CN214643726U

CN214643726U - Underwater mechanical arm

Info

Publication number: CN214643726U
Application number: CN202120559789.XU
Authority: CN
Inventors: 王思奥; 陈朝民
Original assignee: Shenzhen Chasing-Innovation Technology Co ltd
Current assignee: Shenzhen Chasing-Innovation Technology Co ltd
Priority date: 2021-03-18
Filing date: 2021-03-18
Publication date: 2021-11-09
Anticipated expiration: 2031-03-18

Abstract

The utility model relates to an underwater robot, concretely relates to manipulator under water. The underwater manipulator comprises a shell made of POM materials, a clamping jaw and a driving assembly. The housing made of POM material has a sealed installation space, and the housing extends along a first direction. The jaws are located outside the housing. The driving assembly is arranged in the mounting space of the shell and is in transmission connection with the clamping jaws, and the driving assembly is configured to drive the clamping jaws to open or close. The clamping jaw is an aluminum alloy clamping jaw. The shell comprises at least two shell parts and a connector, and the two adjacent shell parts are connected through the connector. The connector supports the inner wall of the housing portion. The connector is provided with an inner cavity with two open ends, and at least part of the driving assembly is positioned in the inner cavity of the connector. The utility model discloses a shell of POM material can reduce the quality of whole manipulator under water to reduce underwater robot's load. The aluminum alloy clamping jaw is light in weight, good in corrosion resistance and high in impact toughness.

Description

Underwater mechanical arm

Technical Field

The utility model relates to an underwater robot, concretely relates to manipulator under water.

Background

With the growing population and the increasing level of science and technology, mankind has taken the ocean as a new area of survival and development. Therefore, the underwater robot has wide application prospect. The underwater robot includes an underwater robot hand. The underwater manipulator replaces human hands to carry out complex, hard and even dangerous operation.

An underwater robot generally includes a housing, and a motor, a drive assembly, and a jaw mounted to the housing. The motor drives the opening or closing of the jaws through a transmission assembly. The existing underwater manipulator is heavy in weight, so that the underwater robot is heavy in load and high in energy consumption, and the endurance time of the underwater robot is shortened.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an underwater manipulator to reduce underwater robot's load.

To achieve the purpose, the utility model adopts the following technical proposal:

an underwater robot comprising:

a housing made of a POM material, having a sealed mounting space, and extending in a first direction;

a jaw located outside the housing;

the driving assembly is installed in the installation space of the shell and is in transmission connection with the clamping jaws, and the driving assembly is configured to drive the clamping jaws to be opened or closed.

Further, in the above-mentioned underwater manipulator, the clamping jaw is an aluminum alloy clamping jaw.

Further, in foretell underwater manipulator, the shell includes two at least casing portions and connector, and adjacent two casing portion pass through the connector is connected.

Further, in the above-mentioned underwater robot, the connector supports an inner wall of the housing portion.

Further, in the above underwater manipulator, the connector has an inner cavity with two open ends, and at least part of the driving assembly is located in the inner cavity of the connector.

Further, in the above underwater robot, the underwater robot further includes a mounting bracket and a circuit board extending along the first direction, the mounting bracket includes a main body portion and a support portion connected to each other, the circuit board is mounted on the main body portion, and the support portion is supported on an inner wall of the housing.

Further, in the above-described underwater robot, the outer peripheral surface of the support portion is configured with at least two protrusions that are circumferentially spaced and support the inner wall of the housing.

Further, in the above-described underwater robot, the main body portion includes at least two rod bodies extending in the first direction.

Further, in the above-mentioned underwater manipulator, the underwater manipulator further includes an external joint, one end of the main body portion is connected with the external joint, and the support portion is disposed at the other end of the main body portion.

Further, in the above underwater robot, the circuit board and the driving assembly are spaced apart in the first direction.

The utility model discloses a manipulator under water's beneficial effect lies in: the shell made of the POM material can reduce the quality of the whole underwater manipulator, so that the load of the underwater robot is reduced.

Drawings

Fig. 1 is an overall perspective view of an underwater manipulator according to an embodiment of the present invention;

fig. 2 is an exploded view of an underwater robot according to an embodiment of the present invention;

fig. 3 is an installation structure view of the circuit board of the underwater manipulator of the embodiment of the present invention.

