CN110394807A - A kind of underwater manipulator - Google Patents
A kind of underwater manipulator Download PDFInfo
- Publication number
- CN110394807A CN110394807A CN201910623163.8A CN201910623163A CN110394807A CN 110394807 A CN110394807 A CN 110394807A CN 201910623163 A CN201910623163 A CN 201910623163A CN 110394807 A CN110394807 A CN 110394807A
- Authority
- CN
- China
- Prior art keywords
- fixed
- fixing axle
- telescopic rod
- electric telescopic
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 claims abstract description 33
- 230000002265 prevention Effects 0.000 claims abstract description 12
- 238000005520 cutting process Methods 0.000 claims description 11
- 238000005553 drilling Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of underwater manipulators, including water-proof plate and electric telescopic rod, cable is equipped at the top of electric telescopic rod, even circumferential sets that there are three fixing axle b below water-proof plate, fixing axle b passes through welding manner and is fixed on water-proof plate, the periphery fixing axle b is equipped with shaft, shaft passes through bearing and is mounted on fixing axle b, connecting rod is equipped with below shaft, connecting rod passes through welding manner and is fixed in shaft, connecting rod lower end is equipped with fixing axle a, fixing axle a passes through bearing and is mounted in connecting rod, the lower end fixing axle a is equipped with mechanical arm, fixed block is equipped in the middle part of mechanical arm side wall, fixed block apex angle is equipped with spring assembly, mechanical arm lower end is equipped with manipulator, manipulator lower end is equipped with disconnecting prevention structure, waterproof pan bottom inner periphery is uniformly provided with four limited blocks；A kind of underwater manipulator of the present invention provides power by electric telescopic rod, guarantees dynamical stability, carries out transmission power by spring assembly.
Description
Technical field
The present invention relates to manipulator technical field, specially a kind of underwater manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Having the advantage of people and robotics respectively concurrently, it can replace the heavy labor of people to realize the mechanization and automation of production,
It can be operated under hostile environment to protect personal safety, can also carry out operation under water, but current underwater manipulator exists
Structure is excessively complicated, installs inconvenient problem.
Summary of the invention
The purpose of the present invention is to provide a kind of underwater manipulators, with design is reasonable, structure is simple, power output is steady
Advantage fixed, not easily to fall off, easy for installation, easy to operate, solves the problems of the prior art.
To achieve the above object, the invention provides the following technical scheme: a kind of underwater manipulator, including water-proof plate and electronic
Telescopic rod, the electric telescopic rod bottom are equipped with mounting disc, and the mounting disc is described by being threadably mounted in electric telescopic rod
Cable is equipped at the top of electric telescopic rod, even circumferential is set there are three fixing axle b below the water-proof plate, and the fixing axle b is logical
It crosses welding manner to be fixed on water-proof plate, the periphery the fixing axle b is equipped with shaft, and the shaft passes through bearing and is mounted on admittedly
On dead axle b, it is equipped with connecting rod below the shaft, the connecting rod passes through welding manner and is fixed in shaft, the connecting rod
Lower end is equipped with fixing axle a, and the fixing axle a passes through bearing and is mounted in connecting rod, and the lower end the fixing axle a is all provided with organic
Tool arm, the mechanical arm pass through bearing and are mounted on fixing axle a, are equipped with fixation in the middle part of the mechanical arm side wall
Block, the fixed block pass through welding manner and are fixed on mechanical arm, and the fixed block apex angle is equipped with spring assembly, described
Spring assembly passes through welding manner and is fixed on fixed block, and the mechanical arm lower end is equipped with manipulator, the manipulator
It is fixed on mechanical arm by welding manner, the manipulator lower end is equipped with disconnecting prevention structure, and the disconnecting prevention structure is logical
It is fixed on a robotic arm to cross welding manner, waterproof pan bottom inner periphery is uniformly provided with four limited blocks, and the limited block is equal
It is fixed on water-proof plate by welding manner, the terminal pad a right end upper and lower ends are equipped with fixed column, and the fixed column is logical
It crosses welding to be mounted on terminal pad a, right end is equipped with motor a at the top of the upper end fixed column, and the motor a is fixed by screws in
In fixed column, cutting sheet is equipped between described two fixed columns, the cutting sheet is mounted in fixed column by shaft, the company
Disk b right end is connect equipped with fixed frame, the fixed frame is mounted on terminal pad b by welding, is equipped in the middle part of the fixed frame right end
Motor b, the motor b are fixed by screws on fixed frame, and the motor b right end is equipped with drill head, and the drill head passes through
Shaft is mounted on motor b.
