CN208246793U - The complete deep hydraulic machinery wrist joint in sea - Google Patents

Abstract

The utility model relates to hydraulic efficiency manipulators, it is desirable to provide a kind of complete deep hydraulic machinery wrist joint in sea.Wrist motor in the product includes the motor shell and motor end face port plate of multiple-action inner curved radial piston hydraulic motor, the axial cross section of motor output shaft is in T shape, between motor rear end lid and gripper pedestal, axle portion passes through motor rear end lid, motor shell, motor end face port plate, motor drive end bearing bracket and locking nut pressing plate for its discoid outer end；The interior end side of motor output shaft is equipped with two and matches circulation road, and the outer end side axle heart sets cylinder body of the cavity as gripper oil cylinder.Highly developed common hydraulic half motor of multiple-action inner curved radial plunger type is passed through structure of modification by the utility model, makes its structural integrity, has angle detection and for gripper oil cylinder flow function, cost is greatly reduced, and reliability significantly improves；Size is short and small, light quality, integrated level is high, at low cost, high reliablity, output torque is big, minimum steady revolving speed is low, has a wide range of application.

Description

The complete deep hydraulic machinery wrist joint in sea

Technical field

The utility model relates to hydraulic efficiency manipulators, in particular to the complete deep hydraulic machinery wrist joint in sea.

Background technique

The complete deep hydraulic efficiency manipulator in sea is the equipment for being used in the deep manned underwater vehicle in full sea, it is desirable that wrist joint integrates wrist Rotation and gripper two functions of folding, in the case where meeting the deep operating condition in full sea, gripper not only can be with 360 degree of positive and negative continuous rotations, but also can To control its rotational angle and speed, diversified gripper type can be obtained again at the same time, can be changed quickly to meet different works The requirement of industry object.

Has the maximal work depth of hydraulic efficiency manipulator in the prior art generally at 6000 meters or so, in addition to being limited to work Principle itself is also limited to components material, processing, assembly precision, and there are poor reliability, minimum in common mechanical wrist joint The disadvantage that steady revolving speed is big, starting pressure is high, output torque is relatively low, gripper is in the form of a single；Environment is high more under by 11000 meters of depth Pressure, the highly viscous influence of oil liquid, it may be difficult to work normally, not be suitable for the deep operating condition in full sea, not be able to satisfy the deep hydraulic machinery in full sea The index and requirement of hand.

Utility model content

The technical problems to be solved in the utility model is to overcome deficiency in the prior art, and it is deep hydraulic to provide a kind of full sea Mechanical wrist joint.

In order to solve the technical problem, the solution of the utility model is:

A kind of deep hydraulic machinery wrist joint in full sea, including wrist motor, gripper oil cylinder and replaceable gripper are provided；Wrist Motor includes the motor shell and motor end face port plate of multiple-action inner curved radial piston hydraulic motor, and separately matches and saddle a horse for riding Up to drive end bearing bracket, motor rear end lid, motor output shaft, plane needle roller thrust bearing, motor front end flow block；The axis of motor output shaft In T shape to section, between motor rear end lid and gripper pedestal, axle portion sequentially passes through the rolling of plane thrust for discoid outer end Needle bearing, motor rear end lid, motor shell, motor end face port plate, plane needle roller thrust bearing, motor drive end bearing bracket, plane push away Power needle bearing and locking nut pressing plate, and pre-tightened by locking nut in the inner end of motor output shaft to prevent axial float；? The inner face of motor output shaft is equipped with the central light aperture for being arranged angular transducer rotation axis (rotor), and angular transducer is solid Fixed part (stator) is fixedly connected by screw with motor drive end bearing bracket；The rotation axis of angular transducer is marked closely by holding screw in horse For preventing from relatively rotating between the two on up to output shaft, angular transducer threading is set on the flow block of motor front end and is connect Head and gripper oil cylinder flow connector；Motor end face port plate is hollow shaft internal spline structure, passes through flower between motor output shaft Key transmits torque, is fastened respectively with screw between motor shell and motor rear end lid, motor shell and motor drive end bearing bracket；

Two are equipped in the interior end side of motor output shaft and matches circulation road, and one is the hand on the axis of motor output shaft Pawl, which closes, matches circulation road, and a gripper for being parallel to axis lateral arrangement is opened with circulation road；Two are radial hole with circulation road It is connected to the L shape channel to be formed with axial hole, separated radial hole with rotation Glais ring with three axis and realizes radial seal；? The outer end side axle heart of motor output shaft sets cylinder body of the cavity as gripper oil cylinder, and built-in piston body, piston body both ends respectively set one Piston rod；One of them is the overhanging piston rod for stretching out cylinder cover, for driving the folding of gripper；The other is being located at motor Output shaft gripper is closed with the flow piston rod in circulation road, for hydraulic oil to be distributed to overhanging piston rod institute in the chamber；Oil It is threadedly connected to the cavity of i.e. motor output shaft other than cylinder end cap, is realized and cylinder body and overhanging by O-ring and Glais ring respectively Sealing between piston rod.

In the utility model, be successively arranged from the inner end of motor output shaft to outer end central light aperture, it is radial mark closely threaded hole, Axial locking external screw thread, forward end seal optical axis, external splines, back-end sealing optical axis, connecting flange, bearing installation deep gouge, flange are convex Platform, plunger shaft and end cap connection screw thread；Gripper, which is closed, to be made of with circulation road two hole roads, and one section is positioned at forward end seal optical axis table The radial hole in face, another section is the axial hole being connected to plunger shaft that is stepped on motor output shaft axis, wherein axial Hole is simultaneously as the cavity where flow piston rod；Gripper is opened also to be made of two hole roads with circulation road, and one section is positioned at front end The radial hole on optical axis surface is sealed, another section is the axis for being parallel to motor output shaft axis lateral arrangement and being directly connected to plunger shaft Xiang Kong；Above-mentioned two with circulation road radial hole is separated and realized with rotation Glais ring in tri- axis of motor drive end bearing bracket Nei Yi Radial seal.

In the utility model, in the overhanging piston-rod end of gripper oil cylinder, it is fastened by bolts a rectangular shaped slider, rectangle The inner rectangular slot clearance fit with a turning block, the two can opposite slidings respectively at left and right sides of sliding block；Outside turning block Portion is rounded, uses with the corresponding circular hole clearance fit being set on gripper ontology, the two can relatively rotate；When gripper oil cylinder pushing When overhanging piston rod is mobile, while relatively moving rectangular shaped slider and turning block, with gripper ontology phase occurs for turning block To rotation, to push two gripper ontology foldings.

In the utility model, the piston body is structure as a whole with piston rod, and two piston rods are respectively positioned on motor output shaft Axis on, wherein the diameter of overhanging piston rod be greater than flow piston rod diameter；Piston body is radially provided with sealed groove and leads To with groove, flow piston rod be radially provided with two sealed grooves and axis direction is provided with circulation road；In piston body and outside It stretches piston rod intersection and is equipped with a radial cross-shaped through hole, it is overhanging for gripper conjunction to be distributed to the hydraulic oil in circulation road Chamber where piston rod.

In the utility model, oil inlet, oil return opening and the emptying of the multiple-action inner curved radial piston hydraulic motor Mouth is respectively by hard tube deflecting, with keeping in the same direction with stream interface direction for motor output shaft.

In the utility model, the replaceable gripper has flatly moving type gripper and staggered form gripper two types, two kinds of grippers Gripper pedestal, gripper oil cylinder and part articulation piece are shared, to realize fast quick-detach and replacement gripper；Flatly moving type gripper is two panels Formula realizes gripper translation folding by gripper oil cylinder driving parallelogram linkage；Staggered form gripper is four finger formulas, by gripper Oil cylinder drives crank block to develop mechanism and realizes that gripper intersects folding, and four fingers are detachable and can be according to various combination mode It uses；It is covered with V-arrangement lines on the inner surface of gripper, for increasing frictional force when crawl object.

In the utility model, it is provided with V-shaped groove in the ontology bottom surface of flatly moving type gripper and staggered form gripper, V-shaped groove has two Road intersects distribution in T shape, for when gripper clamps automatic centering, clamp tee handle bar in sampling basket on power tool.

In the utility model, the shared gripper pedestal is made of pedestal bottom plate and mounting ear, and appearance is tapered；Base The center of seat bottom plate is equipped with a through-hole, is placed on motor output shaft connecting flange boss, and fastened with screw；Perpendicular to pedestal Bottom plate is set there are two the mounting ear being arranged symmetrically, and two mounting ear vertical direction grab base axis about hand and are symmetrically distributed with two groups Through hole (is used, two groups of holes of installation translation gripper need all to use when wherein one group far from axis is installation staggered form gripper To).

