CN104690740A - Clamp structure of underwater electric manipulator - Google Patents
Clamp structure of underwater electric manipulator Download PDFInfo
- Publication number
- CN104690740A CN104690740A CN201310661779.7A CN201310661779A CN104690740A CN 104690740 A CN104690740 A CN 104690740A CN 201310661779 A CN201310661779 A CN 201310661779A CN 104690740 A CN104690740 A CN 104690740A
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- clamp
- cam
- deep
- chip breaker
- slotted chip
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Abstract
The invention belongs to the field of underwater robot engineering and particularly relates to a clamp structure of an underwater electric manipulator. The clamp structure comprises a clamping drive module, a cam, a guide plate, cam driven parts, a clamp A, a clamp B and drive bolt bearings, wherein the cam is mounted at an output end of the clamp drive module; arc-shaped grooves are formed in the cam; the drive bolt bearings are arranged in the arc-shaped grooves; the clamp A and the clamp B are connected with the drive bolt bearing A and the drive bolt bearing B on the cam through the cam driven part A and the cam driven part B respectively; guide devices mounted on the clamp drive module and used for limiting the rotation of the cam driven part A and the cam driven part B are arranged at the peripheries of the cam driven part A and the cam driven part B; the cam is driven by the clamp drive module to rotate; the drive bolt bearings on the cam do a linear motion in the arc-shaped grooves in a rotation process of the cam, so that the clamp A and the clamp B are opened or closed. The clamp structure has the advantages of novel and compact structure, convenience for dismounting, complete functions, capability of being used in deep ocean work, and the like.
Description
Technical field
The invention belongs to underwater robot engineering field, specifically a kind of underwater electric manipulator clamp structure.
Background technology
At present in fields such as gas and oil in sea exploitations, it is high that most underwater operation has pressure, the load feature such as heavily, electric manipulator has that controllability is good, stable movement, can realize the advantages such as the dark operation in full sea by pressure compensation, therefore electrically driven (operated) underwater manipulator has broad application prospects.
Underwater electric manipulator is due to the particularity of operating environment, very large difference is had with the application of land, underwater electric manipulator is required to have the requirements such as high pressure resistant, corrosion-resistant, compact conformation, sealing be reliable, develop stable performance, the underwater electric manipulator of compact conformation becomes problem demanding prompt solution.
Summary of the invention
The object of the present invention is to provide a kind of underwater electric manipulator clamp structure.The torque axis that clamp driver module exports directly is become the opening and closing campaign of underwater electric manipulator clamp by this clamp structure, can be applicable to ocean development or underwater operation.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes clamping driver module, cam, guide plate, cam follower, clamp A, clamp B and drive bolt bearing, its cam is arranged on the output of clamping driver module, described cam has deep-slotted chip breaker A and deep-slotted chip breaker B, be respectively equipped with drive bolt bearing A, drive bolt bearing B in this deep-slotted chip breaker A and deep-slotted chip breaker B, described clamp A and clamp B is connected with the drive bolt bearing A on cam, drive bolt bearing B respectively by cam follower A and cam follower B; Described cam follower A and cam follower B outer be arranged be arranged on described clamping driver module, guider that restriction cam follower A and cam follower B rotates; Described cam drives rotation by clamping driver module, and the drive bolt bearing A on cam, drive bolt bearing B are in the rotary course of cam, and moving linearly in deep-slotted chip breaker A and deep-slotted chip breaker B respectively, realizes opening or closing of clamp A and clamp B.
