CN108555882A - A kind of deep hydraulic machinery wrist joint in full sea - Google Patents
A kind of deep hydraulic machinery wrist joint in full sea Download PDFInfo
- Publication number
- CN108555882A CN108555882A CN201810426789.5A CN201810426789A CN108555882A CN 108555882 A CN108555882 A CN 108555882A CN 201810426789 A CN201810426789 A CN 201810426789A CN 108555882 A CN108555882 A CN 108555882A
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- Prior art keywords
- paw
- motor
- output shaft
- axis
- oil cylinder
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 210000000707 wrist Anatomy 0.000 claims abstract description 16
- 238000003825 pressing Methods 0.000 claims abstract description 9
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims abstract description 3
- 239000003921 oil Substances 0.000 claims description 47
- 230000003287 optical effect Effects 0.000 claims description 12
- 238000013519 translation Methods 0.000 claims description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 210000005069 ears Anatomy 0.000 claims 1
- 239000010705 motor oil Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000004048 modification Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 abstract description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 10
- 229910052802 copper Inorganic materials 0.000 description 10
- 239000010949 copper Substances 0.000 description 10
- 239000012530 fluid Substances 0.000 description 8
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000005192 partition Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000004809 Teflon Substances 0.000 description 1
- 229920006362 Teflon® Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000007743 anodising Methods 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The present invention relates to hydraulic efficiency manipulators, it is desirable to provide a kind of complete deep hydraulic machinery wrist joint in sea.Wrist motor in the product includes the motor shell and motor end face port plate of multiple-action inner curved radial piston hydraulic motor, the axial cross section of motor output shaft is in T shape, between motor rear end lid and paw pedestal, axle portion passes through motor rear end lid, motor shell, motor end face port plate, motor drive end bearing bracket and locking nut pressing plate for its discoid outer end；The interior end side of motor output shaft is equipped with two and matches circulation road, and the outer end side axle heart sets cylinder body of the cavity as paw oil cylinder.Highly developed common multiple-action inner curved half motor of radial plunger type hydraulic pressure is passed through structure of modification by the present invention, makes its structural integrity, is had angle detection and is paw oil cylinder flow function, and cost is greatly reduced, and reliability significantly improves；Structure size is short and small, light quality, integrated level is high, at low cost, reliability is high, output torque is big, minimum steady rotating speed is low, has a wide range of application.
Description
Technical field
The present invention relates to hydraulic efficiency manipulators, more particularly to the complete deep hydraulic machinery wrist joint in sea.
Background technology
The complete deep hydraulic efficiency manipulator in sea is the equipment for being used in the deep manned underwater vehicle in full sea, it is desirable that wrist joint integrates wrist
Rotation and paw two functions of folding, in the case where meeting the deep operating mode in full sea, paw not only can be with 360 degree of positive and negative continuous rotations, but also can
To control its rotational angle and speed, diversified paw type at the same time can be obtained again, can be changed quickly to meet different works
The requirement of industry object.
Has the maximal work depth of hydraulic efficiency manipulator in the prior art generally at 6000 meters or so, in addition to being limited to work
Principle itself is also limited to parts material, processing, assembly precision, and there are poor reliability, minimum in common mechanical wrist joint
Steady rotating speed is big, starts the disadvantage that pressure is high, output torque is relatively low, paw is in the form of a single；Environment is high more under by 11000 meters of depth
Pressure, the highly viscous influence of fluid, it may be difficult to work normally, not be suitable for the deep operating mode in full sea, the deep hydraulic machinery in full sea cannot be met
The index and requirement of hand.
Invention content
The technical problem to be solved by the present invention is to overcome deficiency in the prior art, provide a kind of deep hydraulic machinery in full sea
Wrist joint.
