CN207554724U - short underwater electric linear cylinder mechanism - Google Patents
short underwater electric linear cylinder mechanism Download PDFInfo
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- CN207554724U CN207554724U CN201721737499.XU CN201721737499U CN207554724U CN 207554724 U CN207554724 U CN 207554724U CN 201721737499 U CN201721737499 U CN 201721737499U CN 207554724 U CN207554724 U CN 207554724U
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- trapezoidal screw
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- screw rod
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Abstract
The utility model is related to underwater robot engineerings, specifically a kind of short underwater electric linear cylinder mechanism, motor are located in A cabins, and trapezoidal screw screw rod, trapezoidal screw nut and push rod are located in B cabins, and be arranged side by side with motor, motor driver is located in C cabins, driving motor work；Trapezoidal screw screw rod is rotatably installed in cylinder body, one end is pierced by by B cabins, is connected by gear pair with the output terminal of motor, the other end is inserted into push rod and is connect with trapezoidal screw nut thread, and one end of push rod is connected with trapezoidal screw nut, and the other end is pierced by by cylinder body；Motor drives trapezoidal screw screw rod to rotate by gear pair, and trapezoidal screw screw rod forms trapezoidal screw pair, by the linear motion that the convert rotational motion of trapezoidal screw screw rod is trapezoidal screw nut with trapezoidal screw nut, and then drives push rod linear movement output.The utility model has many advantages, such as that compact-sized, multiple functional, failure rate is low, oil-filled progress pressure compensation can work in sea deeply entirely.
Description
Technical field
The utility model is related to underwater robot engineering, specifically a kind of short underwater electric linear cylinder mechanism can
Development applied to underwater kits such as underwater manipulators.
Background technology
Motor driving has that volume weight is small, low in energy consumption, control accuracy is high, and can realize that full sea is deep by pressure compensator makees
The advantages that industry, thus motor driver underwater robot engineering field have broad application prospects.
Due to being in the particular surroundings at deep-sea, underwater driving device requires high pressure resistant, corrosion-resistant, compact-sized, close
Envelope is reliable to wait requirement；Compact-sized demand is required for underwater manipulator, develops the smaller water of dependable performance, axial length
Lower electric linear cylinder is of great significance.
Utility model content
In order to meet requirement of the deep-sea particular surroundings to underwater driving device, the purpose of this utility model is to provide one kind
Short underwater electric straight line cylinder structure.
The purpose of this utility model is achieved through the following technical solutions：
The utility model includes cylinder body and the gear pair being respectively contained in the cylinder body, motor, trapezoidal screw screw rod, trapezoidal
A cabins, B cabins and C cabins are equipped in feed screw nut, motor driver and push rod, wherein cylinder body, the motor is located in A cabins, the ladder
Shape leading screw screw rod, trapezoidal screw nut and push rod are located in B cabins, and are arranged side by side with motor, and the motor driver is located at C cabins
Interior, driving motor work；The trapezoidal screw screw rod is rotatably installed in cylinder body, and one end is pierced by by the B cabins, passes through gear pair
It is connected with the output terminal of motor, the other end is inserted into push rod and is connect with the trapezoidal screw nut thread, the one of the push rod
End is connected with the trapezoidal screw nut, and the other end is pierced by by the cylinder body；The motor drives trapezoidal screw spiral shell by gear pair
Bar rotates, which forms trapezoidal screw pair with trapezoidal screw nut, turns the rotary motion of trapezoidal screw screw rod
The linear motion of trapezoidal screw nut is turned to, and then drives the push rod linear movement output；
Wherein：Installed on the cylinder body promising cylinder body provide pressure compensation oil and cable tray it is oil-filled walk wire terminal, should
It is oil-filled walk wire terminal be connected with the A cabins, B cabins and the C cabins in cylinder body；One end of the push rod is along the circumferential direction evenly equipped with more
It is a for pressure compensation oil by oil-through-hole, the B cabins of push rod one end both sides are connected by each oil-through-hole, described in realization
Stuffing pressure compensation oil inside B cabins；
Guidance tape is equipped between the outer surface of described push rod one end and the inner wall in B cabins, one end of the push rod is led by described
To band and the inner wall sliding contact in B cabins；
The cylinder body includes rear end cap, gear pair fixing piece, motor trapezoidal screw screw rod fixing piece and main casing, the rear end
It is tightly connected successively between lid, gear pair fixing piece, motor trapezoidal screw screw rod fixing piece and main casing, forms the cylinder body；
