CN215884030U - Caisson grabbing robot structure based on underwater salvage and cleaning - Google Patents
Caisson grabbing robot structure based on underwater salvage and cleaning Download PDFInfo
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- CN215884030U CN215884030U CN202121865040.4U CN202121865040U CN215884030U CN 215884030 U CN215884030 U CN 215884030U CN 202121865040 U CN202121865040 U CN 202121865040U CN 215884030 U CN215884030 U CN 215884030U
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Abstract
The utility model discloses a caisson grabbing robot structure based on underwater salvaging and cleaning. The utility model has the beneficial effects that: one side of keeping away from fixture through the upper surface at the base is provided with the balancing weight, be convenient for should snatch the robot when snatching the caisson, be difficult for the upset, through setting up the track, be convenient for walk under the silt environment, avoid removing the difficulty, lead to salvaging efficiency to descend, through setting up elevating system and translation mechanism, can carry out the regulation of level and vertical direction position to fixture according to the position of actual caisson, fixture adopts the motor to drive the threaded rod and rotates and then make the mode that two clamping jaws are close to each other carry out the centre gripping to the caisson, be convenient for to not unidimensional caisson, the centre gripping scope is comparatively extensive, and through being provided with radar receiving arrangement, can make the staff can the remote control should snatch the robot and carry out work, and convenient for operation.
Description
Technical Field
The utility model relates to a grabbing robot, in particular to a caisson grabbing robot structure based on underwater salvaging and cleaning, and belongs to the technical field of underwater robots.
Background
The ocean area accounts for more than 70% of the global area, and is rich in various energy resources, mineral resources, biological resources, medicine resources and the like, and the submarine geological information also helps people to better understand the origin of the earth. The development of land resources by human beings is continuously promoted, but the utilization of the ocean is very little due to the limitation of scientific technology. In the deep sea environment with cold, dark and high pressure, people must replace human beings with machine equipment to carry out underwater operation. Because the marine environment changes and surveys, often a lot of ships are sunk by the sea waves, at the moment, the caisson sinking at the bottom needs to be salvaged, and the grabbing robot equipment is often used
The existing grabbing robot has some problems in the using process, firstly, most of the existing grabbing robots utilize buoyancy to walk underwater, the resistance is large, part of the robots can walk underwater, but the walking is often unchanged due to silt, and secondly, the existing grabbing mechanisms cannot grab caissons with different sizes, so that the fishing efficiency is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems and provide a caisson grabbing robot structure based on underwater salvaging and cleaning.
The utility model realizes the purpose through the following technical scheme: a caisson grabbing robot structure based on underwater salvage and cleaning comprises a base, a crawler belt, a translation mechanism, a lifting mechanism and a clamping mechanism, wherein the crawler belt is fixedly arranged on the lower side of the base, rollers are arranged on two sides inside the crawler belt, a driving wheel is arranged between the two rollers, the upper sides of the two driving wheels are rotatably connected with a driving motor through a transmission chain, the lower sides of the two driving wheels are rotatably connected with the crawler belt, the translation mechanism is arranged on the upper side of the base, the lifting mechanism is arranged on a supporting cross beam, a fixing column is connected to the lower side of one end, away from the lifting mechanism, of the supporting cross beam, the lower surface of the fixing column is fixedly connected with the clamping mechanism, a cable joint is fixedly connected to the side wall, away from the clamping mechanism, of the base, and a lighting lamp is arranged inside one side, close to the clamping mechanism, and the lower side of the lighting lamp is provided with a camera shooting mechanism, and infrared cameras are uniformly distributed around the camera of the camera shooting mechanism.
As a still further scheme of the utility model: and a balancing weight is arranged on one side, far away from the clamping mechanism, of the upper surface of the base.
As a still further scheme of the utility model: the translation mechanism comprises a first motor, a first threaded rod and a first threaded sleeve, a mounting groove is formed in the upper side of the base, a first motor is fixedly connected to the inner wall of one side of the mounting groove, the first threaded rod is fixedly connected to the output end of the first motor, the first threaded sleeve is sleeved on the first threaded rod in a threaded mode, and a lifting mechanism is fixedly connected to the upper end of the first threaded sleeve.
