CN209050759U - A kind of clamping manipulator - Google Patents
A kind of clamping manipulator Download PDFInfo
- Publication number
- CN209050759U CN209050759U CN201821912730.9U CN201821912730U CN209050759U CN 209050759 U CN209050759 U CN 209050759U CN 201821912730 U CN201821912730 U CN 201821912730U CN 209050759 U CN209050759 U CN 209050759U
- Authority
- CN
- China
- Prior art keywords
- magnetic coupling
- motor
- shell
- installation shell
- sealing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of clamping manipulator, a kind of clamping manipulator, including bracket at tail part, the front end of the bracket at tail part are provided with lateral swing shaft by bearing rotation；First motor is fixedly mounted in the side of the bracket at tail part, and the first motor output shaft of the first motor is drivingly connected the swing shaft；The static state of shaft end is hermetically sealed when realizing driving torque by isolation cover, and the dynamic sealing of traditional shaft end is become safe and reliable static sealing, and the mechanical arm is under water in operation process, can the second motor of effective protection operational safety.
Description
Technical field
The utility model belongs to underwater operation field more particularly to a kind of clamping manipulator.
Background technique
The sealing performance of underwater manipulator is also related to the life and reliability of underwater equipment, and existing underwater manipulator is past
The case where toward structure is complicated, clamping is inconvenient, and sealing performance is bad, is easy to happen leak.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the utility model, which provides, a kind of can adjust posture
A kind of clamping manipulator.
Technical solution: a kind of clamping manipulator to achieve the above object, including bracket at tail part, the front end of the bracket at tail part
Bearing rotation is provided with lateral swing shaft；The side fixed installation first motor of the bracket at tail part, described first
The first motor output shaft of motor is drivingly connected the swing shaft；The cylinder that front and back penetrates through is provided in front of the bracket at tail part
Shape motor installs shell, and the tail end sealing of the motor installation shell is fixedly connected with boot lid；It further include connecting column, the company
One end vertically integrated for connecing column connects in the middle part of the swing shaft, and the other end is fixedly connected with the boot lid；The motor peace
Fill the also concentric magnetic coupling transmission shell for being provided with front and back perforation tubular in front of shell；The tail of the magnetic coupling transmission shell
End profile seals mould assembling by the first sealing flange with the front end profile of motor installation shell and connect；The motor installs shell
Interior fixing coaxial is felt at ease equipped with the second motor, and the second motor output shaft of second motor front end concentric protrudes into the magnetic
In coupled drive shell；Synchronized links have magnetic coupling internal rotor on second motor output shaft；Further include and the magnetic coupling
The rotating cylinder in the identical axle center of internal rotor, the tail end outer wall of the rotating cylinder connect the magnetic coupling by two ball bearing rotationals and pass
Dynamic shell tail portion inner wall, the front side of two two ball bearings is also concentric to be provided with sealing ring；In the tail end of the rotating cylinder
Magnetic coupling outer rotor is synchronously arranged in cylinder；The magnetic coupling outer rotor is connect with the magnetic coupling internal rotor magnetic coupling transmission；
Electromagnet installation shell is additionally provided in front of the rotating cylinder, the tail end of the electromagnet installation shell passes through the second Sealing Method
Rotating cylinder front end described in blue disk mould assembling fixed seal connection；The shell of the electromagnet installation shell is intracavitary to be fixedly installed with Direct Action Type
Electromagnet；The front end integrated setting of the electromagnet installation shell has sealing end wall, and the centre of the sealing end wall is set
Push rod is equipped with across hole, the electromagnet push-pull rod activity of the direct drive type electro magnet was pierced by the push rod across hole；The electricity
The front end of magnet push-pull rod is fixedly installed connecting rod base；It further include two symmetrically arranged gripper jaws, the root of two gripper jaws
The front end two sides of the electromagnet installation shell are hingedly connected, and the pawl point of the two gripper jaw ends curves inwardly；Also
Including two symmetrical connecting rods, one end of two connecting rods is hingedly connected in the middle part of two gripper jaws, two connecting rods it is another
One end is hingedly connected the connecting rod base two sides；Reset spring, the reset bullet are also arranged on the electromagnet push-pull rod
Spring is between the sealing end wall and the connecting rod base.
