CN209441583U - A kind of shallow sea underwater electric manipulator - Google Patents
A kind of shallow sea underwater electric manipulator Download PDFInfo
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- CN209441583U CN209441583U CN201821797114.3U CN201821797114U CN209441583U CN 209441583 U CN209441583 U CN 209441583U CN 201821797114 U CN201821797114 U CN 201821797114U CN 209441583 U CN209441583 U CN 209441583U
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- push rod
- screw
- pawl
- cabin
- sealing ring
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Abstract
The utility model discloses a kind of shallow sea underwater electric manipulators, including cable, preceding cabin and first bearing bolt, the inside of threading bolt is arranged in the cable, and the upper end for threading bolt is provided with rear hatchcover, and the inside lower end of rear hatchcover is provided through the first screw, the preceding cabin, which is arranged, covers end in rear deck, and the upper end of preceding cabin is provided with pawl seat, the upper end of the push rod is provided with push rod connector, and the upper end of push rod connector is provided with second bearing bolt, the push rod connector and push rod are internally provided with third screw, the outer surface of the push rod is provided with the first sealing ring, the lower end inner surface of the unguiculus and big pawl offers sliding groove.The shallow sea underwater electric manipulator, global shape are column, are easily installed, and are made of resistant material, can adapt to severe undersea environment, and the grasping mechanism of the gripper is simple, low using reliable fault rate, easy to maintain.
Description
Technical field
The utility model relates to underwater electric manipulator technical field, specially a kind of shallow sea underwater electric manipulator.
Background technique
Manipulator is industry and the widely used mechanical equipment of scientific research, and existing manipulator development is more mature.In recent years,
The trend for exploring ocean grows in intensity, and the manipulator suitable for using under water is very rare.Land manipulator mainly passes through servo
The diarthrodial movement of motor band and steering engine drive cleft hand to realize the ability of crawl article, lack the sealing used under water
It ensures.And in existing underwater manipulator, the volume of manipulator is more huge, and it is not easy to install, and higher cost.
Utility model content
The purpose of this utility model is to provide a kind of shallow sea underwater electric manipulators, to solve to mention in above-mentioned background technique
Volume out is more huge, not easy to install, and the problem of higher cost.
To achieve the above object, the utility model provides the following technical solutions: a kind of shallow sea underwater electric manipulator, including
Cable, preceding cabin and first bearing bolt, the inside of threading bolt is arranged in the cable, and the upper end for threading bolt is provided with
Hatchcover afterwards, and the inside lower end of rear hatchcover is provided through the first screw, and the preceding cabin, which is arranged, covers end in rear deck, and preceding
The upper end of cabin is provided with pawl seat, and the second screw is provided through on the inside of pawl seat, and the first bearing bolt setting exists
The upper end of pawl seat, the upper end left side of the pawl seat is provided with unguiculus, and is provided with big pawl on the right side of the upper end of pawl seat, the pawl seat
It is provided with push rod on the inside of upper end, and the upper end of push rod is provided with push rod connector, and the upper end of push rod connector is provided with the
Two bearing bolts, the push rod connector and push rod are internally provided with third screw, and the outer surface of push rod is provided with first
Sealing ring, the inner surface of the big pawl are provided with clip tooth, and the lower end inner surface of the unguiculus and big pawl offers sliding groove, institute
Be provided with the second sealing ring before stating below cabin, and the lower end of the second sealing ring is provided with rear cabin, it is described after cabin it is interior
Portion is provided with inside groove, and the lower end of inside groove is provided with link block, and the lower end of the rear cabin is internally provided with third sealing ring, and
The lower end of third sealing ring is provided with casting glue, and the rear cabin upper end is provided with ring flange, and ring flange and third screw phase
Connection, the upper end of the pin shaft is provided with screw rod, and screw rod is connected with push rod.
Preferably, the rear hatchcover is to be threadedly coupled, and rear hatchcover passes through third sealing ring and threading spiral shell with threading bolt
Bolt, which is constituted, to be tightly connected.
Preferably, second screw is symmetrically arranged with 4, and the outer surface of the second screw and first in pawl seat inner surface
The outer surface of sealing ring matches.
Preferably, the unguiculus and big pawl be with pawl seat is threadedly coupled, and unguiculus and big pawl by first bearing bolt and
Pawl seat constitutes rotational structure.
Preferably, the unguiculus and big pawl inner surface be through being connected with second bearing bolt, and unguiculus and big pawl pass through the
Two bearing bolts constitute slide construction.
Preferably, the push rod connector passes through third screw and push rod being integrally formed structure.