The component names and designations in the drawings are as follows:

the underwater manipulator comprises an underwater manipulator 100, a shell 10, a shell part 11, a connector 12, a driving assembly 20, a motor 21, a screw rod 22, a transmission rod 23, a U-shaped body 24, a clamping jaw 30, a meshing tooth 31, a mounting frame 40, a main body part 41, a supporting part 42, a circuit board 50 and an outer connector 60.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 and 2, the present embodiment discloses an underwater robot 100. The underwater robot 100 includes a housing 10 made of POM, a gripping jaw 30, and a driving assembly 20. The housing 10 made of POM material has a sealed installation space, and the housing 10 extends in a first direction. The jaws 30 are located outside the housing 10 to replace a human hand for performing complex, hard, and even dangerous underwater operations. The driving assembly 20 is installed in the installation space of the housing 10 and is in transmission connection with the clamping jaws 30, and the driving assembly 20 is configured to drive the clamping jaws 30 to open or close.

Polyoxymethylene is a thermoplastic crystalline polymer known as "ultra-steel" or "mild steel", also known as polyoxymethylene. Abbreviated english as POM. The POM has excellent mechanical property, the specific strength can reach 50.5MPa, the specific rigidity can reach 2650MPa, and the POM is very close to metal.

The housing 10 made of POM material in the present embodiment can reduce the mass of the entire underwater robot 100, thereby reducing the load of the underwater robot.

The existing clamping jaw is made of plastic, and has weak corrosion resistance and low impact toughness. In this embodiment, the clamping jaw 30 is an aluminum alloy clamping jaw. The aluminum alloy clamping jaw is light in weight, good in corrosion resistance and high in impact toughness. The aluminum alloy clamping jaw is matched with the shell 10 made of the POM material, so that the whole underwater manipulator 100 is lighter in weight, the load of the underwater robot is further reduced, the energy consumption is reduced, and the endurance time of the underwater robot is prolonged.

The existing clamping jaw has small opening and closing distance and small application range. The opening and closing distance of the jaw 30 of the present embodiment is large. In the case where the total length of the underwater robot 100 is 460mm, the opening and closing distance of the gripping jaw 30 of the present embodiment may be 140 mm. The gripping jaw 30 of the present embodiment can reach a weight of only 50g in water, causing a low load on the underwater robot.

The underwater robot 100 of the present embodiment further includes an external joint 60, and the external joint 60 extends out of the housing 10 for connection with other components of the underwater robot. The outer joint 60 and the jaws 30 are located at both ends of the housing 10, respectively.

As shown in fig. 2, the drive assembly 20 comprises, in sequence, in the direction of the jaws 30, an electric motor 21, a coupling (not shown), a screw 22, a transmission rod 23 and a U-shaped body 24. The motor 21 is in transmission connection with the screw rod 22 through a coupler. The screw rod 22 is in transmission connection with a transmission rod 23, and the transmission rod 23 is connected with the reciprocating screw rod 22 through a T-shaped nut. The transmission rod 23 is in transmission connection with the U-shaped body 24. The U-shaped body 24 is in transmission connection with the clamping jaw 30, and the U-shaped body 24 and the clamping jaw 30 are fixed through a clamp spring pin and a plug.

The opening and closing of the jaws 30 is performed by: the motor 21 rotates forward to drive the screw rod 22 to rotate forward, and the T-shaped nut is pushed towards the direction of the clamping jaw 30. The transmission rod 23 drives the clamping jaws 30 to open around the circlip pin via the U-shaped body 24. The motor 21 rotates reversely to drive the screw rod 22 to rotate reversely, and the T-shaped nut is pushed away from the clamping jaw 30. The transmission lever 23 is closed around the circlip pin by the U-shaped body 24 with the clamping jaws 30.

In order to improve the reliability of gripping an object, the surface of the jaw 30 for gripping an object is provided with engaging teeth 31.

In this embodiment, the housing 10 includes at least two housing portions 11 and a connector 12, and two adjacent housing portions 11 are connected by the connector 12. For example, in one embodiment, the housing 10 includes two housing portions 11 and a connector 12. The advantages of using this structure are: facilitating the mounting of the components inside the housing 10. The motor 21, the coupling, the lead screw 22, the transmission rod 23, and the circuit board 50 are disposed inside the housing 10. The number of components inside the housing 10 is large, and thus, the advantages of the split housing 10 are more exhibited.

