CN210361375U - Single-degree-of-freedom underwater electric manipulator - Google Patents
Single-degree-of-freedom underwater electric manipulator Download PDFInfo
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- CN210361375U CN210361375U CN201921138721.3U CN201921138721U CN210361375U CN 210361375 U CN210361375 U CN 210361375U CN 201921138721 U CN201921138721 U CN 201921138721U CN 210361375 U CN210361375 U CN 210361375U
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Abstract
The utility model discloses a single-degree-of-freedom underwater electric manipulator, which comprises a front cabin body, a rear cabin body fixedly arranged on the front cabin body, a grabbing mechanism arranged on the front end of the front cabin body and used for grabbing articles, a transmission mechanism used for driving the grabbing mechanism to open or close, a driving mechanism connected to the rear end of the transmission mechanism and used for driving the transmission mechanism, and a cable electrically connected with the driving mechanism; the utility model adopts the shallow sea underwater electric manipulator formed by the combination of the front cabin body, the rear cabin body, the driving mechanism, the transmission mechanism and the grabbing mechanism, realizes the grabbing of underwater articles, has higher working stability, firmness and balance capability, is extremely convenient to install, disassemble, replace, maintain and the like, and has higher working efficiency; this manipulator structural design is exquisite and succinct, uses reliably and the fault rate is low, and small light in weight has practiced thrift the cost, and the operation such as installation, dismantlement, change, maintenance is extremely convenient, has higher work efficiency, is fit for popularizing and applying.
Description
Technical Field
The utility model relates to an electric manipulator technical field under water especially relates to a single degree of freedom electric manipulator under water.
Background
The mechanical arm is mechanical equipment widely used in industry and scientific research, and the existing mechanical arm is developed more mature. In recent years, the trend of exploring the ocean has been increasing, and manipulators suitable for underwater use are rare. The robot on land mainly drives the motion of joint through servo motor to and the steering wheel drives the claw hand and realizes the ability of snatching the article, lacks the sealed guarantee of using under water. The existing underwater manipulator mainly has the following defects: firstly, the dynamic sealing performance is poor in the transmission working process; secondly, the mechanical arm is relatively large in size and difficult to install due to unreasonable structural arrangement, and the cost is relatively high; thirdly, the existing underwater manipulator has the defects of low stability, firmness and balance capability, so that the underwater robot has low use safety; fourthly, the operations such as installation, disassembly, replacement, maintenance and the like are extremely complicated in the using process, and the working efficiency is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem is, overcome prior art's defect, provide one kind and have higher sealing performance, waterproof anticorrosive function and have higher steadiness, firm nature and equilibrium and the lower single degree of freedom electric manipulator under water of cost.
In order to solve the technical problem, the utility model discloses a following technical scheme can solve:
a kind of single degree of freedom underwater electric manipulator, including the front cabin, the back cabin fixedly set up on the front cabin, set up on the front end of the front cabin and use for grasping the grasping mechanism of the article, set up in the inner space formed between back cabin and the front cabin and use for driving the grasping mechanism to open or close the drive mechanism, connect to the rear end of drive mechanism and use for driving the drive mechanism of the drive mechanism, the cable connected with drive mechanism electricity, grasp the mechanism to connect to drive mechanism, the drive mechanism is set up in the back cabin, the cable is drawn out from the rear portion of the inner space formed between back cabin and the front cabin, the cable drawn out of the cabin is connected to the power unit, the power unit supplies power for drive mechanism through the cable; the front cabin body and the rear cabin body are fixedly connected in a detachable and detachable mode through threads, a second sealing ring for keeping sealing is arranged between the front cabin body and the rear cabin body, the front cabin body and the rear cabin body are cylindrical, and a combined structure of the front cabin body, the rear cabin body and an internal space formed by the front cabin body and the rear cabin body is provided, so that parts such as a driving mechanism and a transmission mechanism can be fully arranged in the limited internal space, the whole electric manipulator has high stability, firmness and balance capability, the whole structure of the electric manipulator is extremely convenient to install, detach, replace, maintain and the like, and the structure is relatively simple and exquisite; when the electric manipulator is in a non-working state, the initial state of the grabbing mechanism is in a fully closed state; when the electric manipulator is needed to be used for grabbing objects, the driving mechanism is started, the driving mechanism drives the transmission mechanism, and the transmission mechanism drives the grabbing mechanism to grab target objects; specifically, the driving mechanism is started, the driving mechanism moves forward to drive the transmission mechanism to move forward simultaneously, and the transmission mechanism moves forward to drive the grabbing mechanism to move to the target object simultaneously; when the target object enters the grabbing mechanism, the driving mechanism moves reversely to drive the transmission mechanism to move reversely at the same time, and the transmission mechanism moves reversely to drive the grabbing mechanism to close until the grabbing mechanism grabs the target object firmly; when the article which is firmly grabbed in the grabbing mechanism needs to be unloaded, the driving mechanism is started, the driving mechanism moves forward to drive the transmission mechanism to move forward simultaneously, and the transmission mechanism moves forward to drive the grabbing mechanism to open simultaneously so that the grabbing mechanism loosens the article to unload the article from the grabbing mechanism; after the grabbing mechanism unloads the article, the driving mechanism moves reversely to drive the transmission mechanism to move reversely at the same time, the transmission mechanism moves reversely to drive the grabbing mechanism to fold simultaneously until the grabbing mechanism is completely folded and restored to the original state when the grabbing mechanism is not in operation, so that the grabbing and unloading of the article can be performed next time; the underwater single-degree-of-freedom electric manipulator formed by the front cabin body, the rear cabin body, the driving mechanism, the transmission mechanism and the grabbing mechanism combined structure realizes grabbing of underwater articles, has high working stability, firmness and balance capability, is extremely convenient to install, disassemble, replace, maintain and the like, and has high working efficiency.
