CN205310297U - Robot joint arm under water - Google Patents
Robot joint arm under water Download PDFInfo
- Publication number
- CN205310297U CN205310297U CN201521121000.3U CN201521121000U CN205310297U CN 205310297 U CN205310297 U CN 205310297U CN 201521121000 U CN201521121000 U CN 201521121000U CN 205310297 U CN205310297 U CN 205310297U
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- electric machine
- motor
- mechanical arm
- link plate
- connects
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Abstract
The utility model discloses a robot joint arm under water, including revolving stage, arm and gripper mechanism, characterized by, revolving stage include hollow revolving stage casing, bottom plate, connection panel, set up a step motor in the revolving stage casing, bottom plate and revolving stage casing fix with screw, and the outer edge of bottom plate is equipped with the screw hole and is used for fix with screw in underwater robot. The arm includes first joint connecting plate, second joint connecting plate, and first joint connecting plate rear end is equipped with a two output shafts motor, and the front end is equipped with the 2nd two output shafts motor, and the 2nd two output shafts motor is connected to the rear end of second joint connecting plate, and the front end is equipped with the 2nd step motor, and the 2nd step motor connects the 3rd step motor, and the 3rd step motor connects gripper mechanism. The upper and lower bending of arm is realized through control two output shafts motor, the front end of arm sets up two step motor, and a step motor is the holistic rotation of controlling gripper mechanism, another step motor be control gripper mechanism the clamp open with press from both sides tight.
Description
Technical field
The utility model relates to machinery arm technical field, particularly relates to a kind of joint mechanical arm that can bend flexibly, rotate being applied to underwater robot.
Background technology
It is well known that machinery arm is the automaticmachines device obtaining at present most broad practice in robot technical field, its figure can be seen in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs and space probations. Although their form is had nothing in common with each other, but they have a common feature, can accept instruction exactly, accurately navigate to three-dimensional (or two dimension) spatially certain and a bit carry out operation. But, the mechanical arm being applied to underwater robot requires higher, because underwater robot transfers to face, land supervisory control desk by fiber optic network carries out operation control, for completing underwater operation, its machinery arm must realize selection bending, flexible flexibly and capture, current mechanical arm major applications only can simply be stretched and grasping movement in ground, and intelligent not, the field under water that can not be applied to carries out operation.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the utility model provides a kind of joint mechanical arm that can bend flexibly, rotate being applied to underwater robot.
The technical scheme that the utility model adopts is: a kind of underwater person joint's mechanical arm, comprise turntable, mechanical arm and clip claw mechanism, it is characterized in that, described turntable comprises the turntable housing of hollow, base plate, connection panel, first stepper-motor is set in turntable housing, base plate and turntable housing screw are fixed, and the outer of base plate is provided with screw hole and is fixed on underwater robot for screw.
Described mechanical arm comprises the first articular link plate, the 2nd articular link plate, first articular link plate rear end is provided with first pair of output shaft electric machine, front end is provided with the 2nd pair of output shaft electric machine, the rear end of the 2nd articular link plate connects the 2nd pair of output shaft electric machine, front end is provided with two stepping motor, two stepping motor connects the 3rd stepper-motor, and the 3rd stepper-motor connects clip claw mechanism.
The rear end of the first articular link plate is also provided with electric machine support, and the connection panel that electric machine support is provided with a bearing and turntable connects.
Described first pair of output shaft electric machine is set in parallel in the rear end of the first articular link plate, and the electric machine support left and right sidewall of the first articular link plate rear end is provided with transmission shaft and is connected with two output shafts of two output shaft electric machine.
Described 2nd pair of output shaft electric machine is vertically installed in the front end of the first articular link plate, and the rear end of the 2nd articular link plate is provided with connection bracket, and connection bracket is provided with two output shafts that transmission shaft connects the 2nd pair of output shaft electric machine.
Being arranged with carrying support outside described 3rd stepper-motor, the rear end of carrying support is connected with the rotating shaft of two stepping motor.
Described clip claw mechanism comprises clamp, long movable connecting rod, short movable connecting rod, worm gear, folder pawl back up pad, one end connecting clamp of long movable connecting rod and short movable connecting rod, the other end connects folder pawl back up pad, and the both sides pressing from both sides pawl back up pad are located at by worm gear and long movable connecting rod passes through pinned connection.
The rotating shaft of described 3rd stepper-motor connects a worm screw, and worm screw connects the worm gear of clip claw mechanism.
Described first articular link plate and the 2nd articular link plate are the U-shaped plate in three faces, and its two sides are equipped with big hole, are provided with two row's elongated groove openings above.
