connecting rod 18 and a mechanical arm, wherein the cantilever 1 is part of the mechanical arm;
the front end of the cantilever 1 is provided with a mounting hole 1.1 for connecting with a mechanical arm, a clamping hydraulic cylinder fixing seat 2 is arranged at the rear end of the cantilever 1, a clamping hydraulic cylinder 3 is arranged at the front end of the clamping hydraulic cylinder fixing seat 2, a clamping pull rod piston 4 is arranged in the clamping hydraulic cylinder 3, the rear end of the clamping hydraulic cylinder fixing seat 2 is fixedly connected to a rotary hydraulic pump fixing seat 5, and a rotary hydraulic pump 6 is arranged below the rotary hydraulic pump fixing seat 5;
a gear switching mechanism is arranged between the rotary hydraulic pump 6 and the rotary sleeve shaft 11 and is used for converting the rotation of the rotary hydraulic pump 6 into the rotation of the rotary sleeve shaft 11, the rotary sleeve shaft 11 is connected with an outer mounting base 13, and a clamping hydraulic cylinder fixing base 2, a clamping hydraulic cylinder 3, a clamping pull rod piston 4, a rotary hydraulic pump fixing base 5, the rotary hydraulic pump 6, the rotary sleeve shaft 11 and the like are transmission systems of the invention;
the manipulator comprises a plurality of fingers, each finger is provided with an outer mounting hole 23 and an inner mounting hole 24, a plurality of outer fixing rods 14 are uniformly mounted on the outer mounting seat 13 in the circumferential direction, the rear end pin shaft of each outer fixing rod 14 is connected with the front end of an outer connecting rod 15, the rear end pin shaft of each outer connecting rod 15 is connected with the outer mounting hole 23 of the finger, an inner mounting seat 16 is positioned at the rear end of the outer mounting seat 13, the inner mounting seat 16 is fixedly mounted on a clamping pull rod piston 4 and can move back and forth along the clamping pull rod piston 4, the inner fixing rods 17 with the same number as the outer fixing rods 14 are uniformly mounted on the mounting surface of the inner mounting seat 16 in the circumferential direction, the rear end pin shaft of each inner fixing rod 17 is connected with an inner connecting rod 18, the rear end pin shaft of each inner connecting rod 18 is connected with the inner mounting;
the manipulator is a pincer type manipulator, a claw type manipulator, a bucket type manipulator or a petal type manipulator.
Example 2:
the multifunctional combined paw of the underwater mechanical arm is structurally shown in embodiment 1, and is different from the structure shown in fig. 3 in that a gear switching mechanism comprises a transmission gear 7 and a worm 9, a rotary hydraulic pump 6 is connected with the transmission gear 7, one end of the worm 9 is provided with a worm gear 8, the transmission gear 7 is meshed with the worm gear 8, a sleeve shaft gear 10 is arranged on a rotary sleeve shaft 11, and the worm 9 is meshed with the sleeve shaft gear 10;
when the device works, an output shaft of the rotary hydraulic pump 6 drives the transmission gear 7 to rotate, the transmission gear 7 further drives the worm gear 8 meshed with the transmission gear to rotate, the worm gear 8 and the worm 9 rotate coaxially, and the rotary sleeve shaft 11 meshed with the worm 9 is driven to rotate.
Example 3:
the multifunctional combined paw of the underwater mechanical arm is structurally shown as embodiment 2, and is different in that a rotary sleeve shaft 11 is connected to the front end of an outer mounting base 13 through a sleeve shaft spline 12;
the rotary sleeve shaft 11 is of a hollow structure, and the clamping pull rod piston 4 is positioned in the hollow structure of the rotary sleeve shaft;
when the outer mounting seat 13 rotates to drive the outer fixing rod 14, the outer connecting rod 15 and the fingers to rotate in sequence, the inner connecting rod 18 is also mounted on the fingers, so that the fingers can drive the inner connecting rod 18, the inner fixing rod 17, the inner mounting seat 16 and the clamping pull rod piston 4 to rotate together, wherein the axial movement of the clamping pull rod piston 4 needs to be driven by the clamping hydraulic cylinder 3, but can rotate freely around the shaft in the clamping hydraulic cylinder 3.