Wherein: described deep-slotted chip breaker A and deep-slotted chip breaker B shape identical, the two ends of each deep-slotted chip breaker are circle, four circular center of circle conllinear and through the center of circle of described cam, and described deep-slotted chip breaker A and deep-slotted chip breaker B lays respectively at online both sides, described four circular centers of circle; The two ends of described deep-slotted chip breaker A and the interval, two ends of deep-slotted chip breaker B are arranged, the bearing of described drive bolt bearing A and drive bolt bearing B is contained in deep-slotted chip breaker A and deep-slotted chip breaker B respectively, and the drive bolt of drive bolt bearing A and drive bolt bearing B is connected with described cam follower A and cam follower B respectively;
The both sides of described cam follower A are separately installed with guide blot bearing group A, and the both sides of cam follower B are separately installed with guide blot bearing group B, described guide blot bearing group A and guide blot bearing group B respectively with described guider Structure deformation; Described guider comprises guide plate A, guide plate B and guiding connecting plate, and this guide plate A and guide plate B is symmetricly set on the both sides of clamp A and clamp B, and is fixed on described clamping driver module respectively by gripping plate; The two ends of described guide plate A and guide plate B are connected respectively by guiding connecting plate, described cam follower A and cam follower B is placed in by guide plate A, guide plate B and the space that surrounds of guiding connecting plate, described guide blot bearing group A and guide blot bearing group B respectively with guide plate A and guide plate B Structure deformation;
Described cam is connected by the output of connecting rod connector with clamping driver module, and one end of this connecting rod connector is connected with cam by clamp ring A and clamp ring B, and the other end is connected by the output static seal of O-ring seals with clamping driver module; Described clamp ring A and clamp ring B is semicircle, and two ends are affixed by bolt.
Advantage of the present invention and good effect are:
1. novel structure: what the present invention adopted is cam structure, and clamp driver module output torque band moving cam rotates motion, and the drive bolt bearing be connected with cam does radial alignment and moves, thus change the opening and closing of clamp.
2. compact conformation: present invention employs guide blot bearing group, drive bolt bearing, clamp structure overall compact is firm, makes the opening and closing campaign of clamp more steady.
3. multiple functional: the present invention can realize numerous function, the underwater operations such as seawater sampling, marine animal and plant sampling, the sampling of submarine hydrothermal solution spout, hawser clamping can be completed.
4. debug, easy to maintenance: the clamp driver module in the present invention is connected by connecting rod connector with clamp body structure, be convenient to dismantle, make the debugging maintenance of clamp more convenient.
Accompanying drawing explanation
Figure 1A is overall structure schematic diagram of the present invention;
Figure 1B is the partial structurtes schematic diagram at clamp place, front end of the present invention;
Fig. 2 A is the operation principle schematic diagram of clamp of the present invention when opening;
Fig. 2 B is the working state schematic representation of clamp of the present invention cam when opening;
Operation principle schematic diagram when Fig. 2 C is jaws close of the present invention;
The working state schematic representation of cam when Fig. 2 D is jaws close of the present invention;
Fig. 2 E is the operation principle schematic diagram of guide blot bearing of the present invention and guide plate;
Wherein: 1 is clamp driver module, 2 for gripping plate A, and 3 is connecting rod connector, 4 is clamp ring A, 5 is clamp ring B, and 6 for gripping plate B, and 7 is cam, 8 is guide plate A, 9 is guiding connecting plate A, and 10 is guiding connecting plate B, and 11 is guide plate B, 12 is guide blot bearing group A, 13 is cam follower A, and 14 is clamp A, and 15 is guide blot bearing group B, 16 is cam follower B, 17 is clamp B, and 18 is drive bolt bearing A, and 19 is drive bolt bearing B, 20 is deep-slotted chip breaker A, and 21 is deep-slotted chip breaker B.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As Figure 1A, shown in Figure 1B and Fig. 2 E, the present invention includes clamp driver module 1, grip plate A2, grip plate B6, connecting rod connector 3, clamp ring A4, clamp ring B5, cam 7, guide plate A8, guide plate B11, guiding connecting plate A9, guiding connecting plate B10, guide blot bearing group A12, guide blot bearing group B15, cam follower A13, cam follower B16, clamp A14, clamp B17, drive bolt bearing A18 and drive bolt bearing B19, wherein clamp driver module 1, connecting rod connector 3, clamp ring A4, clamp ring B5, cam 7, cam follower A13, cam driving medium B16 and drive bolt bearing A18, drive bolt bearing B19 successively radial direction is fixedly connected with, clamp driver module 1 and guide plate A8, guide plate B11, guiding connecting plate A9, lead connecting plate B10 by bolt shaft to being fixedly connected with.Be specially:
Cam 7 is connected by the output of connecting rod connector 3 with clamping driver module 7, and one end of connecting rod connector 3 is connected with cam 7 by clamp ring A4 and clamp ring B5, and this clamp ring A4 and clamp ring B5 is semicircle, and two ends are affixed by bolt; The other end of connecting rod connector 3 is connected by the output static seal of O-ring seals with clamping driver module 7, meets the demand of deep ocean work.
