CN214057871U - Grabbing device of underwater robot - Google Patents
Grabbing device of underwater robot Download PDFInfo
- Publication number
- CN214057871U CN214057871U CN202120090099.4U CN202120090099U CN214057871U CN 214057871 U CN214057871 U CN 214057871U CN 202120090099 U CN202120090099 U CN 202120090099U CN 214057871 U CN214057871 U CN 214057871U
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- plate
- robot
- bottom plate
- sliding
- robot bottom
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Abstract
The utility model relates to the technical field of robot, a grabbing device of underwater robot is disclosed, including the robot bottom plate, robot bottom plate upper end is connected with the buckler, install the high efficiency on the robot bottom plate and snatch the mechanism, rotate the motor and install the upper end at the robot bottom plate, and rotate the motor and be located the setting in the buckler, it has the rolling disc to rotate the siding that the motor output runs through the robot bottom plate and through the coupling joint, it connects on the siding of robot bottom plate to rotate the motor output, rolling disc lower extreme center department installs the cylinder, cylinder piston end is connected with the movable plate, the spout has been seted up on the siding of movable plate lower extreme, symmetrical sliding connection has two sliders in the spout, the one end that the cylinder was kept away from to the slider passes the notch of spout and downwardly extending and is connected with splint. The utility model discloses a set up simple mechanical structure and snatch the article of water variation in size to and, be convenient for angle regulation and height, thereby, improve device's practicality.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a grabbing device of underwater robot.
Background
The underwater robot, as a machine for underwater extreme operations, can replace human beings to work in a severe environment, and the mechanical gripping device of the robot is the most important part of the underwater robot, and the mechanical gripping devices of different kinds of underwater robots are different, and different devices have different advantages and disadvantages.
However, the existing grabbing device of the underwater robot cannot flexibly change the direction, and cannot adjust the height according to the requirement, so that the applicability is poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the current grabbing device of underwater robot can not be nimble change direction to and, can not come highly to adjust according to the demand, the relatively poor problem of suitability, and the grabbing device of an underwater robot who proposes.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a grabbing device of an underwater robot comprises a robot bottom plate, wherein a waterproof cover is connected to the upper end of the robot bottom plate, and a high-efficiency grabbing mechanism is mounted on the robot bottom plate;
the efficient grabbing mechanism comprises a rotating motor, the rotating motor is installed at the upper end of a robot bottom plate and is positioned in a waterproof cover, the output end of the rotating motor penetrates through the wall of the robot bottom plate and is connected with a rotating disc through a coupler, the output end of the rotating motor is rotatably connected to the wall of the robot bottom plate, a cylinder is installed at the center of the lower end of the rotating disc, the piston end of the cylinder is connected with a moving plate, a chute is formed in the wall of the lower end of the moving plate, two sliding blocks are symmetrically and slidably connected in the chute, one end, away from the cylinder, of each sliding block penetrates through a notch of the chute and extends downwards and is connected with a clamping plate, the lower end of the moving plate is symmetrically connected with two mounting plates about the chute, threaded holes are formed in the side walls of the sliding blocks, a driving motor is arranged below the moving plate and is installed on the side wall of the corresponding mounting plate, the driving motor output runs through the siding of corresponding mounting panel and has two-way lead screw through the coupling joint, the two-way lead screw other end runs through two screw holes in proper order and connects on the mounting panel that corresponds through the bearing, and the bearing inlays on the mounting panel siding that corresponds, two-way lead screw and screw hole threaded connection, the driving motor output rotates to be connected on the siding of corresponding mounting panel.
Preferably, the sliding chute is internally and fixedly connected with a sliding rod, the sliding rod penetrates through the sliding block, and the sliding block is connected to the sliding rod in a sliding mode.
Preferably, a rolling groove is formed in the side wall, close to the cylinder, of the sliding block, rolling balls are arranged in the rolling groove, the balls penetrate through the notch of the rolling groove, and the balls are connected to the bottom of the sliding groove in a rolling mode.
