A pre-tightening clamping device

Abstract

The invention relates to a pre-tightening type clamping device applied to the field of an underwater robot. The pre-tightening type clamping device comprises a base, a supporting part, a sliding rod, a support, clamp fingers, a sliding block guide rod mechanism, driving connecting rods and parallel rod mechanisms. The supporting part and the sliding block guide rod mechanism are fixedly mounted on the base, the sliding rod is arranged in the supporting part and driven by the sliding block guide rod mechanism to ascend and descend, the support is fixedly mounted on the supporting part, the sliding rod penetrates the rear face of the support to be coaxially hinged to the two driving connecting rods, and the two driving connecting rods are hinged to the parallel rod mechanisms arranged on the two sides of the sliding rod; and the two parallel rod mechanisms are hinged to the support and driven by the driving connecting rods to be opened or closed, and the clamp fingers used for clamping structural parts are arranged on the parallel rod mechanisms correspondingly. The sliding block guide rod mechanism and the parallel rod mechanisms are used for driving the device to carry out clamping and releasing, certain pre-tightening force is achieved, and the aim that the structural parts can be clamped and released within the small space range can be achieved.

Description

technical field [0001] The invention relates to a pre-tightening clamping device applied in the field of underwater robots, which is clamped and released by a slider guide rod mechanism and a parallel rod mechanism driving device. Background technique [0002] During the underwater movement of the underwater robot, if some structural parts are to be clamped in a small space and released at a suitable position, a specific actuator is required to achieve the goal. In the existing technology, underwater robots can use hydraulic manipulators to realize the clamping and releasing of underwater objects, but this method is difficult to realize actions in a small space, and requires a drive unit, and has a complex structure and high cost. Under the guidance of input and output signals, the underwater robot can also achieve the goal through the drive unit, which also requires a relatively complex actuator and a high-cost drive unit to achieve the goal. Therefore, it is necessary to d...

AI Technical Summary

Problems solved by technology

In the existing technology, underwater robots can use hydraulic manipulators to realize the clamping and releasing of underwater objects, but this method is difficult to realize actions in a small space range, and requires a drive unit, and the structure is complex and the cost is high. Under the guidance of the input and output signals, the underwater robot can also achieve the goal through the drive unit, which also requires a relatively complex actuator and a high-cost drive unit to achieve the goal. Therefore, it is necessary to design a Clamping mechanism in the field of underwater robots to effectively clamp and release structural parts in a small space for underwater robots

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