To solve technical problem, solution of the invention is：
A kind of deep hydraulic machinery wrist joint in full sea, including wrist motor, paw oil cylinder and replaceable paw are provided；Wrist
Motor includes the motor shell and motor end face port plate of multiple-action inner curved radial piston hydraulic motor, and separately matches and saddle a horse for riding
Up to drive end bearing bracket, motor rear end lid, motor output shaft, plane needle roller thrust bearing, motor front end flow block；The axis of motor output shaft
In T shape to section, between motor rear end lid and paw pedestal, axle portion sequentially passes through the rolling of plane thrust for discoid outer end
Needle bearing, motor rear end lid, motor shell, motor end face port plate, plane needle roller thrust bearing, motor drive end bearing bracket, plane push away
Power needle bearing and locking nut pressing plate, and pre-tightened in the inner end of motor output shaft to prevent axial float by locking nut；
The inner face of motor output shaft is equipped with the central light aperture for being arranged angular transducer rotation axis (rotor), and angular transducer is solid
Fixed part (stator) is fixedly connected by screw with motor drive end bearing bracket；The rotation axis of angular transducer is marked closely by holding screw in horse
For preventing from relatively rotating between the two on up to output shaft, angular transducer threading is set on the flow block of motor front end and is connect
Head and paw oil cylinder flow connector；Motor end face port plate is hollow shaft internal spline structure, passes through flower between motor output shaft
Key transmits torque, is fastened respectively with screw between motor shell and motor rear end lid, motor shell and motor drive end bearing bracket；
It is equipped with two in the interior end side of motor output shaft and matches circulation road, one is the hand on the axis of motor output shaft
Pawl, which closes, matches circulation road, and a paw for being parallel to axis lateral arrangement is opened with circulation road；Two are radial hole with circulation road
It is connected to the L-shaped channel to be formed with axial hole, separated radial hole with rotation Glais ring with three axis and realizes radial seal；
The outer end side axle heart of motor output shaft sets cylinder body of the cavity as paw oil cylinder, and built-in piston body, piston body both ends respectively set one
Piston rod；One of them is the overhanging piston rod for stretching out cylinder cover, the folding for driving paw；The other is being located at motor
Output shaft paw is closed with the flow piston rod in circulation road, for hydraulic oil to be distributed to overhanging piston rod institute in the chamber；Oil
It is threadedly connected to the cavity of i.e. motor output shaft other than cylinder end cap, is realized and cylinder body and overhanging by O-ring and Glais ring respectively
Sealing between piston rod.
In the present invention, it is equipped with central light aperture successively from the inner end of motor output shaft to outer end, radial direction marks closely threaded hole, axial direction
Locking external thread, forward end seal optical axis, external splines, back-end sealing optical axis, connecting flange, bearing installation deep gouge, flange boss, work
Fill in chamber and end cap connection screw thread；Paw conjunction is made of with circulation road two sector hole roads, and one section is positioned at forward end seal optical axis surface
Radial hole, another section is the axial hole being connected to plunger shaft that is stepped on motor output shaft axis, and wherein axial hole is same
Shi Zuowei is cavity where flow piston rod；Paw is opened also to be made of two sector hole roads with circulation road, and one section is positioned at forward end seal
The radial hole on optical axis surface, another section is the axial direction for being parallel to motor output shaft axis lateral arrangement and being directly connected to plunger shaft
Hole；Above-mentioned two radial holes with circulation road are separated with rotation Glais ring in tri- axis of motor drive end bearing bracket Nei Yi and realize diameter
To sealing.
In the present invention, in the overhanging piston-rod end of paw oil cylinder, it is fastened by bolts a rectangular shaped slider, rectangular shaped slider
The inner rectangular slot clearance fit with a turning block, the two can opposite slidings respectively for the left and right sides；It is in outside turning block
Circle, circular hole clearance fit corresponding on paw ontology use, and the two can relatively rotate；When paw oil cylinder pushing is overhanging
When piston rod moves, while so that rectangular shaped slider is relatively moved with turning block, with paw ontology opposite turn occurs for turning block
It is dynamic, to push two paw ontology foldings.
In the present invention, the piston body is structure as a whole with piston rod, and two piston rods are respectively positioned on the axis of motor output shaft
On line, wherein the diameter of overhanging piston rod is more than the diameter of flow piston rod；Piston body is radially provided with sealed groove and guidance tape
Groove, flow piston rod be radially provided with two sealed grooves and axis direction is provided with circulation road；In piston body and overhanging work
Stopper rod intersection is set there are one radial cross-shaped through hole, for paw conjunction to be distributed to overhanging piston with the hydraulic oil in circulation road
Chamber where bar.
In the present invention, oil inlet, oil return opening and the unloading port point of the multiple-action inner curved radial piston hydraulic motor
Not by hard tube deflecting, keep in the same direction with stream interface direction with motor output shaft.
In the present invention, the replaceable paw has flatly moving type paw and staggered form paw two types, two kinds of paws to share
Paw pedestal, paw oil cylinder and part articulation piece, to realize fast quick-detach and replace paw；Flatly moving type paw is two-piece type, by
Paw hydraulic oil cylinder driving parallelogram linkage realizes paw translation folding；Staggered form paw is four finger formulas, by paw oil cylinder
It drives crank block to develop mechanism and realizes that paw intersects folding, four fingers are detachable and can be made according to various combination mode
With；It is covered with V-arrangement lines on the inner surface of paw, for increasing frictional force when crawl object.
In the present invention, it is provided with V-shaped groove in the ontology bottom surface of flatly moving type paw and staggered form paw, V-shaped groove there are twice, hands over
Distribution in T shape is pitched, the automatic centering when paw clamps is used for, clamps the tee handle bar on power tool in sampling basket.
