CN110253616A - A kind of single-degree-of-freedom underwater electric manipulator - Google Patents
A kind of single-degree-of-freedom underwater electric manipulator Download PDFInfo
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- CN110253616A CN110253616A CN201910653658.5A CN201910653658A CN110253616A CN 110253616 A CN110253616 A CN 110253616A CN 201910653658 A CN201910653658 A CN 201910653658A CN 110253616 A CN110253616 A CN 110253616A
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- push rod
- cabin
- drives
- lead screw
- grasping mechanism
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- 230000007246 mechanism Effects 0.000 claims abstract description 175
- 230000005540 biological transmission Effects 0.000 claims abstract description 61
- 238000007789 sealing Methods 0.000 claims description 47
- 230000008878 coupling Effects 0.000 claims description 29
- 238000010168 coupling process Methods 0.000 claims description 29
- 238000005859 coupling reaction Methods 0.000 claims description 29
- 230000000694 effects Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 abstract description 19
- 238000012423 maintenance Methods 0.000 abstract description 19
- 239000002131 composite material Substances 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 94
- 239000003822 epoxy resin Substances 0.000 description 18
- 229920000647 polyepoxide Polymers 0.000 description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 15
- 230000006870 function Effects 0.000 description 10
- 239000000853 adhesive Substances 0.000 description 8
- 230000001070 adhesive effect Effects 0.000 description 8
- 238000005260 corrosion Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 3
- 229920006351 engineering plastic Polymers 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005538 encapsulation Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000009545 invasion Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000007711 solidification Methods 0.000 description 2
- 230000008023 solidification Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention discloses a kind of single-degree-of-freedom underwater electric manipulators, including preceding cabin, the fixed rear cabin being located in preceding cabin, the grasping mechanism for being located on the front end of preceding cabin and being used to grab article, the transmission mechanism for driving grasping mechanism to open or close up, are connected to transmission mechanism rear end and for the driving mechanism of drive transmission device, the cable being electrically connected with driving mechanism；The shallow sea underwater electric manipulator that the present invention is formed using preceding cabin, rear cabin, driving mechanism, transmission mechanism, grasping mechanism composite structure, realize the crawl to underwater article, work stability, fixing and balanced capacity with higher, and the operations such as installation, removal, replacement, maintenance are extremely convenient, working efficiency with higher；The robot manipulator structure deft design and succinct, small in volume low using reliable and failure rate, have saved cost, and the operations such as installation, removal, replacement, maintenance are extremely convenient, and working efficiency with higher is suitble to promote and apply.
Description
Technical field
The present invention relates to underwater electric manipulator technical field more particularly to a kind of single-degree-of-freedom underwater electric manipulators.
Background technique
Manipulator is industry and the widely used mechanical equipment of scientific research, and existing manipulator development is more mature.In recent years,
The trend for exploring ocean grows in intensity, and the manipulator suitable for using under water is very rare.Land manipulator mainly passes through servo
The diarthrodial movement of motor band and steering engine drive cleft hand to realize the ability of crawl article, lack the sealing used under water
It ensures.And existing underwater manipulator, it is primarily present following disadvantage: first is that dynamic sealing performance is poor in the transmission course of work；Two
It is to make the volume of manipulator more huge and not easy to install since structure setting is unreasonable, higher cost；Third is that existing water
Lower manipulator there is also stability, fixing and the lower disadvantage of balanced capacity so that the safety in utilization of underwater robot compared with
It is low；Fourth is that the operations such as installation, removal, replacement, maintenance are extremely cumbersome in use, working efficiency is reduced.
Summary of the invention
Present invention solves the technical problem that being to overcome the deficiencies of existing technologies, providing one kind has compared with high sealing performance, prevents
Water anti-corrosion function and have compared with high-stability, fixing and balance and lower-cost single-degree-of-freedom underwater electric is mechanical
Hand.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals:
A kind of single-degree-of-freedom underwater electric manipulator, including preceding cabin, the fixed rear cabin being located in preceding cabin, be located at before
On the front end of cabin and it is used to grab the grasping mechanism of article, is located in the inner space formed between preceding cabin and rear cabin simultaneously
For driving grasping mechanism opening or the transmission mechanism closed up, the drive for being connected to transmission mechanism rear end and being used for drive transmission device
Motivation structure, the cable being electrically connected with driving mechanism, grasping mechanism are connected on transmission mechanism, and driving mechanism is located in rear deck body
The rear portion in portion, the inner space that cable is formed between preceding cabin and rear cabin is drawn outward, is drawn the cable outside cabin and is connected
It is connected to power supply unit, power supply unit is driving mechanism power supply by cable；The side of being connected through a screw thread between preceding cabin and rear cabin
Formula is removably fixedly connected, the centre of preceding cabin and rear cabin be provided with keep sealing the second sealing ring, preceding cabin and
The shape of cabin is cylinder afterwards, and the composite structure of the inner space formed by preceding cabin and rear cabin and the two is arranged, and is had
Help sufficiently arrange all parts such as driving mechanism, transmission mechanism in limited inner space, has both made electric manipulator whole
Body stability with higher, fixing and balanced capacity, but make the integrally-built installation, removal, replacement of electric manipulator,
The operations such as maintenance are extremely convenient, and structure is relatively simple and exquisite；Wherein, when the electric manipulator is in non-working condition
When, the original state of grasping mechanism, which is in, fully comes together state；It works when needing to carry out to grab article using the electric manipulator
When, start driving mechanism, driving mechanism drives transmission mechanism, and transmission mechanism drives grasping mechanism to grab target item；Specifically,
Start driving mechanism, driving mechanism forward motion drives transmission mechanism forward motion simultaneously, and the drive of transmission mechanism forward motion is grabbed
It takes mechanism while moving to target item；After target item enters grasping mechanism, driving mechanism counter motion drives transmission
Mechanism counter motion simultaneously, transmission mechanism counter motion drives grasping mechanism closure until grasping mechanism holds target item；When
When the article that will hold in grasping mechanism being needed to lay down, start driving mechanism, driving mechanism forward motion drives transmission mechanism
Simultaneously forward motion, transmission mechanism forward motion drive grasping mechanism simultaneously open make grasping mechanism unclamp article and by article from
It is laid down in grasping mechanism；After grasping mechanism lays down article, driving mechanism counter motion drives transmission mechanism counter motion simultaneously,
Grasping mechanism is driven to close up simultaneously for transmission mechanism counter motion until grasping mechanism fully comes together and recovers to first when not working
Beginning state, to execute crawl next time and to lay down article work；Using preceding cabin, rear cabin, driving mechanism, transmission mechanism,
The single-degree-of-freedom underwater electric manipulator that grasping mechanism composite structure is formed, realizes the crawl to underwater article, has higher
Work stability, fixing and balanced capacity, and the operations such as installation, removal, replacement, maintenance are extremely convenient, have higher
Working efficiency.