In the utility model, the finger of the staggered form gripper is arc-shaped, shares four；Gripper pad is set between ipsilateral finger Block sets two through-holes on every finger, for being connected to gripper ontology across studs.

Utility model principles illustrated:

The complete deep hydraulic machinery wrist joint in sea, packet wrist motor, gripper oil cylinder, replaceable gripper three parts, wherein hand Wrist motor realizes rotation, angle measurement and the structure flow to gripper oil cylinder of gripper, and gripper oil cylinder is for driving opening for gripper It closes, realizes the crawl and release to object.There are two types of types for replaceable gripper, are flatly moving type gripper and staggered form hand respectively Pawl, can be according to operation object feature quick replacement.Two types gripper shares gripper pedestal and oil cylinder and part articulation piece, can be fast Quick-detach replaces gripper, and non-gripper replacement part does not have to disassembly.

Gripper oil cylinder includes multiple-action inner curved radial plunger type motor shell, motor end face port plate, motor output shaft Sequentially pass through plane needle roller thrust bearing, motor rear end lid, motor shell, motor end face port plate, plane needle roller thrust bearing, After motor drive end bearing bracket, plane needle roller thrust bearing and locking nut pressing plate, pre-tightened by locking nut in the inner end of motor output shaft To prevent axial float；

The angle sensor wire terminal of motor front end flow set of blocks, gripper oil cylinder two hose couplings.Angle sensor line Connector is directly connected to installation space where angular transducer, and two hose couplings of gripper oil cylinder need respectively by motor front end Lid inside L shape duct by oil liquid by being axially altered to radial direction, thus by oil liquid by the hose coupling on the flow block of motor front end It leads in two inside motor drive end bearing bracket annular grooves, two annular grooves are separated out with rotation Glais ring with three axis and keep relatively close Envelope carries out flow using motor output shaft.

Angular transducer is connect by two power supply lines and a signal wire by the angle sensor line on the flow block of motor front end Head is connected with control system, and the shell of angular transducer is fixed on motor drive end bearing bracket；When motor output shaft rotates, angle is passed Data are transferred to control system by signal wire by sensor, realize angle feed-back；

Between motor output shaft and motor rear end lid, between motor end face port plate and motor drive end bearing bracket, motor front end Between lid and locking nut pressing plate, plane needle roller thrust bearing is respectively set, for realizing flat bearing and keeps opposite to turn It is dynamic；Radial seal is kept in motor drive end bearing bracket and motor rear end lid axis rotation Glais ring, is brought into the guiding of dispersed placement Row radial support absorbs vibration, metal part is avoided directly to contact.

Gripper oil cylinder is built in motor output shaft cavity, cylinder body of the cavity as gripper oil cylinder, on motor output shaft Two equipped with gripper oil cylinder are matched circulation road, and a gripper being located on output shaft axis closes and matches circulation road, and one is parallel to axis The gripper of line lateral arrangement is opened with circulation road, and cylinder cover external screw thread is connected to cylinder block (i.e. motor output shaft inner cavity), uses O Shape circle and cylinder body seal, and centre bore is equipped with Glais ring to overhanging piston rod packing；

Compared with prior art, the utility model has the beneficial effects that

1, multiple-action inner curved radial piston hydraulic motor itself described in the utility model has minimum steady revolving speed Spend that low, output torque is big, compact-sized, small in size, light weight, Circumscribed structure are simple, using facilitating feature.These are very suitable It closes the deep manipulator in full sea tentatively to require the performance of wrist joint hydraulic motor, by highly developed common multiple-action inner curved diameter Pass through structure of modification to half motor of plunger hydraulic, make its structural integrity, has angle detection and for gripper oil cylinder flow function, Period and cost are greatly reduced compared with exploitation again manufactures a wrist motor, and reliability significantly improves；

2, gripper oil cylinder is built in inside motor output shaft, makes that compact overall structure, axial dimension be short, small in size, quality Gently；Can be replaced mutually gripper design make manipulator paw it is selectively more, it is more adaptable, replacement it is convenient and efficient；According to wrist The different motion and stress characteristic of joint different parts, specific aim select component, part material and treatment process, make its quality It is most light, volume is minimum, high pressure resistant, seawater corrosion resistance；Flow channel diameter is big in total, and right angle channel is few, can be fine The deep environment in the full sea of reduction under the oil liquid high viscosity bring pressure loss.To make the type hydraulic machine tool wrist joint become one kind Size is short and small, light quality, integrated level is high, at low cost, high reliablity, output torque is big, minimum steady revolving speed is low, application range The wide deep hydraulic machinery wrist joint in full sea.

