CN104669262A - Underwater electromechanical wrist turning and clamping drive structure - Google Patents
Underwater electromechanical wrist turning and clamping drive structure Download PDFInfo
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- CN104669262A CN104669262A CN201310638613.3A CN201310638613A CN104669262A CN 104669262 A CN104669262 A CN 104669262A CN 201310638613 A CN201310638613 A CN 201310638613A CN 104669262 A CN104669262 A CN 104669262A
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- axle
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- clamp
- reduction box
- box assembly
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Abstract
The invention belongs to the field of underwater manipulators of robot engineering and particularly relates to an underwater electromechanical wrist turning and clamping drive structure. The underwater electromechanical wrist turning and clamping drive structure comprises a wrist turning drive module for achieving an underwater electromechanical wrist turning function, a clamping drive module for achieving an underwater electromechanical wrist clamping function and a joint housing, wherein the wrist turning drive module and the clamping drive module are accommodated in the joint housing respectively. The wrist turning drive module uses gear transmission. The clamping drive module uses ball screw transmission. A second shaft of the wrist turning module is of a hollow structure, a ball screw nut connecting rod for driving a clamp can penetrate through the second shaft of the wrist turning module, and the wrist turning module and the clamping module can be integrated into the joint housing and avoid mutual interference to achieve two functions of an underwater electromechanical arm. The underwater electromechanical wrist turning and clamping drive structure has the advantages of being reliable in performance, compact in structure, easy to maintain and debug and the like.
Description
Technical field
The invention belongs to underwater manipulator field in robot engineering, specifically a kind of underwater electric manipulator wrist turns clamp drives structure.
Background technology
Underwater manipulator is the main tool of ocean development or underwater operation, face the future operation type AUV(autonomous underwater robot)/ARV(half autonomous underwater robot) and middle-size and small-size operation type ROV(drone version underwater robot) application demand, underwater manipulator require there is the feature such as lightness, low-power consumption.Motor drives has that volume weight is little, low in energy consumption, control accuracy is high, and can be realized the advantages such as the dark operation in full sea by pressure compensator, therefore motor-driven underwater manipulator has broad application prospects.
Current underwater electric manipulator wrist turns employing turnbarrel structure, clamp adopts linear electric motors to drive, and therefore load capacity is low, complex structure, also there is clamp motor wiring coiling problem, and be solve the complexity that conducting slip ring that coiling problem adds adds structure.Develop stable performance, compact conformation, underwater electric manipulator that load capacity is higher, simplify wrist and turn clamp structure, avoid coiling to become problem demanding prompt solution simultaneously.
Summary of the invention
A kind of underwater electric manipulator wrist is the object of the present invention is to provide to turn clamp drives structure.This drives structure solves clamp motor wiring coiling problem, meets the requirement of underwater electric manipulator.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes the wrist realizing underwater electric manipulator wrist rotating function to turn driver module, realize clamp driver module and the articular shell of underwater electric manipulator clamp function, described wrist turns driver module and clamp driver module is contained in described articular shell respectively, described wrist turns driver module and comprises wrist rotating motor and reduction box assembly, the first axle, transmission device and the second axle, wherein the first axle, the second axle are rotatably installed in described articular shell respectively, one end of described first axle is connected with reduction box assembly with the wrist rotating motor be arranged in articular shell, the other end passes through one end interlock of described transmission device and the second axle, the other end of the second axle is passed by articular shell, and described second axle is transported dynamic by the driver output continuous print wrist of wrist rotating motor and reduction box assembly, described clamp driver module comprises clamp motor and lead screw shaft reduction box assembly, ball-screw nut and ball-screw nut connecting rod, this clamp motor and lead screw shaft reduction box assembly are arranged in described articular shell, described clamp motor is threaded with the lead screw shaft in lead screw shaft reduction box assembly and ball-screw nut, formation worm drive are secondary, one end of described ball-screw nut connecting rod is connected with this ball-screw nut, the other end is passed by described second axle, described ball-screw nut connecting rod passes through the driving of clamp motor and lead screw shaft reduction box assembly, rectilinear motion is done with ball-screw nut, the clamp of described underwater electric manipulator is driven to move.
