CN218052678U

CN218052678U - Underwater robot clasping mechanical device

Info

Publication number: CN218052678U
Application number: CN202221399864.1U
Authority: CN
Inventors: 沈永芳; 李洪威
Original assignee: Shanghai Jiao Tong University Haike Testing Technology Co ltd
Current assignee: Shanghai Jiao Tong University Haike Testing Technology Co ltd
Priority date: 2022-06-07
Filing date: 2022-06-07
Publication date: 2022-12-16
Anticipated expiration: 2032-06-07

Abstract

The utility model provides an underwater robot holds mechanical device tightly, include: the device comprises a supporting platform, an anti-skidding structure, a positioning structure and a hydraulic clamping mechanism; an opening is formed in one end of the supporting platform, the inner side of the opening is connected with a positioning structure, an anti-skidding structure is installed on the positioning structure, and a hydraulic clamping mechanism is installed at the opening; hydraulic pressure fixture includes: the clamping arm, the hydraulic oil cylinder, the oil cylinder fixing rotating shaft, the clamping arm rotating shaft, the guide wheel rotating shaft and the oil cylinder rotating shaft are arranged on the clamping arm; one end of the hydraulic oil cylinder is rotatably connected with the supporting platform through an oil cylinder fixing rotating shaft, and the other end of the hydraulic oil cylinder is rotatably connected with one end of the clamping arm through an oil cylinder rotating shaft; the other end of the clamping arm is provided with a guide wheel through a guide wheel rotating shaft, and the middle part of the clamping arm is rotatably connected with the supporting platform through a clamping arm rotating shaft. The utility model discloses a centre gripping arm adopts arc structural design, and the tubular pile surface is cut to better laminating, and the increase that can be great is embraced and is tightly done all can, is showing the increase and is embraced tightly the effect.

Description

Underwater robot clasping mechanical device

Technical Field

The utility model relates to a robot structure field specifically relates to underwater robot holds mechanical device tightly.

Background

At present, with more and more underwater engineering services, exploitation of offshore oil and gas resources, mineral resources, combustible ice and the like and the development of offshore wind power market are well-established, a large amount of underwater construction operation is carried out, and a large amount of underwater engineering equipment is needed. The underwater engineering operation can meet the situation of needing to be held tightly, so the underwater robot holding mechanical device is needed to be provided.

Patent document CN106514668A discloses an underwater robot positioning system based on double manipulators surrounding a pile, including a water surface console, an underwater operation robot which can be adsorbed on the pile, two sides of the underwater operation robot are symmetrically provided with hydraulic surrounding double manipulators for tightly holding the pile, the water surface console is in signal connection with the underwater operation robot for controlling the actions of the underwater operation robot and the hydraulic surrounding double manipulators.

Patent document CN113561178A discloses an underwater robot intelligent gripping device and a method thereof, relating to the technical field of robot control, wherein the gripping device comprises: the underwater robot comprises an underwater robot supporting body, a propeller module, a flow guide cover, a floating material module, a control cabin, a binocular camera, a battery cabin, a manipulator rotating holder, a manipulator module, a depth sensor module and a recovery basket. Firstly, planning a flight path of an underwater robot; the underwater robot cruises according to a planned flight path after deployment, and judges whether the underwater robot is a target to be grabbed or not through image processing; after the target to be grabbed is determined, the underwater robot approaches the target until the underwater robot enters an image grabbing domain, and a binocular camera measures the depth information of the target pixel and calculates the actual position of the target pixel; and then the robot dives until the target enters a deep grabbing area, and the control unit controls the mechanical arm to grab and recover the target.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model aims at providing a mechanical device is held tightly to underwater robot.

