CN109915559A - A kind of short underwater electric linear cylinder mechanism - Google Patents
A kind of short underwater electric linear cylinder mechanism Download PDFInfo
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- CN109915559A CN109915559A CN201711331095.5A CN201711331095A CN109915559A CN 109915559 A CN109915559 A CN 109915559A CN 201711331095 A CN201711331095 A CN 201711331095A CN 109915559 A CN109915559 A CN 109915559A
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- trapezoidal screw
- motor
- cabin
- screw rod
- fixing piece
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Abstract
The present invention relates to underwater robot engineerings, specifically a kind of short underwater electric linear cylinder mechanism, motor are located in the cabin A, and trapezoidal screw screw rod, trapezoidal screw nut and push rod are located in the cabin B, and be arranged side by side with motor, motor driver is located in the cabin C, driving motor works；Trapezoidal screw screw rod is rotatably installed in cylinder body, one end is pierced by by the cabin B, is connected by gear pair with the output end of motor, it is connect in other end insertion push rod and with trapezoidal screw nut thread, one end of push rod is connected with trapezoidal screw nut, and the other end is pierced by by cylinder body；Motor drives the rotation of trapezoidal screw screw rod by gear pair, and trapezoidal screw screw rod and trapezoidal screw nut form trapezoidal screw pair, convert the rotary motion of trapezoidal screw screw rod to the linear motion of trapezoidal screw nut, and then drive push rod linear movement output.The present invention has many advantages, such as that compact-sized, multiple functional, failure rate is low, oil-filled progress pressure compensation can work in sea deeply entirely.
Description
Technical field
The present invention relates to underwater robot engineering, specifically a kind of short underwater electric linear cylinder mechanism can be applied
In the development of the underwater kits such as underwater manipulator.
Background technique
Motor driven is small, low in energy consumption with volume weight, control precision is high, can realize that full sea is made deeply by pressure compensator
The advantages that industry, thus motor driver underwater robot engineering field have broad application prospects.
Due to being in the particular surroundings at deep-sea, underwater driving device requires high pressure resistant, corrosion-resistant, compact-sized, close
Reliable wait of envelope requires；Compact-sized demand is required for underwater manipulator, develops the lesser water of reliable performance, axial length
Lower electric linear cylinder is of great significance.
Summary of the invention
In order to meet requirement of the deep-sea particular surroundings to underwater driving device, the purpose of the present invention is to provide a kind of short
Underwater electric straight line cylinder structure.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes cylinder body and is respectively contained in the intracorporal gear pair of the cylinder, motor, trapezoidal screw screw rod, trapezoidal screw
Nut, motor driver and push rod are wherein equipped with the cabin A, the cabin B and the cabin C in cylinder body, the motor is located in the cabin A, the trapezoidal silk
Thick stick screw rod, trapezoidal screw nut and push rod are located in the cabin B, and are arranged side by side with motor, the motor driver is located in the cabin C,
Driving motor work；The trapezoidal screw screw rod is rotatably installed in cylinder body, one end is pierced by by the cabin B, by gear pair with
The output end of motor is connected, and connect in other end insertion push rod and with the trapezoidal screw nut thread, one end of the push rod
It is connected with the trapezoidal screw nut, the other end is pierced by by the cylinder body；The motor drives trapezoidal screw screw rod by gear pair
Rotation, the trapezoidal screw screw rod and trapezoidal screw nut form trapezoidal screw pair, convert the rotary motion of trapezoidal screw screw rod
For the linear motion of trapezoidal screw nut, and then drive the push rod linear movement output；
Wherein: installed on the cylinder body promising cylinder body provide pressure compensation oil and cable tray it is oil-filled walk wire terminal, should