Wherein: described transmission device comprises the first gear and the second gear that engage each other transmission, this first gear be connected to described first axle the other end, with first axle rotate; Described second gear be connected to described second axle one end, drive second axle rotate; Described second axle is hollow shaft, and centre has through hole vertically, and the other end of described ball-screw nut connecting rod is passed by the through hole in the middle of the second axle; Lead screw shaft in described ball-screw nut connecting rod, the second axle and clamp motor and lead screw shaft reduction box assembly is coaxially arranged; Described first axle and the second axle are placed side by side, and the longitudinal center line of this first axle parallels with the longitudinal center line of the second axle; Described articular shell comprises the bearing cap, articular shell A section, articular shell B section, articular shell C section, articular shell D section and the articular shell rear end cap that connect successively; Described wrist rotating motor and reduction box assembly and clamp motor and lead screw shaft reduction box assembly are placed side by side, and being individually fixed in the inside of described articular shell D section, longitudinal center line and the clamp motor of described wrist rotating motor and reduction box assembly output parallel with the longitudinal center line of lead screw shaft reduction box assembly output.
Advantage of the present invention and good effect are:
1. stable and reliable for performance: wrist of the present invention turns employing gear drive, gear drive has stable drive, gearratio is accurate, efficiency is high, the life-span is long, the advantage such as the power of use, speed and size range are large; Clamp of the present invention adopts ball screw assembly, and it is large that ball screw assembly, has transmission accuracy straight line force that is high, that export, makes clamp have larger chucking power.
2. compact conformation: gear drive of the present invention has the advantage of compact conformation, and gear drive also make wrist rotating motor and reduction box assembly and exports wrist walk around the second axle of square need not on an axis, thus the wrist rotating motor that driving wrist is turned and reduction box assembly with drive clamp clamp motor and lead screw shaft reduction box assembly to place side by side; Second axle is a hollow shaft, and ball-screw nut connecting rod can drive clamp through the second axle, makes wrist revolving die block and clamping modules be integrated into one piece and turn avoid and interfere with each other, makes simple and compact for structure.
3. debug, easy to maintenance: the articular shell in the present invention is divided into several sections, is convenient to installation and the replacing of part or assembly.
Accompanying drawing explanation
Fig. 1 is internal structure schematic diagram of the present invention;
Fig. 2 A is the A-A sectional view in Fig. 1;
Fig. 2 B is the B-B sectional view in Fig. 1;
Fig. 3 is perspective view of the present invention;
Wherein: 1 is wrist rotating motor and reduction box assembly, and 2 is shaft coupling, and 3 is the first axle, 4 is the first gear, and 5 is ball-screw nut connecting rod, and 6 is the second axle, 7 is bearing cap, and 8 is articular shell A section, and 9 is the second gear, 10 is articular shell B section, 11 is articular shell C section, and 12 is ball-screw nut, and 13 is clamp motor and lead screw shaft reduction box assembly, 14 is articular shell D section, and 15 is articular shell rear end cap.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, Figure 2 shown in A, Fig. 2 B and Fig. 3, the present invention includes the wrist realizing underwater electric manipulator wrist rotating function to turn driver module, realize clamp driver module and the articular shell of underwater electric manipulator clamp function, wrist turns driver module and clamp driver module is contained in articular shell respectively.Articular shell comprises bearing cap 7 affixed successively, articular shell A section 8, articular shell B section 10, articular shell C section 11, articular shell D section 14 and articular shell rear end cap 15.
Wrist turns driver module and comprises wrist rotating motor and reduction box assembly 1, first axle 3, transmission device and the second axle 6, and wherein transmission device comprises the first gear 4 and the second gear 9 engaging each other transmission; First axle 3, second axle 6 is rotatably installed in articular shell respectively by bearing, bearing on first axle 3 is positioned at articular shell B section 10, bearing on second axle 6 is positioned at articular shell A section 8, two bearings and carries out axial location respectively by the bearing cap be enclosed within first and second axle, axle sleeve, nut.First axle 3 and the second axle 6 are placed side by side, and the longitudinal center line of the first axle 3 parallels with the longitudinal center line of the second axle 6.One end of first axle 3 is connected with reduction box assembly 1 with the wrist rotating motor be fixed in articular shell D section 14 by shaft coupling 2, drives rotation by wrist rotating motor and reduction box assembly 1; The other end of the first axle 3 is connected with the first gear 4, and this first gear 4 is rotated with the first axle 3 by key connection.One end of second axle 6 is connected with the second gear 9, and this second gear 9 and the first gear 4 form an external gear pump pair, and the first gear 4 is driving wheel, and the second gear 9 is driven pulley, and the second gear 9 connects drive second axle 6 interlock by key; Drive the first axle 3 of rotation, by engaging of first and second gear 4,9, torque and rotational speed is passed to the second axle 6 by wrist rotating motor and reduction box assembly 1; The bearing cap 7 of other end articular shell one end of the second axle 6 passes, and exports the transhipment of continuous print wrist dynamic, realizes the wrist rotating function of underwater electric manipulator.