Preferably, the lower end of the rotating disc is symmetrically connected with two limiting pipes about the cylinder, limiting rods are connected in the limiting pipes in a sliding mode, and the other ends of the limiting rods penetrate through pipe orifices of the limiting pipes, extend downwards and are connected to the moving plate.
Preferably, the side walls of the two clamping plates on the opposite sides are provided with column teeth.
Compared with the prior art, the utility model provides a grabbing device of underwater robot possesses following beneficial effect:
1. this grabbing device of underwater robot through setting up the mutual cooperation between rotating motor, rolling disc, cylinder and the moving plate isotructure, comes angle and the height of snatching to, improve device's suitability.
2. This grabbing device of underwater robot through setting up mutually supporting between spout, slider, splint, mounting panel, screw hole, driving motor, two-way lead screw and the bearing isotructure and come to snatch the article of equidimension not automatically to, improve the practicality of device.
Drawings
Fig. 1 is a schematic structural view of a gripping device of an underwater robot provided by the present invention;
fig. 2 is a top view of a gripping device of an underwater robot provided by the present invention;
fig. 3 is an enlarged view of a portion a in fig. 1.
In the figure: 1. a robot base plate; 2. a waterproof cover; 3. rotating the motor; 4. rotating the disc; 5. a cylinder; 6. moving the plate; 7. a chute; 8. a slider; 9. a splint; 10. mounting a plate; 11. a threaded hole; 12. a drive motor; 13. a bidirectional screw rod; 14. a bearing; 15. a slide bar; 16. a rolling groove; 17. a ball bearing; 18. a limiting pipe; 19. a limiting rod; 20. and (4) column teeth.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Referring to fig. 1-3, the grabbing device of the underwater robot comprises a robot bottom plate 1, wherein the upper end of the robot bottom plate 1 is connected with a waterproof cover 2, and a high-efficiency grabbing mechanism is arranged on the robot bottom plate 1;
the efficient grabbing mechanism comprises a rotating motor 3, the rotating motor 3 is installed at the upper end of a robot bottom plate 1, the rotating motor 3 is located in a waterproof cover 2, the output end of the rotating motor 3 penetrates through the plate wall of the robot bottom plate 1 and is connected with a rotating disc 4 through a coupler, the output end of the rotating motor 3 is rotatably connected to the plate wall of the robot bottom plate 1, a cylinder 5 is installed at the center of the lower end of the rotating disc 4, a moving plate 6 is connected to the piston end of the cylinder 5, a chute 7 is formed in the plate wall at the lower end of the moving plate 6, two sliders 8 are symmetrically and slidably connected in the chute 7, one end, far away from the cylinder 5, of each slider 8 penetrates through a notch of the chute 7 and extends downwards and is connected with a clamping plate 9, two mounting plates 10 are symmetrically connected to the lower end of the moving plate 6 relative to the chute 7, threaded holes 11 are formed in the side walls of the sliders 8, a driving motor 12 is arranged below the moving plate 6, and the driving motor 12 is installed on the side wall of the corresponding mounting plate 10, the output end of a driving motor 12 penetrates through the plate wall of a corresponding mounting plate 10 and is connected with a bidirectional screw rod 13 through a coupler, the other end of the bidirectional screw rod 13 sequentially penetrates through two threaded holes 11 and is connected to the corresponding mounting plate 10 through a bearing 14, the bearing 14 is embedded on the plate wall of the corresponding mounting plate 10, the bidirectional screw rod 13 is in threaded connection with the threaded holes 11, the output end of the driving motor 12 is rotatably connected to the plate wall of the corresponding mounting plate 10, when underwater articles need to be grabbed, the air cylinder 5 is started, the operation of the air cylinder 5 can drive the movable plate 6 to move in the vertical direction, the movement of the movable plate 6 can drive the clamping plates 9 to move in the vertical direction, the two clamping plates 9 are adjusted to the positions at two sides of the articles, when the clamping plates 9 move to a specified position, the air cylinder 5 is closed, the driving motor 12 is started again, the operation of the driving motor 12 can drive the bidirectional screw rod 13 to rotate in the same direction, the rotation of the bidirectional screw 13 drives the two sliding blocks 8 to horizontally move in opposite directions in the sliding groove 7 through the threads in the threaded hole 11, the movement of the two sliding blocks 8 drives the two clamping plates 9 to move in opposite directions, thereby clamping an article, when an angle needs to be adjusted, the rotation of the rotating motor 3 is started, the rotation of the rotating motor 3 drives the rotating disc 4 to rotate in the same direction, the rotation of the rotating disc 4 drives the air cylinder 5 to rotate, the rotation of the air cylinder 5 drives the moving plate 6 to rotate in the same direction, the rotation of the moving plate 6 drives the two clamping plates 9 to rotate in the same direction, when the two clamping plates 9 rotate to a specified position, the rotating motor 3 is closed, the captured angle and height are adjusted by arranging the rotating motor 3 and the air cylinder 5, the requirements of different positions are met, the applicability of the device is improved, and the bidirectional screw 13 is driven to rotate through the rotation of the driving motor 12, the two clamping plates 9 move oppositely or back to clamp different articles, so that the practicability of the device is improved.
