CN109940599A - Sealing machine arm assembly for subaqueous survey - Google Patents
Sealing machine arm assembly for subaqueous survey Download PDFInfo
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- CN109940599A CN109940599A CN201910354989.9A CN201910354989A CN109940599A CN 109940599 A CN109940599 A CN 109940599A CN 201910354989 A CN201910354989 A CN 201910354989A CN 109940599 A CN109940599 A CN 109940599A
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- 238000007789 sealing Methods 0.000 title claims abstract description 74
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 238000009434 installation Methods 0.000 claims abstract description 23
- 239000000725 suspension Substances 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000001970 hydrokinetic effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004962 physiological condition Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
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Abstract
The invention discloses a kind of sealing machine arm assemblies for subaqueous survey.The sealing machine arm assembly includes: chassis and mounting base；Seal box, seal box have seal chamber；First motor, first motor are located in seal chamber；Second motor, the second motor are located in seal chamber；First transmission shaft and second driving shaft, the first transmission shaft are connected with first motor, and second driving shaft is connected with the second motor, and a part of the first transmission shaft stretches out seal chamber and is connected with chassis, and a part of second driving shaft stretches out seal chamber and is connected with mounting base；Force snesor, force snesor are located in mounting base；And hollow pipe, hollow pipe are located on force snesor, have installation cavity in hollow pipe, and noncontacting proximity sensor is equipped in installation cavity and/or hollow pipe is equipped with touch sensor.Sealing machine arm assembly according to an embodiment of the present invention has many advantages, such as that good seal performance, sealing difficulty are low, weight is small, it is big to bear load, can measure the multi-signals such as force signal.
Description
Technical field
The present invention relates to mechanical arm fields, and in particular, to the sealing machine arm assembly for subaqueous survey.
Background technique
With the continuous reduction of land non-renewable resources, marine resources development is had received widespread attention.Underwater
Work condition environment has its particularity compared with land, and marine environment integrates the maximum conditions such as high pressure, high density, high salt, ring
Border is severe, and danger coefficient is big, and personnel can not reach, and has excessive uncertain factor.Restriction by complicated marine environmental conditions
And the limitation of human physiological conditions, exploration of ocean resources and exploitation need corresponding equipment and technology.
The quickening of ocean development process, the requirement to the detections such as aquatic monitoring and underwater kit stress is higher and higher, because
This increasingly increases can be applied to underwater device requirement.Based on sensor measurement water body environment, can be obtained very various
Detection data, this can provide highly important reference value for marine surveys and related fields.It is underwater based on sensor research
Rule between mechanical device movement and stress can establish accurate and applicable Hydrodynamic Model, this to be based on hydrodynamics
The submarine mechanical device of model has boundless application prospect.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention mentions
It is used for the sealing machine arm assembly of subaqueous survey out.
Sealing machine arm assembly according to an embodiment of the present invention for subaqueous survey includes: chassis and mounting base；Sealing
Case, the seal box have seal chamber；First motor for driving the seal box to rotate relative to the chassis, described first
Motor is located in the seal chamber；The second motor for driving the mounting base to rotate relative to the seal box, described second
Motor is located in the seal chamber；First transmission shaft and second driving shaft, first transmission shaft are connected with the first motor,
The second driving shaft is connected with second motor, wherein a part of first transmission shaft stretch out the seal chamber and with
The chassis is connected, and a part of the second driving shaft stretches out the seal chamber and is connected with the mounting base, and described first
The extending direction for extending perpendicularly to the second driving shaft of transmission shaft；Force snesor, the force snesor are located at described
In mounting base；And hollow pipe, the hollow pipe are located on the force snesor, the Packed installation cavity of tool in the hollow pipe,
It is equipped with noncontacting proximity sensor in the installation cavity and/or the hollow pipe is equipped with touch sensor.
Sealing machine arm assembly according to an embodiment of the present invention have good seal performance, sealing difficulty is low, weight is small, bear
Load big advantage.
In addition, the sealing machine arm assembly according to the above embodiment of the present invention for subaqueous survey can also have it is as follows
Additional technical characteristic:
According to one embodiment of present invention, the seal box includes: shell；Cover board, the cover board are located at the shell
On, the seal chamber is limited between the shell and the cover board；With the first sealing ring, first sealing ring is located at described
Between shell and the cover board.