Preferably, transmission mechanism include be connected to driving mechanism front end and by driving mechanism driving lead screw, be connected to
Lead screw front end and grasping mechanism opens or the push rod that closes up, lead screw, push rod are each provided in front deck body for driving, grasping mechanism connects
It connects on push rod.Wherein, be provided with the feed screw nut with lead screw cooperation on push rod, feed screw nut be mounted on push rod and lead screw it
Between, feed screw nut is mounted on push rod by the 4th screw, and lead screw and feed screw nut form and cooperate, and the rotary motion of lead screw is turned
Turn to the linear motion of feed screw nut, the linear motion of feed screw nut drives entire push rod to move along a straight line, feed screw nut by
Oily material is made, and helps to reduce the frictional force between push rod and lead screw, can ensure that the fluency of pushrod movement, allows push rod
It moves along a straight line more stable；Be provided with the oiliness bearing made of oily material between push rod and preceding cabin, facilitate push rod into
Row smoothly moves along a straight line；The transmission mechanism formed by lead screw, feed screw nut, push rod, oiliness bearing combined structure both has height
Effect and stable transmission performance, and have the characteristics that structure is simple, also further improve the behaviour such as installation, removal, replacement, maintenance
The convenience of work；When needing to carry out to grab article work using the electric manipulator, start driving mechanism, driving mechanism drives
Lead screw rotates forward, and lead screw, which rotates forward, drives feed screw nut simultaneously along lead screw straight forward movement, the feed screw nut of straight forward movement
Push rod straight forward movement simultaneously is driven, is opened so that push rod drives grasping mechanism to open simultaneously and formed for the crawl for grabbing article
Mouthful, in the crawl opening that can enter and be contained in grasping mechanism opening so as to article；After article enters grasping mechanism, driving machine
Structure drives lead screw reversion, and lead screw reversion drives feed screw nut to move along a straight line backward simultaneously, the feed screw nut band to move along a straight line backward
Dynamic push rod moves along a straight line backward simultaneously, so that push rod drives grasping mechanism, inwardly rotating up to grasping mechanism holds article simultaneously；
When needing the article that will hold in grasping mechanism to lay down, start driving mechanism, driving mechanism drives lead screw to rotate forward, and lead screw is just
Turn to drive feed screw nut along lead screw straight forward movement simultaneously, the feed screw nut of straight forward movement drives push rod simultaneously forward
Linear motion, thus push rod drive grasping mechanism simultaneously open make crawl opening increase and grasping mechanism unclamp article, so as to will
Article is laid down or is taken out from grasping mechanism；After grasping mechanism lays down article, driving mechanism drives transmission mechanism, transmission mechanism
Grasping mechanism is driven to close up until grasping mechanism fully comes together and recover to original state when not working, to execute next time
Grab work.
Preferably, transmission mechanism further includes the push rod connector being connected between push rod and grasping mechanism, push rod connection
The rear end of part is fixedly connected on the front end of push rod, and grasping mechanism is slidably hinged on push rod connector by second bearing bolt
Front end, second bearing bolt is slidably hinged between push rod connector and grasping mechanism.Wherein, push rod connector with push away
Connected between bar by third screw, push rod connector by third screw and push rod being integrally formed structure so that push rod with
Linkage of the push rod connector in transmission process is more smooth, more stable, more firm, is opening to be effectively guaranteed grasping mechanism
Open the stability and linkage when crawl article；When needing to carry out to grab article work using the electric manipulator, starting is driven
Motivation structure, driving mechanism drive lead screw to rotate forward, and lead screw, which rotates forward, drives feed screw nut straight forward movement simultaneously, straight forward movement
Feed screw nut drive push rod straight forward movement simultaneously, the push rod of straight forward movement drives push rod connector straight forward simultaneously
Line movement pushes push rod connector forward, so that push rod connector drives second bearing bolt, forward slip makes gripper simultaneously
Structure opens simultaneously and is formed the crawl opening for grabbing article, so that article can enter and be contained in the crawl of grasping mechanism opening
In opening；Then driving mechanism drives lead screw reversion, and lead screw reversion drives feed screw nut to move along a straight line backward simultaneously, backward straight line
The feed screw nut of movement drives push rod to move along a straight line backward simultaneously, and push rod drives push rod connector, and linear motion makes to push away backward simultaneously
Joint element for bar retracts backward, keeps grasping mechanism inside simultaneously so that push rod connector drives second bearing bolt to slide backward simultaneously
It rotates up to grasping mechanism and holds article；It is formed by lead screw, nut, push rod, push rod connector, second bearing bolt combination structure
Transmission mechanism, further improve transmission performance, also further improve the convenience of the operations such as installation, removal, replacement, maintenance
Property.
Preferably, transmission mechanism further include it is fixed be set in outside push rod and for the first sealing ring that push rod passes through, the
In the fixed slot for being pressed on preceding cabin front end of one sealing ring, cabin front end before push rod is located at by the sealing of the first sealing ring.First
The setting of sealing ring, the push rod hole that push rod only passes through among the first sealing ring in transmission process is moved, so that push rod exists
Dynamic sealing performance with higher in transmission process ensure that the electric manipulator integrally sealing performance with higher, also mention
The high electric manipulator integrally work long hours under water during water-proof function.
