CN211662092U

CN211662092U - Joint structure and mechanical arm with same

Info

Publication number: CN211662092U
Application number: CN202020122955.5U
Authority: CN
Inventors: 熊明磊; 陈龙冬; 王老虎
Original assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Current assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-10-13
Anticipated expiration: 2030-01-19

Abstract

The application discloses a joint structure and a mechanical arm with the joint structure, and relates to the technical field of underwater robots, wherein the joint structure comprises a first connecting piece, a second connecting piece, a driving assembly and a sealed cabin, wherein the second connecting piece can rotate relative to the first connecting piece in a fixed shaft manner, and the driving assembly and the sealed cabin are used for driving the first connecting piece and the second connecting piece to rotate relatively; the driving assembly comprises a hollow motor and a rotating shaft, and a stator and a rotor of the hollow motor, wherein one of the stator and the rotor is fixedly connected with the first connecting piece, and the other one is fixedly connected with the second connecting piece. The hollow motor is arranged inside the sealed cabin, the stator of the hollow motor is fixed relative to the sealed cabin, the rotor of the hollow motor is fixedly connected with the rotating shaft, and the two ends of the rotating shaft extend out of the sealed cabin and can rotate relative to the sealed cabin through a fixed shaft. Two end faces of the rotating shaft are in contact with the external environment. According to the arrangement, the two ends of the rotating shaft are exposed outside the joint structure through the hollow motor, and the two ends of the rotating shaft bear water pressure without pressure difference, so that the axial force between the rotating shaft and the motor is eliminated.

Description

Joint structure and mechanical arm with same

Technical Field

The utility model relates to an underwater robot technical field especially relates to a joint structure and have arm of this joint structure.

Background

The underwater operation tool is one of indispensable tools for exploration, excavation and exploitation of submarine resources, the underwater robot is provided with a manipulator and an underwater mechanical arm for driving the manipulator to move, and the manipulator and the underwater mechanical arm are used as execution units and are mainly used for completing the operations of sampling, capturing, excavating and the like of the submarine resources. When the underwater water pressure bearing device works underwater, the water pressure borne by the underwater water pressure bearing device is larger along with the increase of the submerging depth.

In the prior art, the relative motion of each knuckle arm in the mechanical arm is generally realized by the rotation of the rotating shaft at the joint of a common motor drive, in order to ensure the normal operation of underwater work, a sealing shell is arranged outside the common motor and the rotating shaft, the common motor is completely positioned in the sealing shell, one end of the rotating shaft is fixedly connected with an output shaft of the common motor, and the other end of the rotating shaft needs to extend out of the sealing shell to be connected with one knuckle arm, namely, only one end of the rotating shaft extends out of the sealing shell. When working under water, only one end of the rotating shaft bears water pressure to generate pressure difference, so that the rotating shaft generates axial force on an output shaft of a common motor, the axial force can be increased along with the increase of the water depth, and when the water depth is increased to a certain value, the motor can be crushed by the axial force, and the reachable depth of the existing mechanical arm in the underwater environment is limited. In order to cancel the axial force, a thrust bearing is generally arranged between the seal shell and the rotating shaft, the thrust bearing, the output shaft of the motor and the rotating shaft are coaxially arranged, one part of the thrust bearing is fixedly connected with the rotating shaft, and the other part of the thrust bearing is fixedly connected with the seal shell, so that the axial force generated by the pressure difference acts on the seal shell, and the motor is protected. However, the structure is complicated, and the larger the water pressure or the larger the diameter of the rotating shaft is, the larger the generated pressure difference is, the higher the requirement on the bearing capacity of the thrust bearing is, the larger the size of the thrust bearing is, so that the size of the sealing shell and the joint is larger, and the mechanical arm is heavy.