Clamp driver module comprises clamp motor and lead screw shaft reduction box assembly 13, ball-screw nut 12 and ball-screw nut connecting rod 5, clamp motor and lead screw shaft reduction box assembly 13 are fixed in articular shell D section 14, and place side by side with wrist rotating motor and reduction box assembly 1, longitudinal center line and the clamp motor of wrist rotating motor and reduction box assembly 1 output parallel with the longitudinal center line of lead screw shaft reduction box assembly 13 output.
Clamp motor is threaded with the lead screw shaft in lead screw shaft reduction box assembly 13 and ball-screw nut 12, coordinates formation worm drive pair; Second axle 6 is hollow shaft, and centre has through hole vertically, and one end and this ball-screw nut 12 of ball-screw nut connecting rod 5 are affixed, and the other end is passed by the through hole in the middle of the second axle 6.The convert rotational motion of worm drive adjutant clamp motor and lead screw shaft reduction box assembly 13 is the rectilinear motion of ball-screw nut 12, ball-screw nut connecting rod 5 does rectilinear motion with ball-screw nut 12, thus drives the clamp motion of underwater electric manipulator.Lead screw shaft in ball-screw nut connecting rod 5, second axle 6 and clamp motor and lead screw shaft reduction box assembly 13 is coaxially arranged.
Operation principle of the present invention is:
Wrist of the present invention turns driver module, clamp driver module is integrated into inside a joint, and the wrist realizing manipulator turns and clamp two functions.Be specially:
Wrist rotating motor and reduction box assembly 1 work, and drive the first axle 3 to rotate by shaft coupling 2, and then drive the first gear 4 to rotate with the first axle 3; Second gear 9 engages with the first gear 4, utilizes the meshing gear adjutant torque and rotational speed formed to pass to the second axle 6, drive the second axle 6 to rotate, and by the second axle, exports the transhipment of continuous print wrist dynamic, realizes the wrist rotating function of underwater electric manipulator.
Simultaneously, clamp motor and lead screw shaft reduction box assembly 13 work, the worm drive that lead screw shaft (i.e. the output of clamp motor and lead screw shaft reduction box assembly 13) and ball-screw nut 12 are formed are secondary, be the rectilinear motion that ball-screw nut 12 drives ball-screw nut connecting rod 5 by the convert rotational motion of clamp motor and lead screw shaft reduction box assembly 13, drive the clamp of underwater electric manipulator to move by ball-screw nut connecting rod 5.
The present invention can be applicable to ocean development or underwater operation.
Claims (7)
1. a underwater electric manipulator wrist turns clamp drives structure, it is characterized in that: comprise the wrist realizing underwater electric manipulator wrist rotating function and turn driver module, realize clamp driver module and the articular shell of underwater electric manipulator clamp function, described wrist turns driver module and clamp driver module is contained in described articular shell respectively, described wrist turns driver module and comprises wrist rotating motor and reduction box assembly (1), first axle (3), transmission device and the second axle (6), wherein the first axle (3), second axle (6) is rotatably installed in described articular shell respectively, one end of described first axle (3) is connected with reduction box assembly (1) with the wrist rotating motor be arranged in articular shell, the other end passes through one end interlock of described transmission device and the second axle (6), the other end of the second axle (6) is passed by articular shell, described second axle (6) is transported dynamic by the driver output continuous print wrist of wrist rotating motor and reduction box assembly (1), described clamp driver module comprises clamp motor and lead screw shaft reduction box assembly (13), ball-screw nut (12) and ball-screw nut connecting rod (5), this clamp motor and lead screw shaft reduction box assembly (13) are arranged in described articular shell, described clamp motor is threaded with the lead screw shaft in lead screw shaft reduction box assembly (13) and ball-screw nut (12), formation worm drive are secondary, one end of described ball-screw nut connecting rod (5) is connected with this ball-screw nut (12), the other end is passed by described second axle (6), described ball-screw nut connecting rod (5) is by the driving of clamp motor and lead screw shaft reduction box assembly (13), rectilinear motion is done with ball-screw nut (12), the clamp of described underwater electric manipulator is driven to move.
2. turn clamp drives structure by underwater electric manipulator wrist according to claim 1, it is characterized in that: described transmission device comprises the first gear (4) and the second gear (9) that engage each other transmission, this first gear (4) be connected to described first axle (3) the other end, rotate with the first axle (3); Described second gear (9) be connected to described second axle (6) one end, drive the second axle (6) to rotate.
3. turn clamp drives structure by underwater electric manipulator wrist according to claim 1, it is characterized in that: described second axle (6) is hollow shaft, centre has through hole vertically, and the other end of described ball-screw nut connecting rod (5) is passed by the through hole in the middle of the second axle (6).
