CN115675801B - Underwater electric mechanical arm rotation mechanism - Google Patents
Underwater electric mechanical arm rotation mechanism Download PDFInfo
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- CN115675801B CN115675801B CN202211346100.0A CN202211346100A CN115675801B CN 115675801 B CN115675801 B CN 115675801B CN 202211346100 A CN202211346100 A CN 202211346100A CN 115675801 B CN115675801 B CN 115675801B
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- mechanical arm
- ball bearing
- shaft
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- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000003068 static effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The invention provides an underwater electric mechanical arm slewing mechanism, which is externally provided with a watertight pressure-resistant cabin, and internally provided with a power driving and controlling assembly, wherein the two sides of the watertight pressure-resistant cabin are respectively provided with power output and slewing support, and the power driving and controlling assembly comprises a direct current brushless motor, a harmonic reducer, a rotary transformer and other parts.
Description
Technical Field
The invention belongs to the technical field of ocean engineering, and particularly relates to an underwater electric mechanical arm rotation mechanism.
Background
The underwater electric mechanical arm is usually arranged on an underwater robot to execute underwater grabbing, cutting and other operation tasks, is an indispensable operation tool of the underwater robot, and has wide application in the field of ocean engineering. The existing underwater electric mechanical arm is usually designed into a rotary mode, and generally only has the problems of insufficient control precision and control stability due to a position servo control mode. In addition, because the space arrangement of the internal driving, transmission, detection and other parts is not reasonable, the size of the slewing mechanism is easy to be larger, and the motion performance in water is influenced.
Disclosure of Invention
The invention aims to provide an underwater electric mechanical arm slewing mechanism which is characterized by comprising a watertight pressure-resistant cabin and a motor shell, wherein the watertight pressure-resistant cabin is connected with other joint mechanisms or arm rods and a watertight connector in signal connection, the motor shell is arranged in the watertight pressure-resistant cabin, and a power driving and controlling assembly is arranged in the motor shell;
The power driving and controlling assembly comprises a direct current brushless motor, a position rotary transformer and a speed rotary transformer, one end of the direct current brushless motor extends out of the motor casing to be provided with a motor input shaft, the other end of the direct current brushless motor is provided with a rotating shaft end cover, the motor casing is provided with a motor end cover on the same side of the rotating shaft end cover, the motor end cover, the rotating shaft end cover and the motor input shaft are coaxially arranged, a hollow lug is arranged in the middle of the motor end cover, the direct current brushless motor extends out of the middle of the rotating shaft end cover to form an output shaft, a hollow base is coaxially arranged in the rotating shaft end cover, and a hollow thin shaft of the base extends out of the output shaft of the rotating shaft end cover and is fixed with the hollow lug through a hoop outside the hollow lug Zhou Yushe;
The stator of the direct current brushless motor is adhered to the inner wall of the motor shell, the rotor of the direct current brushless motor is adhered to the outer periphery of the motor input shaft, the rotor of the speed end rotary transformer is fixed to the outer periphery of the output shaft of the rotating shaft end cover, and the stator of the speed end rotary transformer is arranged on the outer periphery of the rotor of the speed end rotary transformer and is fixed with the inner wall of the motor end cover so as to realize feedback of the rotating speed of the direct current brushless motor; the stator of the position end rotary transformer is fixed with the base, the rotor of the position end rotary transformer is fixed on the periphery of one end part of the power output shaft so as to realize feedback of the output angle of the power output shaft, and the other end of the power output shaft (9) is fixed with the watertight pressure-resistant cabin so as to drive the rest joint mechanisms or arm rods to rotate.
Further, a harmonic reducer is further arranged in the motor shell, a wave generator of the harmonic reducer is connected with the motor input shaft through a flat key, and a flexible gear of the harmonic reducer is connected with the power output shaft through an active fixing screw.
Further, the watertight pressure cabin comprises a shell, a left end cover and a right end cover which are respectively fixed at two opposite ends of the shell, wherein a top end cover is arranged at the top of the shell, and the top end cover is provided with a watertight connector for electric communication with adjacent joints; the left end cover and the right end cover are respectively provided with a joint mechanism of the underwater electric mechanical arm through an active connecting piece and an auxiliary connecting piece.
