The invention discloses a multifunctional mechanical leg for an underwater robot. The mechanical leg comprises a moving unit and a telescopic mechanical claw grabbing unit. A first steering engine of the moving unit is connected with a shell of a second steering engine. The second steering engine is fixedly connected with the top end of the upper support. Symmetrical sliding rods are arranged on the two sides of the upper support. The top end of the sliding rod is fixedly connected to the upper support, and the bottom end is fixedly connected to a shell of the third steering engine. The propeller is fixedly installed on the side, away from the sliding rod, of a shell of the third steering engine. The mechanical claw grabbing unit comprises a sliding block, a contraction connecting rod, a side face baffle and a grabbing tail end. The sliding blocks are installed on the corresponding sliding rods in a sliding fit mode. The first contraction connecting rod, the second contraction connecting rod, the third contraction connecting rod and the grabbing tail end form a parallelogram connecting rod mechanism. The top end of the first telescopic connecting rod is rotationally connected with the sliding block. The grabbing tail end and the side face baffle are oppositely arranged. According to the mechanical leg, the integration of a moving function and a grabbing function is realized.

    本发明公开了一种用于水下机器人的多功能机械腿,该机械腿包括移动单元和伸缩式的机械爪抓取单元;移动单元的一号舵机与二号舵机的外壳连接;二号舵机与上支架的顶端固定连接;上支架的两侧设置有对称的滑竿;滑竿的顶端固定连接于上支架,底端固定连接于三号舵机的外壳;推进器固定安装于三号舵机的外壳背离滑竿的一侧;机械爪抓取单元包括滑块、收缩连杆、侧面挡板和抓取末端;滑块滑动配合地安装于对应的滑竿上;一号收缩连杆、二号收缩连杆、三号收缩连杆以及抓取末端组成平行四边形连杆机构;一号收缩连杆的顶端与滑块转动连接;抓取末端与侧面挡板相对设置。上述机械腿实现了移动功能和抓取功能的集成化。


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    Title :

    Multifunctional mechanical leg for underwater robot


    Additional title:

    一种用于水下机器人的多功能机械腿


    Contributors:
    GUO SHUXIANG (author) / GU CHENGCHAO (author) / LIU MENG (author) / YIN HE (author) / LI AO (author)

    Publication date :

    2023-08-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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