Preferably, the transmission mechanism comprises a screw rod connected to the front end of the driving mechanism and driven by the driving mechanism, and a push rod connected to the front end of the screw rod and used for driving the grabbing mechanism to open or close, the screw rod and the push rod are both arranged in the front cabin body, and the grabbing mechanism is connected to the push rod. The push rod is provided with a lead screw nut matched with the lead screw, the lead screw nut is installed between the push rod and the lead screw, the lead screw nut is installed on the push rod through a fourth screw, the lead screw is matched with the lead screw nut to convert the rotary motion of the lead screw into the linear motion of the lead screw nut, the linear motion of the lead screw nut drives the whole push rod to perform linear motion, the lead screw nut is made of an oily material, the friction force between the push rod and the lead screw is reduced, the smoothness of the motion of the push rod can be ensured, and the linear motion of the push rod is more stable; an oil bearing made of an oil material is arranged between the push rod and the front cabin body, so that the smooth linear motion of the push rod is facilitated; the transmission mechanism formed by the lead screw, the lead screw nut, the push rod and the oiliness bearing combination structure has the characteristics of high-efficiency and stable transmission performance and simple structure, and further improves the convenience of operations such as installation, disassembly, replacement, maintenance and the like; when the electric manipulator is required to be used for grabbing articles, the driving mechanism is started, the driving mechanism drives the screw rod to rotate forwards, the screw rod rotates forwards to drive the screw rod nut to move linearly forwards along the screw rod, the screw rod nut which moves linearly forwards drives the push rod to move linearly forwards simultaneously, and therefore the push rod drives the grabbing mechanism to open simultaneously and form a grabbing opening for grabbing articles, so that the articles can enter and be accommodated in the open grabbing opening of the grabbing mechanism; after the article enters the grabbing mechanism, the driving mechanism drives the screw rod to rotate reversely, the screw rod rotates reversely to drive the screw rod nut to move linearly backwards at the same time, the screw rod nut moving linearly backwards drives the push rod to move linearly backwards at the same time, and therefore the push rod drives the grabbing mechanism to rotate inwards at the same time until the grabbing mechanism grabs the article firmly; when the article which is firmly grabbed in the grabbing mechanism needs to be unloaded, the driving mechanism is started, the driving mechanism drives the screw rod to rotate forwards, the screw rod rotates forwards to drive the screw rod nut to simultaneously move forwards linearly along the screw rod, the screw rod nut which moves forwards linearly drives the push rod to simultaneously move forwards linearly, so that the push rod drives the grabbing mechanism to simultaneously open to enlarge the grabbing opening, and the grabbing mechanism loosens the article, so that the article is unloaded or taken out from the grabbing mechanism; after the grabbing mechanism unloads the article, drive mechanism drives drive mechanism, and drive mechanism drives and snatchs the mechanism and fold until grabbing the mechanism and fold completely and restore to the initial condition when not working to the work of next execution snatchs.
Preferably, the transmission mechanism further comprises a push rod connecting piece connected between the push rod and the grabbing mechanism, the rear end of the push rod connecting piece is fixedly connected to the front end of the push rod, the grabbing mechanism is slidably hinged to the front end of the push rod connecting piece through a second bearing bolt, and the second bearing bolt is slidably hinged between the push rod connecting piece and the grabbing mechanism. The push rod connecting piece is connected with the push rod through a third screw, and the push rod connecting piece and the push rod form an integrated structure through the third screw, so that the push rod and the push rod connecting piece are more smoothly, stably and firmly linked in the transmission process, and the stability and linkage of the grabbing mechanism when the grabbing mechanism is opened to grab an object are effectively ensured; when the electric manipulator is required to be used for grabbing articles, the driving mechanism is started, the driving mechanism drives the screw rod to rotate forwards, the screw rod rotates forwards to drive the screw rod nut to move linearly forwards simultaneously, the screw rod nut which moves linearly forwards drives the push rod to move linearly forwards simultaneously, the push rod which moves linearly forwards drives the push rod connecting piece to move linearly forwards simultaneously so that the push rod connecting piece pushes the push rod connecting piece forwards, and therefore the push rod connecting piece drives the second bearing bolt to slide forwards simultaneously so that the grabbing mechanism opens simultaneously and a grabbing opening for grabbing articles is formed, and articles can enter and be accommodated in the opened grabbing opening of the grabbing mechanism; then the driving mechanism drives the screw rod to rotate reversely, the screw rod rotates reversely to drive the screw rod nut to move linearly backwards at the same time, the screw rod nut moving linearly backwards drives the push rod to move linearly backwards at the same time, the push rod drives the push rod connecting piece to move linearly backwards at the same time so that the push rod connecting piece moves backwards, and therefore the push rod connecting piece drives the second bearing bolt to slide backwards at the same time so that the grabbing mechanism rotates inwards at the same time until the grabbing mechanism grabs objects firmly; the transmission mechanism formed by the screw rod, the nut, the push rod connecting piece and the second bearing bolt combined structure further improves the transmission performance and the convenience of operations such as installation, disassembly, replacement, maintenance and the like.
Preferably, the transmission mechanism further comprises a first sealing ring fixedly sleeved outside the push rod and used for the push rod to penetrate through, the first sealing ring is fixedly pressed in a groove at the front end of the front cabin body, and the push rod is arranged at the front end of the front cabin body in a sealing mode through the first sealing ring. The setting of first sealing washer, the push rod only moves through the hole in the middle of the first sealing washer in transmission process for the push rod has higher dynamic seal performance at transmission process, has guaranteed that this electric manipulator wholly has higher sealing performance, has also improved the whole waterproof function in long-time working process under water of this electric manipulator.