It is oil-filled walk wire terminal be connected with the intracorporal cabin A of cylinder, the cabin B and the cabin C；One end of the push rod is along the circumferential direction evenly equipped with more
The cabin B of a oil-through-hole passed through for pressure compensation oil, push rod one end two sides is connected by each oil-through-hole, described in realization
Stuffing pressure compensation oil inside the cabin B；
Guidance tape is equipped between the outer surface of described push rod one end and the inner wall in the cabin B, one end of the push rod is led by described
Inner wall sliding contact to band and the cabin B；
The cylinder body includes rear end cap, gear pair fixing piece, motor trapezoidal screw screw rod fixing piece and main casing, the rear end
It is successively tightly connected between lid, gear pair fixing piece, motor trapezoidal screw screw rod fixing piece and main casing, forms the cylinder body；
The gear pair between rear end cap and gear pair fixing piece, the gear pair by sliding bearing respectively with rear end cap and gear
Secondary fixing piece connection；
The main casing is hollow structure open at one end, and open end and the motor trapezoidal screw screw rod fixing piece seal
The inner space that connection, the motor trapezoidal screw screw rod fixing piece and main casing surround is divided into the cabin A, the cabin B and the cabin C；
Between the rear end cap and gear pair fixing piece, gear pair fixing piece and motor trapezoidal screw screw rod fixing piece it
Between, between motor trapezoidal screw screw rod fixing piece and main casing be respectively provided with static sealing ring, separate with the external world；
The gear pair includes two intermeshing transmissions with cogged gear shaft, one of them is with cogged tooth
Wheel shaft is connected with the output end of the motor, another one end phase with cogged gear shaft with the trapezoidal screw screw rod
Even；The both ends of each cogged gear shaft of the band are respectively and on the sliding bearing inner ring and gear pair fixing piece on rear end cap
Sliding bearing inner ring be cooperatively connected；
The trapezoidal screw screw rod is mounted on motor trapezoidal screw screw rod fixing piece by thrust ball bearing and retaining ring,
The two sides of the motor trapezoidal screw screw rod fixing piece axial direction are equipped with thrust ball bearing, close to trapezoidal screw nut side
Thrust ball bearing passes through the shaft shoulder positioning on motor trapezoidal screw screw rod fixing piece and trapezoidal screw screw rod, the thrust ball of the other side
Bearing holds out against positioning by the retaining ring being mounted on the trapezoidal screw screw rod；
The side that the main casing is contacted with motor trapezoidal screw screw rod fixing piece is provided with groove, and the motor guides motor into
The line of driver is passed through by the groove；
Being equipped on the cylinder body ensures that linear cylinder mechanism avoids the sacrificial anode of corrosion in the seawater.
Advantages of the present invention and good effect are as follows:
1. performance is stablized: applying gear pair in the present invention, gear drive has that stable drive, transmission ratio be accurate, efficiency
It is high, the service life is long, the power that uses, the advantages that speed and size range are big；Invention applies trapezoidal screw pairs to have self-locking energy
Power；The present invention uses built-in motor driver, and avoid motor driver is influenced by external environment, has higher reliable
Property, and reduce cabling number.
2. compact-sized: motor of the invention is placed side by side with linear motion output end, and it is axially long to greatly reduce cylinder body
Degree, structure are more compact.
3. on main casing of the invention equipped with it is oil-filled walk wire terminal, by it is oil-filled walk wire terminal can introduce compensation oil, implement
Pressure compensation, it is ensured that can be worked normally in hyperbaric environment under water.
4. being equipped with sacrificial anode on main casing of the invention, prevent linear cylinder mechanism from corroding in the seawater.
5. debugging, being easy to maintain: the cylinder body in the present invention is divided into multistage, convenient for the installation and replacement of part.