In this embodiment, the connector 12 supports the inner wall of the housing 11. The connecting head 12 of the present embodiment is not only used to connect the adjacent two housing portions 11, but also can support the housing 10 to increase the strength of the housing 10.

In this embodiment, the connector 12 has an inner cavity with two open ends, and at least a portion of the driving assembly 20 is located in the inner cavity of the connector 12. The present embodiment also uses the inner cavity of the connecting head 12 to accommodate part of the driving assembly 20, so as to facilitate miniaturization of the structure of the entire underwater robot 100, and thus also facilitate reduction of the weight of the underwater robot 100. Specifically, the coupling is located in the interior cavity of the coupler 12.

The existing circuit board is arranged on a motor, and two parts which generate heat are arranged together and are not beneficial to heat dissipation. In this embodiment, the underwater robot 100 further includes a mounting bracket 40 and a circuit board 50 extending along the first direction, the mounting bracket 40 includes a main body portion 41 and a supporting portion 42 connected to each other, the circuit board 50 is mounted on the main body portion 41, and the supporting portion 42 is supported on an inner wall of the housing 10. The present embodiment mounts the circuit board 50 on the mounting bracket 40, which facilitates heat dissipation, and also facilitates the balance of the entire underwater robot 100 by using the space of the housing 10 in the first direction. Specifically, the circuit board 50 is spaced apart from the driving assembly 20 in the first direction. The circuit board 50 is closer to the outer joint 60 than the driving assembly 20.

In the present embodiment, the outer circumferential surface of the support portion 42 is configured with at least two protruding portions 421, and the at least two protruding portions 421 are circumferentially spaced and support the inner wall of the housing 10. The mounting bracket 40 of the present embodiment is more easily mounted than the inner wall of the housing 10 is supported by the entire outer peripheral surface of the support portion 42, and can achieve a desired supporting effect to further increase the strength of the housing 10.

In this embodiment, the main body 41 includes at least two rods extending along the first direction. For example, in one embodiment, the body portion 41 includes two rods extending along a first direction. The two rod bodies are arranged in parallel. The circuit board 50 is fixed to the two rods. In the present embodiment, the circuit board 50 and the support portion 42 may share part of the fasteners to further reduce the weight of the entire underwater robot 100.

In this embodiment, the underwater manipulator 100 further includes an external joint 60, one end of the main body 41 is connected to the external joint 60, and the support portion 42 is disposed at the other end of the main body 41.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An underwater robot, comprising:

a housing (10) made of POM material, having a sealed installation space, and the housing (10) extending along a first direction;

-a jaw (30) located outside said housing (10);

the driving assembly (20) is installed in the installation space of the shell (10) and is in transmission connection with the clamping jaws (30), and the driving assembly (20) is configured to drive the clamping jaws (30) to open or close.

2. An underwater manipulator as claimed in claim 1, characterized in that said jaws (30) are of aluminium alloy.

3. Underwater manipulator according to claim 1, wherein the housing (10) comprises at least two housing parts (11) and a connecting head (12), adjacent two of the housing parts (11) being connected by the connecting head (12).

4. Underwater manipulator according to claim 3, characterized in that the connection head (12) supports the inner walls of the housing part (11).

5. Underwater manipulator according to claim 3, wherein the coupling head (12) has an inner cavity open at both ends, at least part of the drive assembly (20) being located in the inner cavity of the coupling head (12).

6. The underwater robot of claim 1, further comprising a mounting bracket (40) and a circuit board (50) extending in the first direction, the mounting bracket (40) including a main body portion (41) and a support portion (42) connected, the circuit board (50) being mounted to the main body portion (41), the support portion (42) being supported on an inner wall of the housing (10).

7. The underwater robot of claim 6, wherein the outer circumferential surface of the support portion (42) is configured with at least two protrusions (421), the at least two protrusions (421) being circumferentially spaced and supporting the inner wall of the housing (10).

8. Underwater manipulator according to claim 6, wherein the body part (41) comprises at least two rods extending in a first direction.

9. The underwater robot of claim 6, further comprising an external joint (60), wherein one end of the main body portion (41) is connected to the external joint (60), and wherein the support portion (42) is provided at the other end of the main body portion (41).

10. The underwater robot of claim 6, wherein the circuit board (50) is spaced from the drive assembly (20) in the first direction.