CN102229145A - Secondary oscillating joint structure of underwater electric manipulator - Google Patents
Secondary oscillating joint structure of underwater electric manipulator Download PDFInfo
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- CN102229145A CN102229145A CN2011101710409A CN201110171040A CN102229145A CN 102229145 A CN102229145 A CN 102229145A CN 2011101710409 A CN2011101710409 A CN 2011101710409A CN 201110171040 A CN201110171040 A CN 201110171040A CN 102229145 A CN102229145 A CN 102229145A
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Abstract
本发明的目的在于提供水下电动机械手二级摆动关节结构，包括箱体、蜗轮、蜗杆、蜗轮输出轴、电机、关节固定法兰、端盖，关节固定法兰和箱体相连，电机安装在关节固定法兰里，蜗轮、蜗杆安装在箱体里，蜗轮通过蜗杆连接电机，端盖有两个、分别固定在箱体的前后两侧，蜗轮输出轴与蜗轮相连并穿过前后两个端盖。本发明结构紧凑、安装容易、形式多样、成本低廉，可以实现机械自锁。
The object of the present invention is to provide the secondary swing joint structure of the underwater electric manipulator, comprising a box body, a worm gear, a worm screw, a worm gear output shaft, a motor, a joint fixing flange, an end cover, the joint fixing flange is connected with the box body, and the motor is installed on In the joint fixing flange, the worm gear and the worm are installed in the box. The worm gear is connected to the motor through the worm. There are two end covers, which are respectively fixed on the front and rear sides of the box. build. The invention has the advantages of compact structure, easy installation, various forms and low cost, and can realize mechanical self-locking.
Description
Technical field
What the present invention relates to is a kind of robot that is used for underwater operation.
Background technology
Along with the mankind to the going deep into of ocean development and utilization, the underwater operation task presents variation and complicated, and the 26S Proteasome Structure and Function of underwater manipulator is all had higher requirement.For microminiature operation underwater robot, need the small-sized underwater electric manipulator of configuration, satisfy the requirement of volume, weight and the energy.Therefore, development compact conformation, low cost, modular manipulator, to microminiature operation underwater robot finish multiple one-tenth under water task have great practical value.
The self-locking performance of underwater electric manipulator joint, for manipulator no matter be in collecting state or job state all plays a very important role.At present, underwater electric manipulator joint is realized self-locking by brake or outside other mechanical devices mostly, has increased the complexity of system's energy loss or structure.
Summary of the invention
The object of the present invention is to provide compact conformation, have mechanical self-latching, low cost and modular underwater electric manipulator secondary swinging joint structure.
The object of the present invention is achieved like this:
Underwater electric manipulator secondary swinging joint structure of the present invention, it is characterized in that: comprise casing, worm gear, worm screw, worm gear output shaft, motor, arthrodesis flange, end cap, the arthrodesis flange links to each other with casing, motor is installed in the arthrodesis flange, worm gear, worm screw are installed in the casing, worm gear connects motor by worm screw, and end cap has two, is separately fixed at the both sides, front and back of casing, and the worm gear output shaft links to each other with worm gear and passes former and later two end caps.
The present invention can also comprise:
1, the described mechanism that is made up of casing, worm gear, worm screw, worm gear output shaft, end cap has two, two mechanisms that are made up of casing, worm gear, worm screw, worm gear output shaft, end cap are installed in the both sides of arthrodesis flange, and two worm screws respectively connect a motor.
2, also comprise rotary transformer, rotary transformer comprises rotary transformer rotor, rotary transformer stator, and the rotary transformer rotor is enclosed within on the worm gear output shaft, and the rotary transformer stator is embedded in the end cap and the worm and gear casing becomes one.
3, described arthrodesis flange links to each other by the electric machine assembly gripper shoe with casing, and the static seal circle is installed between arthrodesis flange and the electric machine assembly gripper shoe, and the static seal circle is installed between electric machine assembly gripper shoe and the worm and gear casing.
4, the electric machine assembly fixed head of described two motors by separately is fixed on separately the electric machine assembly gripper shoe.
5, the output shaft of described two motors and the worm screw yielding coupling by separately connects.
6, oil sealing is adopted in the movable sealing between described casing and the worm gear output shaft.
7, transmission of power is carried out for " D profile shaft " in the two ends of described worm gear output shaft.
8, the central lines of described two motors.