Detailed description of the invention

Fig. 1 is the carpal main view sectional view of the complete deep hydraulic efficiency manipulator in sea of the utility model；

Fig. 2 is the portion the A partial enlarged view in Fig. 1；

Fig. 3 is the portion the B partial enlarged view in Fig. 1；

Fig. 4 is the carpal top view of the complete deep hydraulic efficiency manipulator in sea of Fig. 1；

Fig. 5 is the carpal left view of the complete deep hydraulic efficiency manipulator in sea of Fig. 1；

Fig. 6 is staggered form gripper main view；

Fig. 7 is the A-A cross-sectional view of Fig. 6；

Fig. 8 is translation gripper main view；

Fig. 9 is the B-B cross-sectional view of Fig. 8；

Figure 10 is the C-C cross-sectional view of Fig. 8；

Figure 11 is the flow channel cross-section schematic diagram of motor output shaft；

Figure 12 is that the deep hydraulic machinery wrist joint in full sea uses staggered form gripper schematic diagram；

The deep hydraulic machinery wrist joint in the full sea in the position Figure 13 uses flatly moving type gripper schematic diagram.

Appended drawing reference in each figure:

Fig. 1: 1 motor front end flow block, 2 copper sheathings, 3 motor drive end bearing brackets, 4 motor end face port plates, 5O shape circle, 6 combination mats, 7 screws, 8 multiple-action inner curved motor shells, 9 motor rear end lids, 10 motor output shafts, 11 gripper pedestals, 12 replaceable grippers, 13 hinged bolts, 14 rectangular shaped sliders, 15 turning blocks, 16 gripper cylinder covers, 17 pistons, 18 copper sheathings；

Fig. 2: 19 angular transducers, 20 sensor stands, 21 locking nuts, 22 screws, 23O shape circle, 24 guidance tapes, 25 axis With rotation Glais ring, 26 plane needle roller thrust bearings, 27 hole Glais rings, 28 locking nut pressing plates, 29 plane needle roller thrust axis It holds；

Fig. 3: 30 hole Glais rings, 31 guidance tapes, 32O shape circle, 33 axis Glais rings, 34 guidance tapes, the rolling of 35 plane thrusts Needle bearing, 36O shape circle, 37 guidance tapes, 38 dust seals, 39 axis Glais rings；

Fig. 4: 40 pressing plates, 41 screws, 42 welding adapters, 43 connectors, 44 hard tubes, 45 welding points, 46 connectors, 47 pipes Folder, 48 hose couplings；

Fig. 5: 49 screws, 50 screws, 51 angular transducer wire terminals；

Fig. 6: 200 staggered form gripper ontologies, 201 staggered form fingers；

Fig. 7: 202 gripper cushion blocks, 203 studs, 204 plain cushions, 205 spring washers, 206 nuts, 207 gaskets, 208 bolts, 209 copper sheathings, 210 pin shafts, 211 partitions；

Fig. 8: 300 translation gripper ontologies, 301 flatly moving type fingers, 302 connecting rods, 303 fixed plates；

Fig. 9: 304 partitions, 305 short pin shafts, 306 plain cushions, 307 spring washers, 308 screws, 309 partitions, 310 copper sheathings, 311 pins Axis, 312 plain cushions, 313 spring washers, 314 screws, 315 spacers, 316 copper sheathings；

Figure 10: 317 pin shafts, 318 copper sheathings, 319 partitions, 320 pin shafts, 321 copper sheathings, 322 partitions, 323 copper sheathings；

Figure 11: 400 mark closely threaded hole, 401 central light apertures, 402 locking screws, 403 forward end seal optical axises, 404 splines, 405 back-end sealing optical axises, 406 connecting flanges, 407 bearings installation deep gouge, 408 flange boss, 409 gripper cylinder cover screw threads, 410 gripper oil cylinder piston chambers, 411 flow rod end chambers, 412 grippers, which are opened, to be closed with circulation road, 413 grippers with circulation road.

