CN202129798U - Two-stage rotary mechanism for small electric manipulator - Google Patents

Two-stage rotary mechanism for small electric manipulator Download PDF

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Publication number
CN202129798U
CN202129798U CN201120156851U CN201120156851U CN202129798U CN 202129798 U CN202129798 U CN 202129798U CN 201120156851 U CN201120156851 U CN 201120156851U CN 201120156851 U CN201120156851 U CN 201120156851U CN 202129798 U CN202129798 U CN 202129798U
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CN
China
Prior art keywords
wrist joint
paw
mechanical arm
gear
order
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.)
Expired - Lifetime
Application number
CN201120156851U
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Chinese (zh)
Inventor
王玉甲
张铭钧
彭生全
褚振忠
赵文德
徐建安
殷宝吉
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Harbin Engineering University
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Harbin Engineering University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201120156851U priority Critical patent/CN202129798U/en
Application granted granted Critical
Publication of CN202129798U publication Critical patent/CN202129798U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model provides a two-stage rotary mechanism for a small electric manipulator. The two-stage rotary mechanism comprises a manipulator, a wrist joint, a wrist joint driving motor, a paw driving motor, a first-stage rotary mechanism, a second-stage rotary mechanism, a paw support, a watertight socket and a watertight cable. The watertight socket is disposed at the rear part of the manipulator. The wrist joint driving motor is installed inside the manipulator. The first-stage rotary mechanism is mounted at the front part of the manipulator. The paw driving motor is installed inside the first-stage rotary mechanism, and a control cable of the paw driving motor passes through holes of the manipulator and the first-stage rotary mechanism. The wrist joint is connected with the first-stage rotary mechanism. The second-stage rotary mechanism is installed inside the wrist joint. The paw support is disposed at the end part of the wrist joint. The two-stage rotary mechanism of the utility model combines wrist joint motion and paw motion, with the two driving motors being serially packaged inside the manipulator, thereby reducing the joint dimension. In addition, the operating depth of the manipulator is increased by means of the Glyd ring sealing mode and the combination of angular contact bearings.