The gear pair between rear end cap and gear pair fixing piece, the gear pair by sliding bearing respectively with rear end cap and gear
Secondary fixing piece connection；
The main casing is the hollow structure of one end open, and openend is sealed with the motor trapezoidal screw screw rod fixing piece
Connection, the motor trapezoidal screw screw rod fixing piece are divided into the A cabins, B cabins and C cabins with the inner space that main casing surrounds；
Between the rear end cap and gear pair fixing piece, gear pair fixing piece and motor trapezoidal screw screw rod fixing piece it
Between, between motor trapezoidal screw screw rod fixing piece and main casing be respectively provided with static sealing ring, separate with the external world；
The gear pair includes the cogged gear shaft of band of two intermeshing transmissions, one of them is with cogged tooth
Wheel shaft is connected with the output terminal of the motor, another one end phase with cogged gear shaft with the trapezoidal screw screw rod
Even；The both ends of each cogged gear shaft of band respectively on the sliding bearing inner ring and gear pair fixing piece on rear end cap
Sliding bearing inner ring be connected；
The trapezoidal screw screw rod is mounted on by thrust ball bearing and baffle ring on motor trapezoidal screw screw rod fixing piece,
The both sides of the motor trapezoidal screw screw rod fixing piece axial direction are equipped with thrust ball bearing, close to the trapezoidal screw nut side
Thrust ball bearing is positioned by the shaft shoulder on motor trapezoidal screw screw rod fixing piece and trapezoidal screw screw rod, the thrust ball of opposite side
Bearing holds out against positioning by the baffle ring being mounted on the trapezoidal screw screw rod；
The main casing is provided with groove with the side that motor trapezoidal screw screw rod fixing piece contacts, and the motor guides motor into
The line of driver is passed through by the groove；
Being equipped on the cylinder body ensures that linear cylinder mechanism avoids the sacrificial anode of corrosion in the seawater.
The advantages of the utility model is with good effect：
1. performance is stablized：Apply gear pair in the utility model, gear drive have stable drive, gearratio it is accurate,
Efficient, long lifespan, the power used, the advantages that speed and size range are big；The utility model applies trapezoidal screw pair tool
There is self-lock ability；The utility model uses built-in motor driver, and avoid motor driver is influenced by external environment, is had
Higher reliability, and reduce cabling number.
It is 2. compact-sized：The motor of the utility model is placed side by side with linear motion output terminal, greatly reduces Boring mill
To length, structure is compacter.
3. on the main casing of the utility model equipped with it is oil-filled walk wire terminal, by it is oil-filled walk wire terminal can introduce compensation oil,
Implement pressure compensation, it is ensured that can be worked normally in hyperbaric environment under water.
4. prevent linear cylinder mechanism from corroding in the seawater equipped with sacrificial anode on the main casing of the utility model.
5. it debugs, is easy to maintain：Cylinder body in the utility model is divided into multistage, convenient for the installation and replacement of part.
Description of the drawings
Fig. 1 is the internal structure sectional view of the utility model；
Fig. 2 is the dimensional structure diagram of the utility model；
Wherein：1 is rear end cap, and 2 be gear pair, and 3 be gear pair fixing piece, and 4 be motor trapezoidal screw screw rod fixing piece, 5
It is trapezoidal screw screw rod for motor, 6,7 be trapezoidal screw nut, and 8 be motor driver, and 9 be push rod, and 10 be main casing, and 11 are
Static sealing ring, 12 be sliding bearing, and 13 be flat key, and 14 be baffle ring, and 15 be thrust ball bearing, and 16 be dynamic seal ring, and 17 be oil-filled
Wire terminal is walked, 18 be sacrificial anode, and 19 be guidance tape, and 20 be groove, and 21 be oil-through-hole.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the utility model include cylinder body and be respectively contained in the cylinder body gear pair 2, motor 5,
Trapezoidal screw screw rod 6, trapezoidal screw nut 7, motor driver 8 and push rod 9, wherein cylinder body include rear end cap 1, gear pair is fixed
Part 3, motor trapezoidal screw screw rod fixing piece 4 and main casing 10, the rear end cap 1, gear pair fixing piece 3, motor trapezoidal screw spiral shell
Bar fixing piece 4 and main casing 10 be fastened and connected successively by screw, forms cylinder body, rear end cap 1 and gear pair fixing piece 3 it
Between, between gear pair fixing piece 3 and motor trapezoidal screw screw rod fixing piece 4, motor trapezoidal screw screw rod fixing piece 4 and main casing
Static sealing ring 11 is respectively provided between 10, is separated with the external world.Main casing 10 is the hollow structure of one end open, openend and motor
Trapezoidal screw screw rod fixing piece 4 is tightly connected, the inner space which surrounds with main casing 10
It is divided into A cabins arranged side by side, B cabins and C cabins.Motor 5 is located in A cabins, trapezoidal screw screw rod 6, trapezoidal screw nut 7 and push rod 9
It is arranged side by side in B cabins, and with motor 5, motor driver 8 is located in C cabins, driving motor 5 works.
Gear pair 2 between rear end cap 1 and gear pair fixing piece 3, the gear pair 2 by sliding bearing 12 respectively with it is rear
End cap 1 and gear pair fixing piece 3 connect.Gear pair 2 includes the cogged gear shaft of band of two intermeshing transmissions, motor 5
It is fixed on motor trapezoidal screw screw rod fixing piece 4, output terminal is connected with one of them with cogged gear shaft by flat key 13
Transmission is connect, another is connected with cogged gear shaft with one end of trapezoidal screw screw rod 6 by flat key 13.Each carry gear
Gear shaft both ends respectively in the sliding bearing 12 on 12 inner ring of sliding bearing and gear pair fixing piece 3 on rear end cap 1
Circle is connected.Trapezoidal screw screw rod 6 is rotatably installed in motor trapezoidal screw screw rod by thrust ball bearing 15 and baffle ring 14 and consolidates
Determine on part 4, one end is pierced by by B cabins, and the other end is inserted into push rod 9 and is threadedly coupled with trapezoidal screw nut 7, trapezoidal screw spiral shell
Mother 7 forms trapezoidal screw pair with 6 thread fitting of trapezoidal screw screw rod, and trapezoidal screw pair has self-lock ability；What motor 5 exported
Rotary motion is transmitted to by gear pair 2 on trapezoidal screw screw rod 6, and trapezoidal screw adjutant convert rotational motion is linear motion.
The axial both sides of motor trapezoidal screw screw rod fixing piece 4 are equipped with thrust ball bearing 15, close to pushing away for 7 side of trapezoidal screw nut
Power ball bearing 15 is positioned by the shaft shoulder on motor trapezoidal screw screw rod fixing piece 4 and trapezoidal screw screw rod 6, the thrust of opposite side
Ball bearing 15 holds out against positioning by the baffle ring 14 being mounted on trapezoidal screw screw rod 6.One end of push rod 9 and trapezoidal screw nut 7
It being fixedly connected by screw, can be moved in a straight line under the drive of trapezoidal screw nut 7, the other end is pierced by by main casing 10, and with
Dynamic seal ring 16 is housed between main casing 10.Motor 5, gear pair 2,9 structure of trapezoidal screw screw rod 6, trapezoidal screw nut 7 and push rod
Into the executing agency of the utility model.
Be separately installed on main casing 10 it is oil-filled walk wire terminal 17 and sacrificial anode 18, it is oil-filled walk wire terminal 17 carried for cylinder body
For compensation oil and cable tray, sacrificial anode 18 protects linear cylinder to avoid corroding in the seawater.It is oil-filled walk wire terminal 17 and A cabins, B
Cabin and C cabins are connected.One end of push rod 9 be along the circumferential direction evenly equipped with it is multiple for pressure compensation oil by oil-through-hole 21, push rod 9
The B cabins of one end both sides are connected by each oil-through-hole 21, can make to be stuffed entirely with pressure compensation oil inside B cabins.By to A cabins, B
Cabin and C cabins injection pressure compensation oil, can balance the ambient pressure that main casing 10 is subject to.The outer surface of 9 one end of push rod is interior with B cabins
It is equipped with guidance tape 19 between wall, one end of the push rod 9 passes through the inner wall sliding contact in guidance tape 19 and B cabins, anti-throw-out lever 9 and B
Cabin inner wall dry grinding.Intermediate position is provided with groove 20 on the contact surface that main casing 10 is contacted with motor trapezoidal screw screw rod fixing piece 4,
For motor 5 channel is provided to 8 lead of driver.
The operation principle of the utility model is：
Two built in cylinder body constitute gear pair 2, trapezoidal screw screw rod 6 and trapezoidal screw spiral shell with cogged gear shaft
Mother 7 forms trapezoidal screw pair, and the rotary motion that motor 5 exports is transmitted to trapezoidal screw screw rod 6, trapezoidal screw pair by gear pair 2
By the linear motion that convert rotational motion is trapezoidal screw nut 7, trapezoidal screw nut 7 drives push rod 9 to move in a straight line, push rod
9 output straight line forces and displacement.The addition of gear pair 2 places motor 5 and trapezoidal screw pair side by side, and it is axially long to have shortened cylinder body
Degree so that structure is compacter；Meanwhile the utility model has pressure compensation, and sacrificial anode 18 is housed, and selected drive
Dynamic component can work under 115MPa environment.The utility model can be complete under the oil-filled progress pressure compensation of cylinder interior
It works in extra large depth environment.
The utility model have many advantages, such as it is compact-sized, dependable performance, debugging it is convenient.5 He of motor in the utility model
Trapezoidal screw pair is configured using side-by-side configuration, reduces the axial length of the cylinder, structure is compacter and built-in motor drives
Device reduces cabling number, makes it have higher reliability.
Claims (10)
1. a kind of short underwater electric linear cylinder mechanism, it is characterised in that：Including cylinder body and the tooth being respectively contained in the cylinder body
Wheel set (2), motor (5), trapezoidal screw screw rod (6), trapezoidal screw nut (7), motor driver (8) and push rod (9), middle cylinder
It is equipped with A cabins, B cabins and C cabins in vivo, the motor (5) is in A cabins, the trapezoidal screw screw rod (6), trapezoidal screw nut (7)
It with push rod (9) in B cabins, and is arranged side by side with motor (5), the motor driver (8) is in C cabins, driving motor (5)
Work；The trapezoidal screw screw rod (6) is rotatably installed in cylinder body, and one end is pierced by by the B cabins, by gear pair (2) and electricity
The output terminal of machine (5) is connected, and the other end is inserted into push rod (9) and is threadedly coupled with the trapezoidal screw nut (7), described to push away
One end of bar (9) is connected with the trapezoidal screw nut (7), and the other end is pierced by by the cylinder body；The motor (5) passes through gear pair
(2) drive trapezoidal screw screw rod (6) rotation, the trapezoidal screw screw rod (6) and trapezoidal screw nut (7) formation trapezoidal screw pair,
By the linear motion that the convert rotational motion of trapezoidal screw screw rod (6) is trapezoidal screw nut (7), and then drive the push rod
(9) linear movement output.
2. short underwater electric linear cylinder mechanism according to claim 1, it is characterised in that：It is installed on the cylinder body promising
Cylinder body provide pressure compensation oil and cable tray it is oil-filled walk wire terminal (17), this it is oil-filled walk wire terminal (17) and the institute in cylinder body
A cabins, B cabins and C cabins is stated to be connected；One end of the push rod (9) be along the circumferential direction evenly equipped with it is multiple for pressure compensation oil by
Oil-through-hole (21), the B cabins of push rod (9) one end both sides are connected by each oil-through-hole (21), realize and filled out inside the B cabins
Pressurising force compensating oil.
3. short underwater electric linear cylinder mechanism according to claim 1, it is characterised in that：Described push rod (9) one end
Guidance tape (19) is equipped between the inner wall in outer surface and B cabins, one end of the push rod (9) passes through the guidance tape (19) and B cabins
Inner wall sliding contact.
4. short underwater electric linear cylinder mechanism according to claim 1, it is characterised in that：The cylinder body includes rear end cap
(1), gear pair fixing piece (3), motor trapezoidal screw screw rod fixing piece (4) and main casing (10), rear end cap (1), the gear pair
It is tightly connected successively between fixing piece (3), motor trapezoidal screw screw rod fixing piece (4) and main casing (10), forms the cylinder body；
For the gear pair (2) between rear end cap (1) and gear pair fixing piece (3), which passes through sliding bearing (12) point
It is not connect with rear end cap (1) and gear pair fixing piece (3).
5. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that：The main casing (10) is one
The hollow structure of end opening, openend are tightly connected with the motor trapezoidal screw screw rod fixing piece (4), the motor trapezoidal screw
Screw rod fixing piece (4) is divided into the A cabins, B cabins and C cabins with the inner space that main casing (10) surrounds.
6. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that：The rear end cap (1) and tooth
Between wheel set fixing piece (3), between gear pair fixing piece (3) and motor trapezoidal screw screw rod fixing piece (4), motor trapezoidal screw
Static sealing ring (11) is respectively provided between screw rod fixing piece (4) and main casing (10), is separated with the external world.
7. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that：The gear pair (2) includes
The cogged gear shafts of band of two intermeshing transmissions, one of them is defeated with cogged gear shaft and the motor (5)
Outlet is connected, another is connected with cogged gear shaft with one end of the trapezoidal screw screw rod (6)；Each band is with teeth
The both ends of the gear shaft of wheel respectively with the slip on sliding bearing (12) inner ring and gear pair fixing piece (3) on rear end cap (1)
Bearing (12) inner ring is connected.
8. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that：The trapezoidal screw screw rod
(6) it is trapezoidal in the motor by thrust ball bearing (15) and baffle ring (14) on motor trapezoidal screw screw rod fixing piece (4)
The both sides of leading screw screw rod fixing piece (4) axial direction are equipped with thrust ball bearing (15), close to trapezoidal screw nut (7) side
Thrust ball bearing (15) is positioned by the shaft shoulder on motor trapezoidal screw screw rod fixing piece (4) and trapezoidal screw screw rod (6), another
The thrust ball bearing (15) of side holds out against positioning by the baffle ring (14) being mounted on the trapezoidal screw screw rod (6).
9. short underwater electric linear cylinder mechanism according to claim 4, it is characterised in that：The main casing (10) and electricity
The side of machine trapezoidal screw screw rod fixing piece (4) contact is provided with groove (20), and the motor (5) guides motor driver (8) into
Line is passed through by the groove (20).
10. short underwater electric linear cylinder mechanism according to claim 1, it is characterised in that：It is equipped on the cylinder body
Ensure that linear cylinder mechanism avoids the sacrificial anode (18) of corrosion in the seawater.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721737499.XU CN207554724U (en) | 2017-12-13 | 2017-12-13 | short underwater electric linear cylinder mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721737499.XU CN207554724U (en) | 2017-12-13 | 2017-12-13 | short underwater electric linear cylinder mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207554724U true CN207554724U (en) | 2018-06-29 |
Family
ID=62664085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721737499.XU Active CN207554724U (en) | 2017-12-13 | 2017-12-13 | short underwater electric linear cylinder mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN207554724U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108835055A (en) * | 2018-07-05 | 2018-11-20 | 上海查派机器人科技有限公司 | Catch robot |
| CN108860526A (en) * | 2018-07-05 | 2018-11-23 | 上海查湃智能科技有限公司 | Underwater reconnaissance robot |
| CN109677573A (en) * | 2018-12-26 | 2019-04-26 | 中国船舶重工集团公司第七一0研究所 | A kind of deep-sea magnetic coupling transmission load rejection mechanism |
| CN109915559A (en) * | 2017-12-13 | 2019-06-21 | 中国科学院沈阳自动化研究所 | A kind of short underwater electric linear cylinder mechanism |
-
2017
- 2017-12-13 CN CN201721737499.XU patent/CN207554724U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915559A (en) * | 2017-12-13 | 2019-06-21 | 中国科学院沈阳自动化研究所 | A kind of short underwater electric linear cylinder mechanism |
| CN108835055A (en) * | 2018-07-05 | 2018-11-20 | 上海查派机器人科技有限公司 | Catch robot |
| CN108860526A (en) * | 2018-07-05 | 2018-11-23 | 上海查湃智能科技有限公司 | Underwater reconnaissance robot |
| CN109677573A (en) * | 2018-12-26 | 2019-04-26 | 中国船舶重工集团公司第七一0研究所 | A kind of deep-sea magnetic coupling transmission load rejection mechanism |
| CN109677573B (en) * | 2018-12-26 | 2021-04-20 | 中国船舶重工集团公司第七一0研究所 | Deep sea magnetic coupling transmission load rejection mechanism |
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