Preferably, the driving mechanism comprises a coupler, a motor shaft and a pin shaft, the coupler is arranged in the rear cabin body, the motor shaft is connected with the motor, the motor and the motor shaft are connected to the coupler in a nested mode through a gasket, the coupler is arranged on the inner side of the pin shaft, the motor shaft is hinged to the lead screw through the pin shaft, the lead screw is arranged at the front end of the pin shaft, and the cable is electrically connected with the motor; the coupler is fixed on a motor shaft of the motor through a set screw; the pin shaft penetrates through the coupler and the lead screw, so that the lead screw and the coupler are kept fixed; a set screw is arranged in the middle of the coupler, and the coupler is tightly connected with the motor shaft through the set screw; the rear cabin body is fixedly provided with a flange plate through a third screw, and the flange plate sleeves the lead screw to enable the lead screw to rotate forwards or backwards to be limited in the flange plate, so that the stability, firmness and balance capability of the lead screw during transmission are further improved, and the convenience of operations such as installation, disassembly, replacement, maintenance and the like is further improved; when the electric manipulator is required to be used for grabbing articles, a power supply device is switched on, a motor is started, the motor rotates forwards to drive a motor shaft to rotate forwards simultaneously, the motor shaft rotates forwards to drive a lead screw to rotate forwards simultaneously, the lead screw rotates forwards to drive a lead screw nut to move linearly forwards simultaneously, the lead screw nut moving linearly forwards drives a push rod to move linearly forwards simultaneously, the push rod moving linearly forwards drives a push rod connecting piece to move linearly forwards simultaneously so that the push rod connecting piece pushes the push rod connecting piece forwards, and therefore the push rod connecting piece drives a second bearing bolt to slide forwards simultaneously to enable a grabbing mechanism to open simultaneously and form a grabbing opening for grabbing articles, so that the articles can enter and be accommodated in the opened; then the motor rotates reversely to drive the motor shaft to rotate reversely at the same time, the motor shaft rotates reversely to drive the lead screw to rotate reversely at the same time, the lead screw rotates reversely to drive the lead screw nut to move linearly backwards at the same time, the lead screw nut moving linearly backwards drives the push rod to move linearly backwards at the same time, the push rod drives the push rod connecting piece to move linearly backwards at the same time so that the push rod connecting piece moves backwards, and therefore the push rod connecting piece drives the second bearing bolt to slide backwards at the same time so that the grabbing mechanism rotates inwards at the same time; when the article firmly grabbed in the grabbing mechanism needs to be unloaded, a motor is started, the motor rotates forwards to drive a motor shaft to rotate forwards at the same time, the motor shaft rotates forwards to drive a screw rod to rotate forwards at the same time, the screw rod rotates forwards to drive a screw rod nut to move linearly forwards at the same time, the screw rod nut moving linearly forwards drives a push rod to move linearly forwards at the same time, the push rod moving linearly forwards drives a push rod connecting piece to move linearly forwards at the same time, so that the push rod connecting piece drives a second bearing bolt to slide forwards at the same time, the grabbing mechanism opens simultaneously to enlarge a grabbing opening, the grabbing mechanism loosens the article, and the article is unloaded or taken; after the grabbing mechanism unloads the article, the motor rotates reversely to drive the motor shaft to rotate reversely simultaneously, the motor shaft drives the coupler to rotate reversely simultaneously, the coupler drives the lead screw to rotate reversely simultaneously, the lead screw nut moves linearly backwards while the lead screw rotates reversely, the lead screw nut moving linearly backwards drives the push rod to move linearly backwards simultaneously, the push rod drives the push rod connecting piece to move linearly backwards simultaneously to make the push rod connecting piece move backwards, thereby the push rod connecting piece drives the second bearing bolt to slide backwards simultaneously to make the grabbing mechanism rotate inwards simultaneously until the grabbing mechanism is completely folded and restored to the original state when not working, so as to execute the grabbing work next time.
Preferably, the grabbing mechanism comprises a claw seat fixedly arranged at the front end of the front cabin body, a small claw hinged to the left side of the front end of the claw seat through a first bearing bolt, and a large claw hinged to the right side of the front end of the claw seat through a first bearing bolt, the small claw and the large claw are hinged to the front end of the push rod connecting piece through a second bearing bolt, and the push rod penetrates into the claw seat. The claw seats are detachably fixed at the front end of the front cabin body through second screws, 4 second screws are symmetrically arranged on the inner surfaces of the claw seats, and the outer surfaces of the second screws are matched with the outer surface of the first sealing ring; the large claw and the small claw are both made of engineering plastics, so that the large claw and the small claw have the advantages of corrosion resistance, low cost and easiness in processing, and can effectively adapt to the underwater severe environment; the large claw and the small claw are respectively connected with the claw seat in a detachable and rotating mode through thread structures, the large claw and the small claw respectively form a rotating structure through a first bearing bolt and the claw seat, the large claw and the small claw are respectively provided with clamping teeth matched with each other, the clamping teeth not only provide clamping force for the large claw and the small claw to grab an object, but also improve the anti-skidding effect of the object during clamping, so that the large claw and the small claw can be opened simultaneously to grab the object firmly in the grabbing opening through the clamping teeth during grabbing of the object; the arrangement of the claw seat not only improves the stability, firmness and balance of the large claw and the small claw in the working process of grabbing articles, but also ensures that the large claw and the small claw are very convenient to install, disassemble, replace, maintain and the like; specifically, when the electric manipulator is required to be used for grabbing articles, a power supply device is switched on, a motor is started, the motor rotates forwards to drive a motor shaft to rotate forwards simultaneously, the motor shaft rotates forwards to drive a pin shaft to rotate forwards simultaneously, the pin shaft rotates forwards to drive a lead screw to rotate forwards simultaneously, the lead screw rotates forwards to drive a lead screw nut to move forwards simultaneously, the lead screw nut moving forwards drives a push rod to move forwards simultaneously, the push rod moving forwards drives a push rod connecting piece to move forwards simultaneously and linearly, so that the push rod connecting piece drives a second bearing bolt to slide forwards simultaneously, a large claw and a small claw respectively rotate and open simultaneously by taking a hinge joint of a first bearing bolt corresponding to each other as a rotation fulcrum, and a grabbing opening for grabbing articles is formed, so that the articles can enter and be accommodated in the grabbing openings opened by the large claw and the small; then the motor is changed from positive rotation to negative rotation, the motor drives the motor shaft to rotate simultaneously in the negative rotation, the motor shaft drives the pin shaft to rotate simultaneously in the negative rotation, the pin shaft rotates in the negative rotation to drive the lead screw to rotate simultaneously in the negative rotation, the lead screw rotates in the negative rotation to drive the lead screw nut to move linearly backward simultaneously, the lead screw nut moving linearly backward drives the push rod to move linearly simultaneously backward so as to make the push rod move backward simultaneously, the push rod drives the push rod connecting piece to move linearly backward so as to make the push rod connecting piece slide backward simultaneously, so that the large claw and the small claw rotate inward simultaneously with the hinged position of the corresponding first bearing bolt as a rotation fulcrum until the clamping teeth of the large claw and the small claw firmly grab the; when the article firmly grabbed between the large claw and the small claw needs to be unloaded, a motor is started, the motor rotates forwards to drive a motor shaft to rotate forwards at the same time, the motor shaft rotates forwards to drive a pin shaft to rotate forwards at the same time, the pin shaft rotates forwards to drive a lead screw to rotate forwards at the same time, the lead screw rotates forwards to drive a lead screw nut to move forwards linearly, the lead screw nut moving forwards drives a push rod to move forwards at the same time, so that the push rod moves forwards, a push rod connecting piece drives a second bearing bolt to slide forwards at the same time, the large claw and the small claw respectively rotate and open at the same time by taking the hinge joint of the corresponding first bearing bolt as a rotating fulcrum to enlarge the grabbing opening, and the grabbing mechanism loosens the article so as to unload or take out the article from between the large claw and the small claw; after the article is unloaded or taken out from the space between the large claw and the small claw, the motor rotates reversely to drive the motor shaft to rotate reversely at the same time, the motor shaft rotates reversely to drive the pin shaft to rotate reversely at the same time, the pin shaft rotates reversely to drive the screw rod nut to move linearly backwards at the same time, the screw rod which moves linearly backwards drives the push rod to move linearly backwards at the same time so as to enable the push rod to move backwards, the push rod drives the push rod connecting piece to move backwards so as to enable the push rod connecting piece to move backwards, the push rod connecting piece drives the second bearing bolt to slide backwards at the same time, the large claw and the small claw rotate inwards at the same time by respectively taking the hinge joint of the corresponding first bearing bolt as a rotation fulcrum, and the large claw and the small claw are folded inwards until the large claw and the small claw are completely folded and restored to an original state when.
