CN206140494U - Many flexibility of joint underwater manipulator joint modular construction - Google Patents
Many flexibility of joint underwater manipulator joint modular construction Download PDFInfo
- Publication number
- CN206140494U CN206140494U CN201621192516.1U CN201621192516U CN206140494U CN 206140494 U CN206140494 U CN 206140494U CN 201621192516 U CN201621192516 U CN 201621192516U CN 206140494 U CN206140494 U CN 206140494U
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- CN
- China
- Prior art keywords
- end cap
- catch
- connection end
- inner core
- temporary location
- Prior art date
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Abstract
The utility model relates to a many flexibility of joint underwater manipulator joint modular construction. The utility model discloses the diaxon end that uses intermediary unit is for supporting, and the hookup end cover links end cover and intermediary unit side simultaneously and has opened hookup end cover side wall hole, intermediary unit side wall hole respectively through its axle head circular slot location, the inner chamber at intermediary unit is installed to the separation blade, another end face contaction of inner tube both ends and separation blade, this terminal surface of separation blade is opened has the separation blade circular slot equally big or small with the inner tube external diameter, the lower surface contact of the inner chamber at intermediary unit, both ends face and hookup end cover is installed to the inner shell to lower surface positioned through the hookup end cover prevents its axial motion, the inner wall and the outer periphery contact of separation blade of inner shell, and produce the circumferential location effect to it. The utility model discloses satisfying under the prerequisite of strength requirement, for reducing mechanical hand quality, main part adopts and hollows out the processing, thus the dead weight of joint unit to compare traditional underwater operation machinery arm very little.
Description
Technical field
This utility model is related to a kind of joint unit structure, specifically a kind of Arm Flexible underwater manipulator joint unit
Structure.
Background technology
Manipulator joint unit is the elementary cell of mechanical hand composition, the structures shape of manipulator joint unit mechanical hand
Integrally-built quality, therefore the structure design of manipulator joint unit is highly important for the structure of mechanical hand entirety has
Meaning.For Arm Flexible underwater manipulator, many, the flexible height of light weight, degree of freedom is that it intersects at conventional rigid mechanical hand
Sharpest edges, therefore in the structure design for carrying out manipulator joint unit it must be emphasized that lightweight.
The content of the invention
This utility model provides a kind of Arm Flexible underwater manipulator articulation structure, it is therefore intended that solution is existing to be made under water
The flexible problem that poor, degree of freedom is low and environmental adaptability is poor of industry mechanical arm.
The particular content of technical solutions of the utility model is as follows：
This utility model includes connection end cap, temporary location, inner core, inner shell and catch, with the two axial ends of temporary location
To support, connection end cap is positioned by its shaft end circular groove, while connection end cap and temporary location side have connection end cap
Areole, temporary location areole, for installing securing member.Catch is arranged on the inner chamber of temporary location, one surface and connection
The lower surface contact of end cap is connect, and prevents it from rotating by coupling the lower surface positioning of end cap.Inner core two ends and catch it is another
End contact, end face of catch is provided with and inner core external diameter catch circular groove of a size, and the catch circular groove can be to being arranged on
The inner core positioning of its inwall, prevents its circumferential movement.Inner shell is arranged on the inner chamber of temporary location, under both ends of the surface and connection end cap
Surface contacts, and prevents the inwall and catch outer circumference surface of its axially-movable, inner shell from connecing by coupling the lower surface positioning of end cap
Touch, and circumferentially positioned effect is produced to it.
Furtherly, described connection end cap leads to circle structure in being, end face is uniformly provided with 3n connection end cap along axis
Shoulder hole, connection end cap shoulder hole is used to installing flexible strand, 1≤n≤12, and end cap lower surface is cylindrical has cut off part entity for connection
Formed concave structure, for coupling the positioning of end cap and temporary location, in lead to circle make upper and lower semi-circular structure, gear is left in centre
Plate, baffle plate is used to fix catch, catch is not led in connection end cap in circle and rotates.Union end cap upper surface is machined with two
Connection end cap otic placode, couples end cap otic placode for the connection with universal joint chaining part, and in connection end cap shoulder hole external diameter is provided with
With its identical Ceramic shaft sleeve.
Furtherly, described temporary location is thin cylinder, and two axial ends go out to be provided with circular groove, while in two axial ends periphery
On be provided with through hole.
Furtherly, described inner core is hollow cylinder structure, and inner core is circumferentially uniformly provided with inner core areole on face,
Along inner core axial direction, mirror image row identical inner core areole, between each adjacent inner core areole inner core side is provided with
Wall trench.
Furtherly, described inner shell is thin-wall tubular structure.
Furtherly, described catch is wafer architecture, and catch is provided with intermediate throughholes, and intermediate throughholes one side is dug has catch to justify
Groove, catch is cylindrical to hollow out and is provided with catch groove.
The beneficial effects of the utility model：
1st, whole joint unit structure is to reduce mechanical hand quality on the premise of intensity requirement is met, and major part is all
Using hollowing out process, therefore traditional underwater operation mechanical arm very little is compared in the deadweight of joint unit.
2nd, inside the temporary location of thin-wall circular tubular, inner tank theca did hollow processing to joint unit inner tube installation, this
The advantage of kind of structure is that oil sac can be placed in inner core, and Arm Flexible underwater manipulator fulfils assignment under water floating
When, by toward the oil-filled increase buoyancy of oil sac, mitigating motor load, float beneficial to device.
3rd, during actual job, joint unit is deflected under the control of flexible strand, between flexible strand and connection end cap shoulder hole
Rub, in the case of friction frequently, connection end cap shoulder hole can occur fatigue rupture, be unfavorable for the use longevity of parts
Life, therefore the utility model proposes the high ceramic bearing of hardness is installed in connection end cap shoulder hole.Thus reduce union end
The abrasion of lid shoulder hole, greatly improves parts service life.
Description of the drawings
Fig. 1 is overall mechanical hand structure chart of the present utility model；
Fig. 2 is joint unit structure chart of the present utility model；
Fig. 3 a and Fig. 3 b are the structure charts for coupling end cap；
Fig. 4 is the structure chart of inner core；
Fig. 5 a and Fig. 5 b are the structure charts of catch；
Fig. 6 is the structure chart of temporary location；
In figure：1- joint units, 2- connection end caps, 3- universal joint screws, 4- axle sleeves, 5- universal joint chaining parts, 6- is ceramic
Axle sleeve, 7- flexible strands, 8- inner cores, 9- catch, 10- inner shells, 11- temporary locations, 12- connection end cap shoulder holes, 13- connection end caps
Areole, 14- connection end cap otic placodes, 15- inner core areoles, 16- inner core sidewall channels, 17- catch intermediate throughholes, 18- catch grooves,
19- catch circular grooves, 20- temporary location areoles.
Specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in figure 1, mechanical arm body repeats in series by six identical joint units 1, adjacent joint unit 1
Linked together by universal joint chaining part 5.Each joint unit 1 can realize the motion in two degree of freedom directions.Fig. 1 is given
The mechanical hand of six joint units, identical joint unit 1 can be increased and decreased during actual job according to actual condition in arm end,
So as to increase and decrease mechanical hand working length and degree of freedom.
The structure of joint unit 1 is illustrated in figure 2, by being apparent from figure, each joint unit 1 includes connection end cap 2, universal
Section screw 3, axle sleeve 4, universal joint chaining part 5, Ceramic shaft sleeve 6, flexible strand 7, inner core 8, catch 9, inner shell 10 and temporary location
11.Temporary location 11, as the basic framework of joint unit 1, is that the support of other parts is crucial.With the two of temporary location 11
Shaft end is to support, and connection end cap 2 is positioned by its shaft end circular groove, while connection end cap 2 and the side of temporary location 11 have
Connection end cap areole 13, temporary location areole 20, for installing securing member.Catch 9 is arranged on the inner chamber of temporary location 11,
The lower surface contact of one surface and connection end cap 2, and prevent it from rotating by coupling the lower surface positioning of end cap 2.Inner core 8
The other end contact of two ends and catch 9, catch 9 end face is provided with and the external diameter of inner core 8 catch circular groove 19 of a size, the gear
Piece circular groove 19 can be positioned to the inner core 8 installed in its inwall, prevent its circumferential movement.Inner shell 10 is arranged on temporary location 11
The lower surface contact of inner chamber, both ends of the surface and connection end cap 2, and its axially-movable is prevented by coupling the lower surface positioning of end cap 2,
The inwall of inner shell 10 and the outer circumference surface of catch 9 are contacted, and circumferentially positioned effect is produced to it.Universal joint chaining part 5 is by universal
Section screw 3 and connection end cap 2 connect, it is ensured that the motion of the two-freedom of joint unit 1.Flexible strand 7 is through connection end cap shoulder hole
12, while couple that external diameter and its identical Ceramic shaft sleeve 6 are provided with end cap shoulder hole 12.
As Fig. 3 a, 3b, connection end cap 2 lead to cylindrical structure in being, end face is uniformly provided with 3n connection end cap rank along axis
Terraced hole 12,1≤n≤12, connection end cap shoulder hole 12 is used to installing flexible strand 7, and the lower surface of end cap 2 is cylindrical has cut off part for connection
Entity forms concave structure, and the structure is mainly beneficial to connection end cap 2 and the positioning of temporary location 11.Lead to portion in connection end cap 2
Fractionation has partial notch, and the effect of breach is can to fix catch 9, makes catch 9 not lead to part transfer in connection end cap 2
It is dynamic.The connection upper surface of end cap 2 is machined with two connection end cap otic placodes 14, connection end cap otic placode 14 be for universal joint chaining part
5 connection.Connection end cap 2 side is provided with connection end cap areole 13, and the effect for coupling end cap areole 13 is connection connection
End cap 2 and temporary location 11.
Such as Fig. 4, inner core 8 is hollow cylinder structure, and inner core 8 is circumferentially uniformly provided with inner core areole 15 on face, along
The axial direction of inner core 8, the row identical inner core areole 15 of mirror image 5.Inner core is provided between each adjacent inner core areole 15
Sidewall channels 16.
If Fig. 5 a, Fig. 5 b, catch 9 are wafer architecture, catch 9 is provided with intermediate throughholes 17, and the side of middle through hole 17 is provided with gear
Piece circular groove 19, while the deadweight in order to mitigate joint unit 1, catch 9 is cylindrical to hollow out out catch groove 18.
If Fig. 6, temporary location 11 are thin-wall tubular structure, its two axial ends is provided with circular groove, and on the periphery of two axial ends
It is provided with temporary location areole 20.
Embodiment：
As shown in Fig. 2 connection end cap 2 is installed by a shaft end of temporary location 11, the two axial ends of temporary location 11 are all opened
There is circular groove, groove depth just causes the shaft end external diameter of temporary location 11 and the connection cylindrical internal diameter of end cap 2 equal, couples end cap 2
After stretching into temporary location 11, circular groove just carries out axially position to coupling end cap 2.The circumference point of connection end cap 2 and temporary location 11
Connection end cap areole 13, temporary location areole 20 is not provided with, for installing securing member between the two.The connection end cap 2
After fixing with one end of temporary location 11, the side face closure of temporary location 11.By inner shell 10 from the another of temporary location 11
The open end face in end is stretched into, and is axially positioned after the lower surface contact for stretching into face and connection end cap 2 of inner shell 10 and is completed.By catch
9 one sides for not opening catch circular groove 19 are stretched into from the open end face of temporary location 11, catch 9 stretch into face and connection end cap 2 under
Surface contacts, and prevents it from rotating by coupling the lower surface positioning of end cap 2.The periphery of catch 9 and the inwall of inner shell 10 are contacted,
Circumferentially positioned effect is played to inner shell 10.Inner core 8 is stretched into from the open end face of temporary location 11, and inner core 8 stretches into face and catch 9
Catch circular groove 19 contact.Catch circular groove 19 is positioned to the axial and circumferential of inner core 8.In the same manner, according to catch 9, union end
The order of lid 2 is in turn mounted to the inside installation that the open end face of temporary location 11 completes joint unit 1.Ceramic shaft sleeve 6 is filled
After entering to couple in end cap shoulder hole 12, then flexible strand 7 is penetrated in Ceramic shaft sleeve 6.The effect of Ceramic shaft sleeve 6 is installed herein
Be joint unit 1 in motor process, flexible strand 7 rubs with end cap shoulder hole 12 is coupled, and the material of Ceramic shaft sleeve 6 compares
Firmly, it is to avoid connection end cap shoulder hole 12 directly weares and teares, and strengthens the service life of connection end cap 2.Universal joint chaining part 5 is by universal
Section screw 3 and connection end cap 2 connect.