Further, the power output shaft is integrally provided with a pressure compensation mechanism with the end face connected with the left end cover, the pressure compensation mechanism is connected with the active connecting piece, a spring and a piston which are matched with each other are arranged in the pressure compensation mechanism, and the watertight pressure-resistant cabin realizes pressure compensation under the internal oil filling state through the pressure compensation mechanism.
Further, a first deep groove ball bearing and a sealing ring are adjacently arranged on the periphery of the pressure compensation mechanism, an O-shaped ring for static sealing is arranged between the sealing ring and the left end cover, an angular contact ball bearing is arranged inside the two Grignard ring motor input shafts for dynamic sealing and is arranged between the inner periphery of the sealing ring and the periphery of the power output shaft, a hole retainer ring for axial limiting is arranged on the angular contact ball bearing, and the power output shaft is supported through radial rotation by the angular contact ball bearing and the first deep groove ball bearing and is supported through the angular contact ball bearing; and a third deep groove ball bearing used for supporting the periphery of the motor input shaft is arranged in the shell.
Further, the right side end cover periphery is equipped with the concave bearing frame that is used for installing second deep groove ball bearing, second deep groove ball bearing inner periphery is equipped with and is used for supporting auxiliary connection spare gyration motion's revolving axle, right side end cover inner periphery is equipped with and is used for the connector with adjacent joint electric signal communication, still be equipped with on the right side end cover inner wall and be used for spacing connector axial retaining ring.
Further, two sliding bearings for providing rotary support are arranged between the connector and the right end cover, and two O-shaped rings for dynamic sealing between the connector and the right end cover are arranged between the two sliding bearings.
Compared with the prior art, the invention has the beneficial effects that:
1. the rotary transformer for detecting the position end and the speed end is integrated in the rotary mechanism, so that double closed-loop control of the position and the speed can be realized, and the accuracy of the rotary motion control of the underwater electric mechanical arm is improved.
2. The rotary mechanism is provided with the left end cover for the active output end and the right end cover for the rotary support end, so that the stable support of the subsequent joint, arm rod and tail end working tool of the mechanical arm can be realized, and the stability of the movement of the mechanical arm is improved.
3. The rotary support end of the rotary mechanism is provided with the follow-up connector, so that the wire outlet direction is not influenced by the relative positions of adjacent joints, and the reliability of electrical connection among the joints is improved.
Drawings
FIG. 1 is a block diagram of an underwater electric mechanical arm swing mechanism of the present invention;
FIG. 2 is a right side view of FIG. 1;
fig. 3 is a cross-sectional view of A-A of fig. 2.
Wherein: 1. a housing; 2. a harmonic reducer; 3. a motor housing; 4. a motor input shaft; 5. a rotor of a DC brushless motor; 6. a motor end cover; 7. a right side end cap; 8. a left side end cap; 9. a power output shaft; 10. a stator of a position rotation potentiometer; 11. a stator of a speed-end rotary transformer; 12. a rotating shaft end cover; 13. a base; 14. a hoop; 15. a seal ring; 16. a retainer ring for holes; 17. a piston; 18. a rotary shaft fixing screw; 19. a top end cap; 20. a rotating shaft; 21. a sliding bearing; 22. a stator of a DC brushless motor; 23. a third deep groove ball bearing; 24. a first deep groove ball bearing; 25. angular contact ball bearings; 26. a second deep groove ball bearing; 27. a flat key; 28. a rotor of a position-end rotary transformer; 29. a rotor of a speed-end rotary transformer; 30. a driving end is used for fixing the screw; 31. a Gelai circle; 32. a spring; 33. an active connection; 34. an auxiliary connection member; 35. a connector; 36. and (5) a retainer ring.
Detailed Description
In the following, a description will be given in more detail of an underwater electric mechanical arm turning mechanism of the present invention with reference to the drawings, in which a preferred embodiment of the present invention is shown, it being understood that the present invention described herein can be modified by those skilled in the art while still achieving the advantageous effects of the present invention, and therefore the following description should be construed as broadly known to those skilled in the art without limiting the present invention.
As shown in fig. 1, the present invention provides an underwater electric mechanical arm swing mechanism capable of supporting a subsequent joint. The arm lever and the tail end working tool realize accurate and stable control of the rotation angle.