Detailed description of the invention
Fig. 1 is internal structure cross-sectional view of the invention；
Fig. 2 is schematic perspective view of the invention；
Wherein: 1 is rear end cap, and 2 be gear pair, and 3 be gear pair fixing piece, and 4 be motor trapezoidal screw screw rod fixing piece, 5
It is trapezoidal screw screw rod for motor, 6,7 be trapezoidal screw nut, and 8 be motor driver, and 9 be push rod, and 10 be main casing, and 11 are
Static sealing ring, 12 be sliding bearing, and 13 be flat key, and 14 be retaining ring, and 15 be thrust ball bearing, and 16 be dynamic seal ring, and 17 be oil-filled
Wire terminal is walked, 18 be sacrificial anode, and 19 be guidance tape, and 20 be groove, and 21 be oil-through-hole.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, the present invention includes cylinder body and is respectively contained in the intracorporal gear pair 2 of the cylinder, motor 5, trapezoidal
Lead screw screw rod 6, trapezoidal screw nut 7, motor driver 8 and push rod 9, wherein cylinder body include rear end cap 1, gear pair fixing piece 3,
Motor trapezoidal screw screw rod fixing piece 4 and main casing 10, the rear end cap 1, gear pair fixing piece 3, motor trapezoidal screw screw rod are solid
Determine part 4 and main casing 10 to be successively fastened and connected by screw, form cylinder body, between rear end cap 1 and gear pair fixing piece 3,
Between gear pair fixing piece 3 and motor trapezoidal screw screw rod fixing piece 4, motor trapezoidal screw screw rod fixing piece 4 and main casing 10
Between be respectively provided with static sealing ring 11, with the external world separate.Main casing 10 is hollow structure open at one end, open end and motor ladder
Shape lead screw screw rod fixing piece 4 is tightly connected, the inner space that the motor trapezoidal screw screw rod fixing piece 4 and main casing 10 surround point
At the cabin A arranged side by side, the cabin B and the cabin C.Motor 5 is located in the cabin A, trapezoidal screw screw rod 6, trapezoidal screw nut 7 and push rod 9
It is arranged side by side in the cabin B, and with motor 5, motor driver 8 is located in the cabin C, the work of driving motor 5.
Gear pair 2 between rear end cap 1 and gear pair fixing piece 3, the gear pair 2 by sliding bearing 12 respectively with it is rear
End cap 1 and gear pair fixing piece 3 connect.Gear pair 2 includes two intermeshing transmissions with cogged gear shaft, motor 5
Be fixed on motor trapezoidal screw screw rod fixing piece 4, output end and one of them connected with cogged gear shaft by flat key 13
Transmission is connect, another is connected with one end of trapezoidal screw screw rod 6 by flat key 13 with cogged gear shaft.Each have gear
Gear shaft both ends respectively and in 12 inner ring of sliding bearing on rear end cap 1 and the sliding bearing 12 on gear pair fixing piece 3
Circle is cooperatively connected.Trapezoidal screw screw rod 6 is rotatably installed in motor trapezoidal screw screw rod by thrust ball bearing 15 and retaining ring 14 and consolidates
Determine on part 4, one end is pierced by by the cabin B, is threadedly coupled in other end insertion push rod 9 and with trapezoidal screw nut 7, trapezoidal screw spiral shell
Mother 7 is threadedly engaged to form trapezoidal screw pair with trapezoidal screw screw rod 6, and trapezoidal screw pair has self-lock ability；What motor 5 exported
Rotary motion is transmitted on trapezoidal screw screw rod 6 by gear pair 2, and trapezoidal screw adjutant's rotary motion is converted into linear motion.
The axial two sides of motor trapezoidal screw screw rod fixing piece 4 are equipped with thrust ball bearing 15, close to pushing away for 7 side of trapezoidal screw nut
Power ball bearing 15 passes through the shaft shoulder positioning on motor trapezoidal screw screw rod fixing piece 4 and trapezoidal screw screw rod 6, the thrust of the other side
Ball bearing 15 holds out against positioning by the retaining ring 14 being mounted on trapezoidal screw screw rod 6.One end of push rod 9 and trapezoidal screw nut 7
It being fixedly connected by screw, can be moved in a straight line under the drive of trapezoidal screw nut 7, the other end is pierced by by main casing 10, and with
Dynamic seal ring 16 is housed between main casing 10.Motor 5, gear pair 2,9 structure of trapezoidal screw screw rod 6, trapezoidal screw nut 7 and push rod
At executing agency of the invention.
Be separately installed on main casing 10 it is oil-filled walk wire terminal 17 and sacrificial anode 18, it is oil-filled walk wire terminal 17 mentioned for cylinder body
For compensation oil and cable tray, sacrificial anode 18 protects linear cylinder to avoid corroding in the seawater.It is oil-filled walk wire terminal 17 and the cabin A, B
Cabin and the cabin C are connected.One end of push rod 9 is along the circumferential direction evenly equipped with multiple oil-through-holes 21 passed through for pressure compensation oil, push rod 9
The cabin B of one end two sides is connected by each oil-through-hole 21, can make to be stuffed entirely with pressure compensation oil inside the cabin B.By to the cabin A, B
Cabin and the cabin C injection pressure compensation oil, can balance the ambient pressure that main casing 10 is subject to.The outer surface of 9 one end of push rod is interior with the cabin B
Guidance tape 19 is equipped between wall, one end of the push rod 9 passes through the inner wall sliding contact of guidance tape 19 and the cabin B, anti-throw-out lever 9 and B
The dry grinding of cabin inner wall.Intermediate position is provided with groove 20 on the contact surface that main casing 10 is contacted with motor trapezoidal screw screw rod fixing piece 4,
Channel is provided to 8 lead of driver for motor 5.