Cam 7 has deep-slotted chip breaker A20 and deep-slotted chip breaker B21, deep-slotted chip breaker A20 and deep-slotted chip breaker B21 shape identical, the two ends of each deep-slotted chip breaker are circle, and the two ends of deep-slotted chip breaker A20 and the interval, two ends of deep-slotted chip breaker B21 are arranged; The center of circle conllinear that four of two deep-slotted chip breaker two ends are circular and through the center of circle of cam 7, deep-slotted chip breaker A20 and deep-slotted chip breaker B21 lays respectively at online both sides, four circular centers of circle.Drive bolt bearing A18, drive bolt bearing B19 is respectively equipped with in deep-slotted chip breaker A20 and deep-slotted chip breaker B21, the bearing of drive bolt bearing A18 and drive bolt bearing B19 is contained in deep-slotted chip breaker A20 and deep-slotted chip breaker B21 respectively, the drive bolt of drive bolt bearing A18 and drive bolt bearing B19 is connected with cam follower A13 and cam follower B16 respectively by bolt, cam follower A13 and cam follower B16 respectively bolt and clamp A14 and clamp B17 affixed.
Cam follower A13 and cam follower B16 outer be arranged be arranged on clamping driver module 1, guider that restriction cam follower A13 and cam follower B16 rotates, this guider comprises guide plate A8, guide plate B11, guiding connecting plate A9 and guiding connecting plate B10, guide plate A8 and guide plate B11 is symmetricly set on the both sides of clamp A14 and clamp B17, and respectively by gripping plate A2, grip plate B6 and be fixed on clamping driver module 1, the two ends of guide plate A8 and guide plate B11 are respectively by guiding connecting plate A9, guiding connecting plate plate B10 is connected and fixed, guide plate A8, guide plate B11, guiding connecting plate A9 and guiding connecting plate plate B10 defines a rectangular space, it is inner that cam follower A13 and cam follower B16 is placed in this rectangular space, and be separately installed with guide blot bearing group A12 in the both sides of cam follower A13, the both sides of cam follower B16 are separately installed with guide blot bearing group B15, often organize guide blot bearing and include four bearings, wherein two is one group, setting up and down, each bearing is all fixed on cam follower by bolt, the inwall of guide plate A8 and guide plate B11 is respectively equipped with a rolling support plate, two groups of bearings in guide blot bearing group A12 on cam follower A13 and cam follower B16 and guide blot bearing group B15 are positioned at the both sides up and down of this rolling support plate, and respectively with rolling support plate Structure deformation.
Operation principle of the present invention is:
Clamp driver module 1 output torque, moving cam 7 is with to rotate by connecting rod connector 3, in the process that cam 7 rotates, cam follower A13 and cam follower B16 owing to being subject to guide plate A8, the restriction of guide plate B11 cannot rotate, therefore under the effect of guide plate A8, guide plate B11 reaction force, drive drive bolt bearing A18, drive bolt bearing B19 in the rotary course of cam 7 by the rotation of cam 7, moving linearly in deep-slotted chip breaker A20 and deep-slotted chip breaker B21 respectively, thus control clamp A14, clamp B17 open or closed.