As a still further scheme of the utility model: elevating system comprises lift urceolus, lift groove, lift inner tube, swivel nut two, threaded rod two, stopper and motor two, the upside rigid coupling of swivel nut one has motor two, the upside fixed mounting of motor two has the lift urceolus, the inside of lift urceolus is provided with the lift groove, the output of motor two extends to the inside of lift groove to rigid coupling threaded rod two, threaded rod two is gone up the screw thread and is provided with swivel nut two, the outside lateral wall of swivel nut two and the inner wall rigid coupling of lift inner tube, and be provided with the stopper on the both sides outer wall of lift inner tube, the upper end rigid coupling of lift inner tube has supporting beam.
As a still further scheme of the utility model: fixture comprises U type frame, three motors, threaded rod three, clamping jaw, spout and slider, the downside at the fixed column is installed to U type frame, and one side outer wall rigid coupling of U type frame has motor three, the output of motor three extends to the inboard of U type frame to rigid coupling threaded rod three, threaded rod three passes through to rotate between bearing and the U type frame and is connected, the both sides of threaded rod three are provided with the external screw thread that moves towards opposite, and the pole body of both sides is threaded connection respectively has the clamping jaw, the upper end rigid coupling of clamping jaw has the slider, and the inside spout that is provided with slider matched with of interior top surface of U type frame.
As a still further scheme of the utility model: the upper surface of base is located the fixed position between elevating system and the fixture and is installed radar receiving arrangement, and inside GPS orientation module, information processing module and the control module of being provided with of radar receiving arrangement.
As a still further scheme of the utility model: the first motor, the second motor and the third motor are electrically connected with the cable connector.
The utility model has the beneficial effects that: the caisson grabbing robot based on underwater salvaging and cleaning has reasonable structural design, the side, far away from the clamping mechanism, of the upper surface of the base is provided with the balancing weight, so that the grabbing robot is not easy to turn over when grabbing the caisson, the walking under a sludge environment is facilitated by arranging the crawler belt, the fishing efficiency is reduced due to the difficulty in moving, the clamping mechanism can be adjusted horizontally and vertically according to the position of the actual caisson by arranging the lifting mechanism and the translation mechanism, the caisson can be conveniently and quickly clamped, the clamping mechanism clamps the caisson in a way that the motor drives the threaded rod to rotate so as to enable the two clamping jaws to be close to each other, the caisson is convenient to aim at the caissons with different sizes, the clamping range is wide, and the radar receiving device is arranged, so that a worker can remotely control the grabbing robot to work, the operation is convenient.
Drawings
FIG. 1 is a schematic structural diagram of a grabbing robot according to the present invention;
FIG. 2 is a schematic plan view of a test camera according to the present invention;
fig. 3 is an enlarged schematic view of a portion a in fig. 1.
In the figure: 1. the device comprises a base, 2, a track, 3, a roller, 4, a cable joint, 5, a camera shooting mechanism, 6, a lighting lamp, 7, a first motor, 8, a first threaded rod, 9, a first screw sleeve, 10, a lifting outer cylinder, 11, a lifting groove, 12, a lifting inner cylinder, 13, a second screw sleeve, 14, a second screw sleeve, 15, a limiting block, 16, a second motor, 17, a supporting beam, 18, a fixed column, 19, a U-shaped frame, 20, a third motor, 21, a third threaded rod, 22, a clamping jaw, 23, a sliding groove, 24, a sliding block, 25, a balancing weight, 26, an infrared camera, 27 and a radar receiving device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1 to 3, a caisson grabbing robot structure based on underwater salvage and cleaning comprises a base 1, a track 2, a translation mechanism, a lifting mechanism and a clamping mechanism, wherein the track 2 is fixedly arranged on the lower side of the base 1, rollers 3 are arranged on two sides inside the track 2, a driving wheel 29 is arranged between the two rollers 3, the upper sides of the two driving wheels 29 are rotatably connected with a driving motor 28 through a transmission chain, the lower sides of the two driving wheels 29 are rotatably connected with the track 2, the translation mechanism is arranged on the upper side of the base 1, the lifting mechanism is arranged on the upper side of the translation mechanism, the lifting mechanism is mounted on a supporting beam 17, a fixing column 18 is connected to the lower side of one end, far away from the lifting mechanism, of the supporting beam 17, the lower surface of the fixing column 18 is fixedly connected with the clamping mechanism, a cable joint 4 is fixedly connected to the side wall of one side, far away from the clamping mechanism, of the base 1, an illuminating lamp 6 is arranged inside one side close to the clamping mechanism, a camera shooting mechanism 5 is arranged on the lower side of the illuminating lamp 6, and infrared cameras 26 are uniformly distributed around the camera of the camera shooting mechanism 5.