In the present invention, the shared paw pedestal is made of pedestal bottom plate and mounting ear, and appearance is tapered；Pedestal bottom
The center of plate is set there are one through-hole, is placed on motor output shaft connecting flange boss, and fastened with screw；Perpendicular to pedestal bottom plate
If there are two the mounting ear that is arranged symmetrically, two mounting ear vertical direction, which about hand grab base axis and are symmetrically distributed with two groups, to be run through
Hole (one group wherein far from axis is installed two groups of holes of translation paw and need all to use to be used when installation staggered form paw).
In the present invention, the finger of the staggered form paw is arc-shaped, shares four；Paw cushion block is set between homonymy finger,
Two through-holes are set on every finger, for across studs to be connected to paw ontology.
Inventive principle describes：
The complete deep hydraulic machinery wrist joint in sea, packet wrist motor, paw oil cylinder, replaceable paw three parts, wherein hand
Wrist motor realizes rotation, angle measurement and the structure flow to paw oil cylinder of paw, and paw oil cylinder is for driving opening for paw
It closes, realizes the crawl and release to object.There are two types of types for replaceable paw, are flatly moving type paw and staggered form hand respectively
Pawl, can be according to operation object feature quick replacement.Two types paw shares paw pedestal and oil cylinder and part articulation piece, can be fast
Quick-detach replaces paw, and non-paw replaces part and do not have to dismounting.
Paw oil cylinder includes multiple-action inner curved radial plunger type motor shell, motor end face port plate, motor output shaft
Sequentially pass through plane needle roller thrust bearing, motor rear end lid, motor shell, motor end face port plate, plane needle roller thrust bearing,
After motor drive end bearing bracket, plane needle roller thrust bearing and locking nut pressing plate, pre-tightened in the inner end of motor output shaft by locking nut
To prevent axial float；
The angle sensor wire terminal of motor front end flow set of blocks, paw oil cylinder two hose couplings.Angle sensor line
Connector is directly connected to installation space where angular transducer, and two hose couplings of paw oil cylinder need to pass through motor front end respectively
Internal L-shaped duct is covered by fluid by being axially altered to radial direction, thus by fluid by the hose coupling on the flow block of motor front end
It leads in two inside motor drive end bearing bracket annular grooves, two annular grooves are separated out with rotation Glais ring with three axis and keep relatively close
Envelope carries out flow using motor output shaft.
Angular transducer is connect by two power cords and a signal wire by the angle sensor line on the flow block of motor front end
Head is connected with control system, and the shell of angular transducer is fixed on motor drive end bearing bracket；When motor output shaft rotates, angle passes
Data are transferred to control system by sensor by signal wire, realize angle feed-back；
Between motor output shaft and motor rear end lid, between motor end face port plate and motor drive end bearing bracket, motor front end
Between lid and locking nut pressing plate, plane needle roller thrust bearing is respectively set, for realizing flat bearing and keeps opposite to turn
It is dynamic；Radial seal is kept in motor drive end bearing bracket and motor rear end lid axis rotation Glais ring, is brought into the guiding of dispersed placement
Row radial support absorbs vibrations, metal part is avoided to be in direct contact.
Paw oil cylinder is built in motor output shaft cavity, cylinder body of the cavity as paw oil cylinder, on motor output shaft
Two equipped with paw oil cylinder are matched circulation road, and a paw being located on output shaft axis closes and matches circulation road, and one is parallel to axis
The paw of line lateral arrangement is opened with circulation road, and cylinder cover external screw thread is connected to cylinder block (i.e. motor output shaft inner cavity), uses O
Shape circle is sealed with cylinder body, and centre bore is equipped with Glais ring to overhanging piston rod packing；
Compared with prior art, the beneficial effects of the invention are as follows：
1, heretofore described multiple-action inner curved radial piston hydraulic motor itself have minimum steady rotary speed it is low,
Output torque is big, compact-sized, small, light weight, Circumscribed structure are simple, using facilitating feature.These are very suitable for entirely
Extra large depth manipulator tentatively requires the performance of wrist joint hydraulic motor, by highly developed common multiple-action inner curved radial column
Half motor of plunger type hydraulic passes through structure of modification, makes its structural integrity, has angle detection and is paw oil cylinder flow function, and again
A wrist motor of manufacture newly developed is greatly reduced compared to period and cost, and reliability significantly improves；
2, paw oil cylinder is built in inside motor output shaft, makes that compact overall structure, axial dimension be short, small, quality
Gently；Can be replaced mutually paw design make manipulator paw it is selectively more, it is more adaptable, replace it is convenient and efficient；According to wrist
The different motion and stress characteristic of joint different parts, specific aim select component, part material and treatment process, make its quality
It is most light, volume is minimum, high pressure resistant, seawater corrosion resistance；Flow channel diameter is big in total, and right angle channel is few, can be fine
The deep environment in the full sea of reduction under the pressure loss brought of fluid high viscosity.To make the type hydraulic machine tool wrist joint become one kind
Size is short and small, light quality, integrated level is high, at low cost, reliability is high, output torque is big, minimum steady rotating speed is low, application range
The wide deep hydraulic machinery wrist joint in full sea.