The side wall of the sliding block 8 close to one end of the air cylinder 5 is provided with a rolling groove 16, a rolling ball 17 is arranged in the rolling groove 16, the rolling ball 17 penetrates through a notch of the rolling groove 16, and the rolling ball 17 is connected to the bottom of the sliding groove 7 in a rolling mode, so that friction force between the sliding block 8 and the sliding groove 7 is reduced.
The lower end of the rotating disc 4 is symmetrically connected with two limiting pipes 18 relative to the air cylinder 5, limiting rods 19 are connected in the limiting pipes 18 in a sliding mode, and the other ends of the limiting rods 19 penetrate through the pipe orifices of the limiting pipes 18, extend downwards and are connected to the moving plate 6, so that the moving plate 6 is prevented from deviating in the moving process.
The side walls of the two clamping plates 9 on the opposite sides are provided with column teeth 20 to increase the friction force of the clamping plates 9.
In the utility model, when underwater articles are required to be grabbed, the cylinder 5 is started, the operation of the cylinder 5 generates acting force on the movable plate 6, the movable plate 6 is acted by the acting force to move in the vertical direction, the movement of the movable plate 6 generates acting force on the clamping plates 9, the clamping plates 9 are acted by the acting force to move in the vertical direction, then the two clamping plates 9 are adjusted to the positions at two sides of the articles, when the clamping plates 9 move to the specified position, the cylinder 5 is closed, the driving motor 12 is started again, the operation of the driving motor 12 generates acting force on the bidirectional lead screw 13, the bidirectional lead screw 13 is acted by the acting force to rotate in the same direction, the rotation of the bidirectional lead screw 13 generates acting force on the sliding blocks 8 through the threads in the threaded holes 11, the two sliding blocks 8 are acted by the acting force to move horizontally and transversely in the sliding grooves 7, the movement of the two sliding blocks 8 generates acting force on the two clamping plates 9, the two clamping plates 9 move oppositely under the action of force, so that articles are clamped, when the angle is required to be adjusted, the rotating motor 3 is started, the rotating motor 3 rotates to generate acting force on the rotating disc 4, the rotating disc 4 rotates in the same direction under the action of force, the rotating disc 4 rotates to generate acting force on the air cylinder 5, the air cylinder 5 rotates under the action of force, the air cylinder 5 rotates to generate acting force on the moving plate 6, the moving plate 6 rotates in the same direction under the action of force, the moving plate 6 rotates to generate acting force on the two clamping plates 9, the two clamping plates 9 rotate in the same direction under the action of force, when the two clamping plates 9 rotate to a specified position, the rotating motor 3 is closed, the captured angle and height are adjusted by arranging the rotating motor 3 and the air cylinder 5, the requirements of different positions are met, and the applicability of the device is improved, the two-way screw rod 13 is driven to rotate by the rotation of the driving motor 12, so that the two clamping plates 9 move oppositely or back to back, different articles are clamped, and the practicability of the device is improved.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (5)
1. A grabbing device of an underwater robot comprises a robot bottom plate (1), and is characterized in that a waterproof cover (2) is connected to the upper end of the robot bottom plate (1), and a high-efficiency grabbing mechanism is mounted on the robot bottom plate (1);