Therefore, how to solve the problem that the output shaft of the motor at the joint position of the mechanical arm bears a large axial force due to external water pressure, and the problem that the joint structure size is large and the mechanical arm is heavy when the thrust bearing is adopted to cancel the axial force in the prior art becomes an important technical problem to be solved by technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

For overcoming the problem that exists among the correlation technique at least to a certain extent, the application provides a joint structure and has this joint structure's arm, and it can solve the output shaft of the motor of arm joint position department and bear great axial force because of receiving outside water pressure, and adopts thrust bearing to cancel the joint structure size that leads to when this axial force among the prior art great, the problem that the arm is heavy.

The utility model discloses a realize like this: a joint structure is arranged between adjacent joint arms and comprises a first connecting piece fixedly connected with one of the joint arms, a second connecting piece fixedly connected with the other joint arm and capable of rotating relative to the first connecting piece in a fixed shaft mode, a driving assembly used for driving the first connecting piece and the second connecting piece to rotate relatively, and a sealed cabin with a sealed containing space inside; the drive assembly is including setting up the inside cavity motor of sealed cabin and with the pivot of cavity motor's rotor fixed connection, the both ends of pivot all stretch out to the outside of sealed cabin, and can for the sealed cabin dead axle rotates, cavity motor's stator and rotor, one of them with first connecting piece fixed connection, the other with second connecting piece fixed connection, the both ends face of pivot all contacts with external environment.

Preferably, the sealed cabin includes casing and closing cap that can dismantle the connection, the inside of casing has accommodation space just the casing is the tubular structure that one end is open state, the casing face the one end of closing cap with be provided with on the closing cap and supply the through-hole that the pivot passed.

Preferably, a first sealing element is arranged between the shell and the cover, and a second sealing element is arranged between the rotating shaft and the shell and between the rotating shaft and the cover.

Preferably, the first sealing element is an O-ring and the second sealing element is a gray ring.

Preferably, the first connecting piece and the second connecting piece are both of a plate-shaped structure, two first connecting pieces and two second connecting pieces are arranged in parallel, the first connecting piece is fixedly connected with the rotating shaft, the second connecting piece is fixedly connected with the stator of the hollow motor, and the two second connecting pieces are completely the same in shape and size.

Preferably, the distance between two of the second connectors is smaller than the distance between two of the first connectors.

The utility model also provides a mechanical arm, including foretell joint structure, joint structure sets up between adjacent festival arm.

Preferably, at least two joint structures are arranged, and an included angle is formed between the rotating shafts of the adjacent joint structures.

Preferably, the included angle is 90 degrees.

Preferably, the knuckle arm fixedly connected with the first connecting piece is a first knuckle arm, the knuckle arm fixedly connected with the second connecting piece is a second knuckle arm, the two second knuckle arms are both located between the two first knuckle arms, and the length of the first knuckle arm is greater than that of the second knuckle arm.

The technical scheme provided by the application comprises the following beneficial effects:

the application provides a joint structure sets up between adjacent festival arm, including first connecting piece, can be for first connecting piece dead axle pivoted second connecting piece, order about first connecting piece and second connecting piece between take place relative pivoted drive assembly and sealed cabin. The first connecting piece is used for being fixedly connected with one knuckle arm, the second connecting piece is used for being fixedly connected with the other knuckle arm, and the first connecting piece and the second connecting piece are connected with the adjacent knuckle arms of the mechanical arm, so that the application of the joint structure on the mechanical arm can be realized. Above-mentioned sealed cabin is inside to have sealed accommodation space, sets up drive assembly in sealed cabin, can avoid drive assembly and external environment's direct contact, when under water work, can avoid water to produce the injury to drive assembly. The driving assembly comprises a hollow motor and a rotating shaft, and a stator and a rotor of the hollow motor, wherein one of the stator and the rotor is fixedly connected with the first connecting piece, and the other one is fixedly connected with the second connecting piece. The hollow motor is arranged inside the sealed cabin, the stator of the hollow motor is fixed relative to the sealed cabin, the rotating shaft is fixedly connected with the rotor of the hollow motor, and the two ends of the rotating shaft extend out of the sealed cabin and can rotate relative to the sealed cabin through a fixed shaft. Both end surfaces of the rotating shaft are contacted with the external environment. According to the arrangement, the rotating shaft penetrates through the hollow motor, the two ends of the rotating shaft are exposed outside the joint structure, and the two ends of the rotating shaft bear water pressure without pressure difference, so that the axial force between the rotating shaft and the motor is eliminated, and the reaching depth of the mechanical arm in the underwater environment is not limited. The axial force eliminating mechanism has the advantages that no part is additionally arranged between the motor and the rotating shaft, the structure is simple, and the problems that the joint structure size is large and the mechanical arm is heavy when the thrust bearing is adopted to eliminate the axial force in the prior art are solved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a joint structure according to an embodiment of the present invention;