Preferably, driving mechanism includes shaft coupling, motor, motor shaft, pin shaft, shaft coupling is located in rear cabin, motor
Axis is connected to motor, and motor and motor shaft pass through washer nested encryptions on shaft coupling, and shaft coupling is located at the inside of pin shaft, motor
Axis is hinged by pin shaft and lead screw, and lead screw is located at the front end of pin shaft, and cable is electrically connected with motor；Wherein, shaft coupling passes through tightening
Screw is fixed on the motor shaft of motor；Pin shaft penetrates through shaft coupling and lead screw, so that lead screw and shaft coupling are kept fixed；Shaft coupling
Centre be equipped with holding screw, shaft coupling and motor shaft are fastenedly connected by holding screw；Cabin is solid by third screw afterwards
Surely it is equipped with ring flange, ring flange, which entangles lead screw, to be made the rotary advanced movement of lead screw or rotate to move backward to be limited in ring flange
It is interior, stability, fixing and balanced capacity when lead screw transmission are further improved, installation, disassembly, are more also further improved
The convenience of operations such as change, safeguard；When needing to carry out to grab article work using the electric manipulator, power supply unit is connected,
Start motor, motor, which rotates forward, drives motor shaft to rotate forward simultaneously, and motor shaft, which rotates forward, drives lead screw to rotate forward simultaneously, and lead screw, which rotates forward, drives silk
Straight forward movement, the feed screw nut of straight forward movement drive push rod straight forward movement simultaneously to thick stick nut simultaneously, forward directly
The push rod of line movement drives push rod connector, and straight forward movement pushes push rod connector forward simultaneously, thus push rod connector
Driving second bearing bolt, forward slip makes grasping mechanism while opening and being formed the crawl opening for grabbing article simultaneously, so as to
Article be can enter and be contained in the crawl opening of grasping mechanism opening；Then motor reversal drives motor shaft to invert simultaneously, electricity
Arbor reversion drives lead screw to invert simultaneously, and lead screw reversion drives feed screw nut to move along a straight line backward simultaneously, moves along a straight line backward
Feed screw nut drives push rod to move along a straight line backward simultaneously, and push rod drives push rod connector, and linear motion connects push rod backward simultaneously
Part retracts backward, so that push rod connector, which drives second bearing bolt to slide backward simultaneously, to be made grasping mechanism while inwardly rotating straight
Article is held to grasping mechanism；When needing the article that will hold in grasping mechanism to lay down, start motor, motor, which rotates forward, to be driven
Motor shaft rotates forward simultaneously, and motor shaft, which rotates forward, drives lead screw to rotate forward simultaneously, and lead screw, which rotates forward, drives feed screw nut forward rectilinear fortune simultaneously
Dynamic, the feed screw nut of straight forward movement drives push rod straight forward movement simultaneously, and the push rod of straight forward movement drives push rod
Straight forward movement pushes push rod connector forward to connector simultaneously, so that push rod connector drives second bearing bolt simultaneously
Forward slip makes grasping mechanism while opening makes that crawl opening increases and grasping mechanism unclamps article, so as to by article from gripper
It lays down or takes out in structure；After grasping mechanism lays down article, motor reversal drives motor shaft to invert simultaneously, and motor shaft drives shaft coupling
Device inverts simultaneously, and shaft coupling drives lead screw to invert simultaneously, and feed screw nut moves along a straight line backward while lead screw inverts, backward straight line
The feed screw nut of movement drives push rod to move along a straight line backward simultaneously, and push rod drives push rod connector, and linear motion makes to push away backward simultaneously
Joint element for bar retracts backward, keeps grasping mechanism inside simultaneously so that push rod connector drives second bearing bolt to slide backward simultaneously
It rotates up to grasping mechanism and fully comes together and recover to original state when not working, to execute crawl work next time.
Preferably, grasping mechanism includes the pawl seat of the fixed front end for being located at preceding cabin, by first bearing bolted splice
Unguiculus on the left of the front end of pawl seat, the big pawl by first bearing bolted splice on the right side of the front end of pawl seat, unguiculus and big pawl
Between by second bearing bolted splice in the front end of push rod connector, push rod penetrates in pawl seat.It wherein, will by the second screw
Removably the fixed front end for being located at preceding cabin, the second screw are symmetrically arranged with 4, and the second screw in pawl seat inner surface to pawl seat
Outer surface match with the outer surface of the first sealing ring；Big pawl and unguiculus are made of engineering plastics, so that big pawl and unguiculus
Have the advantages that corrosion-resistant, at low cost and be easily worked, and underwater adverse circumstances can be effectively adapted to；Big pawl, unguiculus point
Not Tong Guo helicitic texture be removably rotatablely connected with pawl seat, big pawl, unguiculus pass through first bearing bolt and pawl seat respectively and constitute
Rotational structure, big pawl and unguiculus are respectively equipped with the clip tooth matched, and clip tooth had both provided folder when big pawl and unguiculus crawl article
Holding force, and anti-skidding effect when article clamping is improved, so that big pawl and unguiculus open pass through folder simultaneously when crawl article work
Tooth holds article in crawl opening；The setting of pawl seat had both improved big pawl and unguiculus in the crawl article course of work
Stability, fixing and balance, and make the operations such as big pawl and unguiculus installation, removal, replacement, maintenance extremely convenient；Specifically
Power supply unit is connected when needing to carry out to grab article work using the electric manipulator in ground, starts motor, and motor rotates forward band
Dynamic motor shaft rotates forward simultaneously, and motor shaft, which rotates forward, drives pin shaft to rotate forward simultaneously, and pin shaft, which rotates forward, drives lead screw to rotate forward simultaneously, and lead screw rotates forward
Feed screw nut straight forward movement simultaneously is driven, the feed screw nut of straight forward movement drives push rod straight forward movement simultaneously,
The push rod of straight forward movement drives push rod connector, and straight forward movement pushes push rod connector forward simultaneously, thus push rod
Connector drives second bearing bolt forward slip simultaneously, makes big pawl and unguiculus respectively with respective corresponding first bearing bolt
Hinged place be rotating fulcrum simultaneously rotate opening and formed for grab article crawl be open, so that article can enter and accommodate
In the crawl opening that big pawl and unguiculus open；Then motor drives motor shaft anti-simultaneously by being just transformed into reversion, motor reversal
Turn, motor shaft reversion drives pin shaft to invert simultaneously, and pin shaft reversion drives lead screw to invert simultaneously, and lead screw reversion drives feed screw nut same
Shi Xianghou linear motion, the feed screw nut to move along a straight line backward drives push rod while linear motion makes push rod retract backward backward,
Push rod drives push rod connector, and linear motion makes push rod connector retract backward backward simultaneously, so that push rod connector drives second
Bearing bolt slides backward simultaneously, makes big pawl and unguiculus respectively with the hinged place rotation of respective corresponding first bearing bolt
Fulcrum inwardly rotates up to big pawl simultaneously and the clip tooth of unguiculus holds article；When needs will hold the object between big pawl and unguiculus
When product are laid down, start motor, motor, which rotates forward, drives motor shaft to rotate forward simultaneously, and motor shaft, which rotates forward, drives pin shaft to rotate forward simultaneously, pin shaft
It rotates forward and lead screw is driven to rotate forward simultaneously, lead screw, which rotates forward, drives feed screw nut straight forward movement, the feed screw nut of straight forward movement
Driving push rod, straight forward movement pushes push rod forward simultaneously, the push rod of straight forward movement drive push rod connector simultaneously to
Preceding linear motion pushes push rod connector forward, so that push rod connector drives second bearing bolt forward slip simultaneously, makes
Big pawl and unguiculus, which rotate opening simultaneously as rotating fulcrum using the hinged place of respective corresponding first bearing bolt respectively, to be made to grab
Opening increases and grasping mechanism unclamps article, to lay down or take out article between big pawl and unguiculus；By article from big pawl
After laying down or take out between unguiculus, motor reversal drives motor shaft to invert simultaneously, and motor shaft reversion drives pin shaft anti-simultaneously
Turn, pin shaft reversion drives lead screw to invert simultaneously, and lead screw reversion drives feed screw nut to move along a straight line backward simultaneously, moves along a straight line backward
Lead screw drive push rod simultaneously backward linear motion so that push rod is retracted backward, push rod drive push rod connector simultaneously backward straight line transport
It is dynamic that push rod connector is made to retract backward, so that push rod connector drives second bearing bolt to slide backward simultaneously, make big pawl and small
For pawl respectively using the hinged place of respective corresponding first bearing bolt as rotating fulcrum inwardly rotation simultaneously, big pawl and unguiculus are inside
Close up until big pawl and unguiculus fully come together and recover to original state when not working, to execute crawl next time and to lay down
Article work.