Preferably, the diameter of the electric telescopic rod is smaller than the diameter of water-proof plate, and the electric telescopic rod can be in water-proof plate
Interior free to slide, the limited block can limit sliding distance of the electric telescopic rod in water-proof plate.
Preferably, it is triangular shape that the fixation is block-shaped, and the limit is block-shaped to be round, is equipped in the mounting disc interior
Screw thread, the terminal pad a and terminal pad b can be threaded onto mounting disc.
Preferably, the connecting rod, fixing axle a, mechanical arm, manipulator, disconnecting prevention structure, fixed block, spring assembly, shaft
It is three with fixing axle b.
Preferably, described spring assembly one end connect by welding manner with fixed block, the other end pass through welding manner and
The connection of electric telescopic rod lower end.
Preferably, the electric telescopic rod model KM01.
Preferably, the motor a, motor b and cable are connected separately with power supply.
Compared with prior art, beneficial effects of the present invention are as follows: a kind of underwater manipulator of the present invention passes through electric expansion
Bar provides power, guarantees dynamical stability, carries out transmission power by spring assembly, limits electric telescopic rod anti-by limited block
Sliding distance in water pond prevents from skidding off, and enables manipulator and mechanical arm in water-proof plate by shaft and fixing axle cooperation
Crawl target is realized in upper rotation.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of underwater manipulator of the present invention；
Fig. 2 is a kind of fixed case schematic diagram of underwater manipulator of the present invention；
Fig. 3 is a kind of transmission shaft schematic view of the mounting position of underwater manipulator of the present invention；
Fig. 4 is a kind of fixed case schematic internal view of underwater manipulator of the present invention；
Fig. 5 is a kind of mounting disc schematic view of the mounting position of underwater manipulator of the present invention；
Fig. 6 is a kind of cutting sheet schematic view of the mounting position of underwater manipulator of the present invention；
Fig. 7 is a kind of drill head schematic view of the mounting position of underwater manipulator of the present invention.
Explanation: 1 water-proof plate, 2 electric telescopic rods, 3 cables, 4 connecting rods, 5 fixing axle a, 6 mechanical arms, 7 machinery is marked in figure
Hand, 8 disconnecting prevention structures, 9 fixed blocks, 10 spring assemblies, 11 shafts, 12 fixing axle b, 13 limited blocks, 14 mounting discs, 15 cutting sheets,
16 motor a, 17 terminal pad a, 18 fixed columns, 19 terminal pad b, 20 fixed frames, 21 motor b, 22 drill heads.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Please refer to Fig. 1-7, a kind of underwater manipulator, including water-proof plate and electric telescopic rod 2,2 model of electric telescopic rod
KM01,2 bottom of electric telescopic rod are equipped with mounting disc 14, and mounting disc 14 is by being threadably mounted in electric telescopic rod 2, electric expansion
Cable 3 is equipped at the top of bar 2, even circumferential sets that there are three fixing axle b12, fixing axle b12 to pass through welding manner below water-proof plate
It is fixed on water-proof plate, the periphery fixing axle b12 is equipped with shaft 1, and shaft 1 is mounted on fixing axle b12 by bearing, shaft
1 lower section is equipped with connecting rod 4, and connecting rod 4 is fixed in shaft 1 by welding manner, and connecting rod lower end is equipped with fixing axle a5, Gu
Dead axle a5 passes through bearing and is mounted in connecting rod, and the lower end fixing axle a5 is equipped with mechanical arm 6, and mechanical arm 6 passes through axis
It holds and is mounted on fixing axle a5, be equipped with fixed block 9 in the middle part of 6 side wall of mechanical arm, fixed block 9 is fixed on by welding manner