Described first pair of output shaft electric machine, the 2nd pair of output shaft electric machine, the first stepper-motor, two stepping motor, the 3rd stepper-motor are equipped with watertight chest.
The beneficial effects of the utility model are: by the enforcement of the technical program, adopt three stepper-motors, two two output shaft electric machines, two output shaft electric machine is as the connection joint of mechanical arm, by the body of two articular link plates as mechanical arm, realize bending up and down of mechanical arm by controlling two output shaft electric machine; Turntable realizes the rotation of the entirety of mechanical arm, and turntable base plate is connected with underwater robot, easy disassembly; The front end of mechanical arm arranges two stepper-motors, and one of them stepper-motor is the rotation of the entirety of control clip claw mechanism, and another stepper-motor is opening and clamping of the clamp of control clip claw mechanism, very flexibly.
Accompanying drawing explanation
Fig. 1 is one-piece construction front view of the present utility model.
Fig. 2 is one-piece construction vertical view of the present utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
Please refer to accompanying drawing 1, Fig. 2, a kind of underwater person joint's mechanical arm, comprise turntable, mechanical arm and clip claw mechanism, it is characterized in that, described turntable comprises turntable housing 1, the base plate 2 of hollow, connects panel 3, arranging the first stepper-motor 4 in turntable housing 1, base plate 2 and turntable housing 1 screw are fixed, and the outer of base plate 2 is provided with screw hole and is fixed on underwater robot for screw. Described mechanical arm comprises the first articular link plate 8, the 2nd articular link plate 10, first articular link plate 8 rear end is provided with first pair of output shaft electric machine 6, front end is provided with the 2nd pair of output shaft electric machine 11, the rear end of the 2nd articular link plate 10 connects the 2nd pair of output shaft electric machine 11, front end is provided with two stepping motor 12, two stepping motor 12 connects the 3rd stepper-motor 13, and the 3rd stepper-motor 13 connects clip claw mechanism.
The rear end of the first articular link plate 8 is also provided with electric machine support 7, and the connection panel 3 that electric machine support 7 is provided with a bearing 5 and turntable connects.
Described first pair of output shaft electric machine 6 is set in parallel in the rear end of the first articular link plate 8, and electric machine support about 7 sidewall of the first articular link plate 8 rear end is provided with transmission shaft and is connected with two output shafts of two output shaft electric machine.
Described 2nd pair of output shaft electric machine 11 is vertically installed in the front end of the first articular link plate 8, and the rear end of the 2nd articular link plate 10 is provided with connection bracket 9, and connection bracket 9 is provided with two output shafts that transmission shaft connects the 2nd pair of output shaft electric machine 11.
Being arranged with carrying support outside described 3rd stepper-motor 13, the rear end of carrying support is connected with the rotating shaft of two stepping motor 12.
More preferably, described clip claw mechanism comprises clamp 15, long movable connecting rod 18, short movable connecting rod 19, worm gear 17, folder pawl back up pad 14, one end connecting clamp 15 of long movable connecting rod 18 and short movable connecting rod 19, the other end connects folder pawl back up pad 14, and the both sides pressing from both sides pawl back up pad 14 are located at by worm gear 17 and long movable connecting rod 18 passes through pinned connection. The rotating shaft of described 3rd stepper-motor 13 connects a worm screw 16, and worm screw 16 connects the worm gear 17 of clip claw mechanism.
More preferably, described first articular link plate 8 and the 2nd articular link plate 10 are the U-shaped plate in three faces, and its two sides are equipped with big hole, are provided with two row's elongated groove openings above. By big hole and elongated groove opening, reduce current to the resistance of mechanical arm.
Described first pair of output shaft electric machine 6, the 2nd pair of output shaft electric machine 11, first stepper-motor 4, two stepping motor 12, the 3rd stepper-motor 13 are equipped with watertight chest.
Adopting three stepper-motors, two two output shaft electric machines, two output shaft electric machine, as the connection joint of mechanical arm, by the body of two articular link plates as mechanical arm, realizes bending up and down of mechanical arm by controlling two output shaft electric machine; Turntable realizes the rotation of the entirety of mechanical arm, and turntable base plate is connected with underwater robot, easy disassembly; The front end of mechanical arm arranges two stepper-motors, and one of them stepper-motor is the rotation of the entirety of control clip claw mechanism, and another stepper-motor is opening and clamping of the clamp of control clip claw mechanism, very flexibly.
Above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to enforcement mode of the present utility model. And for belonging to apparent change that connotation of the present utility model extended out or variation still belongs to protection domain of the present utility model.