Preferably, big pawl, unguiculus are equipped with the sliding groove for the sliding of second bearing bolt, the front end of push rod connector is set
There is through-hole, second bearing bolt is slidably threaded through by the sliding groove of big pawl, the through-hole of push rod connector front end and unguiculus
In the activity space that sliding groove is formed.When electric manipulator carries out crawl article work, second bearing bolt is in sliding groove
It is moved, the activity space formed by sliding groove, further improves push rod, push rod connector, second bearing bolt, big
Pawl, unguiculus link smoothness in transmission process.
Preferably, being tightly connected between preceding cabin and rear cabin by the second sealing ring.The setting of second sealing ring, makes
Sealing performance with higher between preceding cabin and rear cabin is obtained, the leakproofness of electric manipulator entirety is further improved
Can, also further improve the waterproof and anticorrosion function during the electric manipulator integrally works long hours under water.
Preferably, further include dismountable fixed rear hatchcover for being located at preceding cabin rear end, by third sealing ring will after
Hatchcover sealing cover is on the rear end of rear cabin；Hatchcover is located on preceding cabin rear end by the way that the first screw is removably fixed afterwards, just
In opening or closing rear hatchcover, the convenience of the operations such as installation, removal, replacement, maintenance is improved；Afterwards hatchcover, third sealing ring,
The composite structure formed between cabin afterwards further improves the sealing performance of electric manipulator entirety, also further increases
The electric manipulator integrally work long hours under water during waterproof and anticorrosion function.
Preferably, further including the threading bolt for being located at rear deck cover back-end, threads and pass through third between bolt and rear hatchcover
Sealing ring is tightly connected, and the rear portion for the inner space that cable is formed between preceding cabin and rear cabin sequentially passes through rear hatchcover, wears
Line bolt is drawn outward.The setting for threading bolt, had both facilitated to draw the wiring of cable out of cabin and is connected to power supply unit
When cross line and wiring, and improve the waterproof and anticorrosion function to cable, also improve stability when cable crosses line and wiring
And fixing.
In the present invention, the inside of rear cabin is equipped with inside groove, and inside groove is equipped with link block, before motor is fixedly connected on link block
End, cable sequentially pass through link block, rear hatchcover, threading bolt from motor and draw outward.The composite structure of inside groove and link block is set
Set, not only helped to improve motor and be mounted on the intracorporal stability of rear deck, fixing and balanced capacity, but improve installation, disassembly,
The convenience of the operations such as replacement, maintenance, it helps cable crosses line and wiring from after motor extraction.
In the present invention, the inner hollow for threading bolt is equipped with cured epoxy resin encapsulated body, passes through inside threading bolt
The epoxy resin encapsulated body that hollow cable is cured seals, and has both improved the stability and firm when cable crosses line and wiring
Property, and the sealing performance of electric manipulator entirety is improved, also improve the whole long-time work under water of the electric manipulator
Waterproof and anticorrosion function during work.
Specifically, the filling of the cured epoxy resin encapsulated body in threading bolt is formed in by epoxy resin embedding adhesive solidification
Encapsulation method is as follows: first by cable pass through threading bolt inner hollow, then from threading bolt outside to threading bolt inside
Space is gradually poured into epoxy resin embedding adhesive until epoxy resin embedding adhesive fills up the inner space of threading bolt, and then waiting is filled out
The epoxy resin embedding adhesive for completely threading the inner space of bolt, which gradually solidifies, forms cured epoxy resin encapsulated body, cured ring
Epoxy resin embedding body seals the inner space of threading bolt and secures cable in threading bolt, water when reducing underwater operation
The risk in threading bolt is infiltrated through, so that motor and cable are not subject to the invasion and corruption of water, so that the cable quilt of motor
It is enclosed in the inside of threading bolt securely, has completely cut off contact of the seawater to Internal cable, substantially increase sealing performance and prevents
Water anti-corrosion function.
The single-degree-of-freedom underwater electric manipulator has the advantages that
1. it is provided with columned preceding cabin, the sealing means that forward end seal is combined into one using static seal and dynamic sealing,
Integrally-built complexity is considerably reduced, and mechanical driving part is solid using relatively reliable pin shaft connection and holding screw
It is fixed, improve reliability, and global shape is column, the small volume of single unit system, allow user operation and dismounting more
Simplicity；
2. the front end machine machinery claw of the device is made of engineering plastics, have it is corrosion-resistant, inexpensive, be easily worked it is excellent
Point, the setting allow the electric manipulator that can effectively adapt to severe undersea environment, have ensured the reliable of the electric manipulator
Property；
3. being provided with bearing bolt big pawl interconnected and unguiculus, the fixation and rotation of front end claw use bearing
Bolt, design is simple, readily replaceable, low using reliable and failure rate, safeguards easier.