On mechanical arm 6,9 apex angle of fixed block is equipped with spring assembly 10, and spring assembly 10 is fixed on fixed block 9 by welding manner
On, 6 lower end of mechanical arm is equipped with manipulator 7, and manipulator 7 is fixed on mechanical arm 6 by welding manner, manipulator 7
Lower end is equipped with disconnecting prevention structure 8, and disconnecting prevention structure 8 is fixed on manipulator 7 by welding manner, and waterproof pan bottom inner periphery is equal
Even to set there are four limited block 13, limited block 13 is fixed on water-proof plate 1 by welding manner, two above and below terminal pad a17 right end
End is equipped with fixed column 18, and fixed column 18 is mounted on terminal pad a17 by welding, and fixed column 18 top right end in upper end is equipped with
Motor a16, motor a16 are fixed by screws in fixed column 18, and cutting sheet 15 is equipped between two fixed columns 18, and cutting sheet is logical
It crosses shaft to be mounted in fixed column 18, terminal pad b19 right end is equipped with fixed frame 20, and fixed frame 20 is mounted on terminal pad by welding
On b19, motor b21 is equipped in the middle part of 20 right end of fixed frame, motor b21 is fixed by screws on fixed frame 20, motor b21 right end
Equipped with drill head 22, drill head 22 is mounted on motor b21 by shaft, the diameter of the diameter of electric telescopic rod 2 than water-proof plate
Small, electric telescopic rod 2 can be free to slide in water-proof plate, and limited block 13 can limit sliding of the electric telescopic rod 2 in water-proof plate
Distance, 9 shape of fixed block are triangular shape, and 13 shape of limited block is circle, are equipped with internal screw thread in mounting disc 14, terminal pad a17 and
Terminal pad b19 can be threaded onto mounting disc 14, connecting rod 4, fixing axle a5, mechanical arm 6, manipulator 7, disconnecting prevention structure 8,
Fixed block 9, spring assembly 10, shaft 1 and fixing axle b12 are three, and 10 one end of spring assembly passes through welding manner and fixation
Block 9 connects, and the other end is connect by welding manner with 2 lower end of electric telescopic rod, and motor a16, motor b21 and cable 3 connect respectively
It is connected to power supply.
Working principle: a kind of underwater manipulator of the present invention can may be mounted at the present apparatus on robot arm, can also
To be used alone, into the water by the present apparatus, when needing to some object block grasping manipulation, cable 3 connects power supply, electric expansion
Bar 2 is powered, and electric telescopic rod 2 starts to shrink, and spring assembly 10 is driven to pull up, and spring assembly 10 drives mechanical arm
6 and manipulator 7 inwardly move, grasping manipulation is carried out to object block, the disconnecting prevention structure 8 on manipulator 7 can hold object block, prevent
Object block falls off, and limited block 13 can stop the groups of springs of 2 lower end of electric telescopic rod during electric telescopic rod 2 moves upwards
Part 10, and then the distance that electric telescopic rod 2 is slided in water-proof plate 1 is limited, when needing to carry out loosening operation to object block, cable
3 connection power supplys, electric telescopic rod 2 are powered, and electric telescopic rod 2 starts to expand, and drives spring assembly 10 to move downward later, in turn
It controls manipulator and unclamps object block, terminal pad a17 is installed to by loosening operation when needing to carry out cutting operation to be realized to object block
In mounting disc 14, motor a16 connection power supply opens power supply, and motor a16 drives cutting sheet to rotate by shaft, realizes cutting behaviour
Make, when if necessary to drill, terminal pad b19 can be installed in mounting disc 14, motor b21 connection power supply, opens power supply, electricity
Machine b21 drives drill head 22 to rotate by shaft, realizes drilling operation, if it is desired to close the present apparatus, only need to disconnect power supply i.e.
