CN211709349U

CN211709349U - Two-degree-of-freedom underwater manipulator

Info

Publication number: CN211709349U
Application number: CN201922160751.0U
Authority: CN
Inventors: 张杭; 汪远远; 朱全勇
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: 2020-10-20
Anticipated expiration: 2029-12-05

Abstract

The invention discloses a two-degree-of-freedom underwater manipulator which comprises a clamping joint and a rotating joint, wherein the clamping joint comprises a paw, a paw support, a screw rod and a first motor cover, the paw is fastened on the paw support through a screw, the paw is connected with a sliding nut through a screw, the sliding nut is installed on the screw rod, a first brushless direct current motor and a first driving plate are arranged in the first motor cover, the output end of the first brushless direct current motor is fixed on the screw rod, the screw rod is connected with a first sealing movable sleeve through a set screw, a first sealing static sleeve seat is installed on the inner wall of the paw support, and a connecting flange is installed at one end, far away from the paw, of the first motor cover. The invention realizes the functions of clamping and rotating two degrees of freedom of the underwater manipulator, and has compact structure, flexible operation and high reliability; the complete machine is completely waterproof, and can meet the requirement of working underwater for a long time.

Description

Two-degree-of-freedom underwater manipulator

Technical Field

The invention relates to the technical field of robots, in particular to a two-degree-of-freedom underwater manipulator.

Background

At present, the underwater robot can be used for observation and underwater operation, is mainly applied to the fields of underwater observation, search and rescue and salvage, fishery resource development, marine mineral exploration and the like in rivers, lakes and seas, and needs to be equipped with an underwater manipulator to complete underwater operation tasks in many cases. At present, underwater manipulators are few, and the degree of freedom and the function are single, and only one clamping function is usually adopted.

Disclosure of Invention

The invention aims to provide a two-degree-of-freedom underwater manipulator, which solves the problems that in the prior art, the number of underwater manipulators is small, the degree of freedom and the function are single, and only one clamping function is needed.

In order to achieve the purpose, the invention provides the following technical scheme: a two-degree-of-freedom underwater manipulator comprises a clamping joint and a rotating joint, wherein the clamping joint comprises a paw, a paw support, a lead screw and a first motor cover, the paw is fastened on the paw support through a screw, the paw is connected with a sliding nut through a screw, the sliding nut is mounted on the lead screw, a first brushless direct current motor and a first drive plate are arranged in the first motor cover, the output end of the first brushless direct current motor is fixed on the lead screw, the lead screw is connected with a first sealing movable sleeve through a set screw, a first sealing static sleeve seat is mounted on the inner wall of the paw support, and a connecting flange is mounted at one end, away from the paw, of the first motor cover; the rotary joint comprises a second motor cover, a second brushless direct current motor and a second drive plate are arranged in the second motor cover, a second sealed static sleeve seat is installed at one end of the second motor cover, an output flange is installed at the other end of the second motor cover, the output end of the second brushless direct current motor is connected with a rotary connector, a bearing seat is connected to the outer side of the rotary connector, a second sealed movable sleeve is fixed on the inner wall of the second sealed static sleeve seat, and the second sealed movable sleeve is connected with the connecting flange.

Preferably, one end of the screw rod, which is far away from the first brushless direct current motor, is fixed with a limiting sleeve.

Preferably, a first lip-shaped sealing ring and a sealing ring are embedded in the first sealed static sleeve seat, and the first sealed static sleeve seat is tightly and fixedly connected with the first motor cover through a screw.

Preferably, the first brushless direct current motor is fixedly connected with the first motor cover through a screw; the connecting flange is fixedly connected with the first motor cover through screws.

Preferably, the connecting flange is connected with the bearing seat through a rotary connector, and the rotary connector is divided into an inner ring cylinder and an outer ring cylinder.

Preferably, the second sealing movable sleeve is connected with the connecting flange through a set screw; a second lip-shaped sealing ring and a sealing ring are embedded in the second sealed static sleeve seat, and the second sealed static sleeve seat is fixedly connected with the second motor cover through a screw; the second brushless direct current motor is fixedly connected with the second motor cover through a screw; the output flange is fixedly connected with the second motor cover through screws.

Preferably, the first sealed stationary sleeve seat and the second sealed stationary sleeve seat are internally provided with four grooves, wherein the first groove on the outermost side is provided with a lip-shaped sealing ring, the fourth groove is provided with a sealing ring, and the second groove and the third groove are used for assembling lubricating grease.

Preferably, the connecting method and the end face of one end of the output flange are provided with through holes which are uniformly distributed on the circumference.