Specific embodiment

Embodiment below can make the technical staff of this professional skill field more fully understand the utility model, but not The utility model is limited in any way.

The utility model provides a kind of complete deep hydraulic efficiency manipulator in sea carpal specific embodiment, including wrist motor, hand Pawl oil cylinder, replaceable gripper three parts, wherein wrist motor realizes rotation, angle measurement and the knot to gripper oil cylinder of gripper Structure flow, gripper oil cylinder drive the folding of gripper, realize crawl and release to object.

As Figure 1-Figure 5: wrist motor includes motor front end flow block 1, motor drive end bearing bracket 3, motor end face port plate 4, multiple-action inner curved radial piston hydraulic motor shell 8, motor rear end lid 9, motor output shaft 10, plane needle roller thrust axis Hold 26, plane needle roller thrust bearing 29, plane needle roller thrust bearing 35, lock washer 28, locking nut 21.

As shown in figures 1 and 3: gripper oil cylinder includes 10 inner cavity of motor output shaft, piston 17, gripper cylinder cover 16.

Replaceable gripper 12 is flatly moving type gripper and staggered form gripper respectively there are two types of type, can be according to operation object spy Point quick replacement.As shown in Figure 6 and Figure 7: staggered form gripper includes staggered form gripper ontology 200, staggered form finger 201, gripper Cushion block 202, as Figure 8-Figure 10: flatly moving type gripper include fixed plate 303, translation gripper ontology 300, flatly moving type finger 301, Connecting rod 302.Wherein gripper pedestal 11, rectangular shaped slider 14, turning block 15, hinged bolts 13, pressing plate 40 are two type grippers It shares.

Motor output shaft 10 sequentially passes through plane needle roller thrust bearing 35, motor rear end lid 9, more works in the wrist motor With inner curve radial plunger type hydraulic pump/motor shell 8, motor end face port plate 4, plane needle roller thrust bearing 26, motor drive end bearing bracket 3, plane needle roller thrust bearing 29, locking nut pressing plate 28 carry out entire axial pretightening with locking nut 21, prevent axial alter It is dynamic.Between motor front end flow block 1 and motor drive end bearing bracket 3, motor drive end bearing bracket 3 and the hydraulic horse of multiple-action inner curved radial plunger type It is tight with screw respectively between multiple-action inner curved radial piston hydraulic motor shell 8 and motor rear end lid 9 up between shell 8 Gu using seal with O ring.Motor end face port plate 4 is hollow shaft internal spline structure, is transmitted and is turned round by spline with motor output shaft 10 Square；Motor output shaft 10 and motor drive end bearing bracket 3 and motor rear end lid 9 are respectively with axis rotation Glais ring 25, axis rotation lattice Lay Circle 39 is sealed, and carries out radial support with guidance tape 24, guidance tape 37.Motor output is placed in 19 rotation axis of angular transducer 10 centre bore 401 of axis marks closely the holding screw in threaded hole 400 positioned at motor output shaft 10 by one and marks closely the rotation axis, prevents Only relatively rotate, and angular transducer 19 is fixed on motor drive end bearing bracket 3 with screw 22.

Motor front end flow block 1 has gathered two hose couplings 48 of an angular transducer wire terminal 51, gripper oil cylinder. Angular transducer wire terminal 51 is directly connected to 19 place motor drive end bearing bracket of angular transducer, 3 installation space, and the two of gripper oil cylinder A hose coupling 48 needs to pass through respectively the L shape duct inside motor drive end bearing bracket 3 for oil liquid by being axially altered to radial direction, thus will Oil liquid is led in two inside motor drive end bearing bracket 3 annular grooves by the hose coupling 48 on motor front end flow block 3, two annular grooves It is separated out and is kept opposing seal with three axis rotation Glais ring 25, carries out flow using motor output shaft 10.

Two inside motor output shaft 10 equipped with gripper oil cylinder are matched circulation road, and the gripper that a driving gripper is opened, which is opened, matches Circulation road 412, the gripper of a driving gripper closure, which closes, matches circulation road 413；Gripper, which is closed, to be made of with circulation road 413 two holes, One section of radial hole positioned at 403 surface of forward end seal optical axis, one section is located at being stepped on 10 axis of motor output shaft and lives Fill in the axial hole of chamber connection；Gripper is opened also to be made of two holes with circulation road 412, and one section is located at 403 surface of forward end seal optical axis Radial hole, one section is parallel to 10 axis lateral arrangement of motor output shaft and directly grabs the axial direction that oil cylinder piston chamber 410 is connected to hand Hole；Above-mentioned two radial hole is separated and is realized radial seal with three axis with rotation Glais ring 25 as shown in Figure 2, by oil liquid It is led in gripper oil cylinder piston chamber 410 by 3 interior annular groove of motor drive end bearing bracket.