Preferably, the large claw and the small claw are provided with sliding grooves for the second bearing bolt to slide, the front end of the push rod connecting piece is provided with a through hole, and the second bearing bolt is slidably arranged in a movable space formed by the sliding grooves of the large claw, the through hole at the front end of the push rod connecting piece and the sliding grooves of the small claw in a penetrating mode. When the electric manipulator grabs articles, the second bearing bolt moves in the sliding groove, and the movable space formed by the sliding groove further improves the linkage smoothness of the push rod, the push rod connecting piece, the second bearing bolt, the large claw and the small claw in the transmission process.
Preferably, the front cabin body and the rear cabin body are connected in a sealing mode through a second sealing ring. The setting of second sealing washer for have higher sealing performance between the preceding cabin body and the back cabin body, further improved the holistic sealing performance of this electric manipulator, also further improved the whole waterproof anticorrosive function in long-time working process under water of this electric manipulator.
Preferably, the cabin cover is detachably and fixedly arranged at the rear end of the front cabin body, and the rear cabin cover is sealed on the rear end of the rear cabin body through a third sealing ring; the rear hatch cover is detachably and fixedly arranged at the rear end of the front cabin body through a first screw, so that the rear hatch cover is convenient to open or close, and the convenience of operations such as installation, disassembly, replacement, maintenance and the like is improved; the combined structure formed among the rear cabin cover, the third sealing ring and the rear cabin body further improves the overall sealing performance of the electric manipulator and further improves the waterproof and anticorrosion functions of the electric manipulator in the underwater long-time working process.
Preferably, the rear cabin cover is provided with a threading bolt arranged at the rear end of the rear cabin cover, the threading bolt is in sealing connection with the rear cabin cover through a third sealing ring, and the cable sequentially penetrates through the rear cabin cover and the threading bolt from the rear part of an internal space formed between the front cabin body and the rear cabin body and is led out outwards. The arrangement of the threading bolt is beneficial to leading out the wiring of the cable from the cabin body to the wire passing and wiring when the cable is connected to the power supply device, the waterproof and anticorrosion functions of the cable are improved, and the stability and the firmness of the cable in the wire passing and wiring are also improved.
The utility model discloses in, the inside of the back cabin body is equipped with the inside groove, and the inside groove is equipped with the connecting block, and motor fixed connection is at the front end of connecting block, and the cable passes connecting block, back cabin cover, threading bolt from the motor in proper order and outwards draws forth. The combined structure of the inner groove and the connecting block is beneficial to improving the stability, firmness and balance capability of the motor in the rear cabin, improving the convenience of operations such as installation, disassembly, replacement and maintenance, and also beneficial to wire passing and wiring of the cable after the cable is led out from the motor.
The utility model discloses in, threading bolt's inside cavity is equipped with the epoxy embedment body of solidification, passes the inside hollow cable of threading bolt and is sealed by the epoxy embedment body of solidification, has both improved steadiness and the firm nature when the cable crossed line and wired, has improved the holistic sealing performance of this electric manipulator again, has also improved the whole waterproof anticorrosive function in the long-time working process under water of this electric manipulator.
Specifically, the potting method of the cured epoxy resin potting body formed in the threading bolt by the solidification of the epoxy resin potting adhesive is as follows: firstly, the cable passes through the hollow inside of the threading bolt, then the epoxy resin pouring sealant is gradually poured into the inner space of the threading bolt from the outside of the threading bolt until the epoxy resin pouring sealant fills up the inner space of the threading bolt, then the epoxy resin pouring sealant waiting for filling up the inner space of the threading bolt is gradually solidified to form a solidified epoxy resin pouring body, the solidified epoxy resin pouring body seals the inner space of the threading bolt and firmly seals the cable in the threading bolt, the risk of water permeating into the threading bolt during underwater work is reduced, so that the motor and the cable are not easy to be attacked and decomposed by water, the cable of the motor is firmly sealed in the threading bolt, the contact of seawater to the inner cable is isolated, and the sealing performance and the waterproof and anticorrosion functions are greatly improved.
The underwater electric manipulator with the single degree of freedom has the following advantages:
1. the front cabin body is provided with a cylindrical front cabin body, the front end seal adopts a sealing mode of combining static seal and dynamic seal, the complexity of the whole structure is greatly reduced, the mechanical transmission part adopts more reliable pin shaft connection and set screw fixation, the reliability is improved, the whole shape is columnar, the size of the whole device is smaller, and the operation and the disassembly and the assembly of a user are more convenient;
2. the front end mechanical claw of the device is made of engineering plastics, has the advantages of corrosion resistance, low cost and easiness in processing, and can effectively adapt to severe undersea environment, so that the reliability of the electric manipulator is guaranteed;
3. be provided with big claw and the little claw through bearing bolt interconnect, the fixed of front end claw adopts the bearing bolt with rotating, and the design is simple, changes easily, uses reliably and the fault rate is low, maintains more portably.
The utility model discloses owing to adopted above technical scheme, have apparent technological effect: the underwater electric manipulator with single degree of freedom formed by the combined structure of the front cabin body, the rear cabin body, the driving mechanism, the transmission mechanism and the grabbing mechanism realizes grabbing of underwater articles, has high working stability and firmness, is extremely convenient to install, disassemble, replace, maintain and the like, and has high working efficiency; this manipulator structural design is exquisite and succinct, uses reliably and the fault rate is low, and small light in weight has practiced thrift the cost, and the operation such as installation, dismantlement, change, maintenance is extremely convenient, has higher work efficiency, is fit for popularizing and applying.
Drawings
Fig. 1 is a schematic structural view of an embodiment of the underwater electric manipulator with single degree of freedom of the present invention.
Fig. 2 is a cross-sectional view of fig. 1.
Fig. 3 is an enlarged schematic view of a portion B in fig. 1.
Fig. 4 is an enlarged schematic view of the structure at C in fig. 2.
Fig. 5 is a sectional view taken along the line a-a in fig. 1.
Fig. 6 is another schematic structural diagram of an embodiment of the underwater electric manipulator with single degree of freedom of the present invention.
Fig. 7 is an enlarged schematic view of the structure at D in fig. 6.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
A single-degree-of-freedom underwater electric manipulator is shown in figures 1-7 and comprises a front cabin body 5, a rear cabin body 19 fixedly arranged on the front cabin body 5, a grabbing mechanism arranged on the front end of the front cabin body 5 and used for grabbing objects, a transmission mechanism arranged in an inner space formed between the front cabin body 5 and the rear cabin body 19 and used for driving the grabbing mechanism to open or close, a driving mechanism connected to the rear end of the transmission mechanism and used for driving the transmission mechanism, and a cable 1 electrically connected with the driving mechanism, wherein the grabbing mechanism is connected to the transmission mechanism, the driving mechanism is arranged in the rear cabin body 19, the cable 1 is led out from the rear part of the inner space formed between the front cabin body 5 and the rear cabin body 19, the cable 1 led out of the cabin body is connected to a power supply device, and the power supply device.
In this embodiment, the transmission mechanism includes a screw rod 31 connected to and driven by the front end of the driving mechanism, and a push rod 12 connected to the front end of the screw rod 31 and used for driving the grabbing mechanism to open or close, the screw rod 31 and the push rod 12 are both disposed in the front cabin 5, and the grabbing mechanism is connected to the push rod 12. The push rod 12 is provided with a lead screw nut 33 matched with the lead screw 31, the lead screw nut 33 is installed between the push rod 12 and the lead screw 31, the lead screw nut 33 is installed on the push rod 12 through a fourth screw 32, the lead screw 31 is matched with the lead screw nut 33 to convert the rotary motion of the lead screw 31 into the linear motion of the lead screw nut 33, the linear motion of the lead screw nut 33 drives the whole push rod to perform linear motion, and the lead screw nut 33 is made of an oily material, so that the friction force between the push rod 12 and the lead screw 31 is reduced, the smoothness of the motion of the push rod 12 can be ensured, and the linear motion of the push rod 12 is more stable; an oil bearing 34 made of an oil material is arranged between the push rod 12 and the front cabin body 5, which is helpful for the smooth linear motion of the push rod. The transmission mechanism formed by the lead screw, the lead screw nut, the push rod and the oiliness bearing combination structure has the characteristics of high efficiency, stable transmission performance and simple structure, and further improves the convenience of operations such as installation, disassembly, replacement and maintenance.
In this embodiment, drive mechanism still includes the push rod connecting piece 11 of connecting between push rod 12 and the mechanism of snatching, and the rear end fixed connection of push rod connecting piece 11 is at the front end of push rod 12, snatchs the mechanism and passes through second bearing bolt 13 slidable and articulate the front end at push rod connecting piece 11, and second bearing bolt 13 slidable articulates between push rod connecting piece 11 and the mechanism of snatching. The push rod connecting piece 11 is connected with the push rod 12 through the third screw 14, and the push rod connecting piece 11 and the push rod 12 form an integrated structure through the third screw 14, so that the push rod and the push rod connecting piece are more smoothly, stably and firmly linked in the transmission process, and the stability and linkage of the grabbing mechanism when the grabbing mechanism is opened to grab an object are effectively ensured; when the electric manipulator is required to be used for grabbing articles, the driving mechanism is started, the driving mechanism drives the screw rod to rotate forwards, the screw rod rotates forwards to drive the screw rod nut to move linearly forwards simultaneously, the screw rod nut which moves linearly forwards drives the push rod to move linearly forwards simultaneously, the push rod which moves linearly forwards drives the push rod connecting piece to move linearly forwards simultaneously so that the push rod connecting piece pushes the push rod connecting piece forwards, and therefore the push rod connecting piece drives the second bearing bolt to slide forwards simultaneously so that the grabbing mechanism opens simultaneously and a grabbing opening for grabbing articles is formed, and articles can enter and be accommodated in the opened grabbing opening of the grabbing mechanism; then the driving mechanism drives the screw rod to rotate reversely, the screw rod rotates reversely to drive the screw rod nut to move linearly backwards at the same time, the screw rod nut moving linearly backwards drives the push rod to move linearly backwards at the same time, the push rod drives the push rod connecting piece to move linearly backwards at the same time so that the push rod connecting piece moves backwards, and therefore the push rod connecting piece drives the second bearing bolt to slide backwards at the same time so that the grabbing mechanism rotates inwards at the same time until the grabbing mechanism grabs objects firmly; the transmission mechanism formed by the screw rod, the nut, the push rod connecting piece and the second bearing bolt combined structure further improves the transmission performance and the convenience of operations such as installation, disassembly, replacement, maintenance and the like.
In this embodiment, the transmission mechanism further includes a first sealing ring 15 fixedly sleeved outside the push rod 12 and allowing the push rod 12 to pass through, the first sealing ring 15 is fixedly pressed in a groove at the front end of the front cabin 5, and the push rod 12 is hermetically arranged at the front end of the front cabin 5 through the first sealing ring 15.
In this embodiment, the driving mechanism includes a coupling 26, a motor 30, a motor shaft 29, and a pin 25, the coupling 26 is disposed in the rear cabin 19, the motor shaft 29 is connected to the motor 30, the motor 30 and the motor shaft 29 are nested on the coupling 26 through a gasket 28, the coupling 26 is disposed inside the pin 25, the motor shaft 29 is hinged to a lead screw 31 through the pin 25, the lead screw 31 is disposed at the front end of the pin 25, and the cable 1 is electrically connected to the motor 30. Wherein, the coupling 26 is fixed on a motor shaft 29 of the motor 30 through a set screw 27; the pin shaft 25 penetrates through the coupler 26 and the lead screw 31, so that the lead screw 31 and the coupler 26 are kept fixed; a set screw 27 is arranged in the middle of the coupler 26, and the coupler 26 is tightly connected with a motor shaft 29 through the set screw 27; the rear cabin body 19 is fixedly provided with a flange plate 24 through a third screw 14, the flange plate 24 sleeves the lead screw 31, so that the rotary forward movement or the rotary backward movement of the lead screw 31 is limited in the flange plate 24, the stability, the firmness and the balance capability of the lead screw during transmission are further improved, and the convenience of operations such as installation, disassembly, replacement, maintenance and the like is further improved; the arrangement of the pin shaft enables the motor shaft to drive the screw rod to rotate and move linearly more smoothly through the pin shaft, and the rotation transition is more natural; the axial position of the coupler is limited through the gasket, the possible play of the coupler in the axial direction is reduced, and the transmission efficiency and the stability of the coupler are improved; the driving mechanism formed by the combined structure of the shaft coupling, the motor shaft and the pin shaft is matched with the transmission mechanism formed by the combined structure of the lead screw, the nut, the push rod connecting piece and the second bearing bolt, so that the transmission performance is further improved, the stability, the firmness and the balance capability during transmission are further improved, and the convenience of operations such as installation, disassembly, replacement, maintenance and the like is further improved; specifically, when the electric manipulator is required to be used for grabbing articles, a power supply device is switched on, a motor is started, the motor rotates forwards to drive a motor shaft to rotate forwards simultaneously, the motor shaft rotates forwards to drive a lead screw to rotate forwards simultaneously, the lead screw rotates forwards to drive a lead screw nut to move linearly forwards simultaneously, the lead screw nut moving linearly forwards drives a push rod to move linearly forwards simultaneously, the push rod moving linearly forwards drives a push rod connecting piece to move linearly forwards simultaneously so that the push rod connecting piece pushes forwards, and the push rod connecting piece drives a second bearing bolt to slide forwards simultaneously so that a grabbing mechanism opens simultaneously and a grabbing opening for grabbing articles is formed, so that the articles can enter and be accommodated in the opened grabbing opening of the grabbing mechanism; then the motor rotates reversely to drive the motor shaft to rotate reversely at the same time, the motor shaft rotates reversely to drive the lead screw to rotate reversely at the same time, the lead screw rotates reversely to drive the lead screw nut to move linearly backwards at the same time, the lead screw nut moving linearly backwards drives the push rod to move linearly backwards at the same time, the push rod drives the push rod connecting piece to move linearly backwards at the same time so that the push rod connecting piece moves backwards, and therefore the push rod connecting piece drives the second bearing bolt to slide backwards at the same time so that the grabbing mechanism rotates inwards at the same time; when the article firmly grabbed in the grabbing mechanism needs to be unloaded, a motor is started, the motor rotates forwards to drive a motor shaft to rotate forwards at the same time, the motor shaft rotates forwards to drive a screw rod to rotate forwards at the same time, the screw rod rotates forwards to drive a screw rod nut to move linearly forwards at the same time, the screw rod nut moving linearly forwards drives a push rod to move linearly forwards at the same time, the push rod moving linearly forwards drives a push rod connecting piece to move linearly forwards at the same time, so that the push rod connecting piece drives a second bearing bolt to slide forwards at the same time, the grabbing mechanism opens simultaneously to enlarge a grabbing opening, the grabbing mechanism loosens the article, and the article is unloaded or taken; after the grabbing mechanism unloads the article, the motor rotates reversely to drive the motor shaft to rotate reversely simultaneously, the motor shaft drives the coupler to rotate reversely simultaneously, the coupler drives the lead screw to rotate reversely simultaneously, the lead screw nut moves linearly backwards while the lead screw rotates reversely, the lead screw nut moving linearly backwards drives the push rod to move linearly backwards simultaneously, the push rod drives the push rod connecting piece to move linearly backwards simultaneously to make the push rod connecting piece move backwards, thereby the push rod connecting piece drives the second bearing bolt to slide backwards simultaneously to make the grabbing mechanism rotate inwards simultaneously until the grabbing mechanism is completely folded and restored to the original state when not working, so as to execute the grabbing work next time.