Example 4:
the multifunctional combined paw of the underwater mechanical arm is structurally shown in embodiment 1, and is different in that a fastening nut 26 and a hexagonal nut 25 are arranged at one end, connected with an outer mounting seat 13, of an outer fixing rod 14, when the hexagonal nut 25 is clamped in a hexagonal slotted hole, the hexagonal nut 26 is adopted for fastening, and the fastening nut 26 is of a circular structure;
as shown in fig. 15 and 16, the outer mounting seat 13 includes a bottom surface 13.1, the bottom surface 13.1 is a circular surface, the bottom surface 13.1 is provided with an annular connecting body 13.2 along the circumferential direction, the outer surface of the annular connecting body 13.2 is an arc surface, and an included angle between a longitudinal tangent of the outer surface and the bottom surface is less than 90 °, that is, the outer surface of the annular connecting body has an outward included angle with respect to the bottom surface, so that the outer fixing rod 14 thereon has a certain opening angle, and the middle part of the bottom surface of the outer mounting seat 13 is provided with a through hole 13.3 for the pull rod piston 4 to pass through;
the upper surface of the annular connecting body 13.2 is divided into 8 mounting planes 13.4, the mounting planes 13.4 are planes, a certain included angle is formed between every two adjacent mounting planes 13.4, each mounting plane 13.4 is provided with an annular slide way 13.5, as shown in fig. 17, each annular slide way 13.5 comprises a first rail 13.6 and a second rail 13.7, the second rail 13.7 is communicated with the upper surface of the mounting plane 13.4, the width of the first rail 13.6 is larger than the longest diagonal length of the hexagonal nut 25, and the width of the second rail 13.7 is smaller than the longest diagonal length of the hexagonal nut 25;
the middle part of each section of the annular slide way 13.5 is provided with a mounting position 13.8, the top surface of a first rail 13.6 at the mounting position 13.8 is provided with a hexagonal groove 13.9 matched with a hexagonal nut 25 to prevent rotation, and the top surface of a second rail 13.7 at the mounting position is provided with a circular groove 13.10 matched with a fastening nut 26;
the adjacent annular slide ways 13.5 are provided with pick-and-place holes 13.11 in a connecting mode, the pick-and-place holes 13.11 are communicated with the first rail 13.6, and the width of the pick-and-place holes 13.11 is larger than the length of the longest diagonal of the hexagonal nut 25;
the taking and placing holes 13.11 replace small holes of the second rail 13.7, the width of the taking and placing holes can be the same as that of the first rail 13.6, and can also be slightly smaller than that of the first rail 13.6, and the hexagonal nuts 25 can be ensured to pass through as long as the width of the taking and placing holes is larger than the length of the longest diagonal of the hexagonal nuts 25.
Example 5:
the utility model provides a multi-functional combination hand claw of arm under water, the structure is shown as embodiment 3, the difference is, the structure of interior mount pad 16 is the same with the structure of outer mount pad 13, the connected mode between interior mount pad 16 and interior dead lever 17, also the connected mode between outer mount pad 13 and outer dead lever 14 is the same, the one end that interior dead lever 17 is connected with interior mount pad 16 also is provided with fastening nut and hexagon nut, interior mount pad also includes bottom surface and annular connector, also be provided with on the interior mount pad with hexagon nut matched with hexagon groove, with fastening nut matched with circular slot and take-out hole, concrete structure is not repeated, during the installation, interior mount pad 16 is located outer mount pad 13 rear end, the middle part of interior mount pad 16 links firmly with centre gripping pull rod piston 4, need not to set up the through-hole.
Example 6:
the multifunctional combined paw of the underwater mechanical arm is structurally shown in embodiment 5, and is different in that finger mounting surfaces 27 are arranged at the front ends of fingers, outer mounting holes 23 are formed in the outer upper portions of the finger mounting surfaces 27, inner mounting holes 24 are formed in the bottom of the finger mounting surfaces 27, the number of the outer mounting holes 23 and the number of the inner mounting holes 24 of each finger are two, the two outer mounting holes are connected with outer connecting rods 15 through pin shafts, and the two inner mounting holes are connected with inner connecting rods 18 through pin shafts;
a groove 28 is formed between the two inner mounting holes 24 on the mounting plane 27 to leave a gap for mounting the inner connecting rod 18, and an outward inclined limiting slope 29 is formed above the groove 28 to limit the range of the swing angle of the inner connecting rod 18, so as to prevent the fingers from moving reversely and interfering.