Compared with the prior art, the invention has the beneficial effects that:

1. the underwater manipulator has the advantages that the underwater manipulator clamping and rotating functions with two degrees of freedom are realized, the structure is compact, the operation is flexible, and the reliability is high;

2. the whole machine is completely waterproof, and can meet the requirement of working underwater for a long time; the dynamic seal and the static seal are ensured between the sealed static sleeve seat cylinder and the sealed movable sleeve seat through the embedded lip type sealing ring and the sealing ring, and the static seal is ensured by assembling the sealing ring between the connecting flange and the motor cover; the sealing movable sleeve seat and the motor cover are assembled with a sealing ring to ensure static sealing.

Drawings

The accompanying drawings, which 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 principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a cross-sectional view of the present invention;

fig. 2 is an external structural view of the present invention.

In the figure: 1. a paw; 2. a limiting sleeve; 3. a sliding nut; 4. a gripper bracket; 5. a lead screw; 6. A first sealing movable sleeve; 7. a first lip seal ring; 8. a first sealed stationary sleeve seat; 9. a first brushless DC motor; 10. a first drive plate; 11. a first motor cover; 12. a connecting flange; 13. a rotary connector; 14. a bearing seat; 15. a seal ring; 16. an output flange; 17. a second sealing movable sleeve; 18. a second lip seal ring; 19. a second sealed stationary sleeve seat; 20. a second brushless DC motor; 21. and a second motor cover.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, in the embodiment of the present invention, a two-degree-of-freedom underwater manipulator includes a clamping joint and a rotating joint, where the clamping joint includes a claw 1, a claw support 4, a lead screw 5, and a first motor cover 11, the claw 1 is fastened to the claw support 4 by a screw, the claw 1 is connected to a sliding nut 3 by a screw, the sliding nut 3 is mounted on the lead screw 5, a first brushless dc motor 9 and a first drive plate 10 are disposed in the first motor cover 11, an output end of the first brushless dc motor 9 is fixed to the lead screw 5, the lead screw 5 is connected to a first sealing movable sleeve 6 by a set screw, a first sealing stationary sleeve seat 8 is mounted on an inner wall of the claw support 4, and a connecting flange 12 is mounted at one end of the first motor cover 11 away from the claw 1; the rotary joint comprises a second motor cover 21, a second brushless direct current motor 20 and a second driving plate are arranged in the second motor cover 21, one end of the second motor cover 21 is provided with a second sealed static sleeve seat 19, the other end of the second motor cover 21 is provided with an output flange 16, the output end of the second brushless direct current motor 20 is connected with a rotary connector 13, the outer side of the rotary connector 13 is connected with a bearing seat 14, a second sealing movable sleeve 17 is fixed on the inner wall of the second sealing static sleeve seat 19, the second sealing movable sleeve 17 is connected with the connecting flange 12, a limiting sleeve 2 is fixed at one end of the screw 5 far away from the first brushless direct current motor 9, a first lip-shaped sealing ring 7 and a sealing ring 15 are embedded in a first sealing static sleeve seat 8, the first sealing static sleeve seat 8 is fixedly connected with the first motor cover 11 through a screw, and the first brushless direct current motor 9 is fixedly connected with the first motor cover 11 through a screw; the connecting flange 12 is fixedly connected with the first motor cover 11 through screws, the connecting flange 12 is connected with the bearing seat 14 through a rotary connector 13, the rotary connector 13 is divided into an inner ring cylinder and an outer ring cylinder, and the second sealing movable sleeve 17 is connected with the connecting flange 12 through a set screw; a second lip-shaped sealing ring 18 and a sealing ring 15 are embedded in the second static sealing sleeve seat 19, and the second static sealing sleeve seat 19 is fixedly connected with a second motor cover 21 through a screw; the second brushless direct current motor 20 is fixedly connected with a second motor cover 21 through screws; the output flange 16 is fixedly connected with the second motor cover 21 through screws, four grooves are formed in the first sealed static sleeve seat 8 and the second sealed static sleeve seat 19, a lip-shaped sealing ring is assembled in the first groove on the outermost side, a sealing ring 15 is assembled in the fourth groove, lubricating grease is assembled in the second groove and the third groove, and through holes are uniformly distributed in the circumference of the end face of one end of the output flange 16 and the connecting method; when the sealing device is used, the lip-shaped sealing ring and the sealing ring embedded in the sealing static sleeve seat are fixedly connected with the horizontal end face on one side of the motor cover through screws, so that the sealing and the water proofing of the horizontal end face on one side of the motor cover are ensured. The sealing ring 15 embedded in the connecting flange 12 and the output flange 16 is fastened and connected with the horizontal end face at the other side of the motor cover, so that the sealing and water proofing of the horizontal end face at the other side of the motor cover 11 are ensured. The sealing ring 15 embedded in the sealing movable sleeve is fixedly connected with the end face of the motor cover through a screw; four grooves are formed in the sealed static sleeve seat, wherein a lip-shaped sealing ring is assembled in the first groove on the outermost side, a sealing ring 15 is assembled in the fourth groove, and the second groove and the third groove are used for assembling lubricating grease; through holes are uniformly distributed on the circumference of the end face of one end of the connecting method 12 and one end of the output flange 16; the rotary connector 13 is divided into an inner ring cylinder and an outer ring cylinder, and can rotate relatively without limitation.

