CN216030876U

CN216030876U - Two-degree-of-freedom deepwater claw tooth mechanical arm

Info

Publication number: CN216030876U
Application number: CN202121188976.8U
Authority: CN
Inventors: 刘笑昆; 姚统; 张学军
Original assignee: Weihai Zhifan Marine Equipment Technology Co ltd
Current assignee: Weihai Zhifan Marine Equipment Technology Co ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2022-03-15
Anticipated expiration: 2031-05-31

Abstract

The utility model discloses a two-degree-of-freedom deepwater claw tooth mechanical arm which comprises a first shell, a second shell, a rear cover, a third shell, a fixed seat, a pair of motor modules, claw teeth and a cable. The utility model relates to the technical field of mechanical arms, which has the following beneficial effects: the size is smaller and exquisite, and application scope is wider, adopts the mode of walking the line in the middle of, can avoid producing wire-wound risk as far as possible, and easy operation can rotate.

Description

Two-degree-of-freedom deepwater claw tooth mechanical arm

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a deep water claw tooth mechanical arm with two degrees of freedom.

Background

The existing mechanical arm is large in size generally, the routing mode is arranged on one side of a shell, the size of the existing mechanical arm is too large to limit the operable range of the mechanical arm, and the existing mechanical arm cannot be used in narrow positions, so that a two-degree-of-freedom deep water claw tooth mechanical arm is designed.

SUMMERY OF THE UTILITY MODEL

In order to achieve the purpose, the utility model is realized by the following technical scheme: the two-degree-of-freedom deepwater claw tooth mechanical arm comprises a first shell, a second shell, a rear cover, a third shell, a fixed seat, a pair of motor modules, claw teeth and a cable, wherein the third shell is fixedly arranged on the fixed seat;

a telescopic structure is arranged in the first shell, and a rotatable structure is arranged in the third shell.

Preferably, the motor module comprises a speed reducer, a speed reducer input shaft, a motor output shaft, a fixed block and a motor;

the motor is fixedly installed in the shell, the motor output shaft is fixedly installed at the motor driving end, the speed reducer input shaft is fixedly connected to the motor output shaft, the fixing block is installed in the shell, and the speed reducer input shaft is fixedly connected to the speed reducer.

Preferably, the rotatable structure comprises a first sealing structure, a rotating shaft and a sealing end cover;

rotation axis one end fixed mounting is on the motor module, and the rotation axis other end is installed and is covered after, and sealed end cover suit is in the rotation axis, and first seal structure fixed mounting is between end cover and rotation axis.

Preferably, the telescopic structure comprises a screw, a limiting mechanism, a second sealing structure, a sealing structure baffle, a push rod, a claw tooth driving mechanism and a claw tooth linkage mechanism;

the screw rod is fixedly installed at the driving end of the motor module, the push rod is sleeved on the screw rod, the limiting mechanism is fixedly installed in the first shell, the second sealing structure is sleeved on the push rod, the sealing structure baffle is fixedly installed on the second sealing structure and sleeved on the push rod, the claw tooth driving mechanism is fixedly installed at the left end of the push rod, the claw teeth are installed together with the claw tooth driving mechanism, and the claw tooth linkage mechanism is installed on the claw teeth.

Preferably, the claw teeth are connected with the first shell through a rotating shaft.

Preferably, the push rod is provided with an internal thread.

Advantageous effects

The utility model provides a two-degree-of-freedom deepwater claw tooth mechanical arm which has the following beneficial effects: the size is smaller and exquisite, and application scope is wider, adopts the mode of walking the line in the middle of, can avoid producing wire-wound risk as far as possible, and easy operation can rotate.

Drawings

Fig. 1 is a schematic front view structure diagram of the two-degree-of-freedom deepwater claw tooth mechanical arm.

Fig. 2 is a schematic diagram of a partially enlarged structure of the two-degree-of-freedom deep-water claw tooth mechanical arm.

In the figure: 1. claw teeth; 2. a pawl tooth linkage mechanism; 3. a pawl tooth drive mechanism; 4. a first housing; 5. A push rod; 6. a sealing structure baffle; 7. a second seal structure; 8. a limiting mechanism; 9. a second housing; 10. a screw; 11. a motor module; 11-1, a speed reducer; 11-2, a reducer input shaft; 11-

3. An output shaft of the motor; 11-4, fixing blocks; 11-5, a motor; 12. a rear cover; 13. a first seal structure; 14. a rotating shaft; 15. sealing the end cap; 16. a third housing; 17. a fixed seat; 18. a cable.

Detailed Description

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, the present invention provides a technical solution.