The operation principle of the present invention is that:
Two built in cylinder body constitute gear pair 2, trapezoidal screw screw rod 6 and trapezoidal screw spiral shell with cogged gear shaft
Mother 7 forms trapezoidal screw pair, and the rotary motion that motor 5 exports is transmitted to trapezoidal screw screw rod 6, trapezoidal screw pair by gear pair 2
Convert rotary motion to the linear motion of trapezoidal screw nut 7, trapezoidal screw nut 7 drives push rod 9 to move in a straight line, push rod
9 output straight line forces and displacement.The secondary placement side by side of motor 5 and trapezoidal screw it is axially long have been shortened cylinder body by the addition of gear pair 2
Degree, so that structure is more compact；Meanwhile the present invention has pressure compensation, and sacrificial anode 18 is housed, and selected driving member
Device can work under 115MPa environment.The present invention can be in Quan Haishen environment under the oil-filled progress pressure compensation of cylinder interior
Middle work.
The present invention have many advantages, such as it is compact-sized, reliable performance, debugging it is convenient.Motor 5 and trapezoidal screw in the present invention
Pair is configured using side-by-side configuration, reduces the axial length of the cylinder, and structure is more compact and built-in motor driver, is reduced
Cabling number makes it have higher reliability.
Claims (10)
1. a kind of short underwater electric linear cylinder mechanism, it is characterised in that: including cylinder body and be respectively contained in the intracorporal tooth of the cylinder
Wheel set (2), motor (5), trapezoidal screw screw rod (6), trapezoidal screw nut (7), motor driver (8) and push rod (9), middle cylinder
It is equipped with the cabin A, the cabin B and the cabin C in vivo, the motor (5) is located in the cabin A, the trapezoidal screw screw rod (6), trapezoidal screw nut (7)
It is located in the cabin B with push rod (9), and is arranged side by side with motor (5), the motor driver (8) is located in the cabin C, driving motor (5)
Work；The trapezoidal screw screw rod (6) is rotatably installed in cylinder body, and one end is pierced by, by gear pair (2) and electricity by the cabin B
The output end of machine (5) is connected, and is threadedly coupled in other end insertion push rod (9) and with the trapezoidal screw nut (7), described to push away
One end of bar (9) is connected with the trapezoidal screw nut (7), and the other end is pierced by by the cylinder body；The motor (5) passes through gear pair
(2) drive trapezoidal screw screw rod (6) rotation, the trapezoidal screw screw rod (6) and trapezoidal screw nut (7) formation trapezoidal screw pair,
It converts the rotary motion of trapezoidal screw screw rod (6) to the linear motion of trapezoidal screw nut (7), and then drives the push rod
(9) linear movement output.
2. short underwater electric linear cylinder mechanism according to claim 1, it is characterised in that: installed on the cylinder body promising
Cylinder body provide pressure compensation oil and cable tray it is oil-filled walk wire terminal (17), this it is oil-filled walk wire terminal (17) and the intracorporal institute of cylinder
The cabin A, the cabin B and the cabin C is stated to be connected；One end of the push rod (9) is along the circumferential direction evenly equipped with multiple to be passed through for pressure compensation oil
The cabin B of oil-through-hole (21), push rod (9) one end two sides is connected by each oil-through-hole (21), is realized and is filled out inside the cabin B
Pressurising force compensating oil.
3. short underwater electric linear cylinder mechanism according to claim 1, it is characterised in that: described push rod (9) one end
Guidance tape (19) are equipped between outer surface and the inner wall in the cabin B, one end of the push rod (9) passes through the guidance tape (19) and the cabin B
Inner wall sliding contact.