fig. 2 is a schematic view illustrating an internal structure of a joint structure according to an embodiment of the present invention;

fig. 3 is a schematic view illustrating an internal structure of another joint structure according to an embodiment of the present invention;

fig. 4 is a partial structural schematic diagram of a robot arm having the joint structure according to an embodiment of the present invention.

Reference numerals:

1. a first connecting member; 2. a second connecting member; 3. a hollow motor; 4. a rotating shaft; 5. a housing; 6. sealing the cover; 7. a first joint arm; 8. a second knuckle arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

An object of this embodiment is to provide a joint structure and have this joint structure's arm, solve the output shaft of the motor of arm joint position department and bear great axial force because of receiving outside water pressure, and adopt thrust bearing to cancel the problem that the joint structure size that leads to when this axial force among the prior art is great, the arm is heavy.

Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the scope of the invention described in the claims. Further, the entire contents of the configurations shown in the following embodiments are not limited to those necessary as a solution of the invention described in the claims.

Referring to FIGS. 1-4, schematic structural views of joint structures in some exemplary embodiments are shown. The joint structure provided by the embodiment comprises a first connecting piece 1, a second connecting piece 2 which can rotate relative to the first connecting piece 1 in a fixed shaft mode, a driving assembly for driving the first connecting piece 1 and the second connecting piece 2 to rotate relatively and a sealed cabin. The first connecting piece 1 is used for being fixedly connected with one knuckle arm, the second connecting piece 2 is used for being fixedly connected with the other knuckle arm, and the first connecting piece 1 and the second connecting piece 2 are connected with the adjacent knuckle arms of the mechanical arm, so that the application of the joint structure on the mechanical arm can be realized. Above-mentioned sealed cabin is inside to have sealed accommodation space, sets up drive assembly in sealed cabin, can avoid drive assembly and external environment's direct contact, when under water work, can avoid water to produce the injury to drive assembly.

The driving assembly comprises a hollow motor 3 and a rotating shaft 4, the hollow motor 3 is arranged inside the sealed cabin, and the rotating shaft 4 is fixedly connected with a rotor of the hollow motor 3. The stator and the rotor of the hollow motor 3 are fixedly connected with the first connecting piece 1 and the second connecting piece 2 respectively, so that the hollow motor 3 can drive the first connecting piece 1 and the second connecting piece 2 to rotate relatively when in operation. For convenience of explanation, the following description will be given by taking as an example that the rotor of the hollow motor 3 is fixedly connected to the first connecting member 1, and the stator of the hollow motor 3 is fixed relative to the second connecting member 2. The stator of the hollow motor 3 is relatively fixed with the sealed cabin, and the second connecting piece 2 is fixedly connected with the sealed cabin to realize the relative fixation between the second connecting piece and the stator of the hollow motor 3. Both ends of the rotating shaft 4 extend out of the sealed cabin and can rotate relative to the sealed cabin through fixed connection, and the first connecting piece 1 is fixedly connected with the rotating shaft 4 to realize relative fixation between the first connecting piece and the rotor of the hollow motor 3. Both end surfaces of the rotating shaft 4 are in contact with the external environment. So set up, hollow motor 3 is run through to pivot 4, and the both ends of pivot 4 all expose in the outside of this joint structure, and the both ends of pivot 4 all bear water pressure simultaneously and do not have pressure differential to eliminate the axial force between pivot 4 and the motor, make the arm when working in the environment under water can reach the degree of depth unrestricted, through the experiment, it can work at 0 ~ 3000 meters or 6000 meters's degree of depth within range. The structure is simple, the size of the joint structure is reduced, and the problems that the size of the joint structure is large and the mechanical arm is heavy due to the fact that a thrust bearing is adopted to cancel the axial force in the prior art are solved.