Example 7:
the multifunctional combined paw of the underwater mechanical arm is structurally shown in an embodiment 6, the difference is that as shown in fig. 8, a clamp type mechanical arm comprises a pair of clamp type fingers 19, a semi-small hole 30 is formed in a clamping surface of each clamp type finger and used for increasing friction between the clamp type finger and a clamped object, a semi-large hole 31 is formed in the inner end of the clamping surface of each clamp type finger and used for clamping a round tubular object, the semi-small hole 30 and the semi-large hole 31 can be selected according to common operation environments in size, and the structure is not repeated.
Example 8:
the utility model provides a multi-functional combination hand claw of arm under water, the structure is shown as embodiment 6, the difference is, as shown in fig. 9, 12 ~ 14, claw formula manipulator includes 2, 4 or 8 claw formula fingers 20, the tip is the tip when a plurality of claw formula fingers close up, conveniently insert in treating the centre gripping thing, be used for cubic mineral sample, claw formula finger wholly adopts bending shrinkage deformation structural design, the centre gripping space when having increased to close up, 2 fingers can snatch lighter cubic or tubular object, 4 fingers can be used to snatch great cubic, 8 fingers then can grab rubble form mineral, also can snatch other.
Example 9:
the multifunctional combined paw of the underwater mechanical arm is structurally shown in an embodiment 6, and is different from the structure shown in fig. 10 in that the bucket type mechanical arm comprises a pair of bucket type fingers 21, the bucket type fingers are of a bucket type structure, a closed space is formed when the pair of bucket type fingers are closed, the capacity is large, and meanwhile, the shovel type tip is used for digging and sampling more labor-saving and is mainly used for grabbing soil sample minerals and also can grab other materials.
Example 10:
the structure of the multifunctional combined paw of the underwater mechanical arm is as shown in embodiment 6, except that as shown in fig. 11(a) and 11(b), the petal type mechanical arm comprises 4 petal type fingers 22, the petal type fingers adopt a round peach type structure, the end parts of the 4 petal type fingers are sharp when being closed, the whole body is in smooth transition, the volume is large, and the multifunctional combined paw is mainly used for sampling gravel minerals and can also grab other minerals;
the back of the petal-shaped finger is provided with a reinforcing rib 32, so that the bearing acting force can be increased.
Example 11:
a working method of the multifunctional combined paw of the underwater mechanical arm is characterized in that the type of the manipulator is selected according to the working environment, when pressure oil enters a left cavity of a clamping hydraulic cylinder 3, a clamping pull rod piston 4 is pushed out, an inner mounting seat 16 moves forwards under the driving of the clamping pull rod piston 4, a five-link mechanism consisting of an inner fixing rod 17, an inner connecting rod 18, a connecting rod 33 between an outer mounting hole and an inner mounting hole, an outer fixing rod 14 and an outer connecting rod 15 is pushed to move, each finger is driven to open, and the releasing action of the manipulator is completed;
when pressure oil enters a right cavity of the clamping hydraulic cylinder, the clamping pull rod piston 4 is pushed to retract, the inner mounting seat 16 moves backwards under the driving of the clamping pull rod piston 4, and a five-link mechanism consisting of an inner fixing rod 17, an inner connecting rod 18, a connecting rod 33 between an outer mounting hole and the inner mounting hole, an outer fixing rod 14 and an outer connecting rod 15 is driven to move, so that each finger is closed, and the clamping action of the manipulator is completed;
meanwhile, when pressure oil enters a front oil port of the rotary hydraulic pump 6, the rotary hydraulic pump 6 rotates clockwise to drive the transmission gear 7 to move clockwise, the worm gear 8 meshed with the transmission gear rotates reversely and anticlockwise and drives the worm 9 to do the same anticlockwise movement, the sleeve shaft gear 10 meshed with the worm 9 moves clockwise and drives the outer mounting seat 13 to do clockwise rotation movement through the sleeve shaft spline 11, and therefore the clockwise rotation movement of the clamp manipulator is achieved;
when pressure oil enters a rear oil port of the rotary hydraulic pump 6, the rotary hydraulic pump 6 rotates in a reverse time manner to drive the transmission gear 7 to move in a reverse time manner, the worm gear 8 meshed with the transmission gear 7 rotates in a reverse time manner and drives the worm 9 to do the same forward time movement, the sleeve shaft gear 10 meshed with the worm 9 moves in a reverse time manner and drives the outer mounting seat 13 to do reverse time rotation movement through the sleeve shaft spline 11, and then the reverse time rotation movement of the clamp manipulator is realized;
when the working environment is different, the manipulator is replaced.