In this embodiment, the grabbing mechanism comprises a claw seat 6 fixedly arranged at the front end of the front cabin body 5, a small claw 9 hinged to the left side of the front end of the claw seat 6 through a first bearing bolt 8, and a large claw 10 hinged to the right side of the front end of the claw seat 6 through a first bearing bolt 8, the small claw 9 and the large claw 10 are hinged to the front end of a push rod connecting piece 11 through a second bearing bolt 13, and a push rod 12 penetrates into the claw seat 6. The claw seat 6 is detachably fixed at the front end of the front cabin body 5 through second screws 7, 4 second screws 7 are symmetrically arranged on the inner surface of the claw seat 6, and the outer surface of each second screw 7 is matched with the outer surface of the first sealing ring 15; the large claw and the small claw are both made of engineering plastics, so that the large claw and the small claw have the advantages of corrosion resistance, low cost and easiness in processing, and can effectively adapt to the underwater severe environment; the large claw and the small claw are respectively fixedly connected with the claw seat in a detachable mode through thread structures, the large claw and the small claw respectively form a rotating structure through a first bearing bolt and the claw seat, the large claw and the small claw are respectively provided with clamping teeth 16 which are matched with each other, the clamping teeth 16 not only provide clamping force for the large claw and the small claw when the large claw and the small claw grab an object, but also improve the anti-skidding effect when the object is clamped, and the large claw and the small claw can be opened simultaneously to grab the object firmly in the grabbing opening through the clamping teeth when the object is grabbed; the arrangement of the claw seat not only improves the stability, firmness and balance of the large claw and the small claw in the working process of grabbing articles, but also ensures that the large claw and the small claw are very convenient to install, disassemble, replace, maintain and the like; specifically, when the electric manipulator is required to be used for grabbing articles, a power supply device is switched on, a motor is started, the motor rotates forwards to drive a motor shaft to rotate forwards simultaneously, the motor shaft rotates forwards to drive a pin shaft to rotate forwards simultaneously, the pin shaft rotates forwards to drive a lead screw to rotate forwards simultaneously, the lead screw rotates forwards to drive a lead screw nut to move forwards simultaneously, the lead screw nut moving forwards drives a push rod to move forwards simultaneously, the push rod moving forwards drives a push rod connecting piece to move forwards simultaneously and linearly, so that the push rod connecting piece drives a second bearing bolt to slide forwards simultaneously, a large claw and a small claw respectively rotate and open simultaneously by taking a hinge joint of a first bearing bolt corresponding to each other as a rotation fulcrum, and a grabbing opening for grabbing articles is formed, so that the articles can enter and be accommodated in the grabbing openings opened by the large claw and the small; then the motor is changed from positive rotation to negative rotation, the motor drives the motor shaft to rotate simultaneously in the negative rotation, the motor shaft drives the pin shaft to rotate simultaneously in the negative rotation, the pin shaft rotates in the negative rotation to drive the lead screw to rotate simultaneously in the negative rotation, the lead screw rotates in the negative rotation to drive the lead screw nut to move linearly backward simultaneously, the lead screw nut moving linearly backward drives the push rod to move linearly simultaneously backward so as to make the push rod move backward simultaneously, the push rod drives the push rod connecting piece to move linearly backward so as to make the push rod connecting piece slide backward simultaneously, so that the large claw and the small claw rotate inward simultaneously with the hinged position of the corresponding first bearing bolt as a rotation fulcrum until the clamping teeth of the large claw and the small claw firmly grab the; when the article firmly grabbed between the large claw and the small claw needs to be unloaded, a motor is started, the motor rotates forwards to drive a motor shaft to rotate forwards at the same time, the motor shaft rotates forwards to drive a pin shaft to rotate forwards at the same time, the pin shaft rotates forwards to drive a lead screw to rotate forwards at the same time, the lead screw rotates forwards to drive a lead screw nut to move forwards linearly, the lead screw nut moving forwards drives a push rod to move forwards at the same time, so that the push rod moves forwards, a push rod connecting piece drives a second bearing bolt to slide forwards at the same time, the large claw and the small claw respectively rotate and open at the same time by taking the hinge joint of the corresponding first bearing bolt as a rotating fulcrum to enlarge the grabbing opening, and the grabbing mechanism loosens the article so as to unload or take out the article from between the large claw and the small claw; after the article is unloaded or taken out from the space between the large claw and the small claw, the motor rotates reversely to drive the motor shaft to rotate reversely at the same time, the motor shaft rotates reversely to drive the pin shaft to rotate reversely at the same time, the pin shaft rotates reversely to drive the screw rod nut to move linearly backwards at the same time, the screw rod which moves linearly backwards drives the push rod to move linearly backwards at the same time so as to enable the push rod to move backwards, the push rod drives the push rod connecting piece to move backwards so as to enable the push rod connecting piece to move backwards, the push rod connecting piece drives the second bearing bolt to slide backwards at the same time, the large claw and the small claw rotate inwards at the same time by respectively taking the hinge joint of the corresponding first bearing bolt as a rotation fulcrum, and the large claw and the small claw are folded inwards until the large claw and the small claw are completely folded and restored to an original state when.
In this embodiment, the large claw 10 and the small claw 9 are both provided with a sliding groove 17 for the second bearing bolt 13 to slide, the front end of the push rod connecting piece 11 is provided with a through hole 110, and the second bearing bolt 13 slidably penetrates through a moving space formed by the sliding groove 17 of the large claw 10, the through hole 110 of the front end of the push rod connecting piece 11 and the sliding groove 17 of the small claw 9.
In this embodiment, the front cabin 5 and the rear cabin 19 are hermetically connected by a second sealing ring 18.
In this embodiment, the cabin cover further comprises a rear cabin cover 4 detachably and fixedly arranged at the rear end of the front cabin body 5, and the rear cabin cover 4 is sealed on the rear end of the rear cabin body 19 through a third sealing ring 22. The rear hatch cover 4 is detachably and fixedly arranged at the rear end of the front cabin body 5 through the first screw 3, so that the rear hatch cover is convenient to open or close, and the convenience of operations such as installation, disassembly, replacement, maintenance and the like is improved; the combined structure formed among the rear cabin cover, the third sealing ring and the rear cabin body further improves the overall sealing performance of the electric manipulator and further improves the waterproof and anticorrosion functions of the electric manipulator in the underwater long-time working process.
In this embodiment, the cabin cover further comprises a threading bolt 2 arranged at the rear end of the rear cabin cover 4, the threading bolt 2 is hermetically connected with the rear cabin cover 4 through a third sealing ring 22, and the cable 1 sequentially penetrates through the rear cabin cover 4 and the threading bolt 2 from the rear part of an internal space formed between the front cabin body 5 and the rear cabin body 19 and is led out outwards.
In this embodiment, an inner groove 20 is formed in the rear cabin 19, a connecting block 21 is formed in the inner groove 20, the motor 30 is fixedly connected to the front end of the connecting block 21, and the cable 1 is led out from the motor 30 through the connecting block 21, the rear cabin cover 4 and the threading bolt 2 in sequence. The combined structure of the inner groove and the connecting block is beneficial to improving the stability, firmness and balance capability of the motor in the rear cabin, improving the convenience of operations such as installation, disassembly, replacement and maintenance, and also beneficial to wire passing and wiring of the cable after the cable is led out from the motor.
In this embodiment, the hollow inside of the threading bolt 2 is provided with the cured epoxy resin potting body 23, and the cable 1 passing through the hollow inside of the threading bolt 2 is sealed by the cured epoxy resin potting body 23, so that the stability and the firmness of the cable during threading and wiring are further improved, the overall sealing performance of the electric manipulator is further improved, and the waterproof and anticorrosion functions of the electric manipulator during long-time underwater work are further improved.