The present invention has significant technical effect: using preceding cabin, rear cabin, drive due to using above technical scheme
The single-degree-of-freedom underwater electric manipulator that motivation structure, transmission mechanism, grasping mechanism composite structure are formed, realizes to underwater article
Crawl, work stability and fixing with higher, and the operations such as installation, removal, replacement, maintenance are extremely convenient, tool
There is higher working efficiency；The robot manipulator structure deft design and succinct, small in volume low using reliable and failure rate,
Cost is saved, and the operations such as installation, removal, replacement, maintenance are extremely convenient, working efficiency with higher, suitable popularization is answered
With.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of single-degree-of-freedom underwater electric manipulator embodiment of the invention.
Fig. 2 is the cross-sectional view of Fig. 1.
Fig. 3 is the enlarged structure schematic diagram in Fig. 1 at B.
Fig. 4 is the enlarged structure schematic diagram in Fig. 2 at C.
Fig. 5 is the cross-sectional view in the direction A-A in Fig. 1.
Fig. 6 is another structural schematic diagram of single-degree-of-freedom underwater electric manipulator embodiment of the invention.
Fig. 7 is the enlarged structure schematic diagram in Fig. 6 at D.
Specific embodiment
Present invention is further described in detail with embodiment with reference to the accompanying drawing.
A kind of single-degree-of-freedom underwater electric manipulator, as shown in figs. 1-7, including preceding cabin 5, fixation are located in preceding cabin 5
Rear cabin 19, be located on the front end of preceding cabin 5 and the grasping mechanism for grabbing article, be located at preceding cabin 5 and rear cabin 19
Between in the inner space that is formed and the transmission mechanism for driving grasping mechanism to open or close up, be connected to transmission mechanism rear end
And for the driving mechanism of drive transmission device, the cable 1 being electrically connected with driving mechanism, grasping mechanism is connected to transmission mechanism
On, driving mechanism is located inside rear cabin 19, rear portion of the cable 1 from the inner space formed between preceding cabin 5 and rear cabin 19
It draws outward, draws the cable 1 outside cabin and be connected to power supply unit, power supply unit is driving mechanism power supply by cable.
In the present embodiment, transmission mechanism includes being connected to driving mechanism front end and by the lead screw 31 of driving mechanism driving, company
It connects in 31 front end of lead screw and for driving grasping mechanism to open or the push rod 12 that closes up, lead screw 31, push rod 12 are each provided at preceding cabin 5
Interior, grasping mechanism is connected on push rod 12.Wherein, the feed screw nut 33 cooperated with lead screw 31, lead screw spiral shell are provided on push rod 12
Mother 33 is mounted between push rod 12 and lead screw 31, and feed screw nut 33 is mounted on push rod 12 by the 4th screw 32, lead screw 31 with
Feed screw nut 33 forms cooperation, converts the rotary motion of lead screw 31 to the linear motion of feed screw nut 33, feed screw nut 33
Linear motion drives entire push rod to move along a straight line, and feed screw nut 33 is made of oily material, help to reduce push rod 12 with
Frictional force between lead screw 31 can ensure that the fluency that push rod 12 moves, make the linear motion of push rod 12 more stable；Push rod 12
It is provided with the oiliness bearing 34 made of oily material between preceding cabin 5, facilitates push rod and is smoothly moved along a straight line.By
The transmission mechanism that lead screw, feed screw nut, push rod, oiliness bearing combined structure are formed, both has efficient and stable transmission performance,
Have the characteristics that structure is simple again, also further improves the convenience of the operations such as installation, removal, replacement, maintenance.
In the present embodiment, transmission mechanism further includes the push rod connector 11 being connected between push rod 12 and grasping mechanism, is pushed away
The rear end of joint element for bar 11 is fixedly connected on the front end of push rod 12, and grasping mechanism is slidable hinged by second bearing bolt 13
In the front end of push rod connector 11, second bearing bolt 13 is slidably hinged between push rod connector 11 and grasping mechanism.
Wherein, between push rod connector 11 and push rod 12 by third screw 14 connect, push rod connector 11 by third screw 14 with
12 being integrally formed structure of push rod, so that the linkage of push rod and push rod connector in transmission process is more smooth, more stable, more firm
It leans on, so that being effectively guaranteed grasping mechanism is opening stability and linkage when grabbing article；It is electronic using this when needing
When manipulator carries out crawl article work, start driving mechanism, driving mechanism drives lead screw to rotate forward, and lead screw, which rotates forward, drives lead screw spiral shell
Female straight forward movement simultaneously, the feed screw nut of straight forward movement drives push rod straight forward movement simultaneously, forward rectilinear to transport
Dynamic push rod drives push rod connector, and straight forward movement pushes push rod connector forward simultaneously, so that push rod connector drives
Forward slip makes grasping mechanism while opening and forming the crawl opening for grabbing article second bearing bolt simultaneously, so as to article
In the crawl opening that can enter and be contained in grasping mechanism opening；Then driving mechanism drives lead screw reversion, and lead screw reversion drives
Feed screw nut moves along a straight line backward simultaneously, and the feed screw nut to move along a straight line backward drives push rod while moving along a straight line backward, push rod
Driving push rod connector, linear motion makes push rod connector retract backward backward simultaneously, so that push rod connector drives second bearing
Bolt slides backward simultaneously to be made grasping mechanism while inwardly rotating up to grasping mechanism to hold article；By lead screw, nut, push rod,
The transmission mechanism that push rod connector, second bearing bolt combination structure are formed, further improves transmission performance, also further mentions
The convenience of the operations such as high installation, removal, replacement, maintenance.
In the present embodiment, transmission mechanism further includes fixed the first sealing for being set in 12 outside of push rod and passing through for push rod 12
Circle 15, the first sealing ring 15 are fixed in the slot for being pressed on preceding 5 front end of cabin, before push rod 12 is located at by the sealing of the first sealing ring 15
5 front end of cabin.
