CN208474442U - A kind of underwater manipulator harmonic speed reducer - Google Patents
A kind of underwater manipulator harmonic speed reducer Download PDFInfo
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- CN208474442U CN208474442U CN201820773886.7U CN201820773886U CN208474442U CN 208474442 U CN208474442 U CN 208474442U CN 201820773886 U CN201820773886 U CN 201820773886U CN 208474442 U CN208474442 U CN 208474442U
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- speed reducer
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Abstract
A kind of underwater manipulator harmonic speed reducer, including reducer shell, firm gear, flexbile gear and harmonic oscillator, firm gear is wherein coaxially fixedly mounted at the top of reducer shell, and reducer shell inner rotation installs flexbile gear and harmonic oscillator, sealing is fixed with shell capping at the top of the reducer shell, and shell capping top is formed with air inlet；The harmonic oscillator sealed bottom is equipped with retarder output unit, the inner ring of retarder output unit rotation and sealing shroud is on the harmonic wave axis of harmonic oscillator, and the outer ring of retarder output unit and reducer shell sealed bottom and rotating is connect.The harmonic speed reducer can realize the pressure balance under control deep water operating condition inside and outside harmonic speed reducer shell, reduce sealing ring load, improve the stability of harmonic speed reducer service life and deep water work by protecting gas to being passed through inertia with pressure inside it.
Description
Technical field
The utility model relates to field of machinery automation, is related to a kind of harmonic speed reducer, and especially a kind of underwater manipulator is used
Harmonic speed reducer.
Background technique
Harmonic speed reducer is the important Machinery Ministry when underwater kits such as underwater robot, underwater construction machinery work under water
Part, such as the cradle head mechanism of underwater manipulator etc..Currently, underwater hydraulic manipulator and the underwater electric drive for shallow sea
Tool workmanship art is more mature, but the underwater electric drive machinery workmanship art for deep-sea is not yet mature, main reason is that deep-sea
The complexity of robot manipulator structure reduces the work capacity of manipulator itself under environment, and makes the design of underwater manipulator, system
Making becomes complicated.
It is retrieved by publication, discovery and the maximally related following patent of the technical program:
A kind of rotary joint structure of underwater electric manipulator (CN100484727C) disclose it is a kind of for ocean development and
The rotary joint structure of underwater electric manipulator of sampling, including static end housing, sound shell transition piece and driven end housing, in
For mandrel successively by passing through among three, one end of static end housing is connected with stationary end end cap, the other end and the transition of sound shell
Part is connected, and one end of driven end housing is connected with driven end end cap, and the other end is connected on sound shell transition piece；At center
Brake, torque motor component, harmonic reduction device assembly and rotary encoder are respectively sleeved on axis, fastening nut is located at rotation
It between encoder and harmonic reduction device assembly, is connect with central axle threads, remain stationary end and be connected as one with driven end.This hair
It is bright have many advantages, such as compact-sized, failure rate is low, it is multiple functional, have a wide range of application, be at low cost.
Small underwater hydraulic efficiency manipulator secondary drive joint (CN104440939B) discloses small underwater hydraulic efficiency manipulator
Secondary drive joint, gripper driving hydraulic cylinder component, second level articulation component, position inspection including first order linear motion
Component is surveyed, rear end and the carpal front end in the second level of first order hydraulic pressure cylinder assembly are connected by screw to, the oil circuit of component internal
It is sealed by O-ring seal, the carpal rear end support shaft of position detection component and the second level is interference fitted；Pass through second level joint
The hydraulic oil driving wrist joint rotary motion of entry/exit hydraulic fluid port in the middle part of mechanism simultaneously drives first order gripper hydraulic pressure cylinder assembly to turn together
Dynamic, the hydraulic oil of the entry/exit hydraulic fluid port of second level joint tail portion drives first order gripper hydraulic cylinder straight line fortune by component internal oil circuit
It is dynamic, driving moment is provided for gripper.The invention avoids oil inlet and outlet form before and after conventional cylinder first order hydraulic cylinder with
When rotating with wrist joint, the hydraulic connecting head connecting with oil inlet and outlet is the same as the interference for installing outer cylinder.
By comparative analysis, applicant thinks the structure, function and specifically used mode of document and this programme disclosed above
It is all different, therefore the novelty of provable this programme.
Utility model content
The purpose of the utility model is to overcome in place of the deficiencies in the prior art, provide a kind of underwater manipulator to be subtracted with harmonic wave
Fast device, the harmonic speed reducer can be realized humorous under control deep water operating condition by protecting gas to being passed through inertia with pressure inside it
The pressure balance of wave reducing gearbox inside and outside reduces sealing ring load, what raising harmonic speed reducer service life and deep water worked
Stability.
The purpose of this utility model is achieved through the following technical solutions:
A kind of underwater manipulator harmonic speed reducer, including reducer shell, firm gear, flexbile gear and harmonic oscillator, wherein
Firm gear, and reducer shell inner rotation installation flexbile gear and harmonic oscillator, the deceleration are coaxially fixedly mounted at the top of reducer shell
The sealing of device case top is fixed with shell capping, and shell capping top is formed with air inlet；The harmonic oscillator sealed bottom
Retarder output unit is installed, the inner ring of the retarder output unit rotates the harmonic wave axis that simultaneously sealing shroud is mounted in harmonic oscillator
On, and the outer ring of retarder output unit and reducer shell sealed bottom and rotating is connect.
The preferred technical solution of the utility model are as follows: retarder output unit includes that output ring, inner ring intersect bearing and outer
Circle intersects bearing, wherein sealing and coaxial package output ring in outer ring intersection bearing, seals in the output ring and in coaxial package
Circle intersects bearing；The outer ring intersects top and is formed with the positioning ring that axially position outer ring intersects bearing, which is embedded in
Inside reducer shell.
The preferred technical solution of the utility model are as follows: harmonic wave axis top is set with capacity eccentric bearing, the outer ring of the capacity eccentric bearing
It is rotatably assorted and connect with flexbile gear inner wall.
The preferred technical solution of the utility model are as follows: inner ring intersects bearing and intersects the axial opposed setting of bearing with outer ring,
Middle inner ring intersects top and outer ring intersects bearing bottom and is embedded with sealing ring.
The preferred technical solution of the utility model are as follows: flexbile gear is coaxially fixedly mounted at the top of output ring.
The advantages of the utility model and economic effect are:
The harmonic speed reducer of the utility model is fixedly mounted with shell capping by sealing at the top of reducer shell, and is covering
It is equipped with air inlet, while reducer shell sealed bottom installs retarder output unit, makes to be formed inside reducer shell close
Cavity is sealed, is passed through inertia pressure gas compatible with operating water depth pressure before deepwater work into the seal cavity, is kept close
The pressure relative equilibrium inside and outside cavity is sealed, the load for reducing sealing ring under the premise of guaranteeing sealing function is realized, to improve
The service life of sealing ring and the stability of harmonic speed reducer.
The retarder output unit of the utility model intersects bearing by inner ring and outer ring intersects bearing realization harmonic reduction
Device output and the separation of output control, and intersect the positioning ring on bearing by outer ring, realize the axial direction to retarder output unit
Positioning.
Detailed description of the invention
Fig. 1 is the cross-sectional view of the utility model.
In figure: 1- reducer shell；2- firm gear；3- flexbile gear；The capping of 4- shell；5- air inlet；6- harmonic wave axis；7- eccentric shaft
It holds；8- positioning ring；The outer ring 9- intersects bearing；10- output ring；11- inner ring intersects bearing；12- sealing ring.
Specific embodiment
For the contents, features and effects that can further appreciate that the utility model, the following examples are hereby given, and cooperates attached drawing
Detailed description are as follows.It should be noted that the present embodiment be it is descriptive, be not restrictive, cannot thus limit practical
Novel protection scope.
A kind of underwater manipulator harmonic speed reducer, including reducer shell 1, firm gear 2, flexbile gear 3 and harmonic oscillator,
Firm gear, and reducer shell inner rotation installation flexbile gear and harmonic oscillator are coaxially fixedly mounted at the top of middle reducer shell, it is described to subtract
Fast device case top sealing is fixed with shell capping 4, and shell capping top is formed with air inlet 5；The harmonic oscillator bottom
It is sealed and installed with retarder output unit, simultaneously sealing shroud is mounted in the humorous of harmonic oscillator for the inner ring rotation of the retarder output unit
On wave axis 6, and the outer ring of retarder output unit and reducer shell sealed bottom and rotating is connect.
The preferred technical solution of the utility model are as follows: retarder output unit includes output ring 10, inner ring intersection bearing 11
And outer ring intersects bearing 9, wherein outer ring intersects sealing and coaxial package output ring in bearing, sealing and coaxial sleeve in the output ring
It fills inner ring and intersects bearing；The outer ring intersects top and is formed with the positioning ring 8 that axially position outer ring intersects bearing, the positioning ring
It is inlaid in inside reducer shell.
The preferred technical solution of the utility model are as follows: harmonic wave axis top is set with capacity eccentric bearing 7, the outer ring of the capacity eccentric bearing
It is rotatably assorted and connect with flexbile gear inner wall.
The preferred technical solution of the utility model are as follows: inner ring intersects bearing and intersects the axial opposed setting of bearing with outer ring,
Middle inner ring intersects top and outer ring intersects bearing bottom and is embedded with sealing ring 12.
The preferred technical solution of the utility model are as follows: flexbile gear is coaxially fixedly mounted at the top of output ring.
In addition, the utility model is preferred, coaxial at the top of reducer shell and sealing is fixedly mounted with shell capping, and reducing gearbox
Fixed firm gear is clamped between body and shell capping, while the periphery of shell capping, firm gear and reducer shell passes through bolt successively
It penetrates and fixes, strengthen sealing effect.
In addition, the utility model is preferred, flexbile gear bottom is fixedly connected with output collar bolt, and flexbile gear bottom closely presses
On the sealing ring that interior ring support intersects top, further strengthen sealing effect.
In addition, the utility model is preferred, check valve is equipped in air inlet.
The sealing ring that inner ring intersects top clamps fixation by flexbile gear bottom.
In order to more clearly describe the specifically used mode of the utility model, a kind of embodiment is provided below:
When the utility model is used, harmonic wave axis connection power intake, output ring connects power output end, passes through bias
The internal tooth engagement in rotation of the eccentric rotary of bearing and the external tooth of flexbile gear outer wall and firm gear inner wall realizes harmonic reduction, passes through shell
The top sealing of reducer shell is realized in body capping, the sealed bottom of reducer shell is realized by retarder output unit, most
The depth of implements according to estimated deep water work calculates estimated operating pressure afterwards, then suitable to pouring inside reducer shell through air inlet
When the inert gas of pressure, the equipment with harmonic speed reducer is finally put into predetermined depth of water position again and carries out operation.
It should be noted that the inert gas pressure in reducing gearbox body should be slightly less than the hydraulic pressure of current location, it is convenient for water
Pressure compresses the sealing ring at other positions in harmonic speed reducer, to realize hydraulic pressure self-sealing.
It should be understood that for those of ordinary skills, can be improved as follows according to the above description or
Transformation, all these modifications and variations all should belong to the protection scope of the appended claims for the utility model.
Claims (5)
1. a kind of underwater manipulator harmonic speed reducer, including reducer shell, firm gear, flexbile gear and harmonic oscillator, wherein subtracting
Fast device case top is coaxially fixedly mounted with firm gear, and reducer shell inner rotation installation flexbile gear and harmonic oscillator, it is characterised in that:
Sealing is fixed with shell capping at the top of the reducer shell, and shell capping top is formed with air inlet；The harmonic oscillator
Sealed bottom is equipped with retarder output unit, and simultaneously sealing shroud is mounted in harmonic oscillator for the inner ring rotation of the retarder output unit
Harmonic wave axis on, and the outer ring of retarder output unit and reducer shell sealed bottom and rotating is connect.
2. a kind of underwater manipulator harmonic speed reducer according to claim 1, it is characterised in that: the retarder output
Unit includes output ring, inner ring intersects bearing and outer ring intersects bearing, and wherein outer ring intersects sealing in bearing and coaxial package is defeated
Ring out, the interior sealing of the output ring and coaxial package inner ring intersection bearing；The outer ring intersects top and is formed with outside axially position
Circle intersects the positioning ring of bearing, which is inlaid in inside reducer shell.
3. a kind of underwater manipulator harmonic speed reducer according to claim 1, it is characterised in that: harmonic wave axis top
It is set with capacity eccentric bearing, the outer ring of the capacity eccentric bearing is rotatably assorted with flexbile gear inner wall to be connect.
4. a kind of underwater manipulator harmonic speed reducer according to claim 2, it is characterised in that: the inner ring intersecting axle
It holds and intersects the axial opposed setting of bearing with outer ring, wherein inner ring intersection top and outer ring intersection bearing bottom are embedded with close
Seal.
5. a kind of underwater manipulator harmonic speed reducer according to claim 2, it is characterised in that: at the top of the output ring
Coaxially it is fixedly mounted with flexbile gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820773886.7U CN208474442U (en) | 2018-05-23 | 2018-05-23 | A kind of underwater manipulator harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820773886.7U CN208474442U (en) | 2018-05-23 | 2018-05-23 | A kind of underwater manipulator harmonic speed reducer |
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| Publication Number | Publication Date |
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| CN208474442U true CN208474442U (en) | 2019-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820773886.7U Active CN208474442U (en) | 2018-05-23 | 2018-05-23 | A kind of underwater manipulator harmonic speed reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983150A (en) * | 2021-10-04 | 2022-01-28 | 上海海洋大学 | Internal pressure adjustable underwater sealing driving device |
-
2018
- 2018-05-23 CN CN201820773886.7U patent/CN208474442U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983150A (en) * | 2021-10-04 | 2022-01-28 | 上海海洋大学 | Internal pressure adjustable underwater sealing driving device |
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