In this embodiment, the capsule comprises a housing 5 and a cover 6, which are removably connected. The inside of casing 5 has accommodation space for holding hollow motor 3, casing 5 is the tubular structure that one end is open state, is provided with the through-hole on the closing cap 6, is provided with the through-hole that corresponds with the through-hole position on the closing cap 6 at the looks remote site of the 5 open ends of casing 5 promptly casing 5 towards the one end of closing cap 6, supplies pivot 4 to pass, so that the both ends of pivot 4 all stretch out to the outside of sealed cabin.

In order to ensure the sealing performance of the inner space of the sealed cabin, a first sealing element is arranged between the shell 5 and the sealing cover 6, and second sealing elements are arranged between the rotating shaft 4 and the shell 5 and between the rotating shaft 4 and the sealing cover 6, so that the sealing performance of the fixed connection between the shell 5 and the sealing cover 6 and the sealing performance of the rotating connection between the rotating shaft 4 and the sealed cabin are ensured.

In practice, the housing 5 and the cover 6 are fixedly connected, and a static seal is formed therebetween, so that the first sealing member may be an O-ring. The rotating shaft 4 and the shell 5 and the sealing cover 6 have relative rotation, and are dynamic sealing, so the second sealing element can be selected as a Gray ring.

The first connecting piece 1 and the second connecting piece 2 are only used for connecting the joint structure and the adjacent knuckle arms, so the shape and structure of the first connecting piece 1 and the second connecting piece 2 are not particularly required, and the first connecting piece 1 and the second connecting piece 2 can be of a rod-shaped structure or a plate-shaped structure. In this embodiment, set up first connecting piece 1 and second connecting piece 2 into platelike structure, and first connecting piece 1 and second connecting piece 2 all have two parallel arrangement, and two first connecting pieces 1 are located the both sides of sealed cabin respectively, and two second connecting pieces 2 also are located the both sides of sealed cabin, make this joint structure symmetry, and all can the corresponding festival arm of fixed connection on every first connecting piece 1 and the second connecting piece 2, be favorable to the increase of strength.

Because the first connecting pieces 1 are fixedly connected with the rotating shaft 4, in order to prevent the two first connecting pieces 1 from generating pressure difference when bearing water pressure and generating axial force on the rotating shaft 4, the two first connecting pieces 1 are required to be arranged into connecting plates with the same shape and size.

In implementation, two first connecting pieces 1 and two second connecting pieces 2 are arranged in parallel, namely, the four connecting plates are parallel to each other, the distance between the two second connecting pieces 2 is smaller than the distance between the two first connecting pieces 1, so that the two second connecting pieces 2 are positioned between the two first connecting pieces 1, when the length of the knuckle arm connected with the second connecting pieces 2 is smaller than the length of the knuckle arm connected with the first connecting pieces 1, the second connecting pieces 2 can rotate 360 degrees relative to the first connecting pieces 1, and the working range of the mechanical arm is favorably expanded.

The utility model also provides a mechanical arm, including above-mentioned joint structure, above-mentioned joint structure sets up between adjacent festival arm, and first connecting piece 1 and second connecting piece 2 respectively with corresponding festival arm fixed connection. The rotating shaft 4 of the joint structure penetrates through the hollow motor 3, the two ends of the rotating shaft 4 are exposed outside the joint structure, the two ends of the rotating shaft 4 bear water pressure at the same time, pressure difference does not exist, axial force between the rotating shaft 4 and the motor can be eliminated, parts are not additionally arranged between the motor and the rotating shaft 4, the joint structure has the advantage of simple structure, and size reduction of the joint structure is facilitated. Therefore, when the mechanical arm with the joint structure works underwater, the axial force generated on the motor can be avoided, the reachable depth of the mechanical arm when the mechanical arm works in an underwater environment is not limited, the mechanical arm has the advantage of simple structure, and the problem of heavy mechanical arm is solved.