According to one embodiment of present invention, the sealing machine arm assembly for subaqueous survey further comprises: the
One speed reducer, first retarder are located on the bottom plate of the shell, the first motor by first retarder with
First transmission shaft is connected；With the second retarder, second retarder is located on the side plate of the shell, second electricity
Machine is connected by second retarder with the second driving shaft.
According to one embodiment of present invention, the shell includes ontology, first on the lower surface for being located at the ontology
Boss and the second boss being located on the side of the ontology, the first boss have the first accommodating chamber, and described second is convex
Platform has the second accommodating chamber, and described a part of first transmission shaft stretches out first accommodating chamber, the second driving shaft
Described a part stretch out second accommodating chamber, a part of first retarder is located in first accommodating chamber, institute
The a part for stating the second retarder is located in second accommodating chamber, it is preferable that the ontology, the first boss and described
Two boss are integrally formed, and the sealing machine arm assembly further comprises: first bearing and second bearing, the first bearing position
In in first accommodating chamber, for first cardan-shaft suspension in the first bearing, the second bearing is located at described the
In two accommodating chambers, the second driving shaft is supported in the second bearing；And second sealing ring and third sealing ring, it is described
Second sealing ring is located between the first boss and first transmission shaft, and the third sealing ring is located at the second boss
Between the second driving shaft.
According to one embodiment of present invention, first retarder is first harmonic decelerator, and the first harmonic subtracts
The firm gear of fast device is located on the bottom plate of the ontology, and a part of the firm gear of the first harmonic decelerator is located at described first and holds
Receive intracavitary, first transmission shaft is connected with the flexbile gear of the first harmonic decelerator；Second retarder is second harmonic
The firm gear of retarder, the second harmonic retarder is located on the side plate of the ontology, and a part of the firm gear is located at described
In second accommodating chamber, the second driving shaft is connected with the flexbile gear of the second harmonic retarder.
According to one embodiment of present invention, first transmission shaft is equipped with first flange disk, the first flange disk
It is connected with the flexbile gear of the first harmonic decelerator；The second driving shaft is equipped with second flange disk, the second flange disk
It is connected with the flexbile gear of the second harmonic retarder.
According to one embodiment of present invention, the chassis is equipped with third accommodating chamber, a part of the first boss
In the third accommodating chamber, described a part of the first boss is supported on the chassis by 3rd bearing.
According to one embodiment of present invention, the sealing machine arm assembly for subaqueous survey further comprises sensing
Device bracket, the sensor stand are located in the mounting base, and the force snesor is located on the sensor stand.
According to one embodiment of present invention, the hollow pipe includes: tube body, and the tube body is made of PVC；And upper end
Lid and lower cover, the upper end cover are located on the upper end of the tube body, and the lower cover is located on the lower end of the tube body,
The installation cavity is limited between the tube body, the upper end cover and the lower cover, wherein the lower cover is located at the power
On sensor, noncontacting proximity sensor is equipped in the installation cavity, the upper end cover is equipped with touch sensor.
According to one embodiment of present invention, the tube body is multiple, and multiple tube bodies are successively hermetically connected, wherein
The upper end cover is provided on the upper end of the tube body of the top, and the lower cover is provided at the pipe of bottom
On the lower end of body, the installation cavity is limited between multiple tube bodies, the upper end cover and the lower cover.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the sealing machine arm assembly according to an embodiment of the present invention for subaqueous survey；
Fig. 2 is the explosive view of the sealing machine arm assembly according to an embodiment of the present invention for subaqueous survey；
Fig. 3 is the cross-sectional view of the sealing machine arm assembly according to an embodiment of the present invention for subaqueous survey；
Fig. 4 is the enlarged drawing of the a-quadrant in Fig. 3；
Fig. 5 is the enlarged drawing of the B area in Fig. 3.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings.Below with reference to
The embodiment of attached drawing description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings sealing machine arm assembly 1 according to an embodiment of the present invention for subaqueous survey is described.Such as figure
Shown in 1- Fig. 5, the sealing machine arm assembly 1 according to an embodiment of the present invention for subaqueous survey includes the 10, first electricity of seal box
Machine 210, the second motor 220, the first transmission shaft 310, second driving shaft 320, chassis 510, mounting base 520,530 and of force snesor
Hollow pipe 60.