Description of the drawings
Fig. 1 is the carpal main view sectional view of the complete deep hydraulic efficiency manipulator in sea of the present invention；
Fig. 2 is the portions the A partial enlarged view in Fig. 1；
Fig. 3 is the portions the B partial enlarged view in Fig. 1；
Fig. 4 is the carpal vertical view of the complete deep hydraulic efficiency manipulators in sea of Fig. 1；
Fig. 5 is the carpal left view of the complete deep hydraulic efficiency manipulators in sea of Fig. 1；
Fig. 6 is staggered form paw front view；
Fig. 7 is the A-A sectional views of Fig. 6；
Fig. 8 is translation paw front view；
Fig. 9 is the B-B sectional views of Fig. 8；
Figure 10 is the C-C sectional views of Fig. 8；
Figure 11 is the flow channel cross-section schematic diagram of motor output shaft；
Figure 12 is that the deep hydraulic machinery wrist joint in full sea uses staggered form paw schematic diagram；
The deep hydraulic machinery wrist joint in the full sea in the positions Figure 13 uses flatly moving type paw schematic diagram.
Reference numeral in each figure：
Fig. 1：1 motor front end flow block, 2 copper sheathings, 3 motor drive end bearing brackets, 4 motor end face port plates, 5O shapes circle, 6 combination mats,
7 screws, 8 multiple-action inner curved motor shells, 9 motor rear end lids, 10 motor output shafts, 11 paw pedestals, 12 replaceable paws,
13 hinged bolts, 14 rectangular shaped sliders, 15 turning blocks, 16 paw cylinder covers, 17 pistons, 18 copper sheathings；
Fig. 2：19 angular transducers, 20 sensor stands, 21 locking nuts, 22 screws, 23O shapes circle, 24 guidance tapes, 25 axis
With rotation Glais ring, 26 plane needle roller thrust bearings, 27 hole Glais rings, 28 locking nut pressing plates, 29 plane needle roller thrust axis
It holds；
Fig. 3：30 hole Glais rings, 31 guidance tapes, 32O shapes circle, 33 axis Glais rings, 34 guidance tapes, the rolling of 35 plane thrusts
Needle bearing, 36O shapes circle, 37 guidance tapes, 38 dust seals, 39 axis Glais rings；
Fig. 4：40 pressing plates, 41 screws, 42 welding adapters, 43 connectors, 44 hard tubes, 45 welding points, 46 connectors, 47 pipes
Folder, 48 hose couplings；
Fig. 5：49 screws, 50 screws, 51 angular transducer wire terminals；
Fig. 6：200 staggered form paw ontologies, 201 staggered form fingers；
Fig. 7：202 paw cushion blocks, 203 studs, 204 plain cushions, 205 spring washers, 206 nuts, 207 gaskets, 208 bolts,
209 copper sheathings, 210 axis pins, 211 partitions；
Fig. 8：300 translation paw ontologies, 301 flatly moving type fingers, 302 connecting rods, 303 fixed plates；
Fig. 9：304 partitions, 305 short pin shafts, 306 plain cushions, 307 spring washers, 308 screws, 309 partitions, 310 copper sheathings, 311 pins
Axis, 312 plain cushions, 313 spring washers, 314 screws, 315 spacers, 316 copper sheathings；
Figure 10：317 axis pins, 318 copper sheathings, 319 partitions, 320 axis pins, 321 copper sheathings, 322 partitions, 323 copper sheathings；
Figure 11：400 mark closely threaded hole, 401 central light apertures, 402 locking screws, 403 forward end seal optical axises, 404 splines,
405 back-end sealing optical axises, 406 connecting flanges, 407 bearings installation deep gouge, 408 flange boss, 409 paw cylinder cover screw threads,
410 paw oil cylinder piston chambers, 411 flow rod end chambers, 412 paws, which are opened to close with circulation road, 413 paws, matches circulation road.
Specific implementation mode
Embodiment below can make the technical staff of this professional skill field more fully understand the present invention, but not to appoint
Where formula limitation is of the invention.
The present invention provides a kind of complete deep hydraulic efficiency manipulator in sea carpal specific embodiment, including wrist motor, paw oil
Cylinder, replaceable paw three parts, wherein wrist motor are realized the rotation of paw, angle measurement and are matched to the structure of paw oil cylinder
The crawl and release to object are realized in stream, the folding of paw hydraulic oil cylinder driving paw.
