CN215240945U - Small-size manipulator under water - Google Patents
Small-size manipulator under water Download PDFInfo
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- CN215240945U CN215240945U CN202120672153.6U CN202120672153U CN215240945U CN 215240945 U CN215240945 U CN 215240945U CN 202120672153 U CN202120672153 U CN 202120672153U CN 215240945 U CN215240945 U CN 215240945U
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- clamping jaw
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- arm lock
- bolt
- manipulator
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Abstract
The utility model discloses a small-size underwater manipulator, including the manipulator body, the manipulator body comprises arm lock and a plurality of clamping jaw, and is a plurality of the clamping jaw all is located the one end of arm lock, and is a plurality of the clamping jaw all passes through hinge and arm lock swing joint, the fixed drive structure that is equipped with in inside of arm lock, and is a plurality of the clamping jaw is all through the transmission structure and the drive structure fixed connection that correspond, the utility model discloses small light in weight accords with special environment and special operation requirement, and the price/performance ratio is higher, through set up the electro-magnet on the clamping jaw, presss from both sides the clamp to metallics after the circular telegram and gets, has avoided only using assistance such as vacuum chuck, acts on, only adapts to special surface and presss from both sides and gets the thing, uses the limitation. Simultaneously through spliced pole and the bolt that is equipped with, the bolt alternates with the spliced pole through perforating and be connected, has made things convenient for vacuum chuck's installation and dismantlement, and a plurality of perforation that are equipped with are convenient for adjust the distance between vacuum chuck and the installation piece, use more in a flexible way.
Description
Technical Field
The utility model relates to a manipulator, in particular to small-size manipulator under water.
Background
The underwater manipulator is carried on an underwater robot or an underwater working platform, is divided into two categories of electric drive and hydraulic drive, consists of an execution system and a control system, is widely applied to the field of underwater detection or deep sea operation, provides a device for underwater detection or construction, and has the main action of sampling from the sea bottom, operating an underwater equipment switch or providing complex operation action for a production system. The underwater manipulator can replace a diver to be applied to larger water depth and more complex sea conditions, is an important component in underwater robot operation, is a small manipulator, has the characteristics of light weight, simplicity and convenience in operation, sensitive control and the like, and is wide in application scene.
The existing small underwater manipulator structure mostly adopts a complex structural form to be matched with the assistance of a vacuum chuck and the like to perform action behaviors, only adapts to special surface clamping and fetching objects, is limited in application, adopts electric drive or hydraulic drive, is large in size and heavy in weight, adapts to large underwater robots or platform equipment, is high in manufacturing cost, adapts to special environment and special operation requirements, needs professional training and is more complex to control.
Disclosure of Invention
An object of the utility model is to provide a small-size underwater manipulator to solve the current small-size underwater manipulator structure that proposes in the above-mentioned background art and adopt assistance such as complicated structural style cooperation vacuum chuck more, carry out the action, only adapt to special surface clamp and get the thing, use the limitation, adopt electric drive or hydraulic drive simultaneously, and is bulky, and weight is big, adapts to large-scale underwater robot or platform equipment, and the cost is high, is adapted to special environment and special operation requirement, needs professional training, controls more complicated problem.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a small-size underwater manipulator, includes the manipulator body, the manipulator body comprises arm lock and a plurality of clamping jaw, and is a plurality of the clamping jaw all is located the one end of arm lock, and is a plurality of the clamping jaw all passes through hinge and arm lock swing joint, the fixed drive structure that is equipped with in inside of arm lock, and is a plurality of the clamping jaw all is through the transmission structure and the drive structure fixed connection that correspond, the fixed installation piece that is equipped with of one end of arm lock, and the installation piece is located the inboard of a plurality of clamping jaws.
As an optimal technical scheme of the utility model, it is a plurality of all fixed a plurality of double-layered teeth that are equipped with, a plurality of on the clamping jaw the inboard of pressing from both sides the tooth is all fixed and is equipped with the electro-magnet, and is a plurality of the electro-magnet all with manipulator body internal circuit electric connection.
As an optimal technical scheme of the utility model, it is a plurality of the rubber slipmat that has all been laid to the inboard of clamping jaw is a plurality of all fixed a plurality of non-slip raised that are equipped with on the rubber slipmat.
As the utility model discloses a preferred technical scheme, the fixed bolt hole that is equipped with of one side of installation piece, the inside interlude in bolt hole is connected with the bolt, the bottom mounting of installation piece is equipped with the mounting hole, the inside interlude of mounting hole is connected with the spliced pole, the fixed vacuum chuck that is equipped with of one end of spliced pole.