Seal box 10 has seal chamber 110, and each of first motor 210 and the second motor 220 are located at seal chamber 110
It is interior.For first motor 210 for driving seal box 10 to rotate relative to chassis 510, the second motor 220 is used for 520 phase of drive installation seat
Seal box 10 is rotated.
First transmission shaft 310 is connected with first motor 210, and second driving shaft 320 is connected with the second motor 220.First passes
A part of moving axis 310 stretches out seal chamber 110, and a part of second driving shaft 320 stretches out seal chamber 110.In other words, it first passes
The a part of moving axis 310 and a part of second driving shaft 320 all stretch out seal box 10.Wherein, first transmission shaft 310
Extend perpendicularly to the extending direction of second driving shaft 320.
Chassis 510 is connected with a part of the first transmission shaft 310, a part of mounting base 520 and second driving shaft 320
It is connected.Force snesor 530 is located in mounting base 520, and hollow pipe 60 is located on force snesor 530.There is sealing in hollow pipe 60
Installation cavity 610, noncontacting proximity sensor 80 is equipped in installation cavity 610 and/or hollow pipe 60 is equipped with touch sensor.
The sealing machine arm assembly 1 according to an embodiment of the present invention for subaqueous survey is described below with reference to Fig. 1-Fig. 5
The course of work.After sealing machine arm assembly 1 submerges in water, chassis 510 can sink to water-bed (such as riverbed, sea bed etc.), by
This chassis 510 can no longer move.
Since first motor 210 can drive seal box 10 to rotate relative to chassis 510, first motor 210 can be driven
Dynamic sealing case 10 rotates (rotation) in XOY plane, and then first motor 210 can drive hollow pipe 60 (detection arm) in XOY
Plane internal rotation (rotation).Due to the second motor 220 can 520 opposing seal case 10 of drive installation seat rotation, second electricity
Machine 220 can drive hollow pipe 60 in XOZ plane internal rotation (rotation).Thus force snesor 530 is able to detect hollow pipe 60 and exists
Force signal in XOY plane and in XOZ plane.
Noncontacting proximity sensor 80 can be attitude transducer (such as gyroscope attitude transducer), so as to detect sky
Attitude signal of the heart pipe 60 in XOY plane and in XOZ plane.The touch sensor can be temperature sensor, density passes
Sensor etc., so as to parameters such as the temperature, the density that detect water.
Sealing machine arm assembly 1 according to an embodiment of the present invention is by the way that first motor 210 and the second motor 220 to be all located at
In seal box 10, to can not only reduce sealing difficulty, but also hollow pipe 60 can be enable orthogonal flat at two
It is rotated in face.
Moreover, by setting hollow pipe 60, so as to reduce the weight of sealing machine arm assembly 1.By utilizing chassis
510 bear the weight of seal box 10, first motor 210 and the second motor 220, so as to bear heavier load.
Therefore, sealing machine arm assembly 1 according to an embodiment of the present invention has that good seal performance, sealing difficulty be low, weight
Small, receiving loads the advantages that big, can measure the multi-signals such as force signal.
As shown in Figures 2 and 3, in some embodiments of the invention, seal box 10 may include shell 120, cover board 130
With the first sealing ring 140.Cover board 130 is located on shell 120, and seal chamber 110 is limited between shell 120 and cover board 130.First
Sealing ring 140 is located between shell 120 and cover board 130.It is possible thereby to keep the structure of seal box 10 more reasonable.
As Figure 2-Figure 5, shell 120 includes ontology 121, first boss 122 and second boss 123.First boss 122
It is located on the lower surface of ontology 121, second boss 123 is located on the side of ontology 121.First boss 122 has first to accommodate
Chamber 1221, second boss 123 have the second accommodating chamber 1231.First motor 210 and the second motor 220 can be located at ontology
In 121.First transmission shaft 310 vertically extends, and second driving shaft 320 is horizontally extending.In up and down direction such as Fig. 3
Arrow C shown in.