As Figure 1-Figure 5：Wrist motor includes motor front end flow block 1, motor drive end bearing bracket 3, motor end face port plate
4, multiple-action inner curved radial piston hydraulic motor shell 8, motor rear end lid 9, motor output shaft 10, plane needle roller thrust axis
Hold 26, plane needle roller thrust bearing 29, plane needle roller thrust bearing 35, lock washer 28, locking nut 21.
As shown in figures 1 and 3：Paw oil cylinder includes 10 inner cavity of motor output shaft, piston 17, paw cylinder cover 16.
Replaceable paw 12 is flatly moving type paw and staggered form paw respectively there are two types of type, can be according to operation object spy
Point quick replacement.As shown in Figure 6 and Figure 7：Staggered form paw includes staggered form paw ontology 200, staggered form finger 201, paw
Cushion block 202, as Figure 8-Figure 10：Flatly moving type paw include fixed plate 303, translation paw ontology 300, flatly moving type finger 301,
Connecting rod 302.Wherein paw pedestal 11, rectangular shaped slider 14, turning block 15, hinged bolts 13, pressing plate 40 are two type paws
It shares.
Motor output shaft 10 sequentially passes through plane needle roller thrust bearing 35, motor rear end lid 9, more works in the wrist motor
With inner curve radial plunger type hydraulic pump/motor shell 8, motor end face port plate 4, plane needle roller thrust bearing 26, motor drive end bearing bracket
3, plane needle roller thrust bearing 29, locking nut pressing plate 28 carry out entire axial pretightening with locking nut 21, prevent axial alter
It is dynamic.Between motor front end flow block 1 and motor drive end bearing bracket 3, motor drive end bearing bracket 3 and multiple-action inner curved radial plunger type hydraulic pressure horse
It is tight with screw respectively between multiple-action inner curved radial piston hydraulic motor shell 8 and motor rear end lid 9 up between shell 8
Gu using seal with O ring.Motor end face port plate 4 is hollow shaft internal spline structure, is transmitted and is turned round by spline with motor output shaft 10
Square；Motor output shaft 10 is with motor drive end bearing bracket 3 and motor rear end lid 9 respectively with axis rotation Glais ring 25, axis rotation lattice Lay
Circle 39 is sealed, and radial support is carried out with guidance tape 24, guidance tape 37.Motor output is placed in 19 rotation axis of angular transducer
10 centre bore 401 of axis marks closely the holding screw in threaded hole 400 positioned at motor output shaft 10 by one and marks closely the rotation axis, prevents
Only relatively rotate, and angular transducer 19 is fixed on screw 22 on motor drive end bearing bracket 3.
Motor front end flow block 1 gathered an angular transducer wire terminal 51, paw oil cylinder two hose couplings 48.
Angular transducer wire terminal 51 is directly connected to 19 place motor drive end bearing bracket of angular transducer, 3 installation space, and the two of paw oil cylinder
A hose coupling 48 needs to pass through the L-shaped duct inside motor drive end bearing bracket 3 respectively by fluid by being axially altered to radial direction, thus will
Fluid is led to by the hose coupling 48 on motor front end flow block 3 in two inside motor drive end bearing bracket 3 annular grooves, two annular grooves
It is separated out and is kept opposing seal with three axis rotation Glais ring 25, flow is carried out using motor output shaft 10.
Motor output shaft 10 is internally provided with two of paw oil cylinder with circulation road, and the paw that a driving paw is opened, which is opened, matches
Circulation road 412, the paw that a driving paw is closed, which closes, matches circulation road 413；Paw conjunction is made of with circulation road 413 two sector holes,
One section of radial hole for being located at 403 surface of forward end seal optical axis, one section is located at being stepped on 10 axis of motor output shaft and lives
Fill in the axial hole of chamber connection；Paw is opened also to be made of two sector holes with circulation road 412, and one section is located at 403 surface of forward end seal optical axis
Radial hole, one section is parallel to 10 axis lateral arrangement of motor output shaft and directly grabs the axial direction that oil cylinder piston chamber 410 is connected to hand
Hole；Above-mentioned two radial hole is separated and is realized radial seal with three axis with rotation Glais ring 25 as shown in Figure 2, by fluid
It is led in paw oil cylinder piston chamber 410 by 3 interior annular groove of motor drive end bearing bracket.
