CN210212726U

CN210212726U - Motor-driven underwater clamping jaw with replaceable jaw head

Info

Publication number: CN210212726U
Application number: CN201920606629.9U
Authority: CN
Inventors: Shikang Zhou; 周士康; Liqun Xiao; 肖立群; You Lyu; 吕游; Yidong Liu; 刘逸东
Original assignee: Changzhou One Millet Underwater Robot Technology Co Ltd
Current assignee: Changzhou One Millet Underwater Robot Technology Co Ltd
Priority date: 2019-04-29
Filing date: 2019-04-29
Publication date: 2020-03-31
Anticipated expiration: 2029-04-29

Abstract

The utility model discloses a motor drive's clamping jaw under water of interchangeable claw head, the capsule comprises a cabin body, motor, lead screw, transmission shaft and claw head connecting piece are installed from the right side to a left side in proper order to the inside of the capsule body, the output shaft of motor left end and the one end fixed connection of shaft coupling, the other end fixedly connected with lead screw of shaft coupling. The utility model discloses the clamping jaw under water of motor drive's interchangeable claw head passes through the sealed cabin body and simple structure's seal structure, realizes that good withstand voltage waterproof performance makes whole gripper can the safety and stability operation under water. The claw head module does not comprise a sealing structure, so that different functions of the clamping jaw can be realized by randomly replacing the claw head, the whole mechanical clamping jaw does not need to be replaced, and the sealing performance is not influenced by only replacing the claw head module. The gripper passes through screw nut transmission moment, operates steadily, and the noise is low, and the controllability is strong. The driving motor is arranged in the closed shell, and the service life is long.

Description

Motor-driven underwater clamping jaw with replaceable jaw head

Technical Field

The utility model belongs to a gripper, concretely relates to motor drive's interchangeable claw head's clamping jaw under water.

Background

Mechanical jaws are a common part of underwater robots, used for gripping work in underwater operations. The sealing mode is mostly oil seal and mechanical seal, and the driving mode has motor drive and hydraulic drive etc.. However, the underwater sealing structure is complex, the oil seal and hydraulic drive production and assembly costs are high, and the jaw head part of a common underwater mechanical clamping jaw is fixed and cannot be replaced.

SUMMERY OF THE UTILITY MODEL

To solve the problems set forth in the background art described above. The utility model provides a motor drive's interchangeable claw head's clamping jaw under water passes moment to the clamping jaw through the axle with front end housing dynamic seal, and each part is sealed in the cabin pipe, and waterproof structure is simple, and the transmission is steady, low in production cost.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a motor drive's clamping jaw under water of interchangeable claw, includes the cabin body, motor, lead screw, transmission shaft and claw head connecting piece are installed in proper order from a dextrad left side to the inside of the cabin body, the output shaft of motor left end and the one end fixed connection of shaft coupling, the other end fixedly connected with lead screw of shaft coupling, the lead screw is kept away from the one end of shaft coupling and is connected with screw nut's one end, screw nut's the other end and transmission shaft fixed connection, screw nut's one end is kept away from to the transmission shaft is installed the claw head connecting piece, install the claw head on the claw head connecting piece, the utility model discloses motor drive's interchangeable claw head's clamping jaw under water passes through the sealed cabin body and simple structure's seal structure, realizes that good withstand voltage. The claw head module does not comprise a sealing structure, so that different functions of the clamping jaw can be realized by randomly replacing the claw head, the whole mechanical clamping jaw does not need to be replaced, and the sealing performance is not influenced by only replacing the claw head module. The gripper passes through screw nut transmission moment, operates steadily, and the noise is low, and the controllability is strong. The driving motor is arranged in the closed shell, and the service life is long. The underwater mobile phone is simple in overall structure, light in weight, low in maintenance cost and diverse in underwater application scenes.

Preferably, the left end of the cabin body is fixedly provided with a front end cover, the left side of the front end cover is fixedly provided with a sealing ring retaining cover, and a retaining ring is arranged between the front end cover and the transmission shaft.

Preferably, cabin body right-hand member fixed mounting has the rear end cap, the rear end cap is run through by the left end of threading screw, and inside the threading screw extended to cabin body, install the cable on the threading screw, the cable is connected with the motor electricity.

Preferably, the claw head connecting piece left end is provided with the connector, the transversal chevron shape structure of personally submitting of connector, the transmission shaft right-hand member is provided with the transmission shaft linkage segment, the transversal U style of calligraphy structure of personally submitting of transmission shaft linkage segment, all seted up the locating hole on connector and the linkage segment, and connector and linkage segment pass through the cooperation reciprocal anchorage of locating hole and bolt.