The working principle of the invention is as follows: when the sealing device is used, the lip-shaped sealing ring and the sealing ring embedded in the sealing static sleeve seat are fixedly connected with the horizontal end face on one side of the motor cover through screws, so that the sealing and the water proofing of the horizontal end face on one side of the motor cover are ensured. The sealing ring 15 embedded in the connecting flange 12 and the output flange 16 is fastened and connected with the horizontal end face at the other side of the motor cover, so that the sealing and water proofing of the horizontal end face at the other side of the motor cover 11 are ensured. The sealing ring 15 embedded in the sealing movable sleeve is fixedly connected with the end face of the motor cover through a screw; four grooves are formed in the sealed static sleeve seat, wherein a lip-shaped sealing ring is assembled in the first groove on the outermost side, a sealing ring 15 is assembled in the fourth groove, and the second groove and the third groove are used for assembling lubricating grease; through holes are uniformly distributed on the circumference of the end face of one end of the connecting method 12 and one end of the output flange 16; the rotary connector 13 is divided into an inner ring cylinder and an outer ring cylinder, and can rotate relatively without limitation.

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 changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. 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. A two-degree-of-freedom underwater manipulator is characterized in that: comprises a clamping joint and a rotating joint, wherein the clamping joint comprises a paw (1), a paw bracket (4), a screw rod (5) and a first motor cover (11), the paw (1) is fastened on the paw bracket (4) through a screw, the paw (1) is connected with the sliding nut (3) through a screw, the sliding nut (3) is arranged on the screw rod (5), a first brushless direct current motor (9) and a first driving plate (10) are arranged in the first motor cover (11), the output end of the first brushless direct current motor (9) is fixed on a screw rod (5), the screw rod (5) is connected with a first sealing movable sleeve (6) through a set screw, a first sealed static sleeve seat (8) is arranged on the inner wall of the paw support (4), a connecting flange (12) is arranged at one end of the first motor cover (11) far away from the paw (1); the rotary joint comprises a second motor cover (21), a second brushless direct current motor (20) and a second drive plate are arranged in the second motor cover (21), a second sealed static sleeve seat (19) is installed at one end of the second motor cover (21), an output flange (16) is installed at the other end of the second motor cover (21), the output end of the second brushless direct current motor (20) is connected with a rotary connector (13), a bearing seat (14) is connected to the outer side of the rotary connector (13), a second sealed movable sleeve (17) is fixed on the inner wall of the second sealed static sleeve seat (19), and the second sealed movable sleeve (17) is connected with the connecting flange (12).

2. The two-degree-of-freedom underwater robot of claim 1, wherein: and a limiting sleeve (2) is fixed at one end of the lead screw (5) far away from the first brushless direct current motor (9).

3. The two-degree-of-freedom underwater robot of claim 1, wherein: a first lip-shaped sealing ring (7) and a sealing ring (15) are embedded in a first sealed static sleeve seat (8), and the first sealed static sleeve seat (8) is fixedly connected with a first motor cover (11) through a screw.

4. The two-degree-of-freedom underwater robot of claim 1, wherein: the first brushless direct current motor (9) is fixedly connected with a first motor cover (11) through a screw; the connecting flange (12) is fixedly connected with the first motor cover (11) through screws.

5. The two-degree-of-freedom underwater robot of claim 1, wherein: the connecting flange (12) is connected with the bearing seat (14) through a rotary connector (13), and the rotary connector (13) is divided into an inner ring cylinder and an outer ring cylinder.

6. The two-degree-of-freedom underwater robot of claim 1, wherein: the second sealing movable sleeve (17) is connected with the connecting flange (12) through a set screw; a second lip-shaped sealing ring (18) and a sealing ring (15) are embedded in a second sealing static sleeve seat (19), and the second sealing static sleeve seat (19) is fixedly connected with a second motor cover (21) through a screw; the second brushless direct current motor (20) is fixedly connected with a second motor cover (21) through screws; the output flange (16) is fixedly connected with the second motor cover (21) through screws.

7. The two-degree-of-freedom underwater robot of claim 1, wherein: the inside of first sealed static cover seat (8) seat and the sealed static cover seat of second (19) seat all is equipped with four grooves, and wherein the first groove assembly lip type sealing ring in the outside, fourth groove assembly sealing washer (15), second and third groove are used for assembling lubricating grease.

8. The two-degree-of-freedom underwater robot of claim 1, wherein: through holes are circumferentially and uniformly distributed on the end face of one end of the connecting method and the output flange (16).