Paw oil cylinder as shown in figures 1 and 3 is built in the paw oil cylinder piston chamber 410 of motor output shaft 10, oil cylinder
16 centre bore of end cap is equipped with axis Glais ring 39, guidance tape 16, dust seal 38, close with O-ring 36 and paw oil cylinder piston chamber 410
Envelope, is connect with screw thread with cylinder body.Piston 17 is piston body and piston rod integral structure, is radially equipped with hole Glais ring 30, leads
To band 31, one the first from left right side of piston rod is distributed on piston body axis, diameter small one and large one, enlarged bore piston bar be overhanging piston
Bar stretches out cylinder cover 16, drives the folding of replaceable paw 12；Small bore piston bar is flow piston rod, and head is radially opened
There is sealed groove, is equipped with hole Glais ring 27, axis direction is provided with circulation road, in piston body and enlarged bore piston bar intersection
If there are one radial cross-shaped through hole, it is mainly used to close to match with hydraulic oil in circulation road 413 by paw to send by flow piston rod
Chamber where to overhanging piston rod.
The overhanging piston-rod end of the piston 17 of paw oil cylinder fastens a rectangular shaped slider 14, square by hinged bolts 13
14 center of shape sliding block be provided with process hole bolt 13 by central through hole and be used cooperatively with overhanging piston-rod end Kidney portion
Kidney-shaped deep gouge, for preventing the overhanging piston rod of rectangular shaped slider 14 and piston 17 from radial-play and relative rotation occurs.Rectangle
The inner rectangular slot clearance fit with a turning block 15, the two can opposite slidings respectively for 14 left and right sides of sliding block；The rotation
15 outside of sliding block is rounded, and hinged circular hole clearance fit corresponding on staggered form or flatly moving type paw ontology uses, the two
It can relatively rotate.When the overhanging piston rod of paw oil cylinder pushing moves, rectangular shaped slider 14 can be made to be relatively moved with turning block 15
Meanwhile turning block 15 relatively rotates with staggered form or flatly moving type paw ontology, to push paw ontology to open and close.`
Replaceable paw 12 has translation paw and intersects paw two types.Two type paws can be replaced quickly for convenience
It changes, is equipped with the paw pedestal 11 that two types paw shares, is made of pedestal bottom plate and mounting ear, appearance is tapered.Pedestal bottom
Plate center is set there are one through-hole, is placed on 10 flange boss 408 of motor output shaft, screw is used in combination to fasten；Perpendicular to pedestal bottom plate
If there are two the mounting ear being arranged symmetrically, two groups of through holes vertical about plane are distributed in two mounting ear vertical direction,
In far from one group of axis to be used when installation staggered form paw, two groups of holes of installation translation paw need all to use.Rectangular shaped slider
14, turning block 15, hinged bolts 13 are also common elements, do not have to tear entire wrist joint open when being replaced in this way
It unloads, it is only necessary to the paw ontology of two class paw components is articulated with paw pedestal with respective axis pin, turning block is inserted into paw sheet
On body in respective hinge hole.
Translation paw is two-piece type, translation paw ontology 300, paw pedestal 303, flatly moving type finger 301,302 groups of connecting rod
At a parallelogram sturcutre, translation paw ontology 300 is made by paw oil cylinder piston 17, rectangular shaped slider 14, turning block 15
Rotation, driving parallelogram linkage realize paw translation folding, and there are copper sheathing, partition, axis pin and fastener in each hinged place
It plays support and keeps rotation.Intersect paw by paw oil cylinder 17 with rectangular shaped slider 14, turning block 15, staggered form paw sheet
Body 200 forms crank block and develops mechanism, and staggered form paw ontology 200 is used as driving lever by hydraulic oil cylinder driving, to realize paw
Intersect folding, four hand staggered forms refer to 201 be it is dismountable, can according to various combination mode with paw cushion block 202 by double
The connection of header stud 203 uses；
Flatly moving type finger 301 and 200 bottom surface of staggered form paw ontology are provided with V-shaped groove, and V-shaped groove has twice, and it is in T words to intersect
Shape is symmetrical about center line, the V-shaped groove of two paw ontologies when paw clamps, can automatic centering clamp sampling basket in operation
Tee handle bar on tool realizes accurate operation.Rectangle counterbore there are one being set in V-shaped groove crossover location, avoids tee handle bar from welding
Locate influence of the overlap of protrusion to paw automatic centering clamping action.Staggered form finger 201 is arc-shaped, on inner surface and flatly moving type
Finger is equally covered with V-arrangement striped, and frictional force when object is captured to increase.