Preferably, the inside of cabin is by pin shaft, shaft coupling, holding screw, washer, motor shaft and motor form after described,
And shaft coupling is provided on the inside of pin shaft, and shaft coupling passes through washer and motor and motor shaft nested encryptions, while shaft coupling
Middle-end be provided with holding screw.
Compared with prior art, the utility model has the beneficial effects that the shallow sea underwater electric manipulator,
1. being provided with columned preceding cabin, precision envelope and dynamic sealing are combined into one by the forward end seal of the device, greatly
Ground reduces the complexity of mechanism, and mechanical driving part is fixed using relatively reliable pin shaft connection and holding screw, improves
Reliability, and global shape is column, the small volume of single unit system makes the operation of user and dismounting more easy；
2. the front end machine machinery claw of the device is made of engineering plastics, have the advantages that corrosion-resistant low cost is easily worked,
The setting allows this underwater electric manipulator that can effectively adapt to severe undersea environment, has ensured the working efficiency of the device；
3. being provided with bearing bolt big pawl interconnected and unguiculus, the fixation and rotation of front end claw use bearing
Bolt, design is simple, is easy replacement, and low using reliable fault rate, makes the maintenance of the device easier.
Detailed description of the invention
Fig. 1 is the utility model positive structure diagram；
Fig. 2 is the positive schematic cross-sectional view of the utility model；
Fig. 3 is enlarged structure schematic diagram at A in the utility model Fig. 1；
Fig. 4 is the positive schematic cross-sectional view of the utility model；
Fig. 5 is enlarged structure schematic diagram at B in the utility model Fig. 4.
In figure: 1, cable；2, bolt is threaded；3, the first screw；4, rear hatchcover；5, preceding cabin；6, pawl seat；7, the second spiral shell
Nail；8, first bearing bolt；9, unguiculus；10, big pawl；11, push rod connector；12, push rod；13, second bearing bolt；14,
Three screws；15, the first sealing ring；16, clip tooth；17, sliding groove；18, the second sealing ring；19, rear cabin；20, inside groove；21, even
Connect block；22, third sealing ring；23, casting glue；24, ring flange；25, pin shaft；26, shaft coupling；27, holding screw；28, washer；
29, motor shaft；30, motor；31, screw rod.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-5 is please referred to, the utility model provides a kind of technical solution: a kind of shallow sea underwater electric manipulator, including line
Cable 1, threading bolt 2, the first screw 3, rear hatchcover 4, preceding cabin 5, pawl seat 6, the second screw 7, first bearing bolt 8, unguiculus 9,
Big pawl 10, push rod connector 11, push rod 12, second bearing bolt 13, third screw 14, the first sealing ring 15, clip tooth 16, sliding
Slot 17, the second sealing ring 18, rear cabin 19, inside groove 20, link block 21, third sealing ring 22, casting glue 23, ring flange 24, pin
Axis 25, shaft coupling 26, holding screw 27, washer 28, motor shaft 29, motor 30 and screw rod 31, the setting of cable 1 is in threading bolt 2
Inside, and the upper end for threading bolt 2 is provided with rear hatchcover 4, and the inside lower end of rear hatchcover 4 is provided through the first screw
3, the preceding setting of cabin 5 is in rear 4 upper end of hatchcover, and the upper end of preceding cabin 5 is provided with pawl seat 6, and the inside of pawl seat 6 is through setting
There is the second screw 7, rear hatchcover 4 is to be threadedly coupled, and rear hatchcover 4 passes through third sealing ring 22 and threading bolt 2 with threading bolt 2
It constitutes and is tightly connected, the setting is more secured when making single unit system fixed, has effectively ensured the device when shallow sea works
Working efficiency；
The upper end of pawl seat 6 is arranged in first bearing bolt 8, is provided with unguiculus 9 on the left of the upper end of pawl seat 6, and pawl seat 6 is upper
It is to be threadedly coupled, and unguiculus 9 and big pawl 10 pass through first bearing with pawl seat 6 that end right side, which is provided with big pawl 10, unguiculus 9 and big pawl 10,
It is to be threadedly coupled, and unguiculus 9 and big pawl 10 pass through the with pawl seat 6 that bolt 8 and pawl seat 6, which constitute rotational structure, unguiculus 9 and big pawl 10,
One bearing bolt 8 constitutes rotational structure with pawl seat 6, and push rod 12 is when pushing forward, it will drives push rod connector 11 and second
Bearing bolt 13 travels forward, at the same second bearing bolt 13 will in sliding groove 17 first front slide, at this moment unguiculus 9 and big pawl
10 will be unfolded outward, and which forms the expansion of manipulator movements；