In the invention, the five-bar mechanism is a plane five-bar mechanism, two ends of the five-bar mechanism are respectively fixed on an outer mounting seat and an inner mounting seat, the plane five-bar mechanism has 3 degrees of freedom, when a manipulator is opened, an inner mounting seat 16 is pushed by a clamping pull rod piston 4 to extend forwards, and simultaneously, an inner fixing rod 17 and an inner connecting rod 18 are driven to push fingers to open around an outer fixing rod 14 through an outer connecting rod 15; when the manipulator clamps, the inner mounting seat 16 retracts backwards under the pulling of the clamping pull rod piston 4, and drives the inner fixing rod 17 and the inner connecting rod 18 to pull fingers to rotate and close around the outer fixing rod 14; due to the redundancy of the plane freedom degree, when a hard object is clamped, namely when the stress of the object clamped by the front and the back of the finger clamping surface is uneven, the stress point of the five-link mechanism, such as an outer connecting rod and the like, can rotate to drive the finger to swing within a certain range, the stress is adjusted to be more reasonable, but the design of the limiting inclined plane enables the finger to swing within a reasonable range.
Example 12:
the structure of a multifunctional combined paw of an underwater mechanical arm is shown in an embodiment 11, and the difference is that the manipulator replacement process comprises the following steps:
when the first manipulator needs to be replaced by the second manipulator, the fastening nuts 26 on all the external fixing rods of the first manipulator are unscrewed, the hexagonal nuts 25 are pressed downwards to exit the hexagonal grooves 13.9, so that the hexagonal nuts 25 slide in the first tracks 13.6, when the hexagonal nuts slide to the adjacent pick-and-place holes 13.11, the hexagonal nuts 25 are taken out of the pick-and-place holes 13.11, and then all the internal fixing rods 17 of the first manipulator are taken out of the internal mounting seat 16, wherein the method is the same as that of the external fixing rods from the external mounting seat, and the disassembly is finished without repeated description;
and (2) installing a second manipulator, firstly determining the number of the outer fixing rods according to the finger type of the second manipulator, determining installation positions, placing the hexagon nut 25 of each outer fixing rod into the first track 13.6 from the corresponding pick-and-place hole 13.11, sliding in the first track 13.6, pulling the hexagon nut 25 outwards to clamp the hexagon nut in the hexagonal groove 13.9 when sliding to the installation position 13.8, screwing the fastening nut 26, enabling the fastening nut 26 to be just embedded in the circular groove 13.10 at the moment, and then installing all the inner fixing rods 17 on the inner installation seat 16.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A multifunctional combined paw of an underwater mechanical arm is characterized by comprising a cantilever, a clamping hydraulic cylinder fixing seat, a clamping hydraulic cylinder, a clamping pull rod piston, a rotary hydraulic pump fixing seat, a rotary hydraulic pump, a rotary sleeve shaft, an outer mounting seat, an outer fixing rod, an outer connecting rod, an inner mounting seat, an inner fixing rod, an inner connecting rod and a mechanical arm;
the clamping hydraulic cylinder fixing seat is arranged at the rear end of the cantilever, a clamping hydraulic cylinder is arranged at the front end of the clamping hydraulic cylinder fixing seat, a clamping pull rod piston is arranged in the clamping hydraulic cylinder, the rear end of the clamping hydraulic cylinder fixing seat is fixedly connected to the rotary hydraulic pump fixing seat, and a rotary hydraulic pump is arranged below the rotary hydraulic pump fixing seat;
a gear switching mechanism is arranged between the rotary hydraulic pump and the rotary sleeve shaft and is used for converting the rotation of the rotary hydraulic pump into the rotation of the rotary sleeve shaft, and the rotary sleeve shaft is connected with the outer mounting base;
the manipulator comprises a plurality of fingers, each finger is provided with an outer mounting hole and an inner mounting hole, a plurality of outer fixing rods are uniformly mounted on the outer mounting seat in the circumferential direction, the rear end pin shaft of each outer fixing rod is connected with the front end of an outer connecting rod, the rear end pin shaft of each outer connecting rod is connected with the outer mounting hole of the finger, the inner mounting seat is positioned at the rear end of the outer mounting seat, the inner mounting seat is fixedly mounted on a clamping pull rod piston and can move back and forth along with the clamping pull rod piston, the inner fixing rods with the same number as the outer fixing rods are uniformly mounted on the mounting surface of the inner mounting seat in the circumferential direction, the rear end pin shafts of the inner fixing rods are connected with inner connecting rods, the rear end pin shafts of the inner connecting rods are connected with the inner mounting holes of;
the manipulator is a pincer type manipulator, a claw type manipulator, a bucket type manipulator or a petal type manipulator.
2. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 1, wherein the gear switching mechanism comprises a transmission gear and a worm, the rotary hydraulic pump is connected with the transmission gear, one end of the worm is provided with a worm gear, the transmission gear is meshed with the worm gear, the rotary sleeve shaft is provided with a sleeve shaft gear, and the worm is meshed with the sleeve shaft gear;
the rotary sleeve shaft is connected to the front end of the outer mounting seat through a sleeve shaft spline;
the rotary sleeve shaft is of a hollow structure, and the clamping pull rod piston is located in the hollow structure of the rotary sleeve shaft.
3. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 1, wherein a fastening nut and a hexagonal nut are arranged at one end of the outer fixing rod connected with the outer mounting seat, and the fastening nut is of a circular structure;
the outer mounting seat comprises a bottom surface, the bottom surface is a circular surface, an annular connecting body is arranged on the bottom surface along the circumferential direction, the outer surface of the annular connecting body is a cambered surface, the included angle between the longitudinal tangent of the outer surface and the bottom surface is smaller than 90 degrees, and a through hole is formed in the middle of the bottom surface of the outer mounting seat and used for allowing the clamping pull rod piston to pass through;
the upper surface of the annular connecting body is equally divided into 8 mounting planes, each mounting plane is provided with an annular slide way, each annular slide way comprises a first rail and a second rail, the second rails are communicated with the upper surface of the mounting plane, the width of the first rail is larger than the longest diagonal length of the hexagon nut, and the width of the second rail is smaller than the longest diagonal length of the hexagon nut;
the middle part of each section of the annular slide way is provided with an installation position, the top surface of the first rail at the installation position is provided with a hexagonal groove matched with a hexagonal nut, and the top surface of the second rail at the installation position is provided with a circular groove matched with a fastening nut;
the adjacent annular slide ways are connected with a taking hole, the taking hole is communicated with the first rail, and the width of the taking hole is larger than the longest diagonal length of the hexagon nut;
the structure of interior mount pad is the same with the structure of outer mount pad, and the connected mode between interior mount pad and the interior dead lever is also the same with the connected mode between outer mount pad and the outer dead lever, the one end that interior dead lever and interior mount pad are connected also is provided with fastening nut and hexagon nut, and interior mount pad also includes bottom surface and annular connector, also is provided with on the interior mount pad with hexagon nut matched with hexagonal groove, with fastening nut matched with circular slot and access hole.
4. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 2, wherein the front end of the finger is provided with a finger mounting surface, the outer mounting holes are arranged at the outer upper part of the finger mounting surface, the inner mounting holes are arranged at the bottom of the finger mounting surface, the number of the outer mounting holes and the number of the inner mounting holes of each finger are two, the two outer mounting holes are connected with the outer connecting rod through a pin shaft, and the two inner mounting holes are connected with the inner connecting rod through a pin shaft;
be provided with the recess between two interior mounting holes on the mounting surface to reserve the space installation in-connection pole, the recess top is provided with the spacing inclined plane that leans out for inject the swing angle scope of in-connection pole.
5. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 4, wherein the pincer type mechanical arm comprises a pair of pincer type fingers, a semi-small hole is formed in a clamping surface of each pincer type finger for increasing friction force between the pincer type finger and an object to be clamped, and a semi-large hole is formed in the inner end of the clamping surface of each pincer type finger for clamping a circular tube-shaped object.
6. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 4, wherein the paw type mechanical arm comprises 2, 4 or 8 paw type fingers, and the end parts of the paw type fingers are sharp when being closed, so that the paw type mechanical arm can be conveniently inserted into an object to be clamped for sampling massive minerals.
7. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 4, wherein the bucket type mechanical arm comprises a pair of bucket type fingers, the bucket type fingers adopt a bucket type structure, and a closed space is formed when the pair of bucket type fingers are closed, so that soil-like minerals can be grabbed.
8. The multifunctional combined paw of the underwater mechanical arm as claimed in claim 4, wherein the petal-type mechanical arm comprises 4 petal-type fingers, the petal-type fingers are of a round peach-shaped structure, the end parts of the 4 petal-type fingers are pointed when the 4 petal-type fingers are closed, the whole body of the petal-type mechanical arm is in smooth transition, and the petal-type mechanical arm is used for sampling gravel minerals;
the back of the petal-shaped finger is provided with a reinforcing rib.
9. The working method of the multifunctional combined paw of the underwater mechanical arm as claimed in claim 4,
the type of the manipulator is selected according to the operation environment, when pressure oil enters a left cavity of a clamping hydraulic cylinder, a clamping pull rod piston is pushed out, an inner mounting seat moves forwards under the driving of the clamping pull rod piston, a five-link mechanism consisting of an inner fixed rod, an inner connecting rod, a connecting rod between an outer mounting hole and the inner mounting hole, an outer fixed rod and an outer connecting rod is pushed to move, each finger is driven to open, and the releasing action of the manipulator is completed;
when pressure oil enters a right cavity of the clamping hydraulic cylinder, the clamping pull rod piston is pushed to retract, the inner mounting seat moves backwards under the driving of the clamping pull rod piston, and a five-link mechanism consisting of an inner fixed rod, an inner connecting rod, a connecting piece between the outer mounting hole and the inner mounting hole, the outer fixed rod and the outer connecting rod is driven to move, so that each finger is closed, and the clamping action of the manipulator is completed;
meanwhile, when pressure oil enters a front oil port of the rotary hydraulic pump, the rotary hydraulic pump rotates clockwise to drive the transmission gear to move clockwise, the worm gear meshed with the transmission gear rotates reversely and anticlockwise and drives the worm to do the same anticlockwise movement, the sleeve shaft gear meshed with the worm moves clockwise and drives the outer mounting seat to do clockwise rotation movement through the sleeve shaft spline, and therefore the clockwise rotation movement of the clamp manipulator is achieved;
when pressure oil enters a rear oil port of the rotary hydraulic pump, the rotary hydraulic pump rotates in a reverse time manner to drive the transmission gear to move in a reverse time manner, the worm gear meshed with the transmission gear rotates in a reverse time manner and drives the worm to do the same forward time movement, the sleeve shaft gear meshed with the worm moves in a reverse time manner and drives the outer mounting seat to do reverse time rotation movement through the sleeve shaft spline, and therefore reverse time rotation movement of the clamp manipulator is achieved;
when the working environment is different, the manipulator is replaced.
10. The working method of the multifunctional combined paw of the underwater mechanical arm as claimed in claim 9, wherein the manipulator replacement process comprises:
when the first mechanical arm needs to be replaced by the second mechanical arm, the fastening nuts on all the outer fixing rods of the first mechanical arm are unscrewed, the hexagonal nuts are pressed downwards to exit the hexagonal grooves, so that the hexagonal nuts slide in the first rail, when the hexagonal nuts slide to the adjacent taking and placing holes, the hexagonal nuts are taken out of the taking holes, then all the inner fixing rods of the first mechanical arm are taken out of the inner mounting seat, the method is the same as that of the outer fixing rods from the outer mounting seat, and disassembly is completed;