4. turn clamp drives structure by the underwater electric manipulator wrist described in claim 1 or 3, it is characterized in that: the lead screw shaft in described ball-screw nut connecting rod (5), the second axle (6) and clamp motor and lead screw shaft reduction box assembly (13) is coaxially arranged.
5. turn clamp drives structure by the underwater electric manipulator wrist described in claim 1 or 3, it is characterized in that: described first axle (3) and the second axle (6) are placed side by side, and the longitudinal center line of this first axle (3) parallels with the longitudinal center line of the second axle (6).
6. turn clamp drives structure by underwater electric manipulator wrist according to claim 1, it is characterized in that: described articular shell comprises the bearing cap (7), articular shell A section (8), articular shell B section (10), articular shell C section (11), articular shell D section (14) and the articular shell rear end cap (15) that connect successively.
7. turn clamp drives structure by underwater electric manipulator wrist according to claim 6, it is characterized in that: described wrist rotating motor and reduction box assembly (1) and clamp motor and lead screw shaft reduction box assembly (13) are placed side by side, and being individually fixed in the inside of described articular shell D section (14), longitudinal center line and the clamp motor of described wrist rotating motor and reduction box assembly (1) output parallel with the longitudinal center line of lead screw shaft reduction box assembly (13) output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310638613.3A CN104669262B (en) | 2013-11-30 | 2013-11-30 | A kind of underwater electric manipulator wrist turns clamp drives structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310638613.3A CN104669262B (en) | 2013-11-30 | 2013-11-30 | A kind of underwater electric manipulator wrist turns clamp drives structure |
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| Publication Number | Publication Date |
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| CN104669262A true CN104669262A (en) | 2015-06-03 |
| CN104669262B CN104669262B (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310638613.3A Active CN104669262B (en) | 2013-11-30 | 2013-11-30 | A kind of underwater electric manipulator wrist turns clamp drives structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296989A (en) * | 2020-10-23 | 2021-02-02 | 青岛罗博飞海洋技术有限公司 | Underwater five-degree-of-freedom rotary manipulator |
| CN113002737A (en) * | 2019-12-19 | 2021-06-22 | 中国科学院沈阳自动化研究所 | Underwater electric manipulator serial wrist-turning clamp module |
| CN113043303A (en) * | 2021-03-08 | 2021-06-29 | 中海油能源发展装备技术有限公司 | Underwater manipulator paw driving device capable of realizing compound motion |
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| JPH0712204A (en) * | 1993-06-22 | 1995-01-17 | Sony Corp | Gear transmission device |
| CN1990198A (en) * | 2005-12-27 | 2007-07-04 | 中国科学院沈阳自动化研究所 | Underwater mechanical wrist part structure for strong-operation underwater robot |
| JP2009095957A (en) * | 2007-10-19 | 2009-05-07 | Nsk Ltd | Joint module and legged robot |
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| CN102935640A (en) * | 2011-08-15 | 2013-02-20 | 中国科学院沈阳自动化研究所 | Drive module for constructing underwater electric manipulator |
| CN202934574U (en) * | 2012-11-30 | 2013-05-15 | 中国科学院沈阳自动化研究所 | Underwater hydraulic mechanical arm short type wrist turning clamp driving structure |
| CN203579662U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Underwater electric manipulator wrist rotation and gripper driving structure |
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2013
- 2013-11-30 CN CN201310638613.3A patent/CN104669262B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0712204A (en) * | 1993-06-22 | 1995-01-17 | Sony Corp | Gear transmission device |
| CN1990198A (en) * | 2005-12-27 | 2007-07-04 | 中国科学院沈阳自动化研究所 | Underwater mechanical wrist part structure for strong-operation underwater robot |
| JP2009095957A (en) * | 2007-10-19 | 2009-05-07 | Nsk Ltd | Joint module and legged robot |
| US20100125015A1 (en) * | 2008-11-18 | 2010-05-20 | Canon Kabushiki Kaisha | Driving force transmitting apparatus |
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| CN202934574U (en) * | 2012-11-30 | 2013-05-15 | 中国科学院沈阳自动化研究所 | Underwater hydraulic mechanical arm short type wrist turning clamp driving structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002737A (en) * | 2019-12-19 | 2021-06-22 | 中国科学院沈阳自动化研究所 | Underwater electric manipulator serial wrist-turning clamp module |
| CN112296989A (en) * | 2020-10-23 | 2021-02-02 | 青岛罗博飞海洋技术有限公司 | Underwater five-degree-of-freedom rotary manipulator |
| CN113043303A (en) * | 2021-03-08 | 2021-06-29 | 中海油能源发展装备技术有限公司 | Underwater manipulator paw driving device capable of realizing compound motion |
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| CN104669262B (en) | 2016-04-13 |
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