the efficient grabbing mechanism comprises a rotating motor (3), the rotating motor (3) is installed at the upper end of a robot bottom plate (1), the rotating motor (3) is located in a waterproof cover (2), the output end of the rotating motor (3) penetrates through the plate wall of the robot bottom plate (1) and is connected with a rotating disc (4) through a coupler, the output end of the rotating motor (3) is connected to the plate wall of the robot bottom plate (1) in a rotating mode, an air cylinder (5) is installed at the center of the lower end of the rotating disc (4), a moving plate (6) is connected to the piston end of the air cylinder (5), a sliding groove (7) is formed in the plate wall of the lower end of the moving plate (6), two sliding blocks (8) are symmetrically and slidably connected in the sliding groove (7), one end, far away from the air cylinder (5), of each sliding block (8) penetrates through a groove opening of the corresponding sliding groove (7) and extends downwards and is connected with a clamping plate (9), the lower end of the moving plate (6) is symmetrically connected with two mounting plates (10) around the sliding groove (7), a threaded hole (11) is arranged on the side wall of the sliding block (8), a driving motor (12) is arranged below the moving plate (6), the driving motor (12) is arranged on the side wall of the corresponding mounting plate (10), the output end of the driving motor (12) penetrates through the plate wall of the corresponding mounting plate (10) and is connected with a bidirectional screw rod (13) through a coupling, the other end of the bidirectional screw rod (13) penetrates through the two threaded holes (11) in sequence and is connected to the corresponding mounting plate (10) through a bearing (14), and the bearing (14) is embedded on the corresponding mounting plate (10) wall, the bidirectional screw rod (13) is in threaded connection with the threaded hole (11), the output end of the driving motor (12) is rotatably connected to the plate wall of the corresponding mounting plate (10).
2. The underwater robot gripping device as claimed in claim 1, wherein a sliding rod (15) is fixedly connected in the sliding groove (7), the sliding rod (15) is arranged through the sliding block (8), and the sliding block (8) is slidably connected to the sliding rod (15).
3. The grabbing device of the underwater robot according to claim 1, wherein a rolling groove (16) is formed in a side wall of the sliding block (8) close to one end of the cylinder (5), a rolling ball (17) is arranged in the rolling groove (16), the rolling ball (17) penetrates through a notch of the rolling groove (16), and the rolling ball (17) is connected to the bottom of the sliding groove (7) in a rolling manner.
4. The underwater robot gripping device as claimed in claim 1, wherein two limiting pipes (18) are symmetrically connected to the lower end of the rotating disc (4) with respect to the cylinder (5), a limiting rod (19) is slidably connected to the limiting pipes (18), and the other end of the limiting rod (19) passes through the orifice of each limiting pipe (18), extends downwards and is connected to the moving plate (6).
5. The gripping device of an underwater robot as claimed in claim 1, wherein the side walls of the two clamping plates (9) on the opposite sides are provided with stud teeth (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120090099.4U CN214057871U (en) | 2021-01-13 | 2021-01-13 | Grabbing device of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120090099.4U CN214057871U (en) | 2021-01-13 | 2021-01-13 | Grabbing device of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214057871U true CN214057871U (en) | 2021-08-27 |
Family
ID=77392665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120090099.4U Expired - Fee Related CN214057871U (en) | 2021-01-13 | 2021-01-13 | Grabbing device of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214057871U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910285A (en) * | 2021-10-26 | 2022-01-11 | 中国船舶重工集团公司第七一六研究所 | Double-deck clamping device of roller type industrial robot |
-
2021
- 2021-01-13 CN CN202120090099.4U patent/CN214057871U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910285A (en) * | 2021-10-26 | 2022-01-11 | 中国船舶重工集团公司第七一六研究所 | Double-deck clamping device of roller type industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210827 Termination date: 20220113 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |