CN211362330U

CN211362330U - Underwater cooperative robot

Info

Publication number: CN211362330U
Application number: CN201922160800.0U
Authority: CN
Inventors: 张杭
Original assignee: Nanjing Huayanlong Sealing Technology Co ltd
Current assignee: Nanjing Huayanlong Sealing Technology Co ltd
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2020-08-28
Anticipated expiration: 2029-12-05

Abstract

The utility model discloses an underwater collaboration robot, including a frame, a seal assembly, second module, big arm, reducing return bend, triaxial seal assembly, forearm, fifth module, sixth module and six mount pads, a frame upper portion is through an output flange and first module fastening connection, a seal assembly installs between a frame and first module, the second module passes through two output flanges and is connected the fastening with first module, and two seal assembly installs between second module and first module, big arm connection fastening is in second module top, and big arm central line is perpendicular with second module central line, the big arm other end is connected the fastening with the third module, and third module central line keeps perpendicular with big arm central line. The utility model discloses, not only can form the combination of different degrees of freedom, can also satisfy the requirement of different pressure, load and job domain under water.

Description

Underwater cooperative robot

Technical Field

The utility model relates to an underwater robot technical field specifically is an underwater collaboration robot.

Background

With the gradual maturity of design and manufacturing of mechanical arm mechanism, also more and more extensively applied to underwater operation, but general mechanical arm all does not do special sealed protection, even increase watertight fittings on the mechanical arm, also only prevents water splash, in case carry out underwater operation after, the mechanical arm produces the leakage very fast under the water pressure effect, causes great loss.

Meanwhile, because the load and the working area of the mechanical arm and the water pressure requirements of the underwater environment are different, no standardized product can meet the use requirements at present.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a cooperation robot under water to solve the problem among the prior art.

In order to achieve the above object, the utility model provides a following technical scheme: an underwater cooperative robot comprises a shaft base, a shaft sealing assembly, a second module, a large arm, a reducing elbow, a three-shaft sealing assembly, a small arm, a fifth module, a sixth module and a six-shaft mounting base, wherein the upper part of the shaft base is fixedly connected with the first module through a shaft output flange, the shaft sealing assembly is arranged between the shaft base and the first module, the second module is fixedly connected with the first module through a second shaft output flange, the second shaft sealing assembly is arranged between the second module and the first module, the large arm is fixedly connected above the second module, the central line of the large arm is vertical to the central line of the second module, the other end of the large arm is fixedly connected with the third module, the central line of the third module is vertical to the central line of the large arm, one end of the large diameter of the elbow is fixedly connected with the third module through the three-shaft output flange, and the other end of the reducing elbow is fixedly connected with the small arm, the three-axis sealing assembly is installed between the third module and the reducing elbow, the forearm other end is connected and fastened with the fourth module, and the fourth module central line keeps perpendicular with the forearm central line, the fifth module is connected and fastened with the fourth module through a four-axis output flange, and the fifth module central line is perpendicular with the fourth module central line, and the four-axis sealing assembly is installed between the fifth module and the fourth module, the sixth module is connected and fastened with the fifth module through a six-axis output flange, and the sixth module central line is perpendicular with the fifth module central line, and the five-axis sealing assembly is installed between the sixth module and the fifth module, the six-axis mount pad is connected and fastened with the sixth module through a six-axis output flange, and the six-axis sealing assembly is installed between the sixth module and the six-axis output flange.

Preferably, the first module comprises a shaft speed reducer and is connected with a shaft output flange through the shaft speed reducer for output; the second module comprises a biaxial speed reducer and is connected with the biaxial output flange through the biaxial speed reducer for output; the third module comprises a three-axis speed reducer and is connected with a three-axis output flange through the three-axis speed reducer for output; the fourth module comprises a four-axis speed reducer and is connected with the four-axis output flange through the four-axis speed reducer for output; the fifth module comprises a five-axis speed reducer and is connected with and outputs the five-axis speed reducer through a five-axis speed reducer and a five-axis output flange; the sixth module comprises a six-shaft speed reducer and is connected with a six-shaft output flange through the six-shaft speed reducer.

Preferably, the first shaft seal assembly, the second shaft seal assembly, the third shaft seal assembly, the fourth shaft seal assembly, the fifth shaft seal assembly and the sixth shaft seal assembly respectively comprise a seal movable sleeve, a lip type seal ring, an elastomer seal element, an O-shaped ring and a seal static sleeve, the lip type seal ring is assembled in a first outermost large groove of the seal static sleeve, and the elastomer seal element is assembled in a third groove of the seal static sleeve.