The a part of first transmission shaft 310 stretches out the first accommodating chamber 1221, and a part of second driving shaft 320 is stretched out
Second accommodating chamber 1231.Sealing machine arm assembly 1 can also include first bearing 710, second bearing 720, the second sealing ring 730
With third sealing ring 740.First bearing 710 is located in the first accommodating chamber 1221, and second bearing 720 is located at the second accommodating chamber 1231
It is interior.First transmission shaft 310 is supported in first bearing 710, and second driving shaft 320 is supported in second bearing 720.It is possible thereby to
Keep the structure of sealing machine arm assembly 1 more stable.
Second sealing ring 730 is located between first boss 122 and the first transmission shaft 310, and third sealing ring 740 is located at second
Between boss 123 and second driving shaft 320.It is possible thereby to further increase the sealing of seal box 10 and sealing machine arm assembly 1
Performance.
Preferably, ontology 121, first boss 122 and second boss 123 can be integrally formed.Thus it not only can be improved
The structural strength of shell 120, and the manufacture difficulty and manufacturing cost of shell 120 can be reduced.Shell 120, cover board 130 and
One sealing ring 140 can be rectangular.
As Figure 2-Figure 5, in one embodiment of the invention, sealing machine arm assembly 1 may further include
One speed reducer and the second retarder.First retarder is located on the bottom plate 124 of shell 120 (ontology 121), second retarder
It is located on the side plate 125 of shell 120 (ontology 121).First motor 210 passes through first retarder and 310 phase of the first transmission shaft
Even, the second motor 220 is connected by second retarder with second driving shaft 320.It is possible thereby to more precisely control first
The rotation angle of transmission shaft 310 and second driving shaft 320, so as to more precisely control hollow pipe 60 in XOZ plane and
Rotation angle in XOZ plane.
Preferably, the first retarder is first harmonic decelerator 410, and the second retarder is second harmonic retarder 420.It should
A part of first retarder is located in the first accommodating chamber 1221, and a part of second retarder is located at the second accommodating chamber 1231
It is interior.It is possible thereby to keep the structure of sealing machine arm assembly 1 more reasonable.
As Figure 2-Figure 5, the firm gear 411 of first harmonic decelerator 410 is located on the bottom plate 124 of ontology 121, and second is humorous
The firm gear 421 of wave retarder 420 is located on the side plate 125 of ontology 121.Preferably, firm gear 411 can be mounted on this by screw
On the medial surface (wall surface of seal chamber 110) of the bottom plate 124 of body 121, firm gear 421 can be mounted on side plate 125 by screw
Medial surface (side wall surface of seal chamber 110) on.
A part of the firm gear 411 of first harmonic decelerator 410 is located in the first accommodating chamber 1221, second harmonic retarder
A part of 420 firm gear 421 is located in the second accommodating chamber 1231.First transmission shaft 310 is soft with first harmonic decelerator 410
Wheel 412 is connected, and second driving shaft 320 is connected with the flexbile gear 422 of second harmonic retarder 420.
As Figure 2-Figure 5, the first transmission shaft 310 is equipped with first flange disk 330, first flange disk 330 and first humorous
The flexbile gear 412 of wave retarder 410 is connected.Second driving shaft 320 is equipped with second flange disk 340, second flange disk 340 and second
The flexbile gear 422 of harmonic speed reducer 420 is connected.That is, the first transmission shaft 310 passes through first flange disk 330 and first harmonic
The flexbile gear 412 of retarder 410 is connected, and second driving shaft 320 is soft by second flange disk 340 and second harmonic retarder 420
Wheel 422 is connected.
In a specific example of the invention, chassis 510 be equipped with third accommodating chamber 511, one of first boss 122
Quartile is in third accommodating chamber 511.It is possible thereby to keep the structure of sealing machine arm assembly 1 more compact.First boss 122 is somebody's turn to do
A part is supported on chassis 510 by 3rd bearing 750.That is, 3rd bearing 750 is located on chassis 510 and is located at
In third accommodating chamber 511,3rd bearing 750 is set in a part of first boss 122.It is possible thereby to make sealing machine arm
The structure of device 1 is more stable.
As shown in figs 2-4, sealing machine arm assembly 1 further comprises sensor stand 540, and sensor stand 540 is set
In mounting base 520, force snesor 530 is located on sensor stand 540.It is possible thereby to make the structure of sealing machine arm assembly 1
More rationally.