It is provided with push rod 12 on the inside of the upper end of pawl seat 6, and the upper end of push rod 12 is provided with push rod connector 11, and push rod
The upper end of connector 11 is provided with second bearing bolt 13, and push rod connector 11 is integrally formed by third screw 14 with push rod 12
Change structure, which is effectively guaranteed the stability and linkage of unguiculus 9 and big pawl 10 upon deployment；
Push rod connector 11 and push rod 12 are internally provided with third screw 14, and the outer surface of push rod 12 is provided with first
Sealing ring 15, the second screw 7 are symmetrically arranged with 4, and the outer surface of the second screw 7 and the first sealing ring in 6 inner surface of pawl seat
15 outer surface matches, which effectively plays the role of fixing the first sealing ring 15, and push rod 12 only passes through first
Hole movement among sealing ring 15, ensure that the leakproofness of push rod 12 during exercise with this；
The inner surface of big pawl 10 is provided with clip tooth 16, and the lower end inner surface of unguiculus 9 and big pawl 10 offers sliding groove 17,
The lower section of preceding cabin 5 is provided with the second sealing ring 18, and the lower end of the second sealing ring 18 is provided with rear cabin 19, rear cabin 19
Inside is made of pin shaft 25, shaft coupling 26, holding screw 27, washer 28, motor shaft 29 and motor 30, and rear cabin 19 can be by motor
The drive of axis 29 pushes 10 activity of unguiculus 9 and big pawl of 12 upper end of push rod by screw rod 31；
Cabin 19 is internally provided with inside groove 20 afterwards, and the lower end of inside groove 20 is provided with link block 21, under rear cabin 19
End is internally provided with third sealing ring 22, and the lower end of third sealing ring 22 is provided with casting glue 23, rear 19 upper end of cabin setting
There is ring flange 24, and ring flange 24 is connected with third screw 14, and the inside of pin shaft 25 is provided with shaft coupling 26, and shaft coupling
Device 26 is by washer 28 and 29 nested encryptions of motor 30 and motor shaft, while the middle-end of shaft coupling 26 is provided with holding screw 27,
The upper end of pin shaft 25 is provided with screw rod 31, and screw rod 31 is connected with push rod 12.
Working principle: when using the shallow sea underwater electric manipulator, according to Fig. 1-5, cable 1 is by by casting glue first
The threading bolt 2 of 23 sealings is entered in rear cabin 19 by rear hatchcover 4, to be carried out by power supply unit from cable 1 to manipulator
It powers to control the movement of manipulator, when user needs when shallow sea carries out clamping task, motor 30 is powered on, with
Motor 30 drives the rotation of the upper end motor shaft 29, the shaft coupling 26 being fixed on motor shaft 29, it will by coupled pin
Axis 25 drives screw rod 31 to carry out rotational motion to linear motion, and shaft coupling 26 is limited axial position by washer 28 when rotated, this
The rotation that sample motor 30 can drive screw rod 31 stable, it is ensured that the stability of screw rod 36 carries out rotational alignment in lead screw 31
When movement, cooperating the push rod 12 that is connected with third screw 14, the movement of lead screw 31 will be converted into the linear motion to push rod 12,
And the nut of oily material production is provided between push rod 12 and screw rod 31, it is possible to reduce the friction between screw rod 31 and push rod 12
Power, it is ensured that the fluency that push rod 12 moves makes the linear motion of push rod 12 more stable；
It is mounted on the push rod connector 11 on push rod 12 by third screw 14, when push rod 12 pushes forward, it will band
Dynamic push rod connector 11 and second bearing bolt 13 travel forward, while second bearing bolt 13 will be in sliding groove 17 to advancing slip
Dynamic, unguiculus 9 and big pawl 10 are unfolded outward at this time, and which forms the expansion of manipulator movements, similarly, when the reverse of motor 30, band
When dynamic push rod 12 retracts backward, it is formed the grasping movement of manipulator, when the device is worked, the second screw 7 passes through
Before first sealing ring 15 is pressed in by pawl seat 6 in the slot of 5 front end of cabin, play the role of fixing the first sealing ring 15, and push rod 12
It is only moved by the hole among the first sealing ring 15, the leakproofness of push rod 12 during exercise, and the dress is guaranteed with this
The unguiculus 9 and big pawl 10 of the front end set are made of engineering plastics, have the advantages that corrosion-resistant low cost is easily worked, and allow this water
Lower electric manipulator can effectively adapt to severe undersea environment, increase whole practicability.