As an optimal technical scheme of the utility model, the fixed a plurality of perforation that are equipped with on the spliced pole, the bolt alternates with the spliced pole through one of them perforation and is connected.
As an optimized technical scheme of the utility model, the fixed seal gasket that is equipped with in the junction of arm lock and a plurality of clamping jaw.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model relates to a small-size underwater manipulator, the utility model discloses a set up the electro-magnet on the clamping jaw, press from both sides and get metallic substance after the circular telegram, avoided using assistance such as vacuum chuck, carry out the action, only adapt to special surface and press from both sides and get the thing, use the limitation, simultaneously through spliced pole and the bolt that is equipped with, the bolt alternates with the spliced pole through perforating and is connected, has made things convenient for the installation and the dismantlement to vacuum chuck, and a plurality of perforation of being equipped with, be convenient for adjust the distance between vacuum chuck and the installation piece, use more nimble;
2. the utility model relates to a small-size manipulator under water, the utility model discloses small light in weight accords with special environment and special operation requirement simultaneously, and the price/performance ratio is higher, and through set up the rubber slipmat on a plurality of clamping jaws, set up anti-skidding arch on the rubber slipmat, improves the non-skid property of clamping jaw, helps going on of operation under water work.
Drawings
Fig. 1 is a schematic front structural view of the present invention;
fig. 2 is a schematic view of the structure of the clamping jaw of the present invention;
fig. 3 is a schematic view of the connection structure of the suction cup of the present invention.
In the figure: 1. a manipulator body; 2. a clamping jaw; 3. clamping arms; 4. an electromagnet; 5. a rubber non-slip mat; 6. anti-skid projections; 7. clamping teeth; 8. a pin hole; 9. a bolt; 10. connecting columns; 11. mounting holes; 12. a vacuum chuck; 13. mounting blocks; 14. and (6) perforating.
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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a small underwater manipulator, comprising:
according to fig. 1, including manipulator body 1, manipulator body 1 comprises arm lock 3 and a plurality of clamping jaw 2, a plurality of clamping jaws 2 all are located the one end of arm lock 3, and a plurality of clamping jaw 2 all are through hinge and arm lock 3 swing joint, the fixed drive structure that is equipped with in inside of arm lock 3, the drive structure that is equipped with provides drive power for the motion of a plurality of clamping jaw 2, a plurality of clamping jaw 2 all through corresponding transmission structure and drive structure fixed connection, transmission structure plays the effect of power transmission, the fixed installation piece 13 that is equipped with of one end of arm lock 3, the installation piece 13 that is equipped with makes things convenient for vacuum chuck 12's installation fixed, and installation piece 13 is located the inboard of a plurality of clamping jaw 2.
Wherein, the fixed seal gasket that is equipped with in the junction of arm lock 3 and a plurality of clamping jaw 2, the inside leakproofness of 3 inside seal gaskets of arm lock is kept to the seal gasket that is equipped with, avoids inside intaking to lead to the internal circuit to damage.
According to fig. 2, all fixedly on the clamping jaw 2 be equipped with a plurality of clamp teeth 7, the clamp tooth 7 that is equipped with is convenient to press from both sides article and is got, and the inboard of a plurality of clamp teeth 7 is all fixed and is equipped with electro-magnet 4, and electro-magnet 4 that is equipped with is convenient for press from both sides the metal material and gets for it is better to press from both sides the efficiency of getting, a plurality of electro-magnets 4 all with 1 internal circuit electric connection of manipulator body, internal circuit provides electric power for electro-magnet 4 and supports, makes electro-magnet 4 normally work.
Wherein, the rubber slipmat 5 that all lays in the inboard of a plurality of clamping jaws 2, the rubber slipmat 5 that is equipped with has improved the skid resistance ability of clamping jaw 2, avoids dropping at article under water, all fixes being equipped with a plurality of non-skid protrusions 6 on a plurality of rubber slipmats 5, the further non-skid property that improves clamping jaw 2 of the non-skid protrusions 6 that are equipped with.
According to fig. 3, one side of installation piece 13 is fixed and is equipped with bolt hole 8, the inside interlude of bolt hole 8 is connected with bolt 9, bolt 9 that is equipped with is convenient for fix spliced pole 10, thereby the convenience is fixed vacuum chuck 12, the bottom mounting of installation piece 13 is equipped with mounting hole 11, make things convenient for placing of spliced pole 10, the inside interlude of mounting hole 11 is connected with spliced pole 10, the fixed vacuum chuck 12 that is equipped with of one end of spliced pole 10, vacuum chuck 12 that is equipped with is convenient for press from both sides special article and gets.