The present invention gives a kind of underwater electric manipulator clamp structure, it is compact that it has novel structure, multiple functional, be convenient to safeguard and the plurality of advantages such as debugging.What the present invention adopted is cam structure, and clamp driver module output torque band moving cam rotates motion, and the drive bolt bearing be connected with cam does radial alignment and moves, thus changes the opening and closing of clamp; Present invention employs guide blot bearing group, drive bolt bearing, clamp structure overall compact is firm, makes the opening and closing campaign of clamp more steady; The present invention can realize numerous function, can complete the underwater operations such as seawater sampling, marine animal and plant sampling, the sampling of submarine hydrothermal solution spout, hawser clamping; Clamp driver module is connected by connecting rod connector with clamp body structure, is convenient to dismounting, makes the debugging maintenance of clamp more convenient.
Claims (7)
1. a underwater electric manipulator clamp structure, it is characterized in that: comprise clamping driver module (1), cam (7), guide plate, cam follower, clamp A(14), clamp B(17) and drive bolt bearing, its cam (7) is arranged on the output of clamping driver module (1), (7) have deep-slotted chip breaker A(20 to described cam) and deep-slotted chip breaker B(21), this deep-slotted chip breaker A(20) and deep-slotted chip breaker B(21) in be respectively equipped with drive bolt bearing A(18), drive bolt bearing B(19), described clamp A(14) and clamp B(17) respectively by cam follower A(13) and cam follower B(16) with cam (7) on drive bolt bearing A(18), drive bolt bearing B(19) be connected, described cam follower A(13) and cam follower B(16) outer be arranged be arranged on that described clamping driver module (1) is upper, restriction cam follower A(13) and cam follower B(16) guider that rotates, described cam (7) is driven by clamping driver module (1) and rotates, drive bolt bearing A(18 on cam (7)), drive bolt bearing B(19) in the rotary course of cam (7), respectively at deep-slotted chip breaker A(20) and deep-slotted chip breaker B(21) in moving linearly, realize clamp A(14) and clamp B(17) open or closed.
2. by underwater electric manipulator clamp structure according to claim 1, it is characterized in that: described deep-slotted chip breaker A(20) and deep-slotted chip breaker B(21) shape is identical, the two ends of each deep-slotted chip breaker are circle, four circular center of circle conllinear and through the center of circle of described cam (7), described deep-slotted chip breaker A(20) and deep-slotted chip breaker B(21) lay respectively at online both sides, described four circular centers of circle.
3. by underwater electric manipulator clamp structure according to claim 2, it is characterized in that: described deep-slotted chip breaker A(20) two ends and deep-slotted chip breaker B(21) interval, two ends arrange, described drive bolt bearing A(18) and drive bolt bearing B(19) bearing be contained in deep-slotted chip breaker A(20 respectively) and deep-slotted chip breaker B(21) in, drive bolt bearing A(18) and drive bolt bearing B(19) drive bolt respectively with described cam follower A(13) and cam follower B(16) be connected.
4. by underwater electric manipulator clamp structure according to claim 1, it is characterized in that: described cam follower A(13) both sides be separately installed with guide blot bearing group A(12), cam follower B(16) both sides be separately installed with guide blot bearing group B(15), described guide blot bearing group A(12) and guide blot bearing group B(15) respectively with described guider Structure deformation.
5. by underwater electric manipulator clamp structure according to claim 4, it is characterized in that: described guider comprises guide plate A(8), guide plate B(11) and guiding connecting plate, this guide plate A(8) and guide plate B(11) be symmetricly set on clamp A(14) with clamp B(17) both sides, and be fixed on described clamping driver module (1) respectively by gripping plate; Described guide plate A(8) and guide plate B(11) two ends respectively by guiding connecting plate be connected, described cam follower A(13) and cam follower B(16) be placed in by guide plate A(8), guide plate B(11) and the space that surrounds of guiding connecting plate in, described guide blot bearing group A(12) and guide blot bearing group B(15) respectively with guide plate A(8) and guide plate B(11) Structure deformation.
6. by the underwater electric manipulator clamp structure described in the arbitrary claim of claim 1 to 5, it is characterized in that: described cam (7) is connected by the output of connecting rod connector (3) with clamping driver module (7), one end of this connecting rod connector (3) is by clamp ring A(4) and clamp ring B(5) be connected with cam (7), the other end is connected by the output static seal of O-ring seals with clamping driver module (7).