Description

Small-sized electric machinery hand B grade swivel gear
Technical field
The utility model relates to a kind of Controller of Underwater Manipulator, specifically a kind of B grade swivel gear that adopts motor-driven micromanipulator.
Background technology
Underwater robot is the important tool of modern marine environmental monitoring and development of resources, and along with its working range, improving constantly of job requirements also had higher requirement to its power tool.At present, unmanned no cable underwater robot becomes the focus of research because advantages such as its working range is big, good concealment, also will further promote its operating efficiency, expanding application field to the improvement and the perfect of work capacity of its power tool.And because the restriction of conditions such as volume, weight, the energy; The manipulator that is applicable to unmanned no cable underwater robot seldom; Existing underwater electric manipulator joint complex structure; Be unfavorable for whole miniaturization, as number of patent application be 200610046218.6, name is called " a kind of rotary joint structure of underwater electric manipulator " and number of patent application and is 200810229973.7, is called in the related patent U.S. Patent No. file of " a kind of underwater electric manipulator joint mechanism " disclosed technical scheme etc.Especially on the wrist joint gyration structure that increases the underwater manipulator free degree, domestic also not have a patent of being correlated with.
Summary of the invention
The purpose of the utility model is to provide a kind of big degree of depth microminiature underwater robot that is adapted to, and can be applicable to the small-sized electric machinery hand B grade swivel gear of manipulator wrist joint and paw motion.
The purpose of the utility model is achieved in that
The purpose of the utility model is achieved in that
It comprises mechanical arm, wrist joint, wrist joint drive motors, paw drive motors, first order slew gear, second level slew gear, paw bearing, watertight socket and watertight cable; The watertight socket is installed in the mechanical arm rear portion, and it is inner also through watertight socket transfer control signal that the wrist joint drive motors is installed in mechanical arm; First order slew gear is installed in the mechanical arm front portion, is changeed driving motion by the wrist joint drive motors; The paw drive motors is installed in the first order slew gear and through watertight socket transfer control signal, the through hole of the control cable of paw drive motors from mechanical arm and first order slew gear passes; Wrist joint is connected with first order slew gear and associated movement; Second level slew gear is installed in wrist joint inside and drives motion by the paw drive motors; The paw bearing is installed in the wrist joint end, as the support of paw.
The utility model can also comprise some architectural features like this:
1, said first order slew gear comprises that gripper motor shell, first order angular contact bearing, first order sliding bearing, hole use elastic spring, limits the axially-movable of first order slew gear through first order sliding bearing and elastic spring.
2, said second level slew gear comprises second level angular contact bearing, second level sliding bearing, paw driving shaft, paw bearing, limits the axially-movable of second level slew gear through the paw bearing.
3, there is Glais ring to realize movable sealing between wrist joint shell and the mechanical arm shell, has Glais ring to realize movable sealing between paw driving shaft and the wrist joint shell.
4, in the mechanical arm shell and first order slew gear have through hole can pass through cable.
The described B grade swivel gear of utility model combines the wrist joint motion with the paw motion; Two drive motors Series Packages in mechanical arm; Designed inner cabling mode; Reduced the joint size,, improved the working depth of mechanical arm through the combination of Glais ring sealing means and angular contact bearing.
The utility model adopts series connection secondary drive motor mode to realize the two-stage rotary motion; For the wrist joint of micromanipulator and paw motion provide a kind of desirable structure; The utility model has the advantages that through being installed in the first order mechanism the drive motors of second level slew gear is embedded; Make the mechanical arm compact conformation, help the miniaturization of manipulator; Through the combination of Glais ring sealing means and angular contact bearing, make mechanical arm can work in big pressure reduction environment; The structure of its inner cabling has made things convenient for the control of two-stage simultaneously.
Description of drawings
Fig. 1 is the whole profile of this small-sized underwater electric manipulator B grade swivel gear;
Fig. 2 is the monnolithic case vertical view of this small-sized underwater electric manipulator B grade swivel gear;
Fig. 3 is the monnolithic case left view of this small-sized underwater electric manipulator B grade swivel gear;
Fig. 4 is mechanical arm cap 29 structure diagrams of this small-sized underwater electric manipulator B grade swivel gear;
Fig. 5 is mechanical arm shell 15 structure diagrams of this small-sized underwater electric manipulator B grade swivel gear;
Fig. 6 is gripper motor shell 14 structure diagrams of this small-sized underwater electric manipulator B grade swivel gear;
Fig. 7 is wrist joint shell 6 structure diagrams of this small-sized underwater electric manipulator B grade swivel gear;
Fig. 8 is paw bearing 2 structure diagrams of this small-sized underwater electric manipulator B grade swivel gear.
The specific embodiment
For example the utility model is done description in more detail below in conjunction with accompanying drawing.
In conjunction with Fig. 1, Fig. 2; The main composition of the utility model comprises mechanical arm shell 15, wrist joint drive motors 22, paw drive motors 16, wrist joint shell 6, watertight cable socket 25, mechanical arm cap 29; And main structural components such as first order slew gear and second level slew gear; First order slew gear comprises gripper motor shell 14, first order sliding bearing 13 and first order Glais ring 9, and second level slew gear comprises paw driving shaft 1, second level sliding bearing 4 and second level Glais ring 5.
Wherein wrist joint drive motors 22 is fixing with wrist joint connecting plate for electric motor 20 through wrist joint motor screw 21; Wrist joint connecting plate for electric motor 20 is fixing with mechanical arm shell 15 through wrist joint connecting plate for electric motor screw 19; The output shaft of wrist joint drive motors 22 is connected with gripper motor shell 14 through wrist joint motor shaft sleeve 18; Gripper motor shell 14 is supported with first order sliding bearing 13 by the first order angular contact bearing 17 that is installed in the mechanical arm shell 15, and is moved by elastic spring 12 limit axial that are embedded on the mechanical arm shell 15; Paw drive motors 16 is fixed on the wrist joint shell 6 through gripper motor screw 10; Wrist joint shell 6 is fixed on the gripper motor shell 14 through gripper motor attachment screw 11; Make paw drive motors 16 be inserted into gripper motor shell 14 inside; Wrist joint shell 6 is realized movable sealing through first order Glais ring 9 and mechanical arm shell 15; The output shaft of paw drive motors 16 is connected with paw driving shaft 1 through gripper motor axle sleeve 8, and paw driving shaft 1 is supported by the second level angular contact bearing 7 that is installed in the wrist joint shell 6, and through the movable sealing of Glais ring 5 realizations in the second level with wrist joint shell 6; Paw bearing 2 is fixing with wrist joint shell 6 through paw bearing screw 3, and limits moving axially of paw driving shaft 1 through second level sliding bearing 4; Watertight cable socket 25 is fixed on the mechanical arm shell 15 through cable socket pad 24 and cable socket nut 26; And through cable socket sealing ring 23 realization static seals; Watertight cable 30 connects wrist joint drive motors 22 through watertight cable socket 25, and is connected with paw drive motors 16 with through hole on the gripper motor shell 14 through wrist joint connecting plate for electric motor 20, mechanical arm shell 15; Mechanical arm cap 29 is connected with mechanical arm shell 15 with mechanical arm cap nut 31 through mechanical arm cap bolt 28, and realizes static seal through arm cap sealing ring 27.
The operation principle of the utility model is following:
Paw drive motors 16 is a stepper motor with wrist joint drive motors 22; Can be by concrete step angle, the number of phases, torque request type selecting; Through watertight cable 30 transfer control signal; Realize the turned position control of paw drive motors 16 and wrist joint drive motors 22, watertight cable 30, watertight cable socket 25 and cable socket nut 26 can be chosen the miniature flat 9 core watertight connectors of the immense electronics technology agency's of Co., Ltd Subconn watertight connector; The 22 rotating meetings of wrist joint drive motors drive wrist joint shell 6 and produce gyration with respect to mechanical arm shell 15, and the 16 rotating meetings of paw drive motors drive paw driving shaft 1 and produce gyration with respect to wrist joint shell 6, for the paw motion provides power.