Multiple-action inner curved 8 exposed parts of plunger type motor shell of wrist motor carry out teflon coatings process,
Motor drive end bearing bracket 3, motor rear end lid 9, motor front end flow block 1, paw pedestal 11, flatly moving type paw ontology 300 and intersection hand
Pawl ontology 200, flatly moving type finger 301, hand staggered form finger 201 material be 6061T6, and carry out at hard anodizing
Reason, motor output shaft 10, locking nut 21, piston 17, rectangular shaped slider 14, hinged bolts 13, connecting rod 302, each axis pin material
For 0Cr17Ni4Cu4Nb, hard tube 44 and remaining fastener material are 316, and copper sheathing, partition and 15 material of turning block are QAL10-
10-4。
Wherein in order to adapt to the deep work condition environment high pressure feature in full sea, all hydraulic fluid ports in entire mechanical wrist joint and threading interface
It should all be attached with external compensator, compensator is supporting technology tool for carrying out the present invention, is the prior art, is used for
Work opportunity tool wrist joint internal and external environment pressure under equilibrium water.In addition to this, multiple-action inner curved radial plunger type hydraulic pressure horse
It is half motor sub-assemblies of Rexroth MCR3 up to shell 8, motor end face port plate 4, is also market ripe, can be obtained by transformation
To having above-mentioned function wrist motor.
The actual scope of the present invention not only include the disclosed embodiments, further include under claims implement or
Execute all equivalent schemes of the present invention.
Claims (9)
1. a kind of deep hydraulic machinery wrist joint in full sea, including wrist motor, paw oil cylinder and replaceable paw；Its feature exists
In wrist motor includes the motor shell and motor end face port plate of multiple-action inner curved radial piston hydraulic motor, and another
Row is equipped with motor drive end bearing bracket, motor rear end lid, motor output shaft, plane needle roller thrust bearing, motor front end flow block；Motor is defeated
The axial cross section of shaft is in T shape, and between motor rear end lid and paw pedestal, axle portion sequentially passes through flat for discoid outer end
Face needle roller thrust bearing, motor rear end lid, motor shell, motor end face port plate, plane needle roller thrust bearing, motor front end
Lid, plane needle roller thrust bearing and locking nut pressing plate, and pre-tightened in the inner end of motor output shaft to prevent axis by locking nut
To play；The central light aperture for being arranged angular transducer rotation axis, angle sensor are equipped on the inner face of motor output shaft
Device fixed part is fixedly connected by screw with motor drive end bearing bracket；The rotation axis of angular transducer is marked closely by holding screw in motor
For preventing from relatively rotating between the two on output shaft, angular transducer Wire joint is set on the flow block of motor front end
With paw oil cylinder flow connector；Motor end face port plate is hollow shaft internal spline structure, passes through spline between motor output shaft
Torque is transmitted, is fastened respectively with screw between motor shell and motor rear end lid, motor shell and motor drive end bearing bracket；
It is equipped with two in the interior end side of motor output shaft and matches circulation road, one is the paw conjunction on the axis of motor output shaft
With circulation road, a paw for being parallel to axis lateral arrangement is opened with circulation road；Two are radial hole and axis with circulation road
It is connected to the L-shaped channel to be formed to hole, separated radial hole with rotation Glais ring with three axis and realizes radial seal；In motor
The outer end side axle heart of output shaft sets cylinder body of the cavity as paw oil cylinder, built-in piston body, and piston body both ends respectively set a piston
Bar；One of them is the overhanging piston rod for stretching out cylinder cover, the folding for driving paw；The other is being exported positioned at motor
Axis paw is closed with the flow piston rod in circulation road, for hydraulic oil to be distributed to overhanging piston rod institute in the chamber；Oil cylinder end
It is threadedly connected to the cavity of i.e. motor output shaft other than lid, is realized and cylinder body and overhanging piston by O-ring and Glais ring respectively
Sealing between bar.
2. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that from the inner end of motor output shaft
It is equipped with central light aperture successively to outer end, radial direction marks closely threaded hole, axial locking external screw thread, forward end seal optical axis, external splines, rear end
Seal optical axis, connecting flange, bearing installation deep gouge, flange boss, plunger shaft and end cap connection screw thread；Paw close with circulation road by
Two sector hole roads form, and one section is, positioned at the radial hole on forward end seal optical axis surface, another section is on motor output shaft axis
Be stepped the axial hole being connected to plunger shaft, and it is cavity where flow piston rod that wherein axial hole is used as simultaneously；Paw, which is opened, matches
Circulation road is also made of two sector hole roads, and one section is, positioned at the radial hole on forward end seal optical axis surface, another section is to be parallel to motor
The axial hole that output shaft axis lateral arrangement is directly connected to plunger shaft；In tri- axis of motor drive end bearing bracket Nei Yi rotation Glais ring
Above-mentioned two radial holes with circulation road are separated and realize radial seal.
3. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that in the overhanging work of paw oil cylinder
Stopper rod end, is fastened by bolts a rectangular shaped slider, the inside square with a turning block respectively at left and right sides of rectangular shaped slider
Shape slot clearance fit, the two can opposite slidings；Rounded, circular hole corresponding on paw ontology gap outside turning block
It is used cooperatively, the two can relatively rotate；When the overhanging piston rod movement of paw oil cylinder pushing, make rectangular shaped slider and turning block phase
While to movement, turning block relatively rotates with paw ontology, to push two paw ontologies foldings.
4. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that the piston body and piston rod
It is structure as a whole, two piston rods are respectively positioned on the axis of motor output shaft, wherein the diameter of overhanging piston rod is lived more than flow
The diameter of stopper rod；Piston body is radially provided with sealed groove and is oriented to groove, and flow piston rod is radially provided with two sealing ditches
Slot and axis direction is provided with circulation road；It sets there are one radial cross-shaped through hole, uses in piston body and overhanging piston rod intersection
In closing paw overhanging piston rod place chamber is distributed to the hydraulic oil in circulation road.
5. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that the multiple-action inner curved diameter
To plunger hydraulic motor oil inlet, oil return opening and unloading port respectively by hard tube deflecting, connect with the flow of motor output shaft
Mouth direction keeps in the same direction.
6. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that the replaceable paw has flat
Dynamic formula paw and staggered form paw two types, two kinds of paws share paw pedestal, paw oil cylinder and part articulation piece, to realize
Fast quick-detach and replacement paw；Flatly moving type paw is two-piece type, and hand is realized by paw hydraulic oil cylinder driving parallelogram linkage
Pawl translation folding；Staggered form paw is four finger formulas, and developing mechanism by paw hydraulic oil cylinder driving crank block realizes that paw intersects folding,
Its four fingers are detachable and can be used according to various combination mode；It is covered with V-arrangement lines on the inner surface of paw, is grabbed for increasing
Take frictional force when object.
7. the deep hydraulic machinery wrist joint in full sea according to claim 6, which is characterized in that in flatly moving type paw and intersection
The ontology bottom surface of formula paw is provided with V-shaped groove, and V-shaped groove has twice, intersects distribution in T shape, for automatic when paw clamps
Centering clamps the tee handle bar on power tool in sampling basket.
8. the deep hydraulic machinery wrist joint in full sea according to claim 6, which is characterized in that the shared paw pedestal
It is made of pedestal bottom plate and mounting ear, appearance is tapered；The center of pedestal bottom plate is set there are one through-hole, is placed on motor output shaft
On connecting flange boss, and fastened with screw；Set that there are two the mounting ear that is arranged symmetrically, two mounting ears perpendicular to pedestal bottom plate
Vertical direction grabs base axis about hand and is symmetrically distributed with two groups of through holes.
9. the deep hydraulic machinery wrist joint in full sea according to claim 6, which is characterized in that the hand of the staggered form paw
Refer to arc-shaped, shares four；Paw cushion block is set between homonymy finger, two through-holes are set on every finger, for across double end spiral shell
Column is to be connected to paw ontology.
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| CN201810426789.5A CN108555882B (en) | 2018-05-07 | 2018-05-07 | Full sea depth hydraulic mechanical wrist joint |
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|---|---|---|---|
| CN201810426789.5A CN108555882B (en) | 2018-05-07 | 2018-05-07 | Full sea depth hydraulic mechanical wrist joint |
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| CN108555882B CN108555882B (en) | 2024-03-15 |
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| CN109849041A (en) * | 2019-03-28 | 2019-06-07 | 杭州宇控机电工程有限公司 | A kind of wrist for hydraulic efficiency manipulator turns clamp structure |
| CN112809717A (en) * | 2021-01-26 | 2021-05-18 | 华中科技大学 | Water pressure drive integrated form manipulator end effector |
| CN113733145A (en) * | 2020-05-29 | 2021-12-03 | 核动力运行研究所 | Mechanical gripper structure suitable for grabbing foreign matters in complex space |
| CN116061231A (en) * | 2023-02-15 | 2023-05-05 | 北京天玛智控科技股份有限公司 | High water-based hydraulic mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849041A (en) * | 2019-03-28 | 2019-06-07 | 杭州宇控机电工程有限公司 | A kind of wrist for hydraulic efficiency manipulator turns clamp structure |
| CN113733145A (en) * | 2020-05-29 | 2021-12-03 | 核动力运行研究所 | Mechanical gripper structure suitable for grabbing foreign matters in complex space |
| CN112809717A (en) * | 2021-01-26 | 2021-05-18 | 华中科技大学 | Water pressure drive integrated form manipulator end effector |
| CN112809717B (en) * | 2021-01-26 | 2022-03-15 | 华中科技大学 | Water pressure drive integrated form manipulator end effector |
| CN116061231A (en) * | 2023-02-15 | 2023-05-05 | 北京天玛智控科技股份有限公司 | High water-based hydraulic mechanical arm |
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