According to the utility model provides a pair of underwater robot holds mechanical device tightly, include: the device comprises a supporting platform, an anti-skidding structure, a positioning structure and a hydraulic clamping mechanism;

an opening is formed in one end of the supporting platform, a positioning structure is connected to the inner side of the opening, an anti-skidding structure is mounted on the positioning structure, and a hydraulic clamping mechanism is mounted at the opening;

when the tubular pile to be cut is moved to the opening, the hydraulic clamping mechanism rotates and clamps the tubular pile to be cut towards one side of the anti-slip structure, and the tubular pile to be cut is in contact with the anti-slip structure and is limited by the anti-slip structure;

the hydraulic clamping mechanism comprises: the clamping arm, the hydraulic oil cylinder, the oil cylinder fixing rotating shaft, the clamping arm rotating shaft, the guide wheel rotating shaft and the oil cylinder rotating shaft are arranged on the clamping arm;

one end of the hydraulic oil cylinder is rotatably connected with the supporting platform through an oil cylinder fixing rotating shaft, and the other end of the hydraulic oil cylinder is rotatably connected with one end of the clamping arm through an oil cylinder rotating shaft;

the other end of the clamping arm is provided with a guide wheel through a guide wheel rotating shaft, and the middle part of the clamping arm is connected with the supporting platform through a clamping arm rotating shaft in a rotating manner.

Preferably, the supporting platform is of a square structure, and reinforcing ribs are arranged on the supporting platform and adopt a hollow structure;

the hydraulic clamping mechanism is arranged on the side walls of the two sides, the middle side wall is connected with the positioning structure, and the hydraulic clamping mechanisms arranged on the side walls of the two sides are symmetrical around a central axis of the opening.

Preferably, the positioning structure is a V-shaped structure, the V-shaped side edge of the positioning structure faces the tubular pile to be cut, and the center line of the positioning structure passes through the circle center of the tubular pile to be cut;

and the positioning structure is provided with a reinforcing rib.

Preferably, the V-shaped side edge of the positioning structure is provided with the anti-skid structure;

the anti-skid structure is symmetrical about a central axis at the opening.

Preferably, the oil cylinder fixing rotating shaft, the clamping arm rotating shaft, the guide wheel rotating shaft and the oil cylinder rotating shaft are all arranged to be T-shaped cylinders, one end of each T-shaped cylinder is provided with a flange, and a cylindrical cylinder body vertically extends from the flange to the other end;

stepped round holes are formed in the oil cylinder fixing rotating shaft, the clamping arm rotating shaft, the guide wheel rotating shaft and the oil cylinder rotating shaft, the stepped round holes extend to one end of the flange, and threaded holes are formed in the stepped round holes;

a plurality of oil guiding holes are uniformly distributed on the periphery of the surface of the cylindrical column body, and the oil guiding holes are communicated with the stepped circular holes.

Preferably, a first grease nipple is arranged at the position of a flange of the oil cylinder fixing rotating shaft, which is connected with the stepped circular hole;

a first positioning pin is arranged at one end of the oil cylinder fixing rotating shaft, which is opposite to the flange, and is fastened through a first fastening screw;

and a sleeve for the shaft is sleeved outside the oil cylinder fixing rotating shaft.

Preferably, a second grease nipple is arranged at the position where the flange of the clamping arm rotating shaft is connected with the stepped round hole;

a second positioning pin is arranged at one end of the clamping arm rotating shaft back to the flange and is fastened through a second fastening screw;

the clamping arm rotating shaft is sleeved with a shaft end sliding sleeve, and a first elastic washer is arranged on the side face of the shaft end sliding sleeve.

Preferably, a third grease nipple is arranged at the position where the flange of the guide wheel rotating shaft is connected with the stepped round hole;

a third positioning pin is arranged at one end of the guide wheel rotating shaft, which is opposite to the flange, and is fastened through a third fastening screw;

and a second elastic washer is sleeved on the outer side of the rotating shaft of the guide wheel and is arranged on the side surface of the guide wheel.

Preferably, a fourth lubricating nipple is arranged at the position where the flange of the rotating shaft of the oil cylinder is connected with the stepped circular hole;

and a fourth positioning pin is arranged at one end of the oil cylinder rotating shaft, which is back to the flange, and is fastened through a fourth fastening screw.