In the present embodiment, driving mechanism includes shaft coupling 26, motor 30, motor shaft 29, pin shaft 25, after shaft coupling 26 is located at
In cabin 19, motor shaft 29 is connect with motor 30, and motor 30 and motor shaft 29 pass through 28 nested encryptions of washer on shaft coupling 26,
Shaft coupling 26 is located at the inside of pin shaft 25, and motor shaft 29 is hinged by pin shaft 25 and lead screw 31, before lead screw 31 is located at pin shaft 25
End, cable 1 are electrically connected with motor 30.Wherein, shaft coupling 26 is fixed on the motor shaft 29 of motor 30 by holding screw 27；Pin
Axis 25 penetrates through shaft coupling 26 and lead screw 31, so that lead screw 31 and shaft coupling 26 are kept fixed；The centre of shaft coupling 26 is equipped with tightening
Shaft coupling 26 and motor shaft 29 are fastenedly connected by screw 27 by holding screw 27；Cabin 19 is fixed by third screw 14 afterwards
Equipped with ring flange 24, ring flange 24, which entangles lead screw 31, to be made the rotary advanced movement of lead screw 31 or rotates to move backward to be limited in method
In blue disk 24, further improve stability, fixing and the balanced capacity when lead screw transmission, also further improve installation,
The convenience of the operations such as disassembly, replacement, maintenance；The setting of pin shaft, so that motor shaft drives lead screw rotational alignment to transport by pin shaft
Dynamic more smooth, rotation transition is more natural；Shaft coupling axial position is limited by washer, reducing shaft coupling axial direction may
The play of generation improves the transmission efficiency and stability of shaft coupling；By shaft coupling, motor, motor shaft, pin shaft composite structure shape
At driving mechanism cooperate the driver that is formed by lead screw, nut, push rod, push rod connector, second bearing bolt combination structure
Structure further improves transmission performance, further improves stability, fixing and balanced capacity when transmission, also further
Improve the convenience of the operations such as installation, removal, replacement, maintenance；Specifically, when needing to be grabbed using the electric manipulator
When article works, power supply unit is connected, starts motor, motor, which rotates forward, drives motor shaft to rotate forward simultaneously, and motor shaft, which rotates forward, drives silk
Thick stick rotates forward simultaneously, and lead screw, which rotates forward, drives feed screw nut straight forward movement simultaneously, and the feed screw nut drive of straight forward movement pushes away
Straight forward movement, the push rod drive push rod connector while straight forward movement of straight forward movement connect push rod to bar simultaneously
Part pushes forward, so that push rod connector drives second bearing bolt, forward slip makes grasping mechanism while opening and being formed simultaneously
For grabbing the crawl opening of article, it can enter and be contained in so as to article in the crawl opening that grasping mechanism opens；Then motor
Reversion drive motor shaft invert simultaneously, motor shaft reversion drive lead screw invert simultaneously, lead screw reversion drive feed screw nut and meanwhile to
After move along a straight line, the feed screw nut that moves along a straight line backward drives push rod while moving along a straight line backward, push rod drive push rod connector
Linear motion makes push rod connector retract backward backward simultaneously, so that push rod connector drives second bearing bolt to slide backward simultaneously
It is dynamic to make grasping mechanism while inwardly rotating up to grasping mechanism to hold article；When needs unload the article held in grasping mechanism
When falling, start motor, motor, which rotates forward, drives motor shaft to rotate forward simultaneously, and motor shaft, which rotates forward, drives lead screw to rotate forward simultaneously, and lead screw rotates forward
Feed screw nut straight forward movement simultaneously is driven, the feed screw nut of straight forward movement drives push rod straight forward movement simultaneously,
The push rod of straight forward movement drives push rod connector, and straight forward movement pushes push rod connector forward simultaneously, thus push rod
Connector drives second bearing bolt, and forward slip makes grasping mechanism simultaneously while opening increases crawl opening and grasping mechanism
Article is unclamped, to lay down or take out article from grasping mechanism；After grasping mechanism lays down article, motor reversal drives electricity
Arbor inverts simultaneously, and motor shaft drives shaft coupling to invert simultaneously, and shaft coupling drives lead screw to invert simultaneously, silk while lead screw inverts
Thick stick nut back linear motion, the feed screw nut to move along a straight line backward drive push rod while moving along a straight line backward, and push rod drive pushes away
Linear motion makes push rod connector retract backward to joint element for bar backward simultaneously, so that push rod connector drives second bearing bolt same
When slide backward and make grasping mechanism while inwardly rotating up to grasping mechanism to fully come together and recover to initial shape when not working
State, to execute crawl work next time.
In the present embodiment, grasping mechanism includes the pawl seat 6 of the fixed front end for being located at preceding cabin 5, by first bearing bolt 8
The big pawl 10 for being hinged on the unguiculus 9 on the left of the front end of pawl seat 6, being hinged on by first bearing bolt 8 on the right side of the front end of pawl seat 6,
The front end of push rod connector 11 is hinged between unguiculus 9 and big pawl 10 by second bearing bolt 13, push rod 12 penetrates pawl seat 6
In.Wherein, pawl seat 6 is removably fixed to the front end of cabin 5 before being located at by the second screw 7, the second screw 7 is in pawl seat 6
Surface is symmetrically arranged with 4, and the outer surface of the second screw 7 matches with the outer surface of the first sealing ring 15；Big pawl and unguiculus
It is made of engineering plastics, so that big pawl and unguiculus have the advantages that corrosion-resistant, at low cost and be easily worked, and can be effectively
Adapt to underwater adverse circumstances；Big pawl, unguiculus pass through helicitic texture respectively and are removably fixedly connected with pawl seat, big pawl, unguiculus
Rotational structure is constituted by first bearing bolt and pawl seat respectively, big pawl and unguiculus are respectively equipped with the clip tooth 16 matched, clip tooth
16 had not only provided chucking power when big pawl and unguiculus crawl article, but also improved anti-skidding effect when article clamping, so that crawl
Article when working held article in crawl opening by clip tooth simultaneously for big pawl and unguiculus by opening；The setting of pawl seat, was both improved
Stability, fixing and the balance of big pawl and unguiculus in the crawl article course of work, and big pawl and unguiculus are installed,
The operations such as disassembly, replacement, maintenance are extremely convenient；Specifically, when needing to carry out to grab article work using the electric manipulator,