Advantage of the present invention is:
1, mechanical self-latching: Worm and worm-wheel gearing has big gearratio on the one hand, plays the effect of reinforcement; Mechanical self-latching be can realize on the other hand, motor arrangement brake device or special locking device do not needed.
2, cost is low: adopt the urceolus pressure-bearing, reduced the bearing capacity of motor and sensor, select for use the general motor and the sensor that meet the demands to get final product.Motor, decelerator and rotary transformer can directly have been bought, and sliding bearing is pressed standard application, and worm-and-wheel gear adopts the modulus and the centre-to-centre spacing of standard, are convenient to processing.
3, compact conformation: direct current brushless servo motor and planetary reducer are structure as a whole.Worm gear and rotary transformer are installed on the same axis, avoid using yielding coupling to increase axial dimension.
4, install easily: planetary gear reduction speed motor of the present invention and worm shaft adopt yielding coupling to connect, and are convenient to install, and have also reduced the impact of transmission mechanism to electric machine assembly.
5, modularization: front and back stages adopts identical driving, transmission and installation form, can determine the motor and the transmission component of different size according to stressing conditions.Itself also can be used as the submodule of multi freedom degree mechanical hand the secondary joint, makes up multivariant robot manipulator structure fast.System adopts the outside cabling can be so that realize the modularization in joint.
6, various informative: as to increase the length of arthrodesis flange, can make the central lines of brush DC servo deceleration electric machine assembly.At this moment, the center line of two worm gear output shafts can intermesh vertically, and articulation structure becomes secondary vertical interlaced swinging joint structure.Two-level plane swinging joint structure and secondary vertical interlaced swinging joint structure can be used as the submodule of multi freedom degree mechanical hand, make up multivariant robot manipulator structure fast.
Description of drawings
Fig. 1 is a front view of the present invention;
Fig. 2 is a vertical view of the present invention;
Fig. 3 is a rearview of the present invention;
Fig. 4 is a cut-away view of the present invention;
Fig. 5 is the A-A cutaway view of Fig. 4;
Fig. 6 (A) is an electric machine assembly gripper shoe front view, and Fig. 6 (B) is an electric machine assembly gripper shoe side view;
Fig. 7 is the reverse cutaway view of the A-A of Fig. 4.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～7, a kind of underwater electric manipulator secondary swinging joint structure, comprise arthrodesis flange 9, electric machine assembly gripper shoe 13, worm and gear casing 15 and worm gear output shaft 28, arthrodesis flange 9, electric machine assembly gripper shoe 13 are carried out static seal with worm and gear casing 15 and are connected.Brush DC servo deceleration electric machine assembly 10 is fixed to electric machine assembly fixed head 11 by screw, and they are fixed to electric machine assembly gripper shoe 13 by screw again; Worm and gear casing 15 is provided with worm shaft 17, worm gear 27 and worm gear output shaft 28, is with rotary transformer rotor 39 on the worm gear output shaft 28, and 35 of rotary transformer stators are embedded in the end cap 35 and worm and gear casing 15 becomes one.Brush DC servo deceleration electric machine assembly 10 output shafts connect by elasticity yielding coupling 12 with worm shaft 17.Oil sealing 33 and 41 is adopted in movable sealing between worm and gear casing 15 and the worm gear output shaft 28.
Add on the worm gear output shaft 4 or 28 that single direction thrust ball bearing 44 can bear bigger axial force.
Arthrodesis flange 9 is used to connect the worm and gear casing 1 and 15 of two-stage, and the brush DC servo deceleration electric machine assembly 10 and 24 of inside is carried out static seal.
Arthrodesis flange 9, electric machine assembly gripper shoe 13 and worm and gear casing 15 are connected by cubic flange, adopt bolt and nut fastening.
Adopt elasticity yielding coupling 12 to connect between brush DC servo deceleration electric machine assembly 10 output shafts and the worm shaft 17.
Axially top cover 14 is used to embed flange sliding bearing 16 to support worm shaft 17, also electric machine assembly gripper shoe 13 and worm and gear casing 15 is carried out radial location.
Rotary transformer is housed on the worm gear output shaft 28 carries out the detection of terminal position and speed.
Worm gear output shaft 28 two ends have been made " D profile shaft " and have been carried out transmission of power.
Increase the length of arthrodesis flange 9, can make brush DC servo deceleration electric machine assembly 10 and 24 central lines, at this moment, worm gear output shaft 4 and 28 can intermesh vertical, and articulation structure becomes secondary vertical interlaced swinging joint structure.