Hollow pipe 60 may include tube body 620, upper end cover 630 and lower cover 640, and tube body 620 is made of PVC, i.e. tube body
620 can be pvc pipe.Thus the weight of hollow pipe 60 can be not only greatly reduced, but also the resistance to of hollow pipe 60 can be improved
Corrosivity, strength and stiffness.
Upper end cover 630 is located on the upper end of tube body 620, and lower cover 640 is located on the lower end of tube body 620, tube body
620, installation cavity 610 is limited between upper end cover 630 and lower cover 640.Wherein, lower cover 640 is located on force snesor 530,
Noncontacting proximity sensor 80 is equipped in installation cavity 610, upper end cover 630 is equipped with touch sensor.It is possible thereby to make hollow pipe
60 and sealing machine arm assembly 1 structure it is more reasonable.
The cross section of tube body 620 can be circular ring shape, i.e. the cross section of installation cavity 610 can be circle.In other words, it installs
Chamber 610 can be cylindric.Thus it is not only convenient for the installation electronic equipments such as sensor, and more importantly, 620 He of tube body
Hollow pipe 60 has axisymmetric structure, and axisymmetric structure eliminates the cross section relative flow of tube body 620 and hollow pipe 60
Direction on hydrokinetic influence.
As shown in Figures 2 and 3, tube body 620 is multiple, and multiple tube bodies 620 are successively hermetically connected.Wherein, upper end cover 630
It being provided on the upper end of tube body 620 of the top, lower cover 640 is provided on the lower end of tube body 620 of bottom,
Installation cavity 610 is limited between multiple tube bodies 620, upper end cover 630 and lower cover 640.It is possible thereby to change according to the actual situation
The length of hollow pipe 60, so as to so that the structure of sealing machine arm assembly 1 is more reasonable.
Wherein, two neighboring tube body 620 is connected by the R pipe screw thread with self-sealing performance, by noncontacting proximity sensor
80 are mounted on inside tube body 620, solve the problems, such as that the sensor installation space of lightweight elongate rod is insufficient.
The alternative for increasing or decreasing PVC hollow tube joint number can be realized and increase or decrease the flexible of number of sensors
Property.The joint number that PVC hollow tube is optionally increased or decreased for detection device adds phase according to specific job requirement
Noncontacting proximity sensor 80, is mounted on the inside of each hollow pipe by the sensor answered, and end touch sensor uses cover special
Part is mounted on sensor stand, is different sensor design external members, is reduced the design difficulty and cost of sensor stand,
Increase the versatility of tip sensor bracket and end cap.The present invention detects water using the hollow pipe 60 of single connecting rod, single-degree-of-freedom
Lower information and Hydrodynamic Parameters etc., by analogy be able to reflect out any connecting rod, any freedom degree arm many fluids it is dynamic
Mechanical attribute.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected or can communicate each other；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements, unless otherwise restricted clearly.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of sealing machine arm assembly for subaqueous survey characterized by comprising
Chassis and mounting base；
Seal box, the seal box have seal chamber；
First motor for driving the seal box to rotate relative to the chassis, the first motor are located at the seal chamber
It is interior；
The second motor for driving the mounting base to rotate relative to the seal box, second motor are located at the seal chamber
It is interior；
First transmission shaft and second driving shaft, first transmission shaft are connected with the first motor, the second driving shaft with
Second motor is connected, wherein a part of first transmission shaft stretches out the seal chamber and is connected with the chassis, institute
The a part for stating second driving shaft stretches out the seal chamber and is connected with the mounting base, the extending direction of first transmission shaft
Perpendicular to the extending direction of the second driving shaft；
Force snesor, the force snesor are located in the mounting base；With
Hollow pipe, the hollow pipe are located on the force snesor, the Packed installation cavity of tool, the installation in the hollow pipe
Intracavitary noncontacting proximity sensor and/or the hollow pipe of being equipped with is equipped with touch sensor.
2. the sealing machine arm assembly according to claim 1 for subaqueous survey, which is characterized in that the sealing luggage
It includes:
Shell；
Cover board, the cover board are set on the housing, and the seal chamber is limited between the shell and the cover board；With
First sealing ring, first sealing ring are located between the shell and the cover board.