Claims (8)
1. a underwater person joint mechanical arm, comprises turntable, mechanical arm and clip claw mechanism, it is characterised in that:
Described turntable comprises turntable housing (1), the base plate (2) of hollow, connects panel (3), first stepper-motor (4) is set in turntable housing (1), base plate (2) and turntable housing (1) screw are fixed, and the outer of base plate (2) is provided with screw hole and is fixed on underwater robot for screw;
Described mechanical arm comprises the first articular link plate (8), the 2nd articular link plate (10), first articular link plate (8) rear end is provided with first pair of output shaft electric machine (6), front end is provided with the 2nd pair of output shaft electric machine (11), the rear end of the 2nd articular link plate (10) connects the 2nd pair of output shaft electric machine (11), front end is provided with two stepping motor (12), two stepping motor (12) connects the 3rd stepper-motor (13), and the 3rd stepper-motor (13) connects clip claw mechanism;
The rear end of the first articular link plate (8) is also provided with electric machine support (7), and the connection panel (3) that electric machine support (7) is provided with a bearing (5) and turntable connects.
2. a kind of underwater person joint's mechanical arm according to claim 1, it is characterized in that: described first pair of output shaft electric machine (6) is set in parallel in the rear end of the first articular link plate (8), electric machine support (7) the left and right sidewall of the first articular link plate (8) rear end is provided with transmission shaft and is connected with two output shafts of two output shaft electric machine.
3. a kind of underwater person joint's mechanical arm according to claim 1, it is characterized in that: described 2nd pair of output shaft electric machine (11) is vertically installed in the front end of the first articular link plate (8), the rear end of the 2nd articular link plate (10) is provided with connection bracket (9), and connection bracket (9) is provided with two output shafts that transmission shaft connects the 2nd pair of output shaft electric machine (11).
4. a kind of underwater person joint's mechanical arm according to claim 1, it is characterised in that: being arranged with carrying support outside described 3rd stepper-motor (13), the rear end of carrying support is connected with the rotating shaft of two stepping motor (12).
5. a kind of underwater person joint's mechanical arm according to claim 1, it is characterized in that: described clip claw mechanism comprises clamp (15), long movable connecting rod (18), short movable connecting rod (19), worm gear (17), folder pawl back up pad (14), one end connecting clamp (15) of long movable connecting rod (18) and short movable connecting rod (19), the other end connects folder pawl back up pad (14), and the both sides pressing from both sides pawl back up pad (14) are located at by worm gear (17) and long movable connecting rod (18) passes through pinned connection.
6. a kind of underwater person joint's mechanical arm according to claim 1, it is characterised in that: the rotating shaft of described 3rd stepper-motor (13) connects a worm screw (16), and worm screw (16) connects the worm gear (17) of clip claw mechanism.
7. a kind of underwater person joint's mechanical arm according to claim 1, it is characterized in that: described first articular link plate (8) and the 2nd articular link plate (10) are the U-shaped plate in three faces, its two sides are equipped with big hole, are provided with two row's elongated groove openings above.
8. a kind of underwater person joint's mechanical arm according to claim 1, it is characterised in that: described first pair of output shaft electric machine (6), the 2nd pair of output shaft electric machine (11), the first stepper-motor (4), two stepping motor (12), the 3rd stepper-motor (13) are equipped with watertight chest.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521121000.3U CN205310297U (en) | 2015-12-31 | 2015-12-31 | Robot joint arm under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521121000.3U CN205310297U (en) | 2015-12-31 | 2015-12-31 | Robot joint arm under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205310297U true CN205310297U (en) | 2016-06-15 |
Family
ID=56198754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521121000.3U Expired - Fee Related CN205310297U (en) | 2015-12-31 | 2015-12-31 | Robot joint arm under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205310297U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585130A (en) * | 2016-12-01 | 2017-04-26 | 山东鼎创数控设备有限公司 | Mechanical arm type printer device |
| CN108544524A (en) * | 2018-04-25 | 2018-09-18 | 西安工业大学 | A kind of parallel clamping hand based on diving robot |
| CN113369198A (en) * | 2021-06-09 | 2021-09-10 | 孙发 | Magic tape and preparation system and method thereof |
-
2015
- 2015-12-31 CN CN201521121000.3U patent/CN205310297U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585130A (en) * | 2016-12-01 | 2017-04-26 | 山东鼎创数控设备有限公司 | Mechanical arm type printer device |
| CN106585130B (en) * | 2016-12-01 | 2018-11-27 | 绍兴复海电子科技有限公司 | A kind of arm-type print apparatus of manipulator |
| CN108544524A (en) * | 2018-04-25 | 2018-09-18 | 西安工业大学 | A kind of parallel clamping hand based on diving robot |
| CN113369198A (en) * | 2021-06-09 | 2021-09-10 | 孙发 | Magic tape and preparation system and method thereof |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 Termination date: 20161231 |