Claims (9)

1. small-sized electric machinery hand B grade swivel gear, it comprises mechanical arm, wrist joint, wrist joint drive motors, paw drive motors, first order slew gear, second level slew gear, paw bearing, watertight socket and watertight cable; It is characterized in that: the watertight socket is installed in the mechanical arm rear portion, and it is inner also through watertight socket transfer control signal that the wrist joint drive motors is installed in mechanical arm; First order slew gear is installed in the mechanical arm front portion, is changeed driving motion by the wrist joint drive motors; The paw drive motors is installed in the first order slew gear and through watertight socket transfer control signal, the through hole of the control cable of paw drive motors from mechanical arm and first order slew gear passes; Wrist joint is connected with first order slew gear and associated movement; Second level slew gear is installed in wrist joint inside and drives motion by the paw drive motors; The paw bearing is installed in the wrist joint end.
2. small-sized electric machinery hand B grade swivel gear according to claim 1; It is characterized in that: said first order slew gear comprises that gripper motor shell, first order angular contact bearing, first order sliding bearing, hole use elastic spring, limits the axially-movable of first order slew gear through first order sliding bearing and elastic spring.
3. small-sized electric machinery hand B grade swivel gear according to claim 1 and 2; It is characterized in that: said second level slew gear comprises second level angular contact bearing, second level sliding bearing, paw driving shaft, paw bearing, limits the axially-movable of second level slew gear through the paw bearing.
4. small-sized electric machinery hand B grade swivel gear according to claim 1 and 2 is characterized in that: between wrist joint shell and the mechanical arm shell Glais ring is arranged, between paw driving shaft and the wrist joint shell Glais ring is arranged.
5. small-sized electric machinery hand B grade swivel gear according to claim 3 is characterized in that: between wrist joint shell and the mechanical arm shell Glais ring is arranged, between paw driving shaft and the wrist joint shell Glais ring is arranged.
6. small-sized electric machinery hand B grade swivel gear according to claim 1 and 2 is characterized in that: with the first order slew gear through hole is arranged in the mechanical arm shell.
7. small-sized electric machinery hand B grade swivel gear according to claim 3 is characterized in that: with the first order slew gear through hole is arranged in the mechanical arm shell.
8. small-sized electric machinery hand B grade swivel gear according to claim 4 is characterized in that: with the first order slew gear through hole is arranged in the mechanical arm shell.
9. small-sized electric machinery hand B grade swivel gear according to claim 5 is characterized in that: with the first order slew gear through hole is arranged in the mechanical arm shell.
CN201120156851U 2011-05-17 2011-05-17 Two-stage rotary mechanism for small electric manipulator Expired - Lifetime CN202129798U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201120156851U CN202129798U (en) 2011-05-17 2011-05-17 Two-stage rotary mechanism for small electric manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201120156851U CN202129798U (en) 2011-05-17 2011-05-17 Two-stage rotary mechanism for small electric manipulator

Publications (1)

Publication Number Publication Date
CN202129798U true CN202129798U (en) 2012-02-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201120156851U Expired - Lifetime CN202129798U (en) 2011-05-17 2011-05-17 Two-stage rotary mechanism for small electric manipulator

Country Status (1)

Country Link
CN (1) CN202129798U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102225547A (en) * 2011-05-17 2011-10-26 哈尔滨工程大学 Two-stage rotary mechanism for small electric manipulator
CN103707318A (en) * 2013-12-03 2014-04-09 广西大学 Wrist of electric manipulator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102225547A (en) * 2011-05-17 2011-10-26 哈尔滨工程大学 Two-stage rotary mechanism for small electric manipulator
CN103707318A (en) * 2013-12-03 2014-04-09 广西大学 Wrist of electric manipulator

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Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
RGAV Abandon patent right to avoid regrant
AV01 Patent right actively abandoned

Granted publication date: 20120201

Effective date of abandoning: 20130227