and installing a second mechanical arm, determining the number of the outer fixing rods according to the finger type of the second mechanical arm, determining installation positions, putting the hexagon nut of each outer fixing rod into the first track from the corresponding pick-and-place hole, sliding in the first track, pulling the hexagon nut outwards to clamp the hexagon nut in the hexagonal groove when sliding to the installation positions, screwing the fastening nut, just embedding the fastening nut in the circular groove at the moment, and then installing all the inner fixing rods on the inner installation base in the same way as the outer fixing rods on the outer installation base to finish installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911029004.1A CN110722580B (en) | 2019-10-28 | 2019-10-28 | Multifunctional combined paw of underwater mechanical arm and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911029004.1A CN110722580B (en) | 2019-10-28 | 2019-10-28 | Multifunctional combined paw of underwater mechanical arm and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110722580A CN110722580A (en) | 2020-01-24 |
| CN110722580B true CN110722580B (en) | 2020-05-01 |
Family
ID=69222172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911029004.1A Active CN110722580B (en) | 2019-10-28 | 2019-10-28 | Multifunctional combined paw of underwater mechanical arm and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110722580B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621756A (en) * | 2020-12-18 | 2021-04-09 | 程小龙 | Wisdom mill automatic feeding robot based on 5G network |
| CN115990868A (en) * | 2023-03-14 | 2023-04-21 | 莱铂赛智能装备(江苏)有限公司 | Truss manipulator for carrying gearbox shell |
| CN117428815B (en) * | 2023-12-21 | 2024-04-05 | 浙江大学 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101531327A (en) * | 2009-04-28 | 2009-09-16 | 中煤第五建设公司第三工程处 | Method for grabbing object by hydraulic pressure rotation grab loader and hydraulic pressure grab bucket |
| CN104084947B (en) * | 2014-06-27 | 2015-12-02 | 哈尔滨工程大学 | Mechanical arm system under a kind of seven function water |
| WO2017062583A1 (en) * | 2015-10-06 | 2017-04-13 | Oceaneering International, Inc. | Manipulator end effector |
| CN106607863A (en) * | 2015-10-21 | 2017-05-03 | 张桂春 | Garbage removal mechanical arm |
| CN107627317A (en) * | 2017-10-31 | 2018-01-26 | 长安大学 | A kind of clipping revolution Pneumatic manipulator |
| CN108789364A (en) * | 2018-05-28 | 2018-11-13 | 哈尔滨工程大学 | A kind of seven functional electric submarine mechanical arm systems |
-
2019
- 2019-10-28 CN CN201911029004.1A patent/CN110722580B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110722580A (en) | 2020-01-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110722580B (en) | Multifunctional combined paw of underwater mechanical arm and working method thereof | |
| CN108858262B (en) | Six-degree-of-freedom material conveying robot with adjustable clamping force | |
| CN108858263B (en) | Six-degree-of-freedom material conveying robot | |
| CN110273643B (en) | Impact type multifunctional airborne drilling machine | |
| CN109159828B (en) | Underwater pipeline connecting robot | |
| CN109664320A (en) | A kind of end effector for complete-section tunnel boring machine tool changing robot | |
| CN112922563B (en) | Double tubing wellhead assembly | |
| CN110145260B (en) | Multifunctional pipe taking and protecting manipulator applicable to submarine drilling machine with different pipe diameters | |
| CN114260924B (en) | Underwater mechanical arm | |
| CN210152573U (en) | Multifunctional pipe taking and protecting manipulator suitable for different pipe diameters of submarine drilling rig | |
| CN108356843B (en) | Mechanical hand end effector is changed to rock tunnel boring machine hobbing cutter | |
| CN110630596A (en) | Underwater redundant hydraulic mechanical arm and working method thereof | |
| Yuan et al. | A robotic gripper design and integrated solution towards tunnel boring construction equipment | |
| CN103831836B (en) | Allosteric type many seized conditions mechanical paw | |
| CN202428449U (en) | Three-degree-of-freedom series-parallel hybrid heavy load mechanical arm with redundant driving function | |
| CN106869976B (en) | Full-automatic tunnel anchor rod installation equipment | |
| CN204658451U (en) | For the manipulator of boats and ships | |
| CN110145263B (en) | Multi-position multifunctional pipe moving manipulator for seabed drilling machine | |
| CN105421508A (en) | Hydraulic grab device and application method thereof | |
| CN212601929U (en) | Crank arm and gripper structure of all-carbon fiber robot | |
| CN204585235U (en) | A kind of pneumatic brake cable drives and has the manipulator of staff feature | |
| CN203531125U (en) | Mechanical arm type dredging mechanism | |
| CN217475959U (en) | Multi-connecting-rod type underwater clamping mechanical gripper device | |
| CN205224136U (en) | Fluid pressure type nipper ware | |
| CN211287576U (en) | Manipulator device for automatically clamping drill rod |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |