CN202129800U - Secondary swinging joint structure for underwater electric mechanical hand - Google Patents
Secondary swinging joint structure for underwater electric mechanical hand Download PDFInfo
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- CN202129800U CN202129800U CN201120215198U CN201120215198U CN202129800U CN 202129800 U CN202129800 U CN 202129800U CN 201120215198 U CN201120215198 U CN 201120215198U CN 201120215198 U CN201120215198 U CN 201120215198U CN 202129800 U CN202129800 U CN 202129800U
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- worm
- worm gear
- output shaft
- casing
- joint structure
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Abstract
The utility model aims at providing a secondary swinging joint structure for an underwater electric mechanical hand, which comprises a box body, a worm wheel, a worm, a worm wheel output shaft, an electric motor, a joint mounting flange and end covers, wherein, the joint mounting flange is connected with the box body; the electric motor is installed in the joint mounting flange; the worm wheel and the worm are installed in the box body; the worm wheel is connected with the electric motor through the worm; the two end covers are respectively fixed on the front side and the rear side of the box body; and the worm wheel output shaft is connected with the worm wheel and penetrates through the two end covers on the front and the rear sides. The secondary swinging joint structure has the advantages of compact structure, various forms and low cost, is easy to install, and can achieve mechanical self-lock.
Description
Technical field
The utility model relates to a kind of robot that is used for underwater operation.
Background technology
Along with the mankind to the going deep into of ocean development and utilization, the underwater operation task demonstrates variation and complicated, and the 26S Proteasome Structure and Function of underwater manipulator is all had higher requirement.For microminiature operation underwater robot, need the small-sized underwater electric manipulator of configuration, satisfy the requirement of volume, weight and the energy.Therefore, development compact conformation, low cost, modular manipulator, to microminiature operation underwater robot accomplish multiple one-tenth under water task have great practical value.
The self-locking performance of underwater electric manipulator joint, for manipulator no matter be in collecting state or job state all plays a very important role.At present, underwater electric manipulator joint is realized self-locking through brake or outside other mechanical devices mostly, has increased the complexity of system's energy loss or structure.
Summary of the invention
The purpose of the utility model is to provide compact conformation, has mechanical self-latching, low cost and modular underwater electric manipulator secondary swinging joint structure.
The purpose of the utility model is achieved in that
The utility model underwater electric manipulator secondary swinging joint structure; It is characterized in that: comprise casing, worm gear, worm screw, worm gear output shaft, motor, arthrodesis flange, end cap, the arthrodesis flange links to each other with casing, and motor is installed in the arthrodesis flange; Worm gear, worm screw are installed in the casing; Worm gear connects motor through worm screw, and end cap has two, is separately fixed at the both sides, front and back of casing, and the worm gear output shaft links to each other with worm gear and passes former and later two end caps.
The utility model can also comprise:
1, the described mechanism that is made up of casing, worm gear, worm screw, worm gear output shaft, end cap has two; Two mechanisms that are made up of casing, worm gear, worm screw, worm gear output shaft, end cap are installed in the both sides of arthrodesis flange, and two worm screws respectively connect a motor.
2, also comprise rotary transformer, rotary transformer comprises rotary transformer rotor, rotary transformer stator, and the rotary transformer rotor is enclosed within on the worm gear output shaft, and the rotary transformer stator is embedded in the end cap and the worm and gear casing becomes one.
3, described arthrodesis flange links to each other through the electric machine assembly gripper shoe with casing, and the static seal circle is installed between arthrodesis flange and the electric machine assembly gripper shoe, and the static seal circle is installed between electric machine assembly gripper shoe and the worm and gear casing.
4, the electric machine assembly fixed head of described two motors through separately is fixed on the electric machine assembly gripper shoe separately.
5, the output shaft of described two motors and the worm screw yielding coupling through separately connects.
6, oil sealing is adopted in the movable sealing between described casing and the worm gear output shaft.
7, transmission of power is carried out for " D profile shaft " in the two ends of described worm gear output shaft.
8, the central lines of described two motors.
The advantage of the utility model is:
1, mechanical self-latching: Worm and worm-wheel gearing has big gearratio on the one hand, plays the effect of reinforcement; Mechanical self-latching be can realize on the other hand, motor arrangement brake device or special locking device do not needed.