4. short underwater electric linear cylinder mechanism according to claim 1, it is characterised in that: the cylinder body includes rear end cap
(1), gear pair fixing piece (3), motor trapezoidal screw screw rod fixing piece (4) and main casing (10), the rear end cap (1), gear pair
It is successively tightly connected between fixing piece (3), motor trapezoidal screw screw rod fixing piece (4) and main casing (10), forms the cylinder body；
The gear pair (2) is located between rear end cap (1) and gear pair fixing piece (3), which passes through sliding bearing (12) point
It is not connect with rear end cap (1) and gear pair fixing piece (3).
5. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that: the main casing (10) is one
The hollow structure of end opening, open end and the motor trapezoidal screw screw rod fixing piece (4) are tightly connected, the motor trapezoidal screw
The inner space that screw rod fixing piece (4) and main casing (10) surround is divided into the cabin A, the cabin B and the cabin C.
6. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that: the rear end cap (1) and tooth
Between wheel set fixing piece (3), between gear pair fixing piece (3) and motor trapezoidal screw screw rod fixing piece (4), motor trapezoidal screw
It is respectively provided with static sealing ring (11) between screw rod fixing piece (4) and main casing (10), separates with the external world.
7. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that: the gear pair (2) includes
Two intermeshing transmissions with cogged gear shaft, one of them is defeated with cogged gear shaft and the motor (5)
Outlet is connected, another is connected with cogged gear shaft with one end of the trapezoidal screw screw rod (6)；Each band is with teeth
The both ends of the gear shaft of wheel respectively with the sliding on sliding bearing (12) inner ring and gear pair fixing piece (3) on rear end cap (1)
Bearing (12) inner ring is cooperatively connected.
8. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that: the trapezoidal screw screw rod
(6) it is mounted on motor trapezoidal screw screw rod fixing piece (4) by thrust ball bearing (15) and retaining ring (14), it is trapezoidal in the motor
The two sides of lead screw screw rod fixing piece (4) axial direction are equipped with thrust ball bearing (15), close to trapezoidal screw nut (7) side
Thrust ball bearing (15) is another by the shaft shoulder positioning on motor trapezoidal screw screw rod fixing piece (4) and trapezoidal screw screw rod (6)
The thrust ball bearing (15) of side holds out against positioning by the retaining ring (14) being mounted on the trapezoidal screw screw rod (6).
9. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that: the main casing (10) and electricity
The side of machine trapezoidal screw screw rod fixing piece (4) contact is provided with groove (20), and the motor (5) guides motor driver (8) into
Line is passed through by the groove (20).
10. short underwater electric linear cylinder mechanism according to claim 1, it is characterised in that: be equipped on the cylinder body
Ensure that linear cylinder mechanism avoids the sacrificial anode (18) of corrosion in the seawater.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711331095.5A CN109915559A (en) | 2017-12-13 | 2017-12-13 | A kind of short underwater electric linear cylinder mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711331095.5A CN109915559A (en) | 2017-12-13 | 2017-12-13 | A kind of short underwater electric linear cylinder mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109915559A true CN109915559A (en) | 2019-06-21 |
Family
ID=66958980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711331095.5A Pending CN109915559A (en) | 2017-12-13 | 2017-12-13 | A kind of short underwater electric linear cylinder mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109915559A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114483699A (en) * | 2020-11-11 | 2022-05-13 | 中国科学院沈阳自动化研究所 | Underwater electric linear cylinder mechanism with joint angle feedback |
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| JP2017184479A (en) * | 2016-03-30 | 2017-10-05 | Ntn株式会社 | Motor case and electric actuator |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1922418A (en) * | 2004-02-24 | 2007-02-28 | 利纳克有限公司 | A linear actuator comprising an overload clutch |
| CN101248297A (en) * | 2005-08-26 | 2008-08-20 | 空中客车德国有限公司 | Linear actuating organ, in particular for the remote actuation of displaceable components in wind tunnel models |
| CN102667246A (en) * | 2009-11-13 | 2012-09-12 | 利纳克有限公司 | Linear actuator |
| CN102696168A (en) * | 2009-11-26 | 2012-09-26 | Ntn株式会社 | Electrical actuator |
| WO2013018906A1 (en) * | 2011-08-04 | 2013-02-07 | Ntn株式会社 | Electric linear actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114483699A (en) * | 2020-11-11 | 2022-05-13 | 中国科学院沈阳自动化研究所 | Underwater electric linear cylinder mechanism with joint angle feedback |
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