Claims (6)
1. a kind of Arm Flexible underwater manipulator joint unit structure, including connection end cap, temporary location, inner core, inner shell with
And catch, it is characterised in that：
With the two axial ends of temporary location to support, connection end cap is positioned by its shaft end circular groove, while coupling end cap and centre list
First side has connection end cap areole, temporary location areole, for installing securing member；Catch is arranged on temporary location
Inner chamber, one surface and connection end cap lower surface contact, and by couple end cap lower surface positioning prevent it from rotating；
The other end contact of inner core two ends and catch, end face of catch is provided with and inner core external diameter catch circular groove of a size, should
Catch circular groove can be positioned to the inner core installed in its inwall, prevent its circumferential movement；Inner shell is arranged on the inner chamber of temporary location,
The lower surface contact of both ends of the surface and connection end cap, and its axially-movable is prevented by coupling the lower surface positioning of end cap, inner shell
Inwall and catch outer circumference surface are contacted, and circumferentially positioned effect is produced to it.
2. a kind of Arm Flexible underwater manipulator joint unit structure according to claim 1, it is characterised in that：It is described
Connection end cap be in lead to circle structure, end face along axis be uniformly provided with 3n connection end cap shoulder hole, connection end cap shoulder hole
For installing flexible strand, 1≤n≤12, the cylindrical part entity that cut off of connection end cap lower surface forms concave structure, for coupling
The positioning of end cap and temporary location, in lead to circle and make upper and lower semi-circular structure, baffle plate is left in centre, and baffle plate is used to fix catch, makes
Catch will not lead to rotation in circle in connection end cap；Union end cap upper surface is machined with two connection end cap otic placodes, couples end cap
Otic placode is used for the connection with universal joint chaining part, and in connection end cap shoulder hole external diameter and its identical Ceramic shaft sleeve are provided with.
3. a kind of Arm Flexible underwater manipulator joint unit structure according to claim 1, it is characterised in that：It is described
Temporary location be thin cylinder, two axial ends go out to be provided with circular groove, while being provided with through hole on two axial ends periphery.
4. a kind of Arm Flexible underwater manipulator joint unit structure according to claim 1, it is characterised in that：It is described
Inner core be hollow cylinder structure, inner core is circumferentially uniformly provided with inner core areole on face, along inner core axial direction, mirror image
Inner core sidewall channels are provided between row identical inner core areole, each adjacent inner core areole.
5. a kind of Arm Flexible underwater manipulator joint unit structure according to claim 1, it is characterised in that：It is described
Inner shell be thin-wall tubular structure.
6. a kind of Arm Flexible underwater manipulator joint unit structure according to claim 1, it is characterised in that：It is described
Catch be wafer architecture, catch is provided with intermediate throughholes, and intermediate throughholes one side is dug catch circular groove, and catch is cylindrical to be hollowed out and be provided with
Catch groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621192516.1U CN206140494U (en) | 2016-11-06 | 2016-11-06 | Many flexibility of joint underwater manipulator joint modular construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621192516.1U CN206140494U (en) | 2016-11-06 | 2016-11-06 | Many flexibility of joint underwater manipulator joint modular construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206140494U true CN206140494U (en) | 2017-05-03 |
Family
ID=58624472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621192516.1U Expired - Fee Related CN206140494U (en) | 2016-11-06 | 2016-11-06 | Many flexibility of joint underwater manipulator joint modular construction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206140494U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| CN111238367A (en) * | 2020-01-13 | 2020-06-05 | 清华大学深圳国际研究生院 | Three-dimensional arm shape measuring method and device for rope-driven mechanical arm |
| CN113894117A (en) * | 2021-11-24 | 2022-01-07 | 中北大学 | Mechanical structure of pipeline dredging robot |
-
2016
- 2016-11-06 CN CN201621192516.1U patent/CN206140494U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| CN111238367A (en) * | 2020-01-13 | 2020-06-05 | 清华大学深圳国际研究生院 | Three-dimensional arm shape measuring method and device for rope-driven mechanical arm |
| CN111238367B (en) * | 2020-01-13 | 2021-04-02 | 清华大学深圳国际研究生院 | Three-dimensional arm shape measuring method and device for rope-driven mechanical arm |
| CN113894117A (en) * | 2021-11-24 | 2022-01-07 | 中北大学 | Mechanical structure of pipeline dredging robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170503 Termination date: 20181106 |