Wherein, be equipped with a plurality of perforation 14 on the spliced pole 10 fixedly, the perforation 14 that is equipped with makes things convenient for the interlude of bolt 9 and spliced pole 10 to be connected, and bolt 9 alternates with spliced pole 10 through one of perforation 14 and is connected.
When the small underwater manipulator is used, when special articles are clamped, a vacuum sucker 12 needs to be installed on the inner side of the clamping jaw 2, when the vacuum sucker 12 is installed, the connecting column 10 is inserted into the installation hole 11 at the bottom end of the installation block 13, the bolt 9 is inserted into the installation block 13 from the bolt hole 8, after the bolt 9 is inserted into the installation block 13, a proper perforation 14 is selected, the distance between the vacuum sucker 12 and the installation block 13 is adjusted, the vacuum sucker 12 better adsorbs, one end of the bolt 9 passes through one proper perforation 14, the connecting column 10 is fixed inside the installation hole 11, the vacuum sucker 12 is fixed firmly, when the metal articles are clamped, the vacuum sucker 12 is taken down, the bolt 9 is taken out from the bolt hole 8, the connecting column 10 is separated from the installation hole 11, thereby dismantle vacuum chuck 12 and accomplish, manipulator body 1 is pressing from both sides when getting, switches on electro-magnet 4 for two electro-magnet 4 produce magnetism, firmly adsorb metal object, avoid the cramping thing to drop, the fixed rubber slipmat 5 that is equipped with has improved the non-skid property of clamping jaw 2 on the clamping jaw 2, avoid article under water to drop, all fix on a plurality of rubber slipmats 5 and be equipped with a plurality of non-slip raised 6, the further non-skid property that improves clamping jaw 2 of the non-slip raised 6 that is equipped with.
In the description of the present invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a small-size underwater manipulator, includes manipulator body (1), its characterized in that, manipulator body (1) comprises arm lock (3) and a plurality of clamping jaw (2), and is a plurality of clamping jaw (2) all are located the one end of arm lock (3), and are a plurality of clamping jaw (2) all are through hinge and arm lock (3) swing joint, the inside of arm lock (3) is fixed and is equipped with drive structure, and is a plurality of clamping jaw (2) all are through the transmission structure and the drive structure fixed connection that correspond, the one end of arm lock (3) is fixed and is equipped with installation piece (13), and installation piece (13) are located the inboard of a plurality of clamping jaws (2).
2. A compact underwater robot as claimed in claim 1, wherein: a plurality of all fixed being equipped with a plurality of clamp teeth (7) on clamping jaw (2), it is a plurality of the inboard of pressing from both sides tooth (7) all is fixed and is equipped with electro-magnet (4), and is a plurality of electro-magnet (4) all with manipulator body (1) internal circuit electric connection.
3. A compact underwater robot as claimed in claim 1, wherein: a plurality of rubber non-slip mat (5) that all lay in the inboard of clamping jaw (2), it is a plurality of all fixed a plurality of non-slip raised (6) that are equipped with on rubber non-slip mat (5).
4. A compact underwater robot as claimed in claim 1, wherein: the fixed bolt hole (8) that is equipped with of one side of installation piece (13), the inside interlude of bolt hole (8) is connected with bolt (9), the bottom mounting of installation piece (13) is equipped with mounting hole (11), the inside interlude of mounting hole (11) is connected with spliced pole (10), the fixed vacuum chuck (12) that is equipped with of one end of spliced pole (10).
5. A compact underwater robot as claimed in claim 4, wherein: a plurality of through holes (14) are fixedly arranged on the connecting column (10), and the bolt (9) is inserted and connected with the connecting column (10) through one of the through holes (14).
6. A compact underwater robot as claimed in claim 1, wherein: and sealing gaskets are fixedly arranged at the joints of the clamping arms (3) and the clamping jaws (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120672153.6U CN215240945U (en) | 2021-04-01 | 2021-04-01 | Small-size manipulator under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120672153.6U CN215240945U (en) | 2021-04-01 | 2021-04-01 | Small-size manipulator under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215240945U true CN215240945U (en) | 2021-12-21 |
Family
ID=79507209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120672153.6U Active CN215240945U (en) | 2021-04-01 | 2021-04-01 | Small-size manipulator under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215240945U (en) |
-
2021
- 2021-04-01 CN CN202120672153.6U patent/CN215240945U/en active Active
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