The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (7)
1. a kind of shallow sea underwater electric manipulator, including cable (1), preceding cabin (5) and first bearing bolt (8), feature exists
In: cable (1) setting is in the inside of threading bolt (2), and the upper end for threading bolt (2) is provided with rear hatchcover (4), and
The inside lower end of hatchcover (4) is provided through the first screw (3) afterwards, and the preceding cabin (5) is arranged in rear hatchcover (4) upper end, and
The upper end of preceding cabin (5) is provided with pawl seat (6), and the second screw (7) are provided through on the inside of pawl seat (6), and described first
Bearing bolt (8) setting is provided with unguiculus (9) on the left of the upper end of pawl seat (6), the upper end of the pawl seat (6), and pawl seat (6)
It is provided with big pawl (10), is provided with push rod (12) on the inside of the upper end of the pawl seat (6), and the upper end of push rod (12) is set on the right side of upper end
It is equipped with push rod connector (11), and the upper end of push rod connector (11) is provided with second bearing bolt (13), the push rod connects
Fitting (11) and push rod (12) are internally provided with third screw (14), and the outer surface of push rod (12) is provided with the first sealing ring
(15), the inner surface of the big pawl (10) is provided with clip tooth (16), and the lower end inner surface of the unguiculus (9) and big pawl (10) is opened
Equipped with sliding groove (17), it is provided with the second sealing ring (18) below the preceding cabin (5), and the lower end of the second sealing ring (18)
It is provided with rear cabin (19), the rear cabin (19) is internally provided with inside groove (20), and the lower end of inside groove (20) is provided with company
It connects block (21), the lower end of the rear cabin (19) is internally provided with third sealing ring (22), and the lower end of third sealing ring (22)
It is provided with casting glue (23), described rear cabin (19) upper end is provided with ring flange (24), and ring flange (24) and third screw
(14) it is connected, the upper end of pin shaft (25) is provided with screw rod (31), and screw rod (31) is connected with push rod (12).
2. a kind of shallow sea underwater electric manipulator according to claim 1, it is characterised in that: it is described after hatchcover (4) with wear
Line bolt (2) is to be threadedly coupled, and rear hatchcover (4) is made up of third sealing ring (22) and threading bolt (2) and is tightly connected.
3. a kind of shallow sea underwater electric manipulator according to claim 1, it is characterised in that: second screw (7) exists
Pawl seat (6) inner surface is symmetrically arranged with 4, and the outer surface kissing of the outer surface of the second screw (7) and the first sealing ring (15)
It closes.
4. a kind of shallow sea underwater electric manipulator according to claim 1, it is characterised in that: the unguiculus (9) and big pawl
It (10) is to be threadedly coupled, and unguiculus (9) and big pawl (10) are made up of first bearing bolt (8) and pawl seat (6) and turn with pawl seat (6)
Dynamic structure.
5. a kind of shallow sea underwater electric manipulator according to claim 1, it is characterised in that: the unguiculus (9) and big pawl
(10) inner surface runs through and is connected with second bearing bolt (13), and unguiculus (9) passes through second bearing bolt (13) and big pawl (10)
Constitute slide construction.
6. a kind of shallow sea underwater electric manipulator according to claim 1, it is characterised in that: the push rod connector (11)
Pass through third screw (14) and push rod (12) being integrally formed structure.
7. a kind of shallow sea underwater electric manipulator according to claim 1, it is characterised in that: cabin (19) is interior after described
Portion is made of pin shaft (25), shaft coupling (26), holding screw (27), washer (28), motor shaft (29) and motor (30), and pin shaft
(25) it is provided on the inside of shaft coupling (26), and shaft coupling (26) is embedding by washer (28) and motor (30) and motor shaft (29)
Set connection, while the middle-end of shaft coupling (26) is provided with holding screw (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821797114.3U CN209441583U (en) | 2018-11-02 | 2018-11-02 | A kind of shallow sea underwater electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821797114.3U CN209441583U (en) | 2018-11-02 | 2018-11-02 | A kind of shallow sea underwater electric manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN209441583U true CN209441583U (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821797114.3U Active CN209441583U (en) | 2018-11-02 | 2018-11-02 | A kind of shallow sea underwater electric manipulator |
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| CN (1) | CN209441583U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253616A (en) * | 2019-07-19 | 2019-09-20 | 杭州原位智能科技有限公司 | A kind of single-degree-of-freedom underwater electric manipulator |
-
2018
- 2018-11-02 CN CN201821797114.3U patent/CN209441583U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253616A (en) * | 2019-07-19 | 2019-09-20 | 杭州原位智能科技有限公司 | A kind of single-degree-of-freedom underwater electric manipulator |
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