In the embodiment of the utility model, a counterweight 25 is arranged on one side of the upper surface of the base 1, which is far away from the clamping mechanism, so that the grabbing robot is not easy to turn over when grabbing the caisson.
In the embodiment of the utility model, the translation mechanism is composed of a motor I7, a threaded rod I8 and a screw sleeve I9, a mounting groove is formed in the upper side of the base 1, the motor I7 is fixedly connected to the inner wall of one side of the mounting groove, the output end of the motor I7 is fixedly connected with the threaded rod I8, the screw sleeve I9 is sleeved on the threaded rod I8 in a threaded manner, and a lifting mechanism is fixedly connected to the upper end of the screw sleeve I9, wherein the motor I7 is Y80M1-2 in model number, so that the horizontal position of the clamping mechanism can be conveniently adjusted, and a caisson can be conveniently grabbed.
In the embodiment of the utility model, the lifting mechanism is composed of a lifting outer cylinder 10, a lifting groove 11, a lifting inner cylinder 12, a second screw sleeve 13, a second threaded rod 14, a limiting block 15 and a second motor 16, a second motor 16 is fixedly connected with the upper side of the first thread insert 9, a lifting outer cylinder 10 is fixedly arranged on the upper side of the second motor 16, a lifting groove 11 is arranged in the lifting outer cylinder 10, the output end of the second motor 16 extends to the inside of the lifting groove 11, a second threaded rod 14 is fixedly connected, a second threaded sleeve 13 is arranged on the second threaded rod 14 in a threaded manner, the outer side wall of the second threaded sleeve 13 is fixedly connected with the inner wall of the lifting inner cylinder 12, and the outer walls of the two sides of the lifting inner cylinder 12 are provided with limit blocks 15, the upper end of the lifting inner cylinder 12 is fixedly connected with a supporting beam 17, the model of the motor II 16 is Y80M1-2, so that the vertical position of the clamping mechanism can be conveniently adjusted, and the caisson can be conveniently grabbed.
Example two
Referring to fig. 1-2, a caisson grabbing robot structure based on underwater salvage cleaning comprises a base 1, a crawler 2, a translation mechanism, a lifting mechanism and a clamping mechanism, wherein the crawler 2 is fixedly arranged on the lower side of the base 1, rollers 3 are arranged on two sides inside the crawler 2, a driving wheel 29 is arranged between the two rollers 3, the upper sides of the two driving wheels 29 are rotatably connected with a driving motor 28 through a transmission chain, the lower sides of the two driving wheels 29 are rotatably connected with the crawler 2, the translation mechanism is arranged on the upper side of the base 1, the lifting mechanism is arranged on the upper side of the translation mechanism, the lifting mechanism is arranged on a supporting cross beam 17, a fixing column 18 is connected to the lower side of one end, far away from the lifting mechanism, of the supporting cross beam 17, the lower surface of the fixing column 18 is fixedly connected with the clamping mechanism, a cable joint 4 is fixedly connected to the side wall of one side, far away from the clamping mechanism, of the base 1, an illuminating lamp 6 is arranged inside one side close to the clamping mechanism, a camera shooting mechanism 5 is arranged on the lower side of the illuminating lamp 6, and infrared cameras 26 are uniformly distributed around the camera of the camera shooting mechanism 5.