It can.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms；Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
Interior, any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of underwater manipulator, it is characterised in that: including water-proof plate (1), terminal pad a(17), terminal pad b(19) and electronic stretch
Contracting bar (2), electric telescopic rod (2) bottom are equipped with mounting disc (14), and the mounting disc (14) is electronic by being threadably mounted at
On telescopic rod (2), cable (3) are equipped at the top of the electric telescopic rod (2), even circumferential is equipped with three below the water-proof plate (1)
A fixing axle b(12), the fixing axle b(12) be fixed on water-proof plate (1) by welding manner, the fixing axle b(12)
Periphery is equipped with shaft (11), and the shaft (11) is mounted on fixing axle b(12 by bearing) on, below the shaft (11)
It is equipped with connecting rod (4), the connecting rod (4) is fixed on shaft (11) by welding manner, and connecting rod (1) lower end is all provided with
Have fixing axle a(5), the fixing axle a(5) be mounted on connecting rod (1) by bearing, the fixing axle a(5) lower end is all provided with
Have mechanical arm (6), the mechanical arm (6) is mounted on fixing axle a(5 by bearing) on, mechanical arm (6) side wall
Middle part is equipped with fixed block (9), and the fixed block (9) is fixed on mechanical arm (6) by welding manner, the fixed block
(9) apex angle is equipped with spring assembly (10), and the spring assembly (10) is fixed on fixed block (9) by welding manner, institute
It states mechanical arm (6) lower end to be equipped with manipulator (7), the manipulator (7) is fixed on mechanical arm (6) by welding manner
On, manipulator (7) lower end is equipped with disconnecting prevention structure (8), and the disconnecting prevention structure (8) is fixed on machinery by welding manner
On hand (7), water-proof plate (1) bottom inner periphery is uniformly provided with four limited blocks (13), and the limited block (13) passes through weldering
The mode of connecing is fixed on water-proof plate (1), the terminal pad a(17) right end upper and lower ends are equipped with fixed column (18), the fixation
Column (18) is mounted on terminal pad a(17 by welding) on, right end is equipped with motor a(16 at the top of the upper end fixed column (18)),
The motor a(16) it is fixed by screws on fixed column (18), cutting sheet (15) are equipped between described two fixed columns (18),
The cutting sheet is mounted on fixed column (18) by shaft, the terminal pad b(19) right end be equipped with fixed frame (20), it is described solid
Determine frame (20) and terminal pad b(19 be mounted on by welding) on, motor b(21 is equipped in the middle part of fixed frame (20) right end), it is described
Motor b(21) be fixed by screws on fixed frame (20), the motor b(21) right end be equipped with drill head (22), the drilling
Head (22) is mounted on motor b(21 by shaft) on.
2. a kind of underwater manipulator according to claim 1, it is characterised in that: the diameter ratio of the electric telescopic rod (2)
The diameter of water-proof plate (1) is small, and the electric telescopic rod (2) can be free to slide in water-proof plate (1), and the limited block (13) can limit
Sliding distance of the electric telescopic rod (2) processed in water-proof plate (1).
3. a kind of underwater manipulator according to claim 1, it is characterised in that: fixed block (9) shape is triangular shape,
Limited block (13) shape is circle, is equipped with internal screw thread, the terminal pad a(17 in the mounting disc (14)) and terminal pad b
(19) it can be threaded onto mounting disc (14).
4. a kind of underwater manipulator according to claim 1, it is characterised in that: the connecting rod (4), fixing axle a(5), machine
Tool arm (6), manipulator (7), disconnecting prevention structure (8), fixed block (9), spring assembly (10), shaft (11) and fixing axle b(12)
It is three.