Preferably, the clamping arm is arc-shaped, a hollow box-type structure is arranged inside the clamping arm, and a plurality of round holes are formed in the clamping arm;

the guide wheel is arranged in a pagoda shape.

Preferably, the hydraulic clamping mechanism and the support platform have seawater corrosion resistance.

Preferably, the anti-skid structure consists of a group of anti-skid rubber pads which are symmetrically arranged along the central axis of the supporting platform, and a large number of countersunk bolt holes are distributed in the anti-skid rubber pads in a rectangular array;

the anti-skid rubber pad is in threaded connection with the positioning structure.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the clamping arm of the utility model adopts the arc structure design, so that the outer surface of the tubular pile to be cut is better attached, the holding force can be greatly increased, and the holding effect is obviously increased;

2. the utility model discloses the device supporting platform sets up to one end open structure, can adapt to the centre gripping of multiple diameter tubular pile and hold tightly;

3. the utility model discloses simple structure, on-the-spot simple to operate effectually provide work efficiency.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic structural view of a clasping mechanism;

FIG. 2 is a schematic structural diagram (I) of a hydraulic clamping mechanism;

FIG. 3 is a schematic structural view (II) of the hydraulic clamping mechanism;

FIG. 4 is a cross-sectional view of the oil cylinder fixing rotating shaft and the clamping arm rotating shaft;

FIG. 5 is a cross-sectional view of a guide wheel shaft;

FIG. 6 is a sectional view of the rotating shaft of the oil cylinder;

shown in the figure:

Detailed Description

The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one of ordinary skill in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.

Example 1

As shown in fig. 1 to 3, the present embodiment includes: the device comprises a supporting platform 1, an anti-skidding structure 2, a positioning structure 3 and a hydraulic clamping mechanism 4; an opening is formed in one end of the supporting platform 1, the inner side of the opening is connected with a positioning structure 3, an anti-skidding structure 2 is installed on the positioning structure 3, and a hydraulic clamping mechanism 4 is installed at the opening; when the tubular pile 5 to be cut moves to the opening, the hydraulic clamping mechanism 4 rotates and clamps the tubular pile 5 to be cut towards one side of the anti-skid structure 2, and the tubular pile 5 to be cut is in contact with the anti-skid structure 2 and is limited by the anti-skid structure 2; the hydraulic clamping mechanism 4 includes: the clamping device comprises a clamping arm 41, a hydraulic oil cylinder 42, an oil cylinder fixing rotating shaft 43, a clamping arm rotating shaft 44, a guide wheel rotating shaft 45 and an oil cylinder rotating shaft 47, wherein one end of the hydraulic oil cylinder 42 is rotatably connected with the supporting platform 1 through the oil cylinder fixing rotating shaft 43, the other end of the hydraulic oil cylinder 42 is rotatably connected with one end of the clamping arm 41 through the oil cylinder rotating shaft 47, a guide wheel 46 is arranged at the other end of the clamping arm 41 through the guide wheel rotating shaft 45, and the middle part of the clamping arm 41 is rotatably connected with the supporting platform 1 through the clamping arm rotating shaft 44.

Supporting platform 1 sets up to square structure, and supporting platform 1 installation strengthening rib adopts hollow out construction, is provided with three lateral walls in the opening, and both sides lateral wall installation hydraulic clamping mechanism 4, middle lateral wall connection location structure 3, and the hydraulic clamping mechanism 4 of both sides lateral wall installation is symmetrical about the opening part axis. Location structure 3 adopts V type structure, and location structure 3's V type side orientation is waited to cut tubular pile 5, and location structure 3 central line is provided with the strengthening rib through waiting to cut the 5 centre of a circle of tubular pile on 3. And an anti-skid structure 2 is arranged on the V-shaped side edge of the positioning structure 3, and the anti-skid structure 2 is symmetrical about the central axis at the opening. The clamping arm 41 is arc-shaped, the inside of the clamping arm 41 is hollow box-shaped, a plurality of round holes with different sizes are formed in the clamping arm 41, and the guide wheel 46 is tower-shaped.