The outside of the slewing mechanism is a watertight pressure-resistant cabin, and the inside of the slewing mechanism is a power driving and controlling assembly;
The watertight pressure-resistant cabin consists of a shell 1, a left end cover 8, a right end cover 7 and a top end cover 19, wherein one side of the left end cover 8 is a power output end and is used for driving the driving connecting piece 33 to rotate; one side of the right end cover 7 is a rotary support end for supporting the auxiliary connecting piece 34 to rotate; the active connecting piece 33 and the auxiliary connecting piece 34 can be provided with other joint mechanisms or arm rods of the underwater motor mechanical arm; the top end cap 19 is used for installing Subconn and other miniature series watertight connectors to realize electrical communication with adjacent joints.
As shown in fig. 2, a power output shaft 9 is disposed in the left end cover 8, the right end of the power output shaft 9 is in a solid shaft structure, the left end integrally extends leftwards and is provided with a pressure compensation mechanism, and the pressure compensation mechanism is fixed with the active connecting piece 33. The periphery of the pressure compensation mechanism is provided with a first deep groove ball bearing 24, the left side of the first deep groove ball bearing 24 is provided with a sealing ring 15, an O-shaped ring is arranged between the sealing ring 15 and the left end cover 8 for static sealing, and two lattice Lai rings 31 are arranged between the inner periphery of the sealing ring 15 and the outer periphery of the power output shaft 9 for dynamic sealing; the pressure compensation mechanism is internally provided with a spring 32 and a piston 17 which are matched with each other and used for pressure compensation in the state of filling oil in the watertight pressure-resistant cabin.
The outer periphery of the right end cover 7 is provided with a concave bearing seat for mounting a second deep groove ball bearing 26, the inner periphery of the second deep groove ball bearing 26 is provided with a rotary shaft 20 which is fixed by a rotary shaft fixing screw 18 and used for supporting the rotary motion of an auxiliary connecting piece 34; the middle part of the right end cover 7 is provided with a through hole, a connector 35 is arranged in the through hole, and the connector 35 extends out of the through hole and is used for communicating with electric signals of adjacent joints; the connector 35 and the right end cover 7 are provided with rotary support by adopting two sliding bearings 21, and two O-shaped ring sealing grooves are arranged between the two sliding bearings 21 and used for dynamic sealing between the connector 35 and the right end cover 7, so that the cable outlet direction of the connector can be kept motionless in the rotating process of the slewing mechanism; a retainer ring 36 is arranged in the right end cover 7 at the through hole and used for limiting the axial direction of the connector 35; the connector 35 is hollow, and waterproof of the internal cable is ensured by glue filling.
The direct current brushless motor, the position rotary transformer and the speed rotary transformer are all arranged inside a motor casing, a stator 22 of the direct current brushless motor and the motor casing 3 are fixed in an adhesive mode, a rotor 5 of the direct current brushless motor is arranged outside a motor input shaft 4 and is also fixed in an adhesive mode, a coaxial motor end cover 6 is arranged on the right side of the motor casing 3, a hollow lug is arranged in the middle of the motor end cover 6, the lug is hollow, and a hollow groove is divided into three parts.
The motor input shaft 4 is of a hollow structure, a coaxial hollow rotating shaft end cover 12 is arranged on the right side of the motor input shaft, a speed end rotary transformer rotor 29 is arranged on the output shaft of the rotating shaft end cover 12, a stator 11 of the speed end rotary transformer fixed on the motor end cover 6 is arranged on the outer side of the motor input shaft, and the feedback of the rotating speed of the DC brushless motor can be realized; the motor input shaft 4 is internally provided with a position end rotary transformer, a stator 10 of the position end rotary transformer is fixed on the base 13, and a rotor 28 of the position end rotary transformer is fixed on the power output shaft 9, so that feedback of the output angle of the power output shaft 9 can be realized. The base 13 is designed as a hollow structure for the arrangement of the position end resolver electric signal wires.
As shown in fig. 3, the hollow thin shaft of the base 13 extends out from the shaft of the shaft end cover 12, enters into the hollow groove of the hollow protruding block of the motor end cover 6, and is locked by the anchor ear 14 arranged at the periphery of the hollow protruding block of the motor end cover 6 so as to ensure the fixation of the base 13.