Further, the push rod passes through and is provided with sealing ring in hole, in the magnetic coupling outer rotor and the magnetic coupling
Isolation cover is provided between rotor, between magnetic coupling outer rotor and magnetic coupling internal rotor are kept with the inside and outside wall of the isolation cover
Gap, the isolation cover sealed envelope is on the outside of the magnetic coupling internal rotor, and isolation cover tail end cover edge is locked by sealing flange
Tightly in the casing front end of second motor.
The utility model has the advantages that the utility model has the advantages of simple structure, direct drive type electro magnet makes electromagnet push-pull rod pull back, and then passes through
Connecting rod drives the pawl point of two gripper jaws to do movement of pulling back close to each other, and then realizes the effect of clamping immersed body；Need pine
When opening, it is only necessary to power off direct drive type electro magnet, and then keep two gripper jaws again extensive under the effect of the restoring force of reset spring
Multiple open configuration；The non-direct contact transmission of torque is realized using magnetic coupler structure；Meanwhile transmission is realized by isolation cover
The static state of shaft end is hermetically sealed when torque, the dynamic sealing of traditional shaft end is become safe and reliable static sealing, which exists
During underwater operation, the operational safety of energy the second motor of effective protection.
Detailed description of the invention
Attached drawing 1 is the cooperation schematic perspective view of surface float and its underwater counterweight；
Attached drawing 2 is the front view of attached drawing 1；
Attached drawing 3 is the front view of submarine mechanical arm；
Attached drawing 4 is the B direction view of attached drawing 3；
Attached drawing 5 is the A of attached drawing 3 to cross-sectional view.
Specific embodiment
The utility model is further described with reference to the accompanying drawing；In order to preferably illustrate scheme, this equipment knot
Underwater actuators overall structure is closed to be introduced:
A kind of underwater actuators as shown in attached drawing 1 to 5, including surface float 9 are provided in the middle part of the surface float 9
The shaft 8 of rotating shaft electric motor, the rotating shaft electric motor protrudes into the water surface or less to vertical；The bottom end integrated coaxial heart of the shaft 8 connects
It is connected to turntable 7, the shaft 8 can drive the turntable 7 to rotate；There are four volumes in array setting for the contour edge of the turntable 7
Raise machine 10；Four hoist engines 10 draw four traction ropes 11 separately down；It further include sinker 1, it is fixed on the sinker 1
Counterweight element 2 is installed, 2 two sides of counterweight element are symmetrically fixedly installed with side bracket 3；The lower end of four traction ropes 11 connects respectively
Connect the rear and front end of two side brackets 3；The front side of the counterweight element 2 is provided with flange mounting disc 4；It further include underwater machine
Tool arm, the tail end of the submarine mechanical arm are fixedly mounted in the flange mounting disc 4；Pass through the shaft inside surface float 9
The rotation of motor control shaft 8, and then the rotation of turntable 7 is controlled, and then counterweight list is realized by the twisting of four traction ropes 11
The orientation rotation adjustment of member 2；Independently controlling four hoist engines 10 makes the corresponding traction rope 11 drawn be pulled or release,
And then the length of the traction rope 11 of four extractions is independently controlled, and then realize the posture of adjustment counterweight element 2；At the same time
Camera unit 6 records submerged condition in real time；
The hoist engine 10 of the present embodiment is waterproof hoist engine, is also fixedly installed with camera unit 6 on the counterweight element 2
With lighting unit 5；The submarine mechanical arm includes bracket at tail part 15, and the tail end integrated setting of the bracket at tail part 15 has tail portion
Ring flange 44；The tail portion ring flange 44 is detachably locked with the flange mounting disc 4 on the counterweight element 2 by flange bolt
Connection；The front end of the bracket at tail part 15 is provided with lateral swing shaft 16 by bearing rotation；The bracket at tail part 15
First motor 43 is fixedly mounted in side, and the first motor output shaft 42 of the first motor 43 is drivingly connected the swing shaft
16；The rotation for swinging shaft 16 is controlled by first motor 43, and then drives motor installation shell 41 along 16 axis of swing shaft
String pendulum is dynamic；
The front of the bracket at tail part 15 is provided with the tubular motor installation shell 41 that front and back penetrates through, the motor mounting shell
The tail end sealing of body 41 is fixedly connected with boot lid 60；It further include connecting column 17, one end vertically integrated of the connecting column 17