As shown in fig. 4 to 6, the oil cylinder fixing rotating shaft 43, the clamping arm rotating shaft 44, the guide wheel rotating shaft 45 and the oil cylinder rotating shaft 47 are all set to be in a T-shaped cylindrical shape, a flange is arranged at one end of the T-shaped cylindrical shape, a cylindrical cylinder body vertically extends from the flange to the other end, the oil cylinder fixing rotating shaft 43, the clamping arm rotating shaft 44, the guide wheel rotating shaft 45 and the oil cylinder rotating shaft 47 are all internally provided with stepped round holes, the stepped round holes extend to one end of the flange, threaded holes are formed in the stepped round holes, a plurality of oil guide holes are uniformly formed in the surface of the cylindrical cylinder body all around, and the oil guide holes are communicated with the stepped round holes. A first lubricating nipple 434 is arranged at the position, connected with the stepped circular hole, of the flange of the oil cylinder fixing rotating shaft 43, a first positioning pin 432 is arranged at one end, back to the flange, of the oil cylinder fixing rotating shaft 43 and is fastened through a first fastening screw 431, and a shaft sleeve 433 is sleeved on the outer side of the oil cylinder fixing rotating shaft 43. A second grease nipple 445 is arranged at the flange connecting step round hole of the clamping arm rotating shaft 44, a second positioning pin 442 is arranged at one end of the clamping arm rotating shaft 44, which is back to the flange, and is fastened through a second fastening screw 441, a shaft end sliding sleeve 444 is sleeved outside the clamping arm rotating shaft 44, and a first elastic washer 443 is arranged on the side surface of the shaft end sliding sleeve 444. A third lubricating nipple 454 is arranged at a stepped circular hole connected with the flange of the guide wheel rotating shaft 45, a third positioning pin 452 is arranged at one end of the guide wheel rotating shaft 45, which is back to the flange, and is fastened through a third fastening screw 451, a second elastic washer 453 is sleeved on the outer side of the guide wheel rotating shaft 45, and the second elastic washer 453 is arranged on the side surface of the guide wheel 46. A fourth grease nipple 473 is arranged at the position, connected with the stepped circular hole, of the rib of the oil cylinder rotating shaft 47, and a fourth positioning pin 472 is installed at one end, opposite to the rib, of the oil cylinder rotating shaft 47 and is fastened through a fourth fastening screw 471.

Example 2

Example 2 is a preferred example of example 1.

As shown in fig. 1 to 3, the present embodiment includes: treat cutting tubular pile 5, supporting platform 1, anti-skidding structure 2, location structure 3 and hydraulic clamping mechanism 4, wherein: supporting platform 1 cohesion is waiting to cut on the 5 outer walls of tubular pile, and 1 opening side design of supporting platform has location structure 3, and fixed mounting in location structure 3 surface is organized through the bolt to anti-skidding structure 2, and hydraulic clamping mechanism 4 installs in supporting platform 1 inboardly, and both link to each other through the pivot, and rotary motion can be followed in the pivot to hydraulic clamping mechanism 4.

The tubular pile 5 to be cut is a cylindrical tubular pile, and the material of the tubular pile can be a steel pipe composite pile used for a waste oil well platform or a waste concrete round tubular pile used for a marine bridge; the supporting platform 1 is of a square structure as a whole, one end of the supporting platform is provided with an opening, the supporting platform is formed by welding an upper piece of seawater corrosion resistant material and a lower piece of seawater corrosion resistant material, the supporting platform comprises a plurality of reinforcing rib structures inside and adopts a hollow structure design, and the mass of the supporting platform 1 is greatly reduced on the premise of ensuring the sufficient strength of the supporting platform 1; the anti-skid structure 2 consists of a group of anti-skid rubber pads which are symmetrically arranged along the axial line of the supporting platform 1, and a plurality of countersunk bolt holes are distributed in the rubber pads in a rectangular array; location structure 3 adopts V type structural design can guarantee to wait to cut 5 centre of a circle of tubular pile be in supporting platform 1 axis thereby guarantee that the holding device can better hold close wait to cut tubular pile 5, location structure 3 comprises along the welding of a set of vertical panel beating of arranging on supporting platform 1 axis, and a plurality of vertical strengthening ribs have been arranged at vertical welding panel beating rear portion.