Preferably, all be equipped with O type sealing washer between the external connection part of first module, second module, third module, fourth module, fifth module and sixth module.

Preferably, waterproof plugs are installed in the outer sides of the first shaft sealing assembly, the second shaft sealing assembly, the third shaft sealing assembly, the fourth shaft sealing assembly, the fifth shaft sealing assembly and the sixth shaft sealing assembly, and waterproof plugs are installed in the outer sides of the first module, the second module, the third module, the fourth module, the fifth module and the sixth module.

Preferably, the first module, the second module and the third module may have the same structure and size, and the fourth module, the fifth module and the sixth module may have the same structure and size.

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

1. through special sealing and matching design, the mechanical arm can operate underwater for a long time;

2. through designing the module joint of standard serialization, supporting the seal assembly of corresponding standard simultaneously, make the cooperation robot not only can form the combination of different degrees of freedom, can also satisfy the requirement of different pressure, load and workplaces under water.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

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

FIG. 2 is a schematic view of a partial sectional structure of the first, second and third shafts of the present invention;

FIG. 3 is a schematic view of a partial cross-sectional structure of four-axis, five-axis and six-axis of the present invention;

fig. 4 is a cross-sectional view of the seal assembly of the present invention.

In the figure: 10. a shaft base; 11. a shaft seal assembly; 12. a first module; 13. a shaft output flange; 14. a first shaft reducer; 21. a second module; 22. a two-axis seal assembly; 23. a large arm; 24. a two-axis output flange; 25. a biaxial reducer; 31. a third module; 32. a tri-axial seal assembly; 33. reducing bent pipes; 34. a small arm; 35. a three-axis speed reducer; 36. a three-axis output flange; 41. a fourth module; 42. a four-axis seal assembly; 43. a four-axis speed reducer; 44. a four-axis output flange; 45. sealing the movable sleeve; 46. a lip seal ring; 47. an elastomeric seal; 48. an O-shaped ring; 49. sealing the static sleeve; 51. a fifth module; 52. a five-axis seal assembly; 53. a five-axis speed reducer; 54. a five-axis output flange; 61. a sixth module; 62. a six-axis seal assembly; 63. a six-axis mount; 64. a six-axis reducer; 65. six output flanges.

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. 1-4, in an embodiment of the present invention, an underwater cooperative robot includes a shaft base 10, a shaft seal assembly 11, a second module 21, a large arm 23, a reducing elbow 33, a triaxial seal assembly 32, a small arm 34, a fifth module 51, a sixth module 61, and a sixth mounting base 63, wherein the upper portion of the shaft base 10 fixed to an underwater platform is fastened and connected to a first module 12 through a shaft output flange 13, so that a center line of the first module 12 is in a vertical direction, and the shaft seal assembly 11 is installed between the shaft base 10 and the first module 12; the second module 21 is connected and fastened with the first module 12 through a second shaft output flange 24, the central line of the second module 21 is in a horizontal state and is vertical to the central line of the first module 12, a second shaft sealing component 22 is installed between the second module 21 and the first module 12, a large arm 23 is connected and fastened above the second module 21, the central line of the large arm 23 is vertical to the central line of the second module 21, the upper part of a shaft base 10 is connected and fastened with the first module 12 through a shaft output flange 13, a shaft sealing component 11 is installed between the shaft base 10 and the first module 12, the second module 21 is connected and fastened with the first module 12 through a second shaft output flange 24, a second shaft sealing component 22 is installed between the second module 21 and the first module 12, the large arm 23 is connected and fastened above the second module 21, and the central line of the large arm 23 is vertical to the central line of the second module 21, the other end of the big arm 23 is connected and fastened with the third module 31, the central line of the third module 31 is vertical to the central line of the big arm 23, one end with large diameter of the reducing elbow 33 is connected and fastened with the third module 31 through the three-axis output flange 36, the other end of the reducing elbow 33 is connected and fastened with the small arm 34, the three-axis sealing component 32 is installed between the third module 31 and the reducing elbow 33, the other end of the small arm 34 is connected and fastened with the fourth module 41, the central line of the fourth module 41 is vertical to the central line of the small arm 34, the fifth module 51 is connected and fastened with the fourth module 41 through the four-axis output flange 44, the central line of the fifth module 51 is vertical to the central line of the fourth module 41, the four-axis sealing component 42 is installed between the fifth module 51 and the fourth module 41, the sixth module 61 is connected and fastened with the fifth module 51 through the six-axis output flange 65, and the central line of the sixth module, the five-shaft seal assembly 52 is arranged between the sixth module 61 and the fifth module 51, the six-shaft mounting seat 63 is connected and fastened with the sixth module 61 through a six-shaft output flange 65, the six-shaft seal assembly 62 is arranged between the sixth module 61 and the six-shaft output flange 65, the first module 12 comprises a one-shaft speed reducer 14 and is connected and output with a one-shaft output flange 13 through the one-shaft speed reducer 14; the second module 21 comprises a biaxial speed reducer 25 and is connected with and outputs the biaxial speed reducer 25 and a biaxial output flange 24; the third module 31 comprises a three-axis speed reducer 35 and is connected with a three-axis output flange 36 for output through the three-axis speed reducer 35; the fourth module 41 comprises a four-axis speed reducer 43 and is connected with a four-axis output flange 44 for output through the four-axis speed reducer 43; the fifth module 51 comprises a five-axis speed reducer 53 and is connected with and output from a five-axis output flange 54 through the five-axis speed reducer 53; the sixth module 61 comprises a six-shaft speed reducer 64 and is connected with a six-shaft output flange 65 through the six-shaft speed reducer 64, the first shaft seal assembly 11, the second shaft seal assembly 22, the third shaft seal assembly 32, the fourth shaft seal assembly 42, the fifth shaft seal assembly 52 and the six shaft seal assembly 62 respectively comprise a seal movable sleeve 45, a lip type seal ring 46, an elastomer seal 47, an O-shaped ring 48 and a seal static sleeve 49, the lip type seal ring 46 is assembled in a first outermost large groove of the seal static sleeve 49, the elastomer seal 47 is assembled in a third groove of the seal static sleeve 49, O-shaped seal rings are assembled among external connecting parts of the first module 12, the second module 21, the third module 31, the fourth module 41, the fifth module 51 and the sixth module 61, and the first shaft seal assembly 11, the second shaft seal assembly 22, the third shaft seal assembly 32, the fourth shaft seal assembly 42, the fifth shaft seal assembly 42, Waterproof plugs are installed on the outer sides of the five-axis sealing assembly 52 and the six-axis sealing assembly 62, the waterproof plugs are installed on the outer sides of the first module, the second module, the third module, the fourth module, the fifth module and the sixth module, the structures and the sizes of the first module 12, the second module 21 and the third module 31 can be completely the same, and the structures and the sizes of the fourth module 41, the fifth module 51 and the sixth module 61 can be completely the same.

The utility model discloses a theory of operation is: the upper part of a shaft base 10 fixed on the underwater platform is fixedly connected with a first module 12 through a shaft output flange 13, so that the central line of the first module 12 is in the vertical direction, and a shaft sealing component 11 is arranged between the shaft base 10 and the first module 12; the second module 21 is connected and fastened with the first module 12 through a two-axis output flange 24, the central line of the second module 21 is in a horizontal state and is vertical to the central line of the first module 12, the two-axis sealing component 22 is installed between the second module 21 and the first module 12, the large arm 23 is connected and fastened above the second module 21, and the central line of the large arm 23 is vertical to the central line of the second module 21; the other end of the large arm 23 is connected and fastened with the third module 31, the central line of the third module 31 is vertical to the central line of the large arm 23, one end with a large diameter of the reducing elbow 33 is connected and fastened with the third module 31 through the triaxial output flange 36, the other end of the reducing elbow 33 is connected and fastened with the small arm 34, and the triaxial sealing assembly 32 is installed between the third module 31 and the reducing elbow 33;

the other end of the small arm 34 is connected and fastened with the fourth module 41, and the central line of the fourth module 41 is vertical to the central line of the small arm 34; the fifth module 51 is connected and fastened with the fourth module 41 through the four-axis output flange 36, the center line of the fifth module 51 is perpendicular to the center line of the fourth module 41, and the four-axis sealing assembly 42 is installed between the fifth module 51 and the fourth module 41; the sixth module 61 is connected and fastened with the fifth module 51 through a six-shaft output flange 65, the center line of the sixth module 61 is perpendicular to the center line of the fifth module 51, and the five-shaft sealing assembly 52 is installed between the sixth module 61 and the fifth module 51; the six-shaft mounting base 63 is connected and fastened with the sixth module 61 through a six-shaft output flange 65, and the six-shaft sealing assembly 62 is mounted between the sixth module 61 and the six-shaft output flange 65; and waterproof plugs are arranged outside the module and the sealing assembly.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater cooperative robot, characterized in that: comprises an axle machine base (10), an axle sealing component (11), a second module (21), a big arm (23), a reducing elbow (33), a three-axle sealing component (32), a small arm (34), a fifth module (51), a sixth module (61) and a six-axle mounting seat (63), wherein the upper part of the axle machine base (10) is fixedly connected with the first module (12) through an axle output flange (13), the axle sealing component (11) is arranged between the axle machine base (10) and the first module (12), the second module (21) is fixedly connected with the first module (12) through a two-axle output flange (24), the two-axle sealing component (22) is arranged between the second module (21) and the first module (12), the big arm (23) is fixedly connected above the second module (21), and the central line of the big arm (23) is vertical to the central line of the second module (21), the other end of the large arm (23) is connected and fastened with a third module (31), the central line of the third module (31) is vertical to the central line of the large arm (23), one end of the large diameter of the reducing elbow (33) is connected and fastened with the third module (31) through a three-axis output flange (36), the other end of the reducing elbow (33) is connected and fastened with a small arm (34), a three-axis sealing component (32) is installed between the third module (31) and the reducing elbow (33), the other end of the small arm (34) is connected and fastened with a fourth module (41), the central line of the fourth module (41) is vertical to the central line of the small arm (34), the fifth module (51) is connected and fastened with the fourth module (41) through a four-axis output flange (44), the central line of the fifth module (51) is vertical to the central line of the fourth module (41), and the four-axis sealing component (42) is installed between the fifth module (51) and the fourth module (41), sixth module (61) are connected the fastening through six output flange (65) and fifth module (51), and sixth module (61) central line and fifth module (51) central line are perpendicular, and five seal assembly (52) are installed between sixth module (61) and fifth module (51), six mount pads (63) are connected the fastening through six output flange (65) and sixth module (61), and six seal assembly (62) are installed between sixth module (61) and six output flange (65).

2. An underwater cooperative robot as recited in claim 1, wherein: the first module (12) comprises a shaft speed reducer (14) and is connected with a shaft output flange (13) for output through the shaft speed reducer (14); the second module (21) comprises a biaxial speed reducer (25) and is connected with a biaxial output flange (24) for output through the biaxial speed reducer (25); the third module (31) comprises a three-axis speed reducer (35) and is connected with a three-axis output flange (36) for output through the three-axis speed reducer (35); the fourth module (41) comprises a four-axis speed reducer (43), and is connected with and outputs the four-axis output flange (44) through the four-axis speed reducer (43); the fifth module (51) comprises a five-axis speed reducer (53) and is connected with and output from a five-axis output flange (54) through the five-axis speed reducer (53); the sixth module (61) comprises a six-shaft speed reducer (64) and is connected with a six-shaft output flange (65) through the six-shaft speed reducer (64).

3. An underwater cooperative robot as recited in claim 1, wherein: the shaft seal assembly (11), the two-shaft seal assembly (22), the three-shaft seal assembly (32), the four-shaft seal assembly (42), the five-shaft seal assembly (52) and the six-shaft seal assembly (62) respectively comprise a seal movable sleeve (45), a lip type seal ring (46), an elastomer seal member (47), an O-shaped ring (48) and a seal static sleeve (49), the lip type seal ring (46) is assembled in a first outermost side large groove of the seal static sleeve (49), and the elastomer seal member (47) is assembled in a third groove of the seal static sleeve (49).

4. An underwater cooperative robot as recited in claim 1, wherein: all be equipped with O type sealing washer between the external connection part of first module (12), second module (21), third module (31), fourth module (41), fifth module (51) and sixth module (61).

5. An underwater cooperative robot as recited in claim 1, wherein: waterproof plugs are all installed in the outside of a shaft seal assembly (11), a two-shaft seal assembly (22), a three-shaft seal assembly (32), a four-shaft seal assembly (42), a five-shaft seal assembly (52) and a six-shaft seal assembly (62), and waterproof plugs are all installed in the outside of a first module, a second module, a third module, a fourth module, a fifth module and a sixth module.

6. An underwater cooperative robot as recited in claim 1, wherein: the first module (12), the second module (21) and the third module (31) can be identical in structure and size, and the fourth module (41), the fifth module (51) and the sixth module (61) can be identical in structure and size.