In the embodiment of the utility model, the clamping mechanism is composed of a U-shaped frame 19, a third motor 20, a third threaded rod 21, clamping jaws 22, a sliding groove 23 and a sliding block 24, the U-shaped frame 19 is installed on the lower side of the fixed column 18, the third motor 20 is fixedly connected to the outer wall of one side of the U-shaped frame 19, the output end of the third motor 20 extends to the inner side of the U-shaped frame 19 and is fixedly connected with the third threaded rod 21, the third threaded rod 21 is rotatably connected with the U-shaped frame 19 through a bearing, external threads with opposite directions are arranged on two sides of the third threaded rod 21, the clamping jaws 22 are respectively in threaded connection with the rod bodies on two sides, the sliding block 24 is fixedly connected to the upper end of the clamping jaw 22, the sliding groove 23 matched with the sliding block 24 is arranged inside the inner top surface of the U-shaped frame 19, wherein the model of the third motor 20 is Y80M1-2, so that the clamping and the caisson can be clamped and cleaned conveniently, and the working efficiency is improved.
In the embodiment of the utility model, a radar receiving device 27 is fixedly installed at a position, between the lifting mechanism and the clamping mechanism, on the upper surface of the base 1, and a GPS positioning module, an information processing module and a control module are arranged in the radar receiving device, so that the robot can be remotely controlled to perform grabbing work.
In the embodiment of the utility model, the first motor 7, the second motor 16 and the third motor 20 are electrically connected with the cable connector 4, so that the start and stop of the caisson can be controlled remotely, and the caisson can be conveniently grabbed.
The working principle is as follows: when the caisson grabbing robot structure based on underwater salvage and cleaning is used, the grabbing robot is firstly put into water, the underwater condition is analyzed through the lighting lamp 6 and the camera mechanism 5, once the caisson is found, the grabbing robot is controlled to be close to the position of the caisson, then a signal is sent out through the external controller, the radar receiving device 27 receives the signal and analyzes and processes the signal, when the caisson needs to be clamped, the motor I7 and the motor II 16 are controlled to rotate through the control module arranged in the radar receiving device 27, so that the clamping jaw 22 is positioned at the upper side of the caisson, at the moment, the motor III 20 is controlled to rotate through the control module, the motor III 20 rotates to drive the threaded rod III 21 to rotate, so that the clamping jaws 22 at two sides are close to each other, when the caisson is stably clamped by the two clamping jaws 22, the device is moved out of the water surface, can salvage the caisson ashore, this robot structure convenient to use, can be accurate salvage the caisson.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a caisson snatchs robot structure based on salvage clearance under water which characterized in that: comprises that
The crawler belt type crawler belt conveyor comprises a base (1), wherein a crawler belt (2) is fixedly arranged on the lower side of the base (1);
the crawler belt comprises a crawler belt (2), wherein rollers (3) are arranged on two sides inside the crawler belt (2), a driving wheel (29) is arranged between the two rollers (3), the upper sides of the two driving wheels (29) are rotatably connected with a driving motor (28) through a transmission chain, and the lower sides of the two driving wheels (29) are rotatably connected with the crawler belt (2);
the translation mechanism is arranged on the upper side of the base (1);
the lifting mechanism is arranged on the upper side of the translation mechanism, the lifting mechanism is arranged on a supporting cross beam (17), and a fixing column (18) is connected to the lower side of one end, far away from the lifting mechanism, of the supporting cross beam (17);
the clamping mechanism is fixed on the lower surface of the fixing column (18), a cable connector (4) is fixedly connected to the side wall of one side, away from the clamping mechanism, of the base (1), an illuminating lamp (6) is mounted inside one side, close to the clamping mechanism, the lower side of the illuminating lamp (6) is provided with a camera shooting mechanism (5), and infrared cameras (26) are uniformly distributed around the camera shooting mechanism (5).
2. The caisson grabbing robot structure based on underwater salvaging and cleaning is characterized in that: and a balancing weight (25) is arranged on one side, far away from the clamping mechanism, of the upper surface of the base (1).
3. The caisson grabbing robot structure based on underwater salvaging and cleaning is characterized in that: translation mechanism comprises motor (7), threaded rod (8) and swivel nut (9), the upside inside of base (1) is provided with the mounting groove, and one side inner wall rigid coupling of mounting groove has motor (7), the output rigid coupling of motor (7) has threaded rod (8), threaded rod (8) are gone up the screw thread and have been cup jointed swivel nut (9), the upper end rigid coupling of swivel nut (9) has elevating system.