The harmonic reducer 2 is fastened inside the shell through a screw, a wave generator of the harmonic reducer 2 is connected with the motor input shaft 4 through a flat key 27, and the left end of a flexible gear of the harmonic reducer 2 is connected with the power output shaft 9 through a flexible gear fixing screw 30.
The power output shaft 9 is provided with radial rotation support by a first deep groove ball bearing 24 and an angular contact ball bearing 25, and radial support by the angular contact ball bearing 25; the angular ball bearing 25 is disposed inside the motor input shaft 4 and is axially limited by the hole retainer 16. The motor input shaft 4 is supported on the outside by a first deep groove ball bearing 24 provided inside the housing 1, thereby ensuring coaxial rotary movement of the power output shaft 9, the motor input shaft 4 and the rotor 29 of the speed-side resolver and the rotor 28 of the position-side resolver.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art will make any equivalent substitution or modification to the technical solution and technical content disclosed in the invention without departing from the scope of the technical solution of the invention, and the technical solution of the invention is not departing from the scope of the invention.
Claims (8)
1. The underwater electric mechanical arm slewing mechanism is characterized by comprising a watertight pressure-resistant cabin and a motor casing (3), wherein the watertight pressure-resistant cabin is connected with other joint mechanisms or arm rods and a watertight connector in signal connection, the motor casing (3) is arranged in the watertight pressure-resistant cabin, and a power driving and controlling assembly is arranged in the motor casing (3);
the power driving and controlling assembly comprises a direct current brushless motor, a position rotary transformer and a speed rotary transformer, one end of the direct current brushless motor extends out of a motor shell (3) and is provided with a motor input shaft (4), the other end of the direct current brushless motor is provided with a rotating shaft end cover (12), the motor shell (3) is provided with a motor end cover (6) on the same side of the rotating shaft end cover (12), the motor end cover (6), the rotating shaft end cover (12) and the motor input shaft (4) are coaxially arranged, a hollow lug is arranged in the middle of the motor end cover (6), the direct current brushless motor extends outwards in the middle of the rotating shaft end cover (12) and is provided with a shaft outlet, a hollow base (13) is coaxially arranged in the rotating shaft end cover (12), and the hollow thin shaft of the base (13) extends out of the shaft end cover (12) and is fixed with the hollow lug through a hoop (14) preset on the periphery of the hollow lug;
The stator (22) of the direct current brushless motor is adhered to the inner wall of the motor shell (3), the rotor (5) of the direct current brushless motor is adhered to the periphery of the motor input shaft (4), the rotor (29) of the speed-end rotary transformer is fixed to the outer periphery of the output shaft of the rotating shaft end cover (12), and the stator (11) of the speed-end rotary transformer is arranged on the outer periphery of the rotor (29) of the speed-end rotary transformer and is fixed with the inner wall of the motor end cover (6) so as to realize the feedback of the rotating speed of the direct current brushless motor; the stator (10) of the position end rotary transformer is fixed with the base (13), the rotor (28) of the position end rotary transformer is fixed on the periphery of one end part of the power output shaft (9) so as to realize feedback of the output angle of the power output shaft (9), and the other end of the power output shaft (9) is fixed with the watertight pressure-resistant cabin so as to drive the rest joint mechanisms or arm rods to rotate.
2. The underwater electric mechanical arm slewing mechanism according to claim 1, wherein a harmonic reducer (2) is further arranged in the motor casing (3), a wave generator of the harmonic reducer (2) is connected with the motor input shaft (4) through a flat key (27), and a flexible gear of the harmonic reducer (2) is connected with the power output shaft (9) through an active fixing screw (30).
3. The underwater electric mechanical arm slewing mechanism as set forth in claim 1, characterized in that the watertight pressure-resistant cabin comprises a shell (1) and a left end cover (8) and a right end cover (7) fixed at opposite ends of the shell (1), respectively, a top end cover (19) is arranged at the top of the shell (1), and the top end cover (19) is provided with a watertight connector for electrically communicating with adjacent joints; the left end cover (8) and the right end cover (7) are respectively provided with a joint mechanism of the underwater electric mechanical arm through an active connecting piece (33) and an auxiliary connecting piece (34), and the active connecting piece (33) is fixed with the power output shaft (9).