Power supply unit to be connected, motor is started, motor, which rotates forward, drives motor shaft to rotate forward simultaneously, and motor shaft, which rotates forward, drives pin shaft to rotate forward simultaneously,
Pin shaft, which rotates forward, drives lead screw to rotate forward simultaneously, and lead screw, which rotates forward, drives feed screw nut straight forward movement simultaneously, straight forward movement
Feed screw nut drives push rod straight forward movement simultaneously, and the push rod of straight forward movement drives push rod connector forward rectilinear simultaneously
Movement push push rod connector forward, thus push rod connector drive second bearing bolt simultaneously forward slip, make big pawl and
Unguiculus is rotated opening simultaneously using the hinged place of respective corresponding first bearing bolt as rotating fulcrum respectively and is formed for crawl
The crawl of article is open, and can enter and is contained in so as to article in the crawl opening that big pawl and unguiculus open；Then motor is by just
It is transformed into reversion, motor reversal drives motor shaft to invert simultaneously, and motor shaft reversion drives pin shaft to invert simultaneously, and pin shaft reversion drives
Lead screw inverts simultaneously, and lead screw reversion drives feed screw nut to move along a straight line backward simultaneously, and the feed screw nut to move along a straight line backward drives
Linear motion makes push rod retract backward to push rod backward simultaneously, and push rod drives push rod connector, and linear motion connects push rod backward simultaneously
Fitting retracts backward, so that push rod connector drives second bearing bolt to slide backward simultaneously, makes big pawl and unguiculus respectively with each
The clip tooth for inwardly rotating up to big pawl and unguiculus simultaneously for rotating fulcrum from the hinged place of corresponding first bearing bolt is held
Article；When needing the article that will hold between big pawl and unguiculus to lay down, start motor, motor, which rotates forward, drives motor shaft simultaneously
It rotates forward, motor shaft, which rotates forward, drives pin shaft to rotate forward simultaneously, and pin shaft, which rotates forward, drives lead screw to rotate forward simultaneously, and lead screw, which rotates forward, drives feed screw nut
Straight forward movement, the feed screw nut of straight forward movement drives push rod, and straight forward movement pushes push rod forward simultaneously, to
The push rod of preceding linear motion drives push rod connector, and straight forward movement pushes push rod connector forward simultaneously, so that push rod connects
Fitting drives second bearing bolt forward slip simultaneously, makes big pawl and unguiculus respectively with respective corresponding first bearing bolt
Hinged place is that rotating fulcrum rotates that opening makes that crawl opening increases simultaneously and grasping mechanism unclamps article, so as to by article from big pawl
It lays down or takes out between unguiculus；By article after laying down or taking out between big pawl and unguiculus, motor reversal drives motor shaft
It inverts simultaneously, motor shaft reversion drives pin shaft to invert simultaneously, and pin shaft reversion drives lead screw to invert simultaneously, and lead screw reversion drives lead screw
Nut moves along a straight line backward simultaneously, and the lead screw to move along a straight line backward drives push rod while linear motion returns push rod backward backward
It moves back, push rod drives push rod connector, and linear motion makes push rod connector retract backward backward simultaneously, so that push rod connector drives
Second bearing bolt slides backward simultaneously, makes the hinged place of big pawl and unguiculus respectively with respective corresponding first bearing bolt
Rotating fulcrum inwardly rotation simultaneously, big pawl and unguiculus inwardly close up until big pawl and unguiculus fully come together and recover to when not working
Original state, so as to execute next time crawl and lay down article work.
In the present embodiment, big pawl 10, unguiculus 9 are equipped with the sliding groove 17 slided for second bearing bolt 13, push rod connection
The front end of part 11 is equipped with through-hole 110, and second bearing bolt 13 is slidably threaded through to be connected by sliding groove 17, the push rod of big pawl 10
In the activity space that the through-hole 110 of 11 front end of part and the sliding groove 17 of unguiculus 9 are formed.
In the present embodiment, it is tightly connected between preceding cabin 5 and rear cabin 19 by the second sealing ring 18.
In the present embodiment, further includes dismountable fixed rear hatchcover 4 for being located at preceding 5 rear end of cabin, pass through third sealing ring
22 by rear 4 sealing cover of hatchcover on the rear end of rear cabin 19.By the first screw 3, removably fixation is located at front deck to hatchcover 4 afterwards
On 5 rear end of body, convenient for opening or closing rear hatchcover, the convenience of the operations such as installation, removal, replacement, maintenance is improved；Rear deck
Lid, the composite structure formed between third sealing ring, rear cabin, further improve the leakproofness of electric manipulator entirety
Can, also further improve the waterproof and anticorrosion function during the electric manipulator integrally works long hours under water.
Further include the threading bolt 2 for being located at rear 4 rear end of hatchcover in the present embodiment, threads and lead between bolt 2 and rear hatchcover 4
The sealed connection of third sealing ring 22 is crossed, cable 1 is successively worn from the rear portion of the inner space formed between preceding cabin 5 and rear cabin 19
Later hatchcover 4, threading bolt 2 are drawn outward.
In the present embodiment, the inside of rear cabin 19 is equipped with inside groove 20, and inside groove 20 is equipped with link block 21, and motor 30 is fixedly connected
In the front end of link block 21, cable 1 sequentially passes through link block 21, rear hatchcover 4, threading bolt 2 from motor 30 and draws outward.Inside groove
It is arranged with the composite structure of link block, had both helped to improve motor and be mounted on the intracorporal stability of rear deck, fixing and balance energy
Power, and improve the convenience of the operations such as installation, removal, replacement, maintenance, it helps cable crosses line from after motor extraction
And wiring.
In the present embodiment, the inner hollow of threading bolt 2 is equipped with cured epoxy resin encapsulated body 23, passes through threading bolt
The epoxy resin encapsulated body 23 that the cable 1 of 2 inner hollows is cured seals, and has both further improved when cable is crossed line and is routed
Stability and fixing, further improve the sealing performance of electric manipulator entirety, and it is electronic also to further improve this
Manipulator integrally work long hours under water during waterproof and anticorrosion function.