4. The caisson grabbing robot structure based on underwater salvaging and cleaning is characterized in that: the lifting mechanism consists of a lifting outer cylinder (10), a lifting groove (11), a lifting inner cylinder (12), a second screw sleeve (13), a second threaded rod (14), a limiting block (15) and a second motor (16), a second motor (16) is fixedly connected with the upper side of the first thread sleeve (9), a lifting outer cylinder (10) is fixedly arranged on the upper side of the second motor (16), a lifting groove (11) is arranged in the lifting outer cylinder (10), the output end of the second motor (16) extends into the lifting groove (11), a second threaded rod (14) is fixedly connected, a second threaded sleeve (13) is arranged on the second threaded rod (14) in a threaded manner, the outer side wall of the second screw sleeve (13) is fixedly connected with the inner wall of the lifting inner cylinder (12), and the outer walls of the two sides of the lifting inner cylinder (12) are provided with limit blocks (15), and the upper end of the lifting inner cylinder (12) is fixedly connected with a supporting beam (17).
5. The caisson grabbing robot structure based on underwater salvaging and cleaning is characterized in that: fixture comprises U type frame (19), three (20) of motor, three (21) of threaded rod, clamping jaw (22), spout (23) and slider (24), the downside at fixed column (18) is installed in U type frame (19), and one side outer wall rigid coupling of U type frame (19) has three (20) of motor, the output of three (20) of motor extends to the inboard of U type frame (19) to three (21) of rigid coupling threaded rod, three (21) of threaded rod rotate between through bearing and U type frame (19) and be connected, the both sides of three (21) of threaded rod are provided with the external screw thread that moves towards opposite, and have clamping jaw (22) on the pole body of both sides respectively threaded connection, the upper end rigid coupling of clamping jaw (22) has slider (24), and the inside spout (23) with slider (24) matched with of being provided with of the interior top surface of U type frame (19).
6. The caisson grabbing robot structure based on underwater salvaging and cleaning is characterized in that: the upper surface of base (1) is located the fixed position between elevating system and the fixture and is installed radar receiving arrangement (27), and inside GPS orientation module, information processing module and the control module of being provided with of radar receiving arrangement.
7. The caisson grabbing robot structure based on underwater salvaging and cleaning is characterized in that: the motor I (7), the motor II (16) and the motor III (20) are electrically connected with the cable connector (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121865040.4U CN215884030U (en) | 2021-08-11 | 2021-08-11 | Caisson grabbing robot structure based on underwater salvage and cleaning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121865040.4U CN215884030U (en) | 2021-08-11 | 2021-08-11 | Caisson grabbing robot structure based on underwater salvage and cleaning |
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| CN215884030U true CN215884030U (en) | 2022-02-22 |
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| CN202121865040.4U Active CN215884030U (en) | 2021-08-11 | 2021-08-11 | Caisson grabbing robot structure based on underwater salvage and cleaning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802652A (en) * | 2022-03-16 | 2022-07-29 | 徐州福曼随车起重机有限公司 | Underwater robot hoisting and recycling device suitable for small ships |
| CN116834047A (en) * | 2023-08-31 | 2023-10-03 | 毕普帕罗洛江苏工程技术有限公司 | Industrial robot for grabbing high-temperature parts |
-
2021
- 2021-08-11 CN CN202121865040.4U patent/CN215884030U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802652A (en) * | 2022-03-16 | 2022-07-29 | 徐州福曼随车起重机有限公司 | Underwater robot hoisting and recycling device suitable for small ships |
| CN114802652B (en) * | 2022-03-16 | 2023-10-27 | 徐州福曼随车起重机有限公司 | Underwater robot hoisting and recycling device suitable for small-sized ship |
| CN116834047A (en) * | 2023-08-31 | 2023-10-03 | 毕普帕罗洛江苏工程技术有限公司 | Industrial robot for grabbing high-temperature parts |
| CN116834047B (en) * | 2023-08-31 | 2023-12-19 | 毕普帕罗洛江苏工程技术有限公司 | Industrial robot for grabbing high-temperature parts |
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