Preferably, the claw head is detachably connected with the claw head connecting piece, and the claw head comprises a double-claw type claw head, a parallel type claw head and a hemispherical sampler.

Preferably, the double-claw type claw head comprises an upper claw cutter and a lower claw cutter, the left ends of the upper claw cutter and the lower claw cutter are hinged to the claw head mounting seat, the inner sides of the upper claw cutter and the lower claw cutter are hinged to the claw head connecting piece, through holes are formed in the surfaces of the upper claw cutter and the lower claw cutter, and the inner sides of the upper claw cutter and the lower claw cutter are provided with meshing teeth.

Preferably, the parallel claw head comprises a parallel claw head main body, one end of the parallel claw head main body is hinged to the claw head connecting piece, and the clamping plate is installed at the other end of the parallel claw head main body.

Preferably, the hemispherical sampler comprises a hemispherical sampler main body, one end of the hemispherical sampler main body is hinged with the claw head connecting piece, and the other end of the hemispherical sampler main body is provided with a sampling hemisphere.

Preferably, the surface of the claw head connecting piece is fixedly connected with a guide rod, a guide groove is formed in the claw head mounting seat, and the guide rod is located in the guide groove.

Preferably, the claw is made by having wear-resisting and corrosion resisting property material, cabin body surface is made by anticorrosive withstand voltage material, front end housing, rear end cap and threading screw all pass through embedment waterproof treatment, rear end cap and threading screw can be for same spare part completion seal and threading function, the threading screw also can adopt the watertight connector.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses the clamping jaw under water of motor drive's interchangeable claw head passes through the sealed cabin body and simple structure's seal structure, realizes that good withstand voltage waterproof performance makes whole gripper can the safety and stability operation under water. The claw head module does not comprise a sealing structure, so that different functions of the clamping jaw can be realized by randomly replacing the claw head, the whole mechanical clamping jaw does not need to be replaced, and the sealing performance is not influenced by only replacing the claw head module. The gripper passes through screw nut transmission moment, operates steadily, and the noise is low, and the controllability is strong. The driving motor is arranged in the closed shell, and the service life is long. The underwater mobile phone is simple in overall structure, light in weight, low in maintenance cost and diverse in underwater application scenes.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is the overall effect diagram of the present invention;

fig. 3 is a schematic structural view of the double-claw type claw head of the present invention;

fig. 4 is a schematic structural view of a parallel claw head according to the present invention;

fig. 5 is a schematic structural diagram of the hemispherical sampler of the present invention;

fig. 6 is a schematic view of a partial structure of the connecting member of the present invention.

In the figure: 1. the device comprises a motor, 2, a coupler, 3, a screw rod, 4, a screw rod nut, 5, a transmission shaft, 501, a transmission shaft connecting section, 6, a claw head connecting piece, 601, a connecting head, 7, a claw head, 8, a claw head mounting seat, 9, a sealing ring retaining cover, 10, a front end cover, 11, a retaining ring, 12, a cabin body, 13, a rear end cover, 14, a threading screw, 15, a double-claw type claw head, 151, an upper claw knife, 152, a lower claw knife, 153, a through hole, 154, a meshing tooth, 16, a parallel claw head, 161, a parallel claw head main body, 162, a clamping plate, 17, a hemispherical sampler, 171, a hemispherical sampler main body, 172, a sampling hemisphere, 18, a positioning hole, 19, a guide rod, 20 and a cable.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides the following technical solutions: an underwater clamping jaw with a replaceable jaw head driven by a motor comprises a cabin body 12, wherein the cabin body 12 is internally provided with a motor 1, a lead screw 3, a transmission shaft 5 and a jaw head connecting piece 6 from right to left in sequence, an output shaft at the left end of the motor 1 is fixedly connected with one end of a coupler 2, the motor 1 has the protection functions of torque maintenance, current detection and the like, the output torque is ensured to be uniform, the motor 1 is protected from locked-rotor damage, the speed regulation according to a control signal and the like can be carried out, the other end of the coupler 2 is fixedly connected with the lead screw 3, one end of the lead screw 3, which is far away from the coupler 2, is connected with one end of a lead screw nut 4, the other end of the lead screw nut 4 is fixedly connected with the transmission shaft 5, one end of the transmission shaft 5, which is far away from the lead screw nut 4, is provided with the jaw head connecting piece 6, the jaw head 7, the good pressure-resistant and waterproof performance is realized, so that the whole mechanical claw can safely and stably operate underwater. The claw head module does not comprise a sealing structure, so that different functions of the clamping jaw can be realized by randomly replacing the claw head, the whole mechanical clamping jaw does not need to be replaced, and the sealing performance is not influenced by only replacing the claw head module. The gripper passes through screw nut transmission moment, operates steadily, and the noise is low, and the controllability is strong. The driving motor is arranged in the closed shell, and the service life is long. The underwater mobile phone is simple in overall structure, light in weight, low in maintenance cost and diverse in underwater application scenes.