Gripper oil cylinder as shown in figures 1 and 3 is built in the gripper oil cylinder piston chamber 410 of motor output shaft 10, oil cylinder 16 centre bore of end cap is equipped with axis Glais ring 39, guidance tape 16, dust seal 38, close with O-ring 36 and gripper oil cylinder piston chamber 410 Envelope, is connect with screw thread with cylinder body.Piston 17 is piston body and piston rod integral structure, is radially equipped with hole Glais ring 30, leads To band 31, one the first from left right side of piston rod is distributed on piston body axis, diameter small one and large one, enlarged bore piston bar be overhanging piston Bar stretches out cylinder cover 16, drives the folding of replaceable gripper 12；Small bore piston bar is flow piston rod, and head is radially opened There is sealed groove, is equipped with hole Glais ring 27, axis direction is provided with circulation road, in piston body and enlarged bore piston bar intersection Equipped with a radial cross-shaped through hole, it is mainly used to close to match with hydraulic oil in circulation road 413 by gripper to send by flow piston rod To chamber where overhanging piston rod.

The overhanging piston-rod end of the piston 17 of gripper oil cylinder fastens a rectangular shaped slider 14, square by hinged bolts 13 14 center of shape sliding block is provided with the central through hole that process hole bolt 13 passes through and is used cooperatively with overhanging piston-rod end Kidney portion Kidney-shaped deep gouge, for preventing the overhanging piston rod of rectangular shaped slider 14 and piston 17 from radial-play and relative rotation occurs.Rectangle The inner rectangular slot clearance fit with a turning block 15, the two can opposite slidings respectively for 14 left and right sides of sliding block；The rotation 15 outside of sliding block is rounded, and hinged circular hole clearance fit corresponding on staggered form or flatly moving type gripper ontology uses, the two It can relatively rotate.When the overhanging piston rod of gripper oil cylinder pushing is mobile, rectangular shaped slider 14 and turning block 15 can be made to relatively move Meanwhile turning block 15 relatively rotates with staggered form or flatly moving type gripper ontology, so that gripper ontology be pushed to open and close.`

Replaceable gripper 12 has translation gripper and intersects gripper two types.Two type grippers can be replaced quickly for convenience It changes, equipped with the gripper pedestal 11 that two types gripper shares, is made of pedestal bottom plate and mounting ear, appearance is tapered.Pedestal bottom Plate center is equipped with a through-hole, is placed on 10 flange boss 408 of motor output shaft, and fastened with screw；Perpendicular to pedestal bottom plate If two groups of through holes vertical about plane are distributed in two mounting ear vertical direction there are two the mounting ear being arranged symmetrically, In far from one group of axis to be used when installation staggered form gripper, two groups of holes of installation translation gripper need all to use.Rectangular shaped slider 14, turning block 15, hinged bolts 13 are also common elements, do not have to tear entire wrist joint open in this way when being replaced It unloads, it is only necessary to the gripper ontology of two class gripper components is articulated with gripper pedestal with respective pin shaft, turning block is inserted into gripper sheet On body in respective hinge hole.

Translation gripper is two-piece type, and be translatable gripper ontology 300, gripper pedestal 303, flatly moving type finger 301,302 groups of connecting rod At a parallelogram sturcutre, the gripper ontology 300 that is translatable is made by gripper oil cylinder piston 17, rectangular shaped slider 14, turning block 15 Rotation, driving parallelogram linkage realize gripper translation folding, and there are copper sheathing, partition, pin shaft and fastener in each hinged place It plays support and keeps rotation.Intersect gripper by gripper oil cylinder 17 with rectangular shaped slider 14, turning block 15, staggered form gripper sheet Body 200 forms crank block and develops mechanism, and staggered form gripper ontology 200 is driven as driving lever by oil cylinder, to realize gripper Intersect folding, four hand staggered forms refer to that 201 be that removably, can pass through according to various combination mode and gripper cushion block 202 double The connection of header stud 203 uses；