In implementation, the mechanical arm comprises at least two joint structures, an included angle is formed between the rotating shafts 4 of the two adjacent joint structures, so that the working range and the action flexibility of the mechanical arm are increased, and the specific value of the included angle between the rotating shafts 4 of the two adjacent joint structures can be set according to specific requirements.

Specifically, the included angle may be set to 90 degrees, and at this time, the rotating shafts 4 of two adjacent joint structures are perpendicular to each other.

In implementation, the knuckle arm fixedly connected with the first connecting piece 1 is the first knuckle arm 7, the knuckle arm fixedly connected with the second connecting piece 2 is the second knuckle arm 8, the first knuckle arm 7 and the second knuckle arm 8 are both arranged in a long-strip-shaped plate-shaped structure, the two second knuckle arms 8 are located between the two first knuckle arms 7 corresponding to the positions of the first connecting piece 1 and the second connecting piece 2, the length of the first knuckle arm 7 is larger than that of the second knuckle arm 8, at the moment, the second knuckle arm 8 can rotate 360 degrees relative to the first knuckle arm 7, and the working range of the mechanical arm can be expanded.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A joint structure is arranged between adjacent knuckle arms and is characterized by comprising a first connecting piece (1) fixedly connected with one knuckle arm, a second connecting piece (2) fixedly connected with the other knuckle arm and capable of rotating relative to the first connecting piece (1) in a fixed shaft mode, a driving assembly for driving the first connecting piece (1) and the second connecting piece (2) to rotate relatively and a sealed cabin with a sealed accommodating space inside;

drive assembly is including setting up inside cavity motor (3) of sealed cabin and with rotor fixed connection's of cavity motor (3) pivot (4), the both ends of pivot (4) all stretch out to the outside of sealed cabin, and can for the sealed cabin dead axle rotates, the stator and the rotor of cavity motor (3), one of them with first connecting piece (1) fixed connection, the other with second connecting piece (2) fixed connection, the both ends face of pivot (4) all contacts with external environment.

2. The joint structure according to claim 1, wherein the sealed cabin comprises a shell (5) and a cover (6) which are detachably connected, the shell (5) has a containing space inside, the shell (5) is a cylindrical structure with one end being open, and through holes for the rotating shaft (4) to pass through are arranged at one end of the shell (5) facing the cover (6) and the cover (6).

3. Joint construction according to claim 2, characterised in that a first seal is arranged between the housing (5) and the cover (6), and a second seal is arranged between the shaft (4) and the housing (5) and between the shaft (4) and the cover (6).

4. The articulating structure of claim 3, wherein said first seal is an O-ring and said second seal is a Gray ring.

5. The joint structure according to claim 1, wherein the first connecting piece (1) and the second connecting piece (2) are both plate-shaped structures, two connecting pieces (1) and two connecting pieces (2) are arranged in parallel, the first connecting piece (1) is fixedly connected with the rotating shaft (4), the second connecting piece (2) is fixedly connected with the stator of the hollow motor (3), and the two connecting pieces (1) have the same shape and size.

6. Joint construction according to claim 5, characterised in that the distance between two of said second connectors (2) is smaller than the distance between two of said first connectors (1).

7. A robot arm comprising a joint structure according to any one of claims 1 to 6, the joint structure being provided between adjacent joint arms.

8. A robot arm according to claim 7, characterized in that there are at least two of said joint structures, and that there is an angle between said turning axes (4) of adjacent joint structures.

9. A robotic arm as claimed in claim 8, in which the included angle is 90 degrees.

10. A robot arm according to claim 7, characterized in that the knuckle arm fixedly connected to the first joint (1) is a first knuckle arm (7), the knuckle arm fixedly connected to the second joint (2) is a second knuckle arm (8), both second knuckle arms (8) are located between two first knuckle arms (7), and the length of a first knuckle arm (7) is greater than the length of a second knuckle arm (8).