3. the sealing machine arm assembly according to claim 2 for subaqueous survey, which is characterized in that further comprise:
First retarder, first retarder are located on the bottom plate of the shell, and the first motor subtracts by described first
Fast device is connected with first transmission shaft；With
Second retarder, second retarder are located on the side plate of the shell, and second motor subtracts by described second
Fast device is connected with the second driving shaft.
4. the sealing machine arm assembly according to claim 3 for subaqueous survey, which is characterized in that the shell includes
Ontology, the first boss being located on the lower surface of the ontology and the second boss being located on the side of the ontology, it is described
First boss has the first accommodating chamber, and the second boss has the second accommodating chamber, described a part of first transmission shaft
First accommodating chamber is stretched out, described a part of the second driving shaft stretches out second accommodating chamber, and described first slows down
A part of device is located in first accommodating chamber, and a part of second retarder is located in second accommodating chamber, excellent
Selection of land, the ontology, the first boss and the second boss are integrally formed, and the sealing machine arm assembly further wraps
It includes:
First bearing and second bearing, the first bearing are located in first accommodating chamber, and first cardan-shaft suspension exists
In the first bearing, the second bearing is located in second accommodating chamber, and the second driving shaft is supported on described second
On bearing；And
Second sealing ring and third sealing ring, second sealing ring be located at the first boss and first transmission shaft it
Between, the third sealing ring is located between the second boss and the second driving shaft.
5. the sealing machine arm assembly according to claim 4 for subaqueous survey, which is characterized in that
First retarder is first harmonic decelerator, and the firm gear of the first harmonic decelerator is located at the bottom plate of the ontology
On, a part of the firm gear of the first harmonic decelerator is located in first accommodating chamber, first transmission shaft with it is described
The flexbile gear of first harmonic decelerator is connected；
Second retarder is second harmonic retarder, and the firm gear of the second harmonic retarder is located at the side plate of the ontology
On, a part of the firm gear is located in second accommodating chamber, the second driving shaft and the second harmonic retarder
Flexbile gear is connected.
6. the sealing machine arm assembly according to claim 5 for subaqueous survey, which is characterized in that
First transmission shaft is equipped with first flange disk, the flexbile gear phase of the first flange disk and the first harmonic decelerator
Even；
The second driving shaft is equipped with second flange disk, the flexbile gear phase of the second flange disk and the second harmonic retarder
Even.
7. the sealing machine arm assembly according to claim 5 for subaqueous survey, which is characterized in that set on the chassis
There is third accommodating chamber, a part of the first boss is located in the third accommodating chamber, and described one of the first boss
Divide and is supported on the chassis by 3rd bearing.
8. the sealing machine arm assembly according to claim 1 for subaqueous survey, which is characterized in that further comprise passing
Sensor bracket, the sensor stand are located in the mounting base, and the force snesor is located on the sensor stand.
9. the sealing machine arm assembly according to claim 8 for subaqueous survey, which is characterized in that the hollow pipe packet
It includes:
Tube body, the tube body are made of PVC；And
Upper end cover and lower cover, the upper end cover are located on the upper end of the tube body, and the lower cover is located at the tube body
On lower end, the installation cavity is limited between the tube body, the upper end cover and the lower cover, wherein the lower cover is set
On the force snesor, noncontacting proximity sensor is equipped in the installation cavity, the upper end cover is equipped with touch sensor.
10. the sealing machine arm assembly according to claim 9 for subaqueous survey, which is characterized in that the tube body is
Multiple, multiple tube bodies are successively hermetically connected, wherein the upper end cover is provided at the upper end of the tube body of the top
In portion, the lower cover is provided on the lower end of the tube body of bottom, multiple tube bodies, the upper end cover and institute
It states and limits the installation cavity between lower cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910354989.9A CN109940599A (en) | 2019-04-29 | 2019-04-29 | Sealing machine arm assembly for subaqueous survey |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910354989.9A CN109940599A (en) | 2019-04-29 | 2019-04-29 | Sealing machine arm assembly for subaqueous survey |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109940599A true CN109940599A (en) | 2019-06-28 |
Family
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| CN201910354989.9A Pending CN109940599A (en) | 2019-04-29 | 2019-04-29 | Sealing machine arm assembly for subaqueous survey |
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