Flatly moving type finger 301 and 200 bottom surface of staggered form gripper ontology are provided with V-shaped groove, and V-shaped groove has twice, and intersecting is in T word Shape is symmetrical about center line, the V-shaped grooves of two gripper ontologies when gripper clamps, can automatic centering clamp operation in sampling basket Tee handle bar on tool realizes accurate operation.It is equipped with a rectangle counterbore in V-shaped groove crossover location, tee handle bar is avoided to weld Locate influence of the overlap of protrusion to gripper automatic centering clamping action.Staggered form finger 201 is arc-shaped, on inner surface and flatly moving type Finger is equally covered with V-arrangement striped, and frictional force when object is grabbed to increase.

Multiple-action inner curved 8 exposed parts of plunger type motor shell of wrist motor carry out teflon coatings process, Motor drive end bearing bracket 3, motor rear end lid 9, motor front end flow block 1, gripper pedestal 11, flatly moving type gripper ontology 300 and intersection hand Pawl ontology 200, flatly moving type finger 301, hand staggered form finger 201 material be 6061T6, and carry out at hard anodizing Reason, motor output shaft 10, locking nut 21, piston 17, rectangular shaped slider 14, hinged bolts 13, connecting rod 302, each pin shaft material For 0Cr17Ni4Cu4Nb, hard tube 44 and remaining fastener material are 316, and copper sheathing, partition and 15 material of turning block are QAL10- 10-4。

Wherein in order to adapt to the deep work condition environment high pressure feature in full sea, all hydraulic fluid ports in entire mechanical wrist joint and threading interface It should all be attached with external compensator, it is the prior art that compensator, which is the matching technology tool for implementing the utility model, For work opportunity tool wrist joint internal and external environment pressure under equilibrium water.In addition to this, multiple-action inner curved radial plunger type liquid Pressure motor shell 8, motor end face port plate 4 are half motor sub-assembly of Rexroth MCR3, are also market ripe, are by transformation It can obtain having above-mentioned function wrist motor.

The actual range of the utility model not only includes the disclosed embodiments, further includes implementing under claims Or execute all equivalent schemes of the utility model.

Claims (9)

1. a kind of deep hydraulic machinery wrist joint in full sea, including wrist motor, gripper oil cylinder and replaceable gripper；Its feature exists In wrist motor includes the motor shell and motor end face port plate of multiple-action inner curved radial piston hydraulic motor, and another Row is equipped with motor drive end bearing bracket, motor rear end lid, motor output shaft, plane needle roller thrust bearing, motor front end flow block；Motor is defeated The axial cross section of shaft is in T shape, and between motor rear end lid and gripper pedestal, axle portion sequentially passes through flat for discoid outer end Face needle roller thrust bearing, motor rear end lid, motor shell, motor end face port plate, plane needle roller thrust bearing, motor front end Lid, plane needle roller thrust bearing and locking nut pressing plate, and pre-tightened by locking nut in the inner end of motor output shaft to prevent axis To play；The central light aperture for being arranged angular transducer rotation axis, angle sensor are equipped on the inner face of motor output shaft Device fixed part is fixedly connected by screw with motor drive end bearing bracket；The rotation axis of angular transducer is marked closely by holding screw in motor For preventing from relatively rotating between the two on output shaft, angular transducer Wire joint is set on the flow block of motor front end With gripper oil cylinder flow connector；Motor end face port plate is hollow shaft internal spline structure, passes through spline between motor output shaft Torque is transmitted, is fastened respectively with screw between motor shell and motor rear end lid, motor shell and motor drive end bearing bracket；

Two are equipped in the interior end side of motor output shaft and matches circulation road, and one is the gripper conjunction on the axis of motor output shaft With circulation road, a gripper for being parallel to axis lateral arrangement is opened with circulation road；Two are radial hole and axis with circulation road It is connected to the L shape channel to be formed to hole, separated radial hole with rotation Glais ring with three axis and realizes radial seal；In motor The outer end side axle heart of output shaft sets cylinder body of the cavity as gripper oil cylinder, built-in piston body, and piston body both ends respectively set a piston Bar；One of them is the overhanging piston rod for stretching out cylinder cover, for driving the folding of gripper；It is exported the other is being located at motor Axis gripper is closed with the flow piston rod in circulation road, for hydraulic oil to be distributed to overhanging piston rod institute in the chamber；Oil cylinder end It is threadedly connected to the cavity of i.e. motor output shaft other than lid, is realized and cylinder body and overhanging piston by O-ring and Glais ring respectively Sealing between bar.

2. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that from the inner end of motor output shaft To outer end is successively arranged central light aperture, radial direction marks closely threaded hole, axial locking external screw thread, forward end seal optical axis, external splines, rear end Seal optical axis, connecting flange, bearing installation deep gouge, flange boss, plunger shaft and end cap connection screw thread；Gripper close with circulation road by Two hole roads composition, one section is, positioned at the radial hole on forward end seal optical axis surface, another section is on motor output shaft axis Be stepped the axial hole being connected to plunger shaft, and wherein axial hole is simultaneously as the cavity where flow piston rod；Gripper, which is opened, matches Circulation road is also made of two hole roads, and one section is, positioned at the radial hole on forward end seal optical axis surface, another section is to be parallel to motor The axial hole that output shaft axis lateral arrangement is directly connected to plunger shaft；In tri- axis of motor drive end bearing bracket Nei Yi rotation Glais ring Above-mentioned two with circulation road radial hole is separated and realizes radial seal.

3. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that in the overhanging work of gripper oil cylinder Stopper rod end, is fastened by bolts a rectangular shaped slider, the inside square with a turning block respectively at left and right sides of rectangular shaped slider Shape slot clearance fit, the two can opposite slidings；It is rounded outside turning block, with the corresponding circular hole gap being set on gripper ontology It is used cooperatively, the two can relatively rotate；When the overhanging piston rod of gripper oil cylinder pushing is mobile, make rectangular shaped slider and turning block phase While to movement, turning block relatively rotates with gripper ontology, to push two gripper ontologies foldings.

4. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that the piston body and piston rod It is structure as a whole, two piston rods are respectively positioned on the axis of motor output shaft, wherein the diameter of overhanging piston rod is living greater than flow The diameter of stopper rod；Piston body is radially provided with sealed groove and guiding with groove, and flow piston rod is radially provided with two sealing ditches Slot and axis direction is provided with circulation road；It is equipped with a radial cross-shaped through hole in piston body and overhanging piston rod intersection, is used Overhanging piston rod place chamber is distributed to the hydraulic oil in circulation road in closing gripper.

5. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that the multiple-action inner curved diameter Pass through hard tube deflecting respectively to the oil inlet, oil return opening and unloading port of plunger hydraulic motor, is connect with the flow of motor output shaft Mouth direction keeps in the same direction.

6. the deep hydraulic machinery wrist joint in full sea according to claim 1, which is characterized in that the replaceable gripper has flat Dynamic formula gripper and staggered form gripper two types, two kinds of grippers share gripper pedestal, gripper oil cylinder and part articulation piece, to realize Fast quick-detach and replacement gripper；Flatly moving type gripper is two-piece type, realizes hand by gripper oil cylinder driving parallelogram linkage Pawl translation folding；Staggered form gripper is four finger formulas, realizes that gripper intersects by gripper oil cylinder driving crank block differentiation mechanism and opens and closes, Its four fingers are detachable and can be used according to various combination mode；It is covered with V-arrangement lines on the inner surface of gripper, is grabbed for increasing Take frictional force when object.

7. the deep hydraulic machinery wrist joint in full sea according to claim 6, which is characterized in that in flatly moving type gripper and intersection The ontology bottom surface of formula gripper is provided with V-shaped groove, and V-shaped groove has twice, intersects distribution in T shape, for automatic when gripper clamps Centering clamps the tee handle bar sampled in basket on power tool.

8. the deep hydraulic machinery wrist joint in full sea according to claim 6, which is characterized in that the shared gripper pedestal It is made of pedestal bottom plate and mounting ear, appearance is tapered；The center of pedestal bottom plate is equipped with a through-hole, is placed on motor output shaft On connecting flange boss, and fastened with screw；Set that there are two the mounting ear that is arranged symmetrically, two mounting ears perpendicular to pedestal bottom plate Vertical direction grabs base axis about hand and is symmetrically distributed with two groups of through holes.

9. the deep hydraulic machinery wrist joint in full sea according to claim 6, which is characterized in that the hand of the staggered form gripper Refer to arc-shaped, shares four；Gripper cushion block is set between ipsilateral finger, two through-holes are set on every finger, for across double end spiral shell Column is to be connected to gripper ontology.