Single direction thrust ball bearing 44 is installed on the worm gear output shaft 28, and worm gear output shaft 28 left ends can bear bigger axial compressive force, and therefore, this structure can be used as the manipulator waist joint structure.
Change the supporting way of single direction thrust ball bearing 14 on the worm gear output shaft 28, sliding bearing 45 and flange sliding bearing 34 are exchanged, worm gear output shaft 13 left ends can bear bigger axial tension, therefore, can be used as the manipulator shoulder joint structure.
Operation principle of the present invention is:
Driver part of the present invention adopts brush DC servo deceleration electric machine assembly 10.During work, brush DC servo deceleration electric machine assembly 10 powers on, and the output shaft of brush DC servo deceleration electric machine assembly 10 drives worm shaft 17 rotations by yielding coupling 12; Worm shaft 17 is realized the function of vertical commutation and power output by driving 28 rotations of worm gear output shaft with worm gear 27 engagements.
During articulation mechanism work, rotary transformer rotor 39 forms relative motion along with worm gear output shaft 28 rotates together with rotary transformer stator 38, realizes the detection of position and speed.In addition, brushless servo reducing motor assembly 10 rear ends have Hall element, can realize FUSION WITH MULTISENSOR DETECTION.
Embodiment one:
As shown in Figure 2, skin of the present invention comprises cavity body structure spare and covering plate structure spare.Wherein cavity body structure spare comprises casing 1, arthrodesis flange 9 and casing 15; Covering plate structure comprises motor support plate 6, motor support plate 13, end cap 30, end cap 35, end cap 42 and end cap 43.
As shown in Figure 4, left and right sides structure installation form is identical among the figure.Arthrodesis flange 9, electric machine assembly gripper shoe 13 and worm and gear casing 15 are connected with bolt and nut by cubic flange.Arthrodesis flange 9 and electric machine assembly gripper shoe 13 have static seal circle 25 and static seal circle 26 between electric machine assembly gripper shoe 13 and the worm and gear casing 15.Brush DC servo deceleration electric machine assembly 10 is connected to electric machine assembly fixed head 11 by screw, and electric machine assembly fixed head 11 is connected to electric machine assembly gripper shoe 13 by screw.Have a counter sink and a through hole on the electric machine assembly gripper shoe 13.The worm screw both sides are supported by flange sliding bearing 16 and 18.Flange sliding bearing 16 is embedded in the axial top cover 14, and flange sliding bearing 18 is embedded in the worm and gear casing 15.Axially top cover 14 axially by worm and gear casing 15 location, axially positions by the counter sink on the electric machine assembly gripper shoe 13.Adopt yielding coupling 12 to connect between brush DC servo deceleration electric machine assembly 10 and the worm shaft 17.
As shown in Figure 5, end cap 30 and worm and gear casing 15 are connected by screw, and seal by static seal circle 31.Worm gear 27 connects with worm gear output shaft 28 by key 29, and axle sleeve 32 plays axial location worm gear 27.Worm gear output shaft 28 two ends are supported by flange sliding bearing 34 and 37.Flange sliding bearing 34 is embedded in the end cap 30, and flange sliding bearing 37 is embedded in the worm and gear casing 15.End cap 35 and worm and gear casing 15 are connected by screw, and seal by static seal circle 36.Worm gear output shaft 28 1 ends are equipped with rotary transformer rotor 39, connect by key 40 between them, and rotary transformer stator 38 is embedded in the end cap 35.Carry out movable sealing by oil sealing 33 and 41 between worm gear output shaft 28 and end cap 30 and 35." D " profile shaft form is made at worm gear output shaft 28 output two ends, is convenient to transmit moment of torsion.
This embodiment can make structure be subjected to the less joint of axial force as the underwater manipulator power output shaft.
Embodiment two:
As shown in Figure 7, end cap 30 and worm and gear casing 15 are connected by screw, and seal by sealing ring 31.The right of worm gear output shaft 28 is equipped with rotary transformer rotor 39, connects by key 40 between them, and rotary transformer stator 38 is embedded in the end cap 35.Sliding bearing 45 is embedded into 15 li of worm and gear casings, and radial location is carried out on worm gear output shaft 28 the right, and single direction thrust ball bearing 44 is embedded into 15 li of worm and gear casings, and axial location is carried out on worm gear output shaft 28 the right.Worm gear 27 connects with worm gear output shaft 28 by key 29, and axle sleeve 32 plays axial location worm gear 27.Worm gear output shaft 28 left sides are supported by flange sliding bearing 34.Flange sliding bearing 34 is embedded in the end cap 30.End cap 30 and worm and gear casing 15 are connected by screw, and seal between worm gear output shaft 28 and the end cap 30 by sealing ring 31 and to carry out movable sealing by rotary oil seal 30.