16 middle part of swing shaft is connected, the other end is fixedly connected with the boot lid 60；The front of the motor installation shell 41 is also
The concentric magnetic coupling transmission shell 38 for being provided with front and back perforation tubular；The tail end profile and electricity of the magnetic coupling transmission shell 38
The front end profile that machine installs shell 41 seals mould assembling connection by the first sealing flange 40；It is solid in the motor installation shell 41
It is fixed it is concentric second motor 18 is installed, and 18 front end of the second motor the second motor output shaft 22 it is concentric protrude into it is described
In magnetic coupling transmission shell 38；Synchronized links have magnetic coupling internal rotor 39 on second motor output shaft 22；Further include and institute
The rotating cylinder 37 in the identical axle center of magnetic coupling internal rotor 39 is stated, the tail end outer wall of the rotating cylinder 37 is rotated by two ball bearings 20
The 38 tail portion inner wall of magnetic coupling transmission shell is connected, the front side of two two ball bearings 20 is also concentric to be provided with sealing ring
21；Magnetic coupling outer rotor 36 is synchronously arranged in the tail end inner cylinder of the rotating cylinder 37；The magnetic coupling outer rotor 36 with it is described
The connection of 39 magnetic coupling transmission of magnetic coupling internal rotor；It is provided between the magnetic coupling outer rotor 36 and the magnetic coupling internal rotor 39
Isolation cover 35, magnetic coupling outer rotor 36 and magnetic coupling internal rotor 39 keep gap with the inside and outside wall of the isolation cover 35, described
35 sealed envelope of isolation cover is in 39 outside of magnetic coupling internal rotor, and 35 tail end cover edge of isolation cover is locked by sealing flange
In the casing front end of second motor 18；It drives magnetic coupling internal rotor 39 to rotate by the second motor 18, and then drives magnetic
Coupling outer rotor 36 does synchronous electromagnetic coupling movement；And then electromagnet installation shell 34 is driven to rotate along axis, and then adjust
The clamping posture of two gripper jaw 30；
There is a natural attraction between the sexes for magnetic coupling arrangement magnet poles, principle of same-sex repulsion and its magnetic line of force can pass through nonferromagnetic object
The characteristic of matter；When motor run magnetic coupling internal rotor 39, by magneticaction, magnetic coupling internal rotor 39 is driven outside magnetic coupling
36 synchronous rotary of rotor, to realize the non-direct contact transmission of torque；Meanwhile when realizing driving torque by isolation cover 35
The static state of shaft end is hermetically sealed, and the dynamic sealing of traditional shaft end is become safe and reliable static sealing, is fundamentally solved dynamic
The technical problem of state axle envelope " run, drip, leak ", the operational safety of the second motor of effective protection 18.
The front of the rotating cylinder 37 is additionally provided with electromagnet installation shell 34, the tail end of the electromagnet installation shell 34
Pass through 37 front end of rotating cylinder described in the 47 mould assembling fixed seal connection of the second sealing flange；The shell of the electromagnet installation shell 34
Direct drive type electro magnet 24 is fixedly installed in chamber 33；The front end integrated setting of the electromagnet installation shell 34 has sealing end wall
31, the centre of the sealing end wall 31 is provided with push rod across hole 31.1, and the push rod is provided with close in hole 31.1
Seal, 25 activity of electromagnet push-pull rod of the direct drive type electro magnet 24 were pierced by the push rod across hole 31.1；The electromagnetism
The front end of iron push-pull rod 25 is fixedly installed connecting rod base 27；It further include two symmetrically arranged gripper jaws 30, two gripper jaws 30
Root be hingedly connected the front end two sides of electromagnet installation shell 34, and the pawl point 29 of two 30 ends of gripper jaw
It curves inwardly；It further include two symmetrical connecting rods 28, one end of two connecting rods 28 is hingedly connected in two gripper jaws 30
Portion, the other end of two connecting rods 28 are hingedly connected 27 two sides of connecting rod base；It is also covered on the electromagnet push-pull rod 25
Equipped with reset spring 26, the reset spring 26 is between the sealing end wall 31 and the connecting rod base 27；Start Direct Action Type
Electromagnet 24 makes electromagnet push-pull rod 25 pull back, so by connecting rod 28 drive two gripper jaws 30 pawl point 29 do it is close to each other
It pulls back movement, and then realizes the effect of clamping immersed body；When needing to unclamp, it is only necessary to direct drive type electro magnet 24 is powered off,
And then two gripper jaws 30 are made to restore open configuration again under the effect of the restoring force of reset spring 26.