2, cost is low: adopt the urceolus pressure-bearing, reduced the bearing capacity of motor and sensor, select for use the general motor and the sensor that meet the demands to get final product.Motor, decelerator and rotary transformer can directly have been bought, and sliding bearing is pressed standard application, and worm-and-wheel gear adopts the modulus and the centre-to-centre spacing of standard, are convenient to processing.
3, compact conformation: direct current brushless servo motor and planetary reducer are structure as a whole.Worm gear and rotary transformer are installed on the same axis, and avoiding the use of yielding coupling increases axial dimension.
4, install easily: planetary gear reduction speed motor of the utility model and worm shaft adopt yielding coupling to connect, and are convenient to install, and have also reduced the impact of transmission mechanism to electric machine assembly.
5, modularization: front and back stages adopts identical driving, transmission and installation form, can confirm the motor and the transmission component of different size according to stressing conditions.Itself also can be used as the submodule of multi freedom degree mechanical hand the secondary joint, makes up multivariant robot manipulator structure fast.System adopts the outside cabling can be so that realize the modularization in joint.
6, various informative: as to increase the length of arthrodesis flange, can make the central lines of brush DC servo deceleration electric machine assembly.At this moment, the center line of two worm gear output shafts can intermesh vertically, and articulation structure becomes secondary vertical interlaced swinging joint structure.Two-level plane swinging joint structure and secondary vertical interlaced swinging joint structure can be used as the submodule of multi freedom degree mechanical hand, make up multivariant robot manipulator structure fast.
Description of drawings
Fig. 1 is the front view of the utility model;
Fig. 2 is the vertical view of the utility model;
Fig. 3 is the rearview of the utility model;
Fig. 4 is the cut-away view of the utility model;
Fig. 5 is the A-A cutaway view of Fig. 4;
Fig. 6 (A) is an electric machine assembly gripper shoe front view, and Fig. 6 (B) is an electric machine assembly gripper shoe side view;
Fig. 7 is the reverse cutaway view of the A-A of Fig. 4.
The specific embodiment
For example the utility model is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～7; A kind of underwater electric manipulator secondary swinging joint structure; Comprise arthrodesis flange 9, electric machine assembly gripper shoe 13, worm and gear casing 15 and worm gear output shaft 28, arthrodesis flange 9, electric machine assembly gripper shoe 13 are carried out static seal with worm and gear casing 15 and are connected.Brush DC servo deceleration electric machine assembly 10 is fixed to electric machine assembly fixed head 11 through screw, and they are fixed to electric machine assembly gripper shoe 13 through screw again; Worm and gear casing 15 is provided with worm shaft 17, worm gear 27 and worm gear output shaft 28, is with rotary transformer rotor 39 on the worm gear output shaft 28, and 35 of rotary transformer stators are embedded in the end cap 35 and worm and gear casing 15 becomes one.Brush DC servo deceleration electric machine assembly 10 output shafts connect through elasticity yielding coupling 12 with worm shaft 17.Oil sealing 33 and 41 is adopted in movable sealing between worm and gear casing 15 and the worm gear output shaft 28.
Add on the worm gear output shaft 4 or 28 that single direction thrust ball bearing 44 can bear bigger axial force.
Arthrodesis flange 9 is used to connect the worm and gear casing 1 and 15 of two-stage, and the brush DC servo deceleration electric machine assembly 10 and 24 of inside is carried out static seal.
Arthrodesis flange 9, electric machine assembly gripper shoe 13 and worm and gear casing 15 are connected through cubic flange, adopt bolt and nut fastening.
Adopt elasticity yielding coupling 12 to connect between brush DC servo deceleration electric machine assembly 10 output shafts and the worm shaft 17.
Axially top cover 14 is used to embed flange sliding bearing 16 to support worm shaft 17, also electric machine assembly gripper shoe 13 and worm and gear casing 15 is carried out radial location.
Rotary transformer is housed on the worm gear output shaft 28 carries out the detection of terminal position and speed.
Worm gear output shaft 28 two ends have been made " D profile shaft " and have been carried out transmission of power.
Increase the length of arthrodesis flange 9, can make brush DC servo deceleration electric machine assembly 10 and 24 central lines, at this moment, worm gear output shaft 4 and 28 can intermesh vertical, and articulation structure becomes secondary vertical interlaced swinging joint structure.
Single direction thrust ball bearing 44 is installed on the worm gear output shaft 28, and worm gear output shaft 28 left ends can bear bigger axial compressive force, and therefore, this structure can be used as the manipulator waist joint structure.
Change the supporting way of single direction thrust ball bearing 14 on the worm gear output shaft 28, sliding bearing 45 and flange sliding bearing 34 are exchanged, worm gear output shaft 13 left ends can bear bigger axial tension, therefore, can be used as the manipulator shoulder joint structure.
The operation principle of the utility model is:
The utility model driver part adopts brush DC servo deceleration electric machine assembly 10.During work, brush DC servo deceleration electric machine assembly 10 powers on, and the output shaft of brush DC servo deceleration electric machine assembly 10 drives worm shaft 17 rotations through yielding coupling 12; Worm shaft 17 is realized the function of vertical switching-over and power output through driving 28 rotations of worm gear output shaft with worm gear 27 engagements.
During articulation mechanism work, rotary transformer rotor 39 forms relative motion along with worm gear output shaft 28 rotates together with rotary transformer stator 38, realizes the detection of position and speed.In addition, brushless servo reducing motor assembly 10 rear ends have Hall element, can realize FUSION WITH MULTISENSOR DETECTION.
Embodiment one:
As shown in Figure 2, the utility model skin comprises cavity body structure spare and covering plate structure spare.Wherein cavity body structure spare comprises casing 1, arthrodesis flange 9 and casing 15; Covering plate structure comprises motor support plate 6, motor support plate 13, end cap 30, end cap 35, end cap 42 and end cap 43.
As shown in Figure 4, left and right sides structure installation form is identical among the figure.Arthrodesis flange 9, electric machine assembly gripper shoe 13 and worm and gear casing 15 are connected with bolt and nut through cubic flange.Arthrodesis flange 9 and electric machine assembly gripper shoe 13 have static seal circle 25 and static seal circle 26 between electric machine assembly gripper shoe 13 and the worm and gear casing 15.Brush DC servo deceleration electric machine assembly 10 is connected to electric machine assembly fixed head 11 through screw, and electric machine assembly fixed head 11 is connected to electric machine assembly gripper shoe 13 through screw.Have a counter sink and a through hole on the electric machine assembly gripper shoe 13.The worm screw both sides are supported through flange sliding bearing 16 and 18.Flange sliding bearing 16 is embedded in the axial top cover 14, and flange sliding bearing 18 is embedded in the worm and gear casing 15.Axially top cover 14 axially leans on worm and gear casing 15 location, axially positions through the counter sink on the electric machine assembly gripper shoe 13.Adopt yielding coupling 12 to connect between brush DC servo deceleration electric machine assembly 10 and the worm shaft 17.
As shown in Figure 5, end cap 30 and worm and gear casing 15 are connected through screw, and seal through static seal circle 31.Worm gear 27 connects with worm gear output shaft 28 through key 29, and axle sleeve 32 plays axial location worm gear 27.Worm gear output shaft 28 two ends are supported through flange sliding bearing 34 and 37.Flange sliding bearing 34 is embedded in the end cap 30, and flange sliding bearing 37 is embedded in the worm and gear casing 15.End cap 35 and worm and gear casing 15 are connected through screw, and seal through static seal circle 36.Worm gear output shaft 28 1 ends are equipped with rotary transformer rotor 39, connect through key 40 between them, and rotary transformer stator 38 is embedded in the end cap 35.Carry out movable sealing through oil sealing 33 and 41 between worm gear output shaft 28 and end cap 30 and 35." D " profile shaft form is made at worm gear output shaft 28 output two ends, is convenient to transmit moment of torsion.
This embodiment can make structure receive the less joint of axial force as the underwater manipulator power output shaft.
Embodiment two:
As shown in Figure 7, end cap 30 and worm and gear casing 15 are connected through screw, and seal through sealing ring 31.The right of worm gear output shaft 28 is equipped with rotary transformer rotor 39, connects through key 40 between them, and rotary transformer stator 38 is embedded in the end cap 35.Sliding bearing 45 is embedded into 15 li of worm and gear casings, and radial location is carried out on worm gear output shaft 28 the right, and single direction thrust ball bearing 44 is embedded into 15 li of worm and gear casings, and axial location is carried out on worm gear output shaft 28 the right.Worm gear 27 connects with worm gear output shaft 28 through key 29, and axle sleeve 32 plays axial location worm gear 27.Worm gear output shaft 28 left sides are supported through flange sliding bearing 34.Flange sliding bearing 34 is embedded in the end cap 30.End cap 30 and worm and gear casing 15 are connected through screw, and seal between worm gear output shaft 28 and the end cap 30 through sealing ring 31 and to carry out movable sealing through rotary oil seal 30.
This embodiment can make structure receive the bigger occasion of axial force as the underwater manipulator power output shaft, like the waist joint as manipulator.Change the support direction of single direction thrust ball bearing (44), can be used as manipulator shoulder joint.
Embodiment three:
Increase the length of arthrodesis flange 9, can make the central lines of brush DC servo deceleration electric machine assembly 10 and 24, at this moment, worm gear output shaft 4 and 28 can be orthogonal, and articulation structure becomes secondary vertical interlaced swinging joint structure.
Claims (9)
1. underwater electric manipulator secondary swinging joint structure; It is characterized in that: comprise casing, worm gear, worm screw, worm gear output shaft, motor, arthrodesis flange, end cap, the arthrodesis flange links to each other with casing, and motor is installed in the arthrodesis flange; Worm gear, worm screw are installed in the casing; Worm gear connects motor through worm screw, and end cap has two, is separately fixed at the both sides, front and back of casing, and the worm gear output shaft links to each other with worm gear and passes former and later two end caps.
2. underwater electric manipulator secondary swinging joint structure according to claim 1; It is characterized in that: the described mechanism that is made up of casing, worm gear, worm screw, worm gear output shaft, end cap has two; Two mechanisms that are made up of casing, worm gear, worm screw, worm gear output shaft, end cap are installed in the both sides of arthrodesis flange, and two worm screws respectively connect a motor.
3. underwater electric manipulator secondary swinging joint structure according to claim 2; It is characterized in that: also comprise rotary transformer; Rotary transformer comprises rotary transformer rotor, rotary transformer stator; The rotary transformer rotor is enclosed within on the worm gear output shaft, and the rotary transformer stator is embedded in the end cap and the worm and gear casing becomes one.
4. underwater electric manipulator secondary swinging joint structure according to claim 3; It is characterized in that: described arthrodesis flange links to each other through the electric machine assembly gripper shoe with casing; The static seal circle is installed between arthrodesis flange and the electric machine assembly gripper shoe, the static seal circle is installed between electric machine assembly gripper shoe and the worm and gear casing.
5. underwater electric manipulator secondary swinging joint structure according to claim 4 is characterized in that: described two motors are fixed on the electric machine assembly gripper shoe separately through electric machine assembly fixed head separately.
6. underwater electric manipulator secondary swinging joint structure according to claim 5 is characterized in that: the output shaft of described two motors and worm screw connect through yielding coupling separately.
7. underwater electric manipulator secondary swinging joint structure according to claim 6 is characterized in that: oil sealing is adopted in the movable sealing between described casing and the worm gear output shaft.
8. underwater electric manipulator secondary swinging joint structure according to claim 7 is characterized in that: transmission of power is carried out for " D profile shaft " in the two ends of described worm gear output shaft.
9. underwater electric manipulator secondary swinging joint structure according to claim 8 is characterized in that: the central lines of described two motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120215198U CN202129800U (en) | 2011-06-23 | 2011-06-23 | Secondary swinging joint structure for underwater electric mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120215198U CN202129800U (en) | 2011-06-23 | 2011-06-23 | Secondary swinging joint structure for underwater electric mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202129800U true CN202129800U (en) | 2012-02-01 |
Family
ID=45518584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120215198U Expired - Fee Related CN202129800U (en) | 2011-06-23 | 2011-06-23 | Secondary swinging joint structure for underwater electric mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202129800U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229145A (en) * | 2011-06-23 | 2011-11-02 | 哈尔滨工程大学 | Secondary oscillating joint structure of underwater electric manipulator |
| CN109707797A (en) * | 2019-02-18 | 2019-05-03 | 哈尔滨工程大学 | A kind of X-type rudder AUV drive mechanism with self-locking performance |
-
2011
- 2011-06-23 CN CN201120215198U patent/CN202129800U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229145A (en) * | 2011-06-23 | 2011-11-02 | 哈尔滨工程大学 | Secondary oscillating joint structure of underwater electric manipulator |
| CN109707797A (en) * | 2019-02-18 | 2019-05-03 | 哈尔滨工程大学 | A kind of X-type rudder AUV drive mechanism with self-locking performance |
| CN109707797B (en) * | 2019-02-18 | 2021-10-26 | 哈尔滨工程大学 | X type rudder AUV transmission structure with self-locking performance |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120201 Termination date: 20140623 |
|
| EXPY | Termination of patent right or utility model |