5. a kind of underwater manipulator according to claim 1, it is characterised in that: described spring assembly (10) one end passes through weldering
It connects mode to connect with fixed block (9), the other end is connect by welding manner with electric telescopic rod (2) lower end.
6. a kind of underwater manipulator according to claim 1, it is characterised in that: electric telescopic rod (2) model
KM01。
7. a kind of underwater manipulator according to claim 1, it is characterised in that: the motor a(16), motor b(21) and
Cable (3) is connected separately with power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910623163.8A CN110394807A (en) | 2019-07-11 | 2019-07-11 | A kind of underwater manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910623163.8A CN110394807A (en) | 2019-07-11 | 2019-07-11 | A kind of underwater manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110394807A true CN110394807A (en) | 2019-11-01 |
Family
ID=68325365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910623163.8A Pending CN110394807A (en) | 2019-07-11 | 2019-07-11 | A kind of underwater manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110394807A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202399261U (en) * | 2011-12-20 | 2012-08-29 | 鞍钢集团矿业公司 | Fixture for clamping bolt |
| CN106827075A (en) * | 2015-12-07 | 2017-06-13 | 重庆六边形网络科技有限责任公司 | A kind of machine and wood cutting |
| CN107030726A (en) * | 2017-05-24 | 2017-08-11 | 陈炳林 | A kind of quick material grabbing mechanism of machine components |
| CN107081750A (en) * | 2017-06-23 | 2017-08-22 | 常州信息职业技术学院 | A kind of unidirectional self-lock formula manipulator |
| WO2018049999A1 (en) * | 2016-09-18 | 2018-03-22 | 盛富春 | Manipulator for removing dross from liquid metal |
| CN208616440U (en) * | 2018-03-31 | 2019-03-19 | 浙江聚业科技有限公司 | A kind of placenta stem-cell automatic access device preventing manpower frostbite |
| CN109591042A (en) * | 2019-01-02 | 2019-04-09 | 广州大学 | A kind of gripper |
| CN208977842U (en) * | 2018-10-10 | 2019-06-14 | 青岛小米装备制造有限公司 | A kind of automated production clamp device |
| CN109894917A (en) * | 2018-12-29 | 2019-06-18 | 洛阳贵万精工机械有限公司 | A kind of machine drilling impurity cleaning device |
| CN210910030U (en) * | 2019-07-11 | 2020-07-03 | 广西万鑫源环境科技工程有限公司 | Underwater mechanical arm |
-
2019
- 2019-07-11 CN CN201910623163.8A patent/CN110394807A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202399261U (en) * | 2011-12-20 | 2012-08-29 | 鞍钢集团矿业公司 | Fixture for clamping bolt |
| CN106827075A (en) * | 2015-12-07 | 2017-06-13 | 重庆六边形网络科技有限责任公司 | A kind of machine and wood cutting |
| WO2018049999A1 (en) * | 2016-09-18 | 2018-03-22 | 盛富春 | Manipulator for removing dross from liquid metal |
| CN107030726A (en) * | 2017-05-24 | 2017-08-11 | 陈炳林 | A kind of quick material grabbing mechanism of machine components |
| CN107081750A (en) * | 2017-06-23 | 2017-08-22 | 常州信息职业技术学院 | A kind of unidirectional self-lock formula manipulator |
| CN208616440U (en) * | 2018-03-31 | 2019-03-19 | 浙江聚业科技有限公司 | A kind of placenta stem-cell automatic access device preventing manpower frostbite |
| CN208977842U (en) * | 2018-10-10 | 2019-06-14 | 青岛小米装备制造有限公司 | A kind of automated production clamp device |
| CN109894917A (en) * | 2018-12-29 | 2019-06-18 | 洛阳贵万精工机械有限公司 | A kind of machine drilling impurity cleaning device |
| CN109591042A (en) * | 2019-01-02 | 2019-04-09 | 广州大学 | A kind of gripper |
| CN210910030U (en) * | 2019-07-11 | 2020-07-03 | 广西万鑫源环境科技工程有限公司 | Underwater mechanical arm |
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