The methods of pose adjustment of this programme arranges as follows:
The attitude adjusting method of counterweight element 2: controlling the rotation of shaft 8 by the rotating shaft electric motor inside surface float 9, into
And the rotation of turntable 7 is controlled, and then the orientation rotation adjustment of counterweight element 2 is realized by the twisting of four traction ropes 11；Respectively
Four hoist engines 10 of independent control make the corresponding traction rope 11 drawn be pulled or release, and then independently control four and draw
The length of traction rope 11 out, and then realize the posture of adjustment counterweight element 2；Camera unit 6 records water in real time at the same time
Lower state；
The gripping attitude method for trimming of submarine mechanical arm: the rotation for swinging shaft 16 is controlled by first motor 43, in turn
Drive motor installation shell 41 along 16 axis oscillating of swing shaft；Magnetic coupling internal rotor 39 is driven to revolve by the second motor 18
Turn, and then magnetic coupling outer rotor 36 is driven to do synchronous electromagnetic coupling movement；And then drive electromagnet installation shell 34 along axis
Rotation, and then adjust the clamping posture of two gripper jaw 30；
Underwater clamp method: starting direct drive type electro magnet 24 makes electromagnet push-pull rod 25 pull back, and then passes through 28 band of connecting rod
The pawl point 29 of dynamic two gripper jaws 30 does movement of pulling back close to each other, and then realizes the effect of clamping immersed body；It needs to unclamp
When, it is only necessary to direct drive type electro magnet 24 is powered off, and then makes two gripper jaws, 30 weight under the effect of the restoring force of reset spring 26
It is new to restore open configuration.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (2)
1. a kind of clamping manipulator, it is characterised in that: including bracket at tail part (15), the front end of the bracket at tail part (15) passes through axis
It forwards to move and is provided with lateral swing shaft (16)；First motor (43) are fixedly mounted in the side of the bracket at tail part (15), institute
The first motor output shaft (42) for stating first motor (43) is drivingly connected the swing shaft (16)；The bracket at tail part (15)
Front is provided with tubular motor installation shell (41) that front and back penetrates through, and the tail end sealing of motor installation shell (41) is fixed to be connected
It is connected to boot lid (60)；It further include connecting column (17), described swing of one end vertically integrated connection of the connecting column (17) turns
In the middle part of axis (16), the other end is fixedly connected with the boot lid (60)；The front of motor installation shell (41) is also concentric to be set
It is equipped with the magnetic coupling transmission shell (38) of front and back perforation tubular；The tail end profile and motor of the magnetic coupling transmission shell (38) are pacified
The front end profile for filling shell (41) seals mould assembling connection by the first sealing flange (40)；In motor installation shell (41)
Fixing coaxial is felt at ease equipped with the second motor (18), and second motor output shaft (22) of second motor (18) front end is concentric
It protrudes into the magnetic coupling transmission shell (38)；Synchronized links have magnetic coupling internal rotor on second motor output shaft (22)
(39)；It further include the rotating cylinder (37) in axle center identical as magnetic coupling internal rotor (39), outside the tail end of the rotating cylinder (37)
Wall is rotatablely connected magnetic coupling transmission shell (38) tail portion inner wall, two two ball bearings by two ball bearings (20)
(20) front side is also concentric to be provided with sealing ring (21)；Magnetic coupling is synchronously arranged in the tail end inner cylinder of the rotating cylinder (37)
Outer rotor (36)；The magnetic coupling outer rotor (36) connect with magnetic coupling internal rotor (39) magnetic coupling transmission；The rotation
Electromagnet installation shell (34) is additionally provided in front of cylinder (37), the tail end of electromagnet installation shell (34) is close by second
Seal rotating cylinder (37) front end described in ring flange (47) mould assembling fixed seal connection；The shell chamber of electromagnet installation shell (34)
(33) direct drive type electro magnet (24) are fixedly installed in；The front end integrated setting of electromagnet installation shell (34) has sealing
End wall (31), the centre of sealing end wall (31) are provided with push rod across hole (31.1), the direct drive type electro magnet
(24) electromagnet push-pull rod (25) activity was pierced by the push rod across hole (31.1)；Before the electromagnet push-pull rod (25)
End is fixedly installed connecting rod base (27)；It further include two symmetrically arranged gripper jaws (30), the root portion of two gripper jaws (30)
Be not articulated and connected the front end two sides of electromagnet installation shell (34), and the pawl point (29) of two gripper jaw (30) ends to
Interior bending；It further include two symmetrical connecting rods (28), one end of two connecting rods (28) is hingedly connected two gripper jaws
(30) middle part, the other end of two connecting rods (28) are hingedly connected the connecting rod base (27) two sides；The electromagnet push-and-pull
It is also arranged on bar (25) reset spring (26), the reset spring (26) is located at the sealing end wall (31) and the connecting rod base
(27) between.