As shown in fig. 4 to 6, the hydraulic clamping mechanism 4 is composed of a group of hydraulic clasping mechanical arms arranged along the central axis of the supporting platform 1, and the hydraulic clasping mechanical arms include: a clamping arm 41, a hydraulic oil cylinder 42, an oil cylinder fixing rotating shaft 43, a clamping arm rotating shaft 4, a guide wheel rotating shaft 45, a guide wheel 46 and an oil cylinder rotating shaft 47; the clamping arm 41 is integrally arc-shaped and made of seawater corrosion resistant materials, the arc-shaped structural design can be better attached to the surface of the tubular pile 5 to be cut, the clamping arm 41 is integrally of a hollow box type structure, and round holes with different sizes are machined on the surface; the oil cylinder fixing rotating shaft 43, the guide wheel rotating shaft 45 and the oil cylinder rotating shaft 47 are all in a T-shaped cylindrical shape, stepped round holes are machined in one end of the flanges of the oil cylinder fixing rotating shaft 43, the guide wheel rotating shaft 45 and the oil cylinder rotating shaft 47, threaded holes are machined in the stepped round holes, four oil guide grooves are uniformly distributed on the periphery of the cylindrical surface of the oil cylinder fixing rotating shaft 43, the guide wheel rotating shaft 45 and the oil cylinder rotating shaft 47, and the four oil guide grooves are connected with the inner portions of the stepped round holes; the guide wheel 46 is wholly in a pagoda shape, so that the contact area between the guide wheel rotating shaft 45 and the surface of the tubular pile 5 to be cut is reduced on the premise of ensuring the free sliding of the guide wheel 46, and the friction force is effectively reduced; the first elastic washer 443 and the second elastic washer 453 are annular wear-resistant elastic washers, the shaft sleeve 433 is a wear-resistant cylindrical sleeve, and the shaft end sliding sleeve 13 is an oilless graphite copper sleeve copper bush.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely 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 in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.

The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. An underwater robot clasping mechanical device is characterized by comprising: the device comprises a supporting platform (1), an anti-skidding structure (2), a positioning structure (3) and a hydraulic clamping mechanism (4);

an opening is formed in one end of the supporting platform (1), a positioning structure (3) is connected to the inner side of the opening, an anti-skid structure (2) is installed on the positioning structure (3), and a hydraulic clamping mechanism (4) is installed at the opening;

when the pipe pile (5) to be cut moves to the opening, the hydraulic clamping mechanism (4) rotates and clamps the pipe pile (5) to be cut towards one side of the anti-skid structure (2), and the pipe pile (5) to be cut is in contact with the anti-skid structure (2) and limited through the anti-skid structure (2);

the hydraulic clamping mechanism (4) comprises: a clamping arm (41), a hydraulic oil cylinder (42), an oil cylinder fixing rotating shaft (43), a clamping arm rotating shaft (44), a guide wheel rotating shaft (45) and an oil cylinder rotating shaft (47);

one end of the hydraulic oil cylinder (42) is rotatably connected with the supporting platform (1) through an oil cylinder fixing rotating shaft (43), and the other end of the hydraulic oil cylinder (42) is rotatably connected with one end of the clamping arm (41) through an oil cylinder rotating shaft (47);

and the other end of the clamping arm (41) is provided with a guide wheel (46) through a guide wheel rotating shaft (45), and the middle part of the clamping arm (41) is rotatably connected with the supporting platform (1) through a clamping arm rotating shaft (44).