Specifically, the filling of the cured epoxy resin encapsulated body in threading bolt is formed in by epoxy resin embedding adhesive solidification
Encapsulation method is as follows: first by cable pass through threading bolt inner hollow, then from threading bolt outside to threading bolt inside
Space is gradually poured into epoxy resin embedding adhesive until epoxy resin embedding adhesive fills up the inner space of threading bolt, and then waiting is filled out
The epoxy resin embedding adhesive for completely threading the inner space of bolt, which gradually solidifies, forms cured epoxy resin encapsulated body, cured ring
Epoxy resin embedding body seals the inner space of threading bolt and secures cable in threading bolt, water when reducing underwater operation
The risk in threading bolt is infiltrated through, so that motor and cable are not subject to the invasion and corruption of water, so that the cable quilt of motor
It is enclosed in the inside of threading bolt securely, substantially increases sealing performance and waterproof and anticorrosion function.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (10)
1. a kind of single-degree-of-freedom underwater electric manipulator, it is characterised in that: be located on preceding cabin (5) including preceding cabin (5), fixation
Rear cabin (19), be located on the front end of preceding cabin (5) and for grab article grasping mechanism, be located at preceding cabin (5) with after
In the inner space formed between cabin (19) and for driving grasping mechanism opening or the transmission mechanism closed up, being connected to transmission
Mechanism rear end and the cable (1) for being used for the driving mechanism of drive transmission device, being electrically connected with driving mechanism, grasping mechanism is connected to
On transmission mechanism, driving mechanism is located at rear cabin (19) inside, and cable (1) is formed between preceding cabin (5) and rear cabin (19)
The rear portion of inner space draw outward；Start driving mechanism, driving mechanism drives transmission mechanism, and transmission mechanism drives gripper
Structure grabs target item.
2. a kind of single-degree-of-freedom underwater electric manipulator according to claim 1, it is characterised in that: transmission mechanism includes connecting
Connect driving mechanism front end and by the lead screw (31) of driving mechanism driving, be connected to lead screw (31) front end and for driving gripper
The push rod (12) that structure opens or closes up, lead screw (31), push rod (12) are each provided in preceding cabin (5), and grasping mechanism is connected to push rod
(12) on.
3. a kind of single-degree-of-freedom underwater electric manipulator according to claim 2, it is characterised in that: transmission mechanism further includes
The push rod connector (11) being connected between push rod (12) and grasping mechanism, the rear end of push rod connector (11), which is fixedly connected on, to push away
The front end of bar (12), grasping mechanism are slidably hinged on the front end of push rod connector (11) by second bearing bolt (13),
Second bearing bolt (13) is slidably hinged between push rod connector (11) and grasping mechanism.
4. a kind of single-degree-of-freedom underwater electric manipulator according to claim 2 or 3, it is characterised in that: transmission mechanism is also
It is set in outside push rod (12) including fixation and for the first sealing ring (15) that push rod (12) passes through, the first sealing ring (15) fixation
It is pressed in the slot of preceding cabin (5) front end, push rod (12) is located at preceding cabin (5) front end by the first sealing ring (15) sealing.
5. a kind of single-degree-of-freedom underwater electric manipulator according to claim 4, it is characterised in that: driving mechanism includes connection
Axis device (26), motor (30), motor shaft (29), pin shaft (25), shaft coupling (26) are located in rear cabin (19), motor shaft (29) with
Motor (30) connection, motor (30) and motor shaft (29) pass through washer (28) nested encryptions on shaft coupling (26), shaft coupling
(26) it is located at the inside of pin shaft (25), hingedly by pin shaft (25) and lead screw (31), lead screw (31) is located at pin shaft to motor shaft (29)
(25) front end, cable (1) are electrically connected with motor (30).
6. a kind of single-degree-of-freedom underwater electric manipulator according to claim 3 or 5, it is characterised in that: grasping mechanism packet
It includes the pawl seat (6) of the fixed front end for being located at preceding cabin (5), be hinged on by first bearing bolt (8) on the left of the front end of pawl seat (6)
Unguiculus (9), by first bearing bolt (8) be hinged on the big pawl (10) on the right side of the front end of pawl seat (6), unguiculus (9) and big pawl
(10) front end of push rod connector (11) is hinged between by second bearing bolt (13), push rod (12) penetrates in pawl seat (6).
7. a kind of single-degree-of-freedom underwater electric manipulator according to claim 6, it is characterised in that: big pawl (10), unguiculus
(9) it is equipped with the sliding groove (17) for second bearing bolt (13) sliding, the front end of push rod connector (11) is equipped with through-hole
(110), the slidable sliding groove (17) being threaded through by big pawl (10) of second bearing bolt (13), push rod connector (11) front end
Through-hole (110) and unguiculus (9) sliding groove (17) formed activity space in.
8. a kind of single-degree-of-freedom underwater electric manipulator described according to claim 1 or 2 or 3 or 5 or 7, it is characterised in that: preceding
It is tightly connected between cabin (5) and rear cabin (19) by the second sealing ring (18).
9. a kind of single-degree-of-freedom underwater electric manipulator according to claim 8, it is characterised in that: further include dismountable
The fixed rear hatchcover (4) for being located at preceding cabin (5) rear end, by third sealing ring (22) by rear hatchcover (4) sealing cover in rear cabin
(19) on rear end.
10. a kind of single-degree-of-freedom underwater electric manipulator according to claim 9, it is characterised in that: further include after being located at
The threading bolt (2) of hatchcover (4) rear end threads and is connected between bolt (2) and rear hatchcover (4) by third sealing ring (22) sealing
It connects, the rear portion for the inner space that cable (1) is formed between preceding cabin (5) and rear cabin (19) sequentially passes through rear hatchcover (4), wears
Line bolt (2) is drawn outward.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910653658.5A CN110253616A (en) | 2019-07-19 | 2019-07-19 | A kind of single-degree-of-freedom underwater electric manipulator |
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| CN201910653658.5A CN110253616A (en) | 2019-07-19 | 2019-07-19 | A kind of single-degree-of-freedom underwater electric manipulator |
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| CN112439523A (en) * | 2020-11-15 | 2021-03-05 | 华琳琳 | Agriculture and forestry ore deposit discarded object processing apparatus |
| CN112720403A (en) * | 2020-12-21 | 2021-04-30 | 国核电站运行服务技术有限公司 | A grabbing device for foreign matter under water |
| CN113043303A (en) * | 2021-03-08 | 2021-06-29 | 中海油能源发展装备技术有限公司 | Underwater manipulator paw driving device capable of realizing compound motion |
| EP3865256A1 (en) * | 2020-02-05 | 2021-08-18 | Houston Mechatronics, Inc. | Subsea manipulator |
| CN114622868A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Underwater sealing joint |
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