Example (b):

referring to fig. 1-2, in a specific implementation process, the two-degree-of-freedom deepwater claw mechanical arm includes a first housing 4, a second housing 9, a rear cover 12, a third housing 16, a fixing seat 17, a pair of motor modules 11, a claw 1, and a cable 18, where the third housing 16 is fixedly mounted on the fixing seat 17, the claw 1 is mounted on the first housing 4, the first housing 4 is connected with the second housing 9, the pair of motor modules 11 are respectively mounted in the second housing 9 and the third housing 16, the rear cover 12 is fixedly mounted on the second housing 9, and the cable 18 is embedded in the third housing 16;

a telescopic structure is arranged in the first shell 4, and a rotatable structure is arranged in the third shell 16;

it should be noted that the motor module 11 in the housing is used as power output to drive the rotatable structure in the third housing 16 to rotate the claw 1, and the claw 1 is opened and closed by the telescopic structure in the first housing 4.

In the specific implementation process, the motor module 11 comprises a speed reducer 11-1, a speed reducer input shaft 11-2, a motor output shaft 11-3, a fixed block 11-4 and a motor 11-5;

the motor 11-5 is fixedly arranged in the shell, the motor output shaft 11-3 is fixedly arranged at the driving end of the motor 11-5, the speed reducer input shaft 11-2 is fixedly connected to the motor output shaft 11-3, the fixed block 11-4 is arranged in the shell, and the speed reducer input shaft 11-2 is fixedly connected to the speed reducer 11-1;

it should be noted that, when the motor 11-5 is started, the output shaft 11-3 of the motor drives the input shaft 11-2 of the speed reducer to rotate, and the rotation of the input shaft 11-2 of the speed reducer drives the speed reducer 11-1 to start working.

In a specific implementation, the rotatable structure comprises a first sealing structure 13, a rotating shaft 14 and a sealing end cover 15;

one end of a rotating shaft 14 is fixedly arranged on the motor module 11, the other end of the rotating shaft 14 is arranged on the rear cover 12, a sealing end cover 15 is sleeved on the rotating shaft 14, and a first sealing structure 13 is fixedly arranged between the sealing end cover 15 and the rotating shaft 14;

it should be noted that, the motor module 11 is started, and the second housing 9 is driven to rotate by the rotating shaft 14.

In the specific implementation process, the telescopic structure comprises a screw 10, a limiting mechanism 8, a second sealing structure 7, a sealing structure baffle 6, a push rod 5, a claw tooth driving mechanism 3 and a claw tooth linkage mechanism 2;

the screw 10 is fixedly arranged at the driving end of the motor module 11, the push rod 5 is sleeved on the screw 10, the limiting mechanism 8 is fixedly arranged in the first shell 4, the second sealing structure 7 is sleeved on the push rod 5, the sealing structure baffle 6 is fixedly arranged on the second sealing structure 7 and sleeved on the push rod 5, the claw tooth driving mechanism 3 is fixedly arranged at the left end of the push rod 5, the claw teeth 1 and the claw tooth driving mechanism 3 are arranged together, and the claw tooth linkage mechanism 2 is arranged on the claw teeth 1;

it should be noted that, the motor module 11 is started to drive the screw rod 10 to rotate, the screw rod 10 is in threaded connection with the push rod 5, the push rod 5 is pushed out through the rotation of the screw rod 10, the claw tooth driving mechanism 3 is fixedly installed at one end of the push rod 5, the push rod 5 moves to drive the claw tooth driving mechanism 3 to move forward, and the opening and closing of the claw teeth 1 are realized through the claw tooth linkage mechanism 2.

In the specific implementation process, the claw teeth 1 are connected with the first shell 4 through a rotating shaft.

In a specific embodiment, the push rod 5 is provided with an internal thread.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The two-degree-of-freedom deepwater claw tooth mechanical arm comprises a first shell, a second shell, a rear cover, a third shell, a fixed seat, a pair of motor modules, claw teeth and a cable, and is characterized in that the third shell is fixedly arranged on the fixed seat, the claw teeth are arranged on the first shell, the first shell is connected with the second shell, the pair of motor modules are respectively arranged in the second shell and the third shell, the rear cover is fixedly arranged on the second shell, and the cable is embedded in the third shell;

2. The two-degree-of-freedom deepwater claw tooth mechanical arm as claimed in claim 1, wherein the motor module comprises a speed reducer, a speed reducer input shaft, a motor output shaft, a fixed block and a motor;

3. The two-degree-of-freedom deepwater claw robot arm as claimed in claim 1, wherein the rotatable structure comprises a first sealing structure, a rotating shaft and a sealing end cap;

4. The two-degree-of-freedom deepwater claw mechanical arm according to claim 1, wherein the telescopic structure comprises a screw, a limiting mechanism, a second sealing structure, a sealing structure baffle, a push rod, a claw tooth driving mechanism and a claw tooth linkage mechanism;

5. The two degree-of-freedom deepwater claw robot arm as recited in claim 1, wherein the claw is connected with the first housing through a rotating shaft.

6. The two degree-of-freedom deepwater claw robot arm as claimed in claim 4, wherein the push rod is provided with internal threads.