Preferably, a front end cover 10 is fixedly mounted at the left end of the cabin 12, a sealing ring retaining cover 9 is fixedly mounted at the left side of the front end cover 10, and a retaining ring 11 is mounted between the front end cover 10 and the transmission shaft 5.

Preferably, the rear end cover 13 is fixedly mounted at the right end of the cabin 12, the rear end cover 13 is penetrated through by the left end of the threading screw 14, the threading screw 14 extends into the cabin 12, the cable 20 is mounted on the threading screw 14, and the cable 20 is electrically connected with the motor 1.

Preferably, 6 left ends of claw head connecting piece are provided with connector 601, the transversal chevron structure of personally submitting of

connector

601, 5 right-hand members of transmission shaft are provided with transmission shaft linkage segment 501, transmission shaft linkage segment 501's transversal U style of calligraphy structure of personally submitting, locating hole 18 has all been seted up on connector 601 and the linkage segment 501, and connector 601 and linkage segment 501 pass through the cooperation reciprocal anchorage of locating hole 18 and bolt.

Preferably, the claw head 7 is detachably connected with the claw head connecting piece 6, and the claw head 7 comprises a double-claw type claw head 15, a parallel type claw head 16 and a hemispherical sampler 17.

Preferably, the double-claw type claw head 15 is composed of an upper claw knife 151 and a lower claw knife 152, the left ends of the upper claw knife 151 and the lower claw knife 152 are hinged to the claw head mounting seat 8, the inner sides of the upper claw knife 151 and the lower claw knife 152 are hinged to the claw head connecting piece 6, through holes 153 are formed in the surfaces of the upper claw knife 151 and the lower claw knife 152, and the inner sides of the upper claw knife 151 and the lower claw knife 152 are provided with meshing teeth 154.

Preferably, the parallel claw head 16 includes a parallel claw head main body 161, one end of the parallel claw head main body 161 is hinged to the claw head connecting member 6, and the other end of the parallel claw head main body 161 is mounted with a clamping plate 162.

Preferably, the hemispherical sampler 17 includes a hemispherical sampler main body 171, one end of the hemispherical sampler main body 171 is hinged to the claw head connecting member 6, and the other end of the hemispherical sampler main body 171 is provided with a sampling hemisphere 172.

Preferably, the surface of the claw head connecting piece 6 is fixedly connected with a guide rod 19, the claw head mounting seat 8 is provided with a guide groove, and the guide rod 19 is located in the guide groove.

Preferably, the claw head 7 is made of a material with wear resistance and corrosion resistance, the outer surface of the cabin body 12 is made of an anti-corrosion pressure-resistant material, the front end cover 10, the rear end cover 13 and the threading screw 14 are subjected to encapsulation waterproof treatment, the rear end cover 13 and the threading screw 14 can be the same part to complete sealing and threading functions, and the threading screw 14 can also adopt a watertight connector.

The utility model discloses a theory of operation and use flow: the mechanical clamping jaw transmits torque through the driving of the motor 1, the shaft coupling 2 drives the screw nut 4 to rotate for axial movement, and the opening and closing of the claw head 7 are realized through a force arm structure at the tail end of the claw head 7; the sealing ring retaining cover 9 is positioned at the axial movement part of the screw nut 5, and the sealing ring is tightly pressed on the sealed cabin pipe through the retaining cover and tightly presses the axially moving screw nut 4 to realize sealing under the movement condition; the front section and the tail end of the cabin body 12 are sealed with the cabin body through a sealing ring and a sealing ring groove, and the front end and the tail end can be pressed in a matched mode or screwed tightly with threads; the claw heads 7 of the clamping jaws can be replaced at will without replacing the whole manipulator, so that clamping required by different claw heads 7 is realized, such as a double-claw type claw head 15, a parallel type claw head 16, a hemispherical sampler 17 and the like; the motor 1 is fixed inside the cabin body 12, when the cabin body 12 is selected in a machining process, a cabin pipe of the cabin body 12 can be lengthened to adjust buoyancy or be used for adjusting the center of gravity, and similarly, the installation position of the motor 1 can also be adjusted by a coupling 2 or a lengthened lead screw 3 and the like to adjust the center of gravity. It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a motor drive's clamping jaw under water of interchangeable claw head, includes cabin body (12), its characterized in that: the inside of the cabin body (12) is from right to left and is installed motor (1), lead screw (3), transmission shaft (5) and claw head connecting piece (6) in proper order, the output shaft of motor (1) left end and the one end fixed connection of shaft coupling (2), the other end fixedly connected with lead screw (3) of shaft coupling (2), the one end that shaft coupling (2) were kept away from in lead screw (3) is connected with the one end of screw nut (4), the other end and transmission shaft (5) fixed connection of screw nut (4), the one end that screw nut (4) were kept away from in transmission shaft (5) is installed claw head connecting piece (6), install claw head (7) on claw head connecting piece (6).

2. A motor-driven underwater gripper jaw with interchangeable jaw heads according to claim 1, wherein: the cabin body (12) left end fixed mounting has front end housing (10), front end housing (10) left side fixed mounting has sealing washer to keep lid (9), and installs between front end housing (10) and transmission shaft (5) retaining ring (11).

3. A motor-driven underwater gripper jaw with interchangeable jaw heads according to claim 1, wherein: cabin body (12) right-hand member fixed mounting has rear end cap (13), rear end cap (13) are run through by the left end of threading screw (14), and inside threading screw (14) extended to cabin body (12), install cable (20) on threading screw (14), cable (20) are connected with motor (1) electricity.

4. A motor-driven underwater gripper jaw with interchangeable jaw heads according to claim 1, wherein: claw head connecting piece (6) left end is provided with connector (601), the transversal chevron structure of personally submitting of connector (601), transmission shaft (5) right-hand member is provided with transmission shaft linkage segment (501), the transversal U style of calligraphy structure of personally submitting of transmission shaft linkage segment (501), locating hole (18) have all been seted up on connector (601) and linkage segment (501), and connector (601) and linkage segment (501) are mutually fixed through the cooperation of locating hole (18) and bolt.

5. A motor-driven underwater gripper jaw with interchangeable jaw heads according to claim 1, wherein: the claw head (7) is detachably connected with the claw head connecting piece (6), and the claw head (7) comprises a double-claw type claw head (15), a parallel type claw head (16) and a hemispherical sampler (17).

6. The motor-driven underwater gripper jaw with interchangeable jaw head of claim 5, wherein: double claw formula claw head (15) comprise last claw sword (151) and lower claw sword (152), the left end of going up claw sword (151) and lower claw sword (152) all articulates with claw head mount pad (8), it all articulates on claw head connecting piece (6) to go up claw sword (151) and lower claw sword (152) inboard, go up claw sword (151) and lower claw sword (152) surface and all seted up through-hole (153), and go up claw sword (151) and lower claw sword (152) inboard and seted up interlock tooth (154).

7. The motor-driven underwater gripper jaw with interchangeable jaw head of claim 5, wherein: parallel claw head (16) include parallel claw head main part (161), the one end of parallel claw head main part (161) is articulated with claw head connecting piece (6), grip block (162) are installed to the other end of parallel claw head main part (161).

8. The motor-driven underwater gripper jaw with interchangeable jaw head of claim 5, wherein: the hemispherical sampler (17) comprises a hemispherical sampler main body (171), one end of the hemispherical sampler main body (171) is hinged with the claw head connecting piece (6), and the other end of the hemispherical sampler main body (171) is provided with a sampling hemisphere (172).

9. A motor-driven underwater gripper with interchangeable gripper heads according to claim 1 or 6, characterized in that: the surface of the claw head connecting piece (6) is fixedly connected with a guide rod (19), a guide groove is formed in the claw head mounting seat (8), and the guide rod (19) is located in the guide groove.

10. A motor-driven underwater gripper with interchangeable gripper heads according to claim 1 or 2, characterized in that: claw head (7) are made by having wear-resisting and corrosion resisting property material, cabin body (12) surface is made by anticorrosive withstand voltage material, and front end housing (10), rear end cap (13) and threading screw (14) all pass through embedment water repellent, and rear end cap (13) and threading screw (14) can be for same spare part completion seal and threading function, threading screw (14) also can adopt the watertight connector.