4. An underwater electric mechanical arm slewing mechanism as in claim 3, characterized in that the end face of the power output shaft (9) connected with the left end cover (8) is integrally provided with a pressure compensation mechanism, the pressure compensation mechanism is connected with the active connecting piece (33), a spring (32) and a piston (17) which are mutually matched are arranged in the pressure compensation mechanism, and the watertight pressure-resistant cabin realizes pressure compensation in an internal oil filling state through the pressure compensation mechanism.
5. The underwater electric mechanical arm slewing mechanism as claimed in claim 4, characterized in that a first deep groove ball bearing (24) and a sealing ring (15) are adjacently arranged on the periphery of the pressure compensation mechanism, an O-shaped ring for static sealing is arranged between the sealing ring (15) and the left end cover (8), and two Grignard rings (31) for dynamic sealing are arranged between the inner periphery of the sealing ring (15) and the periphery of the power output shaft (9).
6. The underwater electric mechanical arm turning mechanism according to claim 5, characterized in that an angular contact ball bearing (25) is arranged inside the motor input shaft (4), the angular contact ball bearing (25) is provided with a hole retainer ring (16) for axial limiting, the power output shaft (9) is supported by radial turning through the angular contact ball bearing (25) and the first deep groove ball bearing (24), and axial support is provided through the angular contact ball bearing (25); a third deep groove ball bearing (23) used for supporting the periphery of the motor input shaft (4) is arranged in the shell (1).
7. An underwater electric mechanical arm slewing mechanism as claimed in claim 3, characterized in that a concave bearing seat for installing a second deep groove ball bearing (26) is arranged on the outer periphery of the right side end cover (7), a slewing shaft (20) for supporting the slewing motion of the auxiliary connecting piece (34) is arranged on the inner periphery of the second deep groove ball bearing (26), a connector (35) for communicating with an adjacent joint electric signal is arranged on the inner periphery of the right side end cover (7), and a retainer ring (36) for limiting the axial direction of the connector (35) is further arranged on the inner wall of the right side end cover (7).
8. The underwater electric mechanical arm swing mechanism as claimed in claim 7, characterized in that two sliding bearings (21) for providing rotational support are provided between the connector (35) and the right side end cap (7), and two O-rings for dynamic sealing between the connector (35) and the right side end cap (7) are provided between the two sliding bearings (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211346100.0A CN115675801B (en) | 2022-10-31 | Underwater electric mechanical arm rotation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211346100.0A CN115675801B (en) | 2022-10-31 | Underwater electric mechanical arm rotation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115675801A CN115675801A (en) | 2023-02-03 |
| CN115675801B true CN115675801B (en) | 2024-06-11 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0301607D0 (en) * | 2003-01-24 | 2003-02-26 | Subsea 7 Uk | Apparatus |
| CA2731081A1 (en) * | 2010-03-05 | 2011-09-05 | Honda Motor Co., Ltd. | Outboard motor control apparatus |
| JP2014169079A (en) * | 2014-06-11 | 2014-09-18 | Hitachi Automotive Systems Steering Ltd | Electric power steering device |
| CN109999464A (en) * | 2019-01-21 | 2019-07-12 | 上海理工大学 | A kind of personification table tennis robot |
| CN110873159A (en) * | 2019-11-18 | 2020-03-10 | 上海海事大学 | Underwater screw rod sliding block transmission device |
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0301607D0 (en) * | 2003-01-24 | 2003-02-26 | Subsea 7 Uk | Apparatus |
| CA2731081A1 (en) * | 2010-03-05 | 2011-09-05 | Honda Motor Co., Ltd. | Outboard motor control apparatus |
| JP2014169079A (en) * | 2014-06-11 | 2014-09-18 | Hitachi Automotive Systems Steering Ltd | Electric power steering device |
| CN109999464A (en) * | 2019-01-21 | 2019-07-12 | 上海理工大学 | A kind of personification table tennis robot |
| CN110873159A (en) * | 2019-11-18 | 2020-03-10 | 上海海事大学 | Underwater screw rod sliding block transmission device |
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