7., by underwater electric manipulator clamp structure according to claim 6, it is characterized in that: described clamp ring A(4) and clamp ring B(5) being semicircle, two ends are affixed by bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310661779.7A CN104690740A (en) | 2013-12-06 | 2013-12-06 | Clamp structure of underwater electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310661779.7A CN104690740A (en) | 2013-12-06 | 2013-12-06 | Clamp structure of underwater electric manipulator |
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| Publication Number | Publication Date |
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| CN104690740A true CN104690740A (en) | 2015-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310661779.7A Pending CN104690740A (en) | 2013-12-06 | 2013-12-06 | Clamp structure of underwater electric manipulator |
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| CN (1) | CN104690740A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271510A (en) * | 2016-08-31 | 2017-01-04 | 苏州市吴中区木渎晓云模具加工厂 | Electromagnetic valve assembles the electric magnet feeding device of equipment |
| CN106808495A (en) * | 2017-02-24 | 2017-06-09 | 宁夏共享机床辅机有限公司 | A kind of manipulator clamping jaw with overvoltage detection function |
| CN110962155A (en) * | 2019-10-23 | 2020-04-07 | 昆山源博信予智能装备有限公司 | Robot clamping jaw |
| CN111390959A (en) * | 2020-04-23 | 2020-07-10 | 海南深赞迷科技有限公司 | Manipulator of operation under water |
| CN111906563A (en) * | 2019-05-10 | 2020-11-10 | 东佑达自动化科技股份有限公司 | Clamping jaw structure |
| CN113335622A (en) * | 2021-08-05 | 2021-09-03 | 海门市金昊自动化科技有限公司 | Manipulator positioning mechanism of rotary filling machine |
| CN113942830A (en) * | 2021-12-21 | 2022-01-18 | 龙口市兴浩汽车配件有限公司 | Automobile brake disc transfer device |
| CN115413479A (en) * | 2022-09-27 | 2022-12-02 | 江苏大学 | Water shield picking end effector based on depth vision and picking method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271510A (en) * | 2016-08-31 | 2017-01-04 | 苏州市吴中区木渎晓云模具加工厂 | Electromagnetic valve assembles the electric magnet feeding device of equipment |
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| CN106808495B (en) * | 2017-02-24 | 2023-09-26 | 宁夏共享机床辅机有限公司 | Manipulator clamping jaw with overvoltage detection function |
| CN111906563A (en) * | 2019-05-10 | 2020-11-10 | 东佑达自动化科技股份有限公司 | Clamping jaw structure |
| CN110962155A (en) * | 2019-10-23 | 2020-04-07 | 昆山源博信予智能装备有限公司 | Robot clamping jaw |
| CN111390959B (en) * | 2020-04-23 | 2021-12-14 | 泉州市泉腾机械科技有限公司 | Manipulator of operation under water |
| CN111390959A (en) * | 2020-04-23 | 2020-07-10 | 海南深赞迷科技有限公司 | Manipulator of operation under water |
| CN113335622B (en) * | 2021-08-05 | 2021-10-01 | 海门市金昊自动化科技有限公司 | Manipulator positioning mechanism of rotary filling machine |
| CN113335622A (en) * | 2021-08-05 | 2021-09-03 | 海门市金昊自动化科技有限公司 | Manipulator positioning mechanism of rotary filling machine |
| CN113942830A (en) * | 2021-12-21 | 2022-01-18 | 龙口市兴浩汽车配件有限公司 | Automobile brake disc transfer device |
| CN113942830B (en) * | 2021-12-21 | 2022-03-01 | 龙口市兴浩汽车配件有限公司 | Automobile brake disc transfer device |
| CN115413479A (en) * | 2022-09-27 | 2022-12-02 | 江苏大学 | Water shield picking end effector based on depth vision and picking method thereof |
| CN115413479B (en) * | 2022-09-27 | 2024-03-22 | 江苏大学 | Deep vision-based water shield picking end effector and picking method thereof |
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Application publication date: 20150610 |