2. a kind of clamping manipulator according to claim 1, it is characterised in that: the push rod passes through setting in hole (31.1)
There is sealing ring, is provided with isolation cover (35), magnetic coupling between the magnetic coupling outer rotor (36) and the magnetic coupling internal rotor (39)
It closes outer rotor (36) and magnetic coupling internal rotor (39) and keeps gap, the isolation cover with the inside and outside wall of the isolation cover (35)
(35) sealed envelope is on the outside of the magnetic coupling internal rotor (39), and isolation cover (35) tail end cover edge is locked by sealing flange
In the casing front end of second motor (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821912730.9U CN209050759U (en) | 2018-11-20 | 2018-11-20 | A kind of clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821912730.9U CN209050759U (en) | 2018-11-20 | 2018-11-20 | A kind of clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209050759U true CN209050759U (en) | 2019-07-02 |
Family
ID=67053802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821912730.9U Expired - Fee Related CN209050759U (en) | 2018-11-20 | 2018-11-20 | A kind of clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209050759U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361742A (en) * | 2020-03-30 | 2020-07-03 | 哈尔滨工业大学 | Electromagnetic drive's helicopter cargo hook device |
| CN114084321A (en) * | 2021-11-15 | 2022-02-25 | 哈尔滨工业大学（威海） | Be applied to deep sea ROV's multi-functional rotary-type operation instrument |
-
2018
- 2018-11-20 CN CN201821912730.9U patent/CN209050759U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361742A (en) * | 2020-03-30 | 2020-07-03 | 哈尔滨工业大学 | Electromagnetic drive's helicopter cargo hook device |
| CN114084321A (en) * | 2021-11-15 | 2022-02-25 | 哈尔滨工业大学（威海） | Be applied to deep sea ROV's multi-functional rotary-type operation instrument |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209273451U (en) | A kind of adjustable submarine mechanical arm of posture | |
| CN209050759U (en) | A kind of clamping manipulator | |
| CN109501983A (en) | A kind of underwater actuators and its method | |
| CN107819296B (en) | High voltage cable crusing robot walking clipping mechanism | |
| CN109494628B (en) | Electric power paying-off multi-rotor unmanned aerial vehicle and electric power paying-off method | |
| CN101514620B (en) | Wheel type oil pumping unit | |
| CN110626473B (en) | Metal product fishing equipment | |
| CN208456412U (en) | A kind of elevating translational type sealed door | |
| CN218332963U (en) | Automatic rotating model applied to magnetic suspension tellurion | |
| CN212296318U (en) | Electric control reversing pumping unit without speed reducer | |
| CN108669012B (en) | Electric fish grabbing machine | |
| CN205574244U (en) | Magnetic drive combined type track is running gear under water | |
| CN216823291U (en) | Winch traction device and curtain wall cleaning robot | |
| CN113212715B (en) | Underwater active-passive dual-drive load rejection device and operation method thereof | |
| CN206816268U (en) | A kind of grabbing device and development machine for adapting to double hole for hoist sections of jurisdiction | |
| CN211308929U (en) | Underwater propeller convenient to overhaul | |
| CN210205870U (en) | Electric-driven single-wing bionic toy | |
| CN209089731U (en) | Aphid parasite, wasp fly hollow drum drainage device | |
| CN207671589U (en) | A kind of easy intelligent hoist engine of dismounting | |
| CN221569605U (en) | Normally open electromagnetic valve structure | |
| CN208265575U (en) | A kind of safety-type elevator | |
| CN213387597U (en) | Self-control type hoist | |
| CN113334320B (en) | Motor draws copper machine | |
| CN110217387A (en) | A kind of unmanned plane equipped with overboard safeguard structure | |
| CN215240861U (en) | Rotating arm stopping device based on multi-sensor information fusion |
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: 20190702 Termination date: 20191120 |