Specifically, the potting method of the cured epoxy resin potting body formed in the threading bolt by the solidification of the epoxy resin potting adhesive is as follows: firstly, the cable passes through the hollow inside of the threading bolt, then the epoxy resin pouring sealant is gradually poured into the inner space of the threading bolt from the outside of the threading bolt until the epoxy resin pouring sealant fills up the inner space of the threading bolt, then the epoxy resin pouring sealant waiting for filling up the inner space of the threading bolt is gradually solidified to form a solidified epoxy resin pouring body, the solidified epoxy resin pouring body seals the inner space of the threading bolt and firmly seals the cable in the threading bolt, the risk that water penetrates into the threading bolt during underwater work is reduced, so that the motor and the cable are not easy to be attacked and decomposed by water, the cable of the motor is firmly sealed in the threading bolt, and the sealing performance and the waterproof and anticorrosion functions are greatly improved.
In short, the above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the scope of the present invention.
Claims (10)
1. The utility model provides a single degree of freedom is electric manipulator under water which characterized in that: including preceding cabin body (5), the fixed back cabin body (19) of establishing on preceding cabin body (5), establish on the front end of preceding cabin body (5) and be used for snatching the mechanism that snatchs of article, establish in the inner space that forms between preceding cabin body (5) and the back cabin body (19) and be used for driving the drive mechanism that snatchs the mechanism and open or fold, connect in the drive mechanism rear end and be used for driving drive mechanism's actuating mechanism, cable (1) of being connected with actuating mechanism electricity, it connects on drive mechanism to snatch the mechanism, actuating mechanism establishes inside the back cabin body (19), cable (1) are outwards drawn forth from the rear portion of the inner space that forms between preceding cabin body (5) and the back cabin body (19).
2. The single degree of freedom underwater electric manipulator of claim 1, characterized in that: the transmission mechanism comprises a lead screw (31) which is connected to the front end of the driving mechanism and driven by the driving mechanism, and a push rod (12) which is connected to the front end of the lead screw (31) and used for driving the grabbing mechanism to open or close, wherein the lead screw (31) and the push rod (12) are both arranged in the front cabin body (5), and the grabbing mechanism is connected to the push rod (12).
3. The single degree of freedom underwater electric manipulator of claim 2, characterized in that: the transmission mechanism further comprises a push rod connecting piece (11) connected between the push rod (12) and the grabbing mechanism, the rear end of the push rod connecting piece (11) is fixedly connected to the front end of the push rod (12), the grabbing mechanism is hinged to the front end of the push rod connecting piece (11) through a second bearing bolt (13) in a sliding mode, and the second bearing bolt (13) is hinged between the push rod connecting piece (11) and the grabbing mechanism in a sliding mode.
4. The underwater electric manipulator of one degree of freedom of claim 2 or 3, wherein: the transmission mechanism further comprises a first sealing ring (15) which is fixedly sleeved outside the push rod (12) and is used for the push rod (12) to penetrate through, the first sealing ring (15) is fixedly arranged in a groove at the front end of the front cabin body (5) in a pressing mode, and the push rod (12) is arranged at the front end of the front cabin body (5) in a sealing mode through the first sealing ring (15).
5. The underwater electric manipulator with single degree of freedom of claim 4, wherein: actuating mechanism includes shaft coupling (26), motor (30), motor shaft (29), round pin axle (25), establish in back cabin body (19) shaft coupling (26), motor shaft (29) are connected with motor (30), motor (30) and motor shaft (29) are through packing ring (28) nested connection on shaft coupling (26), the inboard at round pin axle (25) is established in shaft coupling (26), motor shaft (29) are articulated through round pin axle (25) and lead screw (31), the front end at round pin axle (25) is established in lead screw (31), cable (1) is connected with motor (30) electricity.
6. The underwater electric manipulator of one degree of freedom of claim 3 or 5, wherein: the grabbing mechanism comprises a claw seat (6) fixedly arranged at the front end of the front cabin body (5), a small claw (9) hinged to the left side of the front end of the claw seat (6) through a first bearing bolt (8), a large claw (10) hinged to the right side of the front end of the claw seat (6) through a first bearing bolt (8), a second bearing bolt (13) is arranged between the small claw (9) and the large claw (10) to hinge the front end of a push rod connecting piece (11), and a push rod (12) penetrates into the claw seat (6).
7. The underwater electric manipulator with single degree of freedom of claim 6, wherein: the big claw (10) and the small claw (9) are both provided with a sliding groove (17) for the second bearing bolt (13) to slide, the front end of the push rod connecting piece (11) is provided with a through hole (110), and the second bearing bolt (13) can slide to penetrate through a moving space formed by the sliding groove (17) of the big claw (10), the through hole (110) of the front end of the push rod connecting piece (11) and the sliding groove (17) of the small claw (9).
8. A single degree of freedom underwater motorized manipulator as claimed in claim 1 or 2 or 3 or 5 or 7, wherein: the front cabin body (5) and the rear cabin body (19) are connected in a sealing way through a second sealing ring (18).
9. The underwater electric manipulator with single degree of freedom of claim 8, wherein: the device also comprises a rear cabin cover (4) which is detachably and fixedly arranged at the rear end of the front cabin body (5), and the rear cabin cover (4) is sealed on the rear end of the rear cabin body (19) through a third sealing ring (22).
10. The underwater electric manipulator with single degree of freedom of claim 9, wherein: the rear cabin cover is characterized by further comprising a threading bolt (2) arranged at the rear end of the rear cabin cover (4), the threading bolt (2) is in sealing connection with the rear cabin cover (4) through a third sealing ring (22), and the cable (1) sequentially penetrates through the rear cabin cover (4) and the threading bolt (2) from the rear portion of an inner space formed between the front cabin body (5) and the rear cabin body (19) and is led out outwards.
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| CN201921138721.3U CN210361375U (en) | 2019-07-19 | 2019-07-19 | Single-degree-of-freedom underwater electric manipulator |
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| CN201921138721.3U CN210361375U (en) | 2019-07-19 | 2019-07-19 | Single-degree-of-freedom underwater electric manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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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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