2. The underwater robot clasping mechanical device of claim 1, wherein: the supporting platform (1) is of a square structure, and reinforcing ribs are arranged on the supporting platform (1) and adopt a hollow structure;

the hydraulic clamping mechanism is characterized in that three side walls are arranged in the opening, the hydraulic clamping mechanisms (4) are arranged on the side walls of two sides, the middle side wall is connected with the positioning structure (3), and the hydraulic clamping mechanisms (4) arranged on the side walls of two sides are symmetrical around the central axis of the opening.

3. The underwater robot clasping mechanical device of claim 1, which is characterized in that: the positioning structure (3) is of a V-shaped structure, the V-shaped side edge of the positioning structure (3) faces the tubular pile (5) to be cut, and the center line of the positioning structure (3) passes through the circle center of the tubular pile (5) to be cut;

and reinforcing ribs are arranged on the positioning structures (3).

4. The underwater robot clasping mechanical device of claim 3, wherein: the V-shaped side edge of the positioning structure (3) is provided with the anti-skid structure (2);

the anti-skid structure (2) is symmetrical about a central axis at the opening.

5. The underwater robot clasping mechanical device of claim 1, wherein: the oil cylinder fixing rotating shaft (43), the clamping arm rotating shaft (44), the guide wheel rotating shaft (45) and the oil cylinder rotating shaft (47) are all arranged to be T-shaped cylinders, one end of each T-shaped cylinder is provided with a flange, and a cylinder column body vertically extends from the flange to the other end;

stepped round holes are formed in the oil cylinder fixing rotating shaft (43), the clamping arm rotating shaft (44), the guide wheel rotating shaft (45) and the oil cylinder rotating shaft (47), the stepped round holes extend to one end of the flange, and threaded holes are formed in the stepped round holes;

6. The underwater robot clasping mechanical device of claim 5, wherein: a first grease nipple (434) is arranged at the position where the flange of the oil cylinder fixing rotating shaft (43) is connected with the stepped round hole;

one end of the oil cylinder fixing rotating shaft (43) back to the flange is provided with a first positioning pin (432) and is fastened through a first fastening screw (431);

and a sleeve (433) for a shaft is sleeved outside the oil cylinder fixing rotating shaft (43).

7. The underwater robot clasping mechanical device of claim 5, wherein: a second grease nipple (445) is arranged at the position where the flange of the clamping arm rotating shaft (44) is connected with the stepped round hole;

a second positioning pin (442) is installed at one end, back to the flange, of the clamping arm rotating shaft (44) and is fastened through a second fastening screw (441);

and a shaft end sliding sleeve (444) is sleeved on the outer side of the clamping arm rotating shaft (44), and a first elastic washer (443) is installed on the side surface of the shaft end sliding sleeve (444).

8. The underwater robot clasping mechanical device of claim 5, wherein: a third grease nipple (454) is arranged at the position where the flange of the guide wheel rotating shaft (45) is connected with the stepped round hole;

a third positioning pin (452) is arranged at one end of the guide wheel rotating shaft (45) back to the flange and is fastened through a third fastening screw (451);

and a second elastic washer (453) is sleeved on the outer side of the guide wheel rotating shaft (45), and the second elastic washer (453) is arranged on the side surface of the guide wheel (46).

9. The underwater robot clasping mechanical device of claim 5, wherein: a fourth lubricating nipple (473) is arranged at the position where the flange of the oil cylinder rotating shaft (47) is connected with the stepped round hole;

and a fourth positioning pin (472) is arranged at one end of the oil cylinder rotating shaft (47), which is back to the flange, and is fastened through a fourth fastening screw (471).

10. The underwater robot clasping mechanical device of claim 1, wherein: the clamping arm (41) is arc-shaped, the clamping arm (41) is internally provided with a hollow box-type structure, and the clamping arm (41) is provided with a plurality of round holes.