This embodiment can make structure be subjected to the bigger occasion of axial force as the underwater manipulator power output shaft, as the waist joint as manipulator.Change the support direction of single direction thrust ball bearing (44), can be used as manipulator shoulder joint.
Embodiment three:
Increase the length of arthrodesis flange 9, can make the central lines of brush DC servo deceleration electric machine assembly 10 and 24, at this moment, worm gear output shaft 4 and 28 can be orthogonal, and articulation structure becomes secondary vertical interlaced swinging joint structure.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101710409A CN102229145A (en) | 2011-06-23 | 2011-06-23 | Secondary oscillating joint structure of underwater electric manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101710409A CN102229145A (en) | 2011-06-23 | 2011-06-23 | Secondary oscillating joint structure of underwater electric manipulator |
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| CN102229145A true CN102229145A (en) | 2011-11-02 |
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| CN2011101710409A Pending CN102229145A (en) | 2011-06-23 | 2011-06-23 | Secondary oscillating joint structure of underwater electric manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029215A (en) * | 2014-06-05 | 2014-09-10 | 哈尔滨工程大学 | Arm joint structure of small underwater hydraulic manipulator |
| CN107186321A (en) * | 2017-06-12 | 2017-09-22 | 华南理工大学 | The partially sealed diving wire feeder of Underwater Welding |
| CN109707797A (en) * | 2019-02-18 | 2019-05-03 | 哈尔滨工程大学 | A self-locking X-shaped rudder AUV transmission structure |
| CN110587586A (en) * | 2019-09-29 | 2019-12-20 | 纳博特南京科技有限公司 | Six arms |
| CN115182970A (en) * | 2022-08-10 | 2022-10-14 | 上海理工大学 | A watertight motor device with a disc output shaft |
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| EP0176839A1 (en) * | 1984-09-27 | 1986-04-09 | Siemens Aktiengesellschaft | Small-powered motor with permanent magnets |
| US5099717A (en) * | 1989-01-31 | 1992-03-31 | Mitsuba Electric Manufacturing Co., Ltd. | Motor case end plate structure |
| CN1642696A (en) * | 2002-02-06 | 2005-07-20 | 约翰·霍普金斯大学 | Remote center of motion robotic system and method |
| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawling mechanism of cleaning robot for suspension insulators of high-voltage lines |
| JP2007090490A (en) * | 2005-09-29 | 2007-04-12 | Kawada Kogyo Kk | Robot joint mechanism |
| CN101279618A (en) * | 2007-10-24 | 2008-10-08 | 杨德智 | Crawler type multi-arm rod mobile robot |
| CN101304848A (en) * | 2005-12-28 | 2008-11-12 | 谐波传动系统有限公司 | Sealed worm gear knuckle unit |
| CN201338275Y (en) * | 2008-06-30 | 2009-11-04 | 王东立 | Fusion robot shoulder joint |
| CN202129800U (en) * | 2011-06-23 | 2012-02-01 | 哈尔滨工程大学 | Secondary swinging joint structure for underwater electric mechanical hand |
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2011
- 2011-06-23 CN CN2011101710409A patent/CN102229145A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0176839A1 (en) * | 1984-09-27 | 1986-04-09 | Siemens Aktiengesellschaft | Small-powered motor with permanent magnets |
| US5099717A (en) * | 1989-01-31 | 1992-03-31 | Mitsuba Electric Manufacturing Co., Ltd. | Motor case end plate structure |
| CN1642696A (en) * | 2002-02-06 | 2005-07-20 | 约翰·霍普金斯大学 | Remote center of motion robotic system and method |
| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawling mechanism of cleaning robot for suspension insulators of high-voltage lines |
| JP2007090490A (en) * | 2005-09-29 | 2007-04-12 | Kawada Kogyo Kk | Robot joint mechanism |
| CN101304848A (en) * | 2005-12-28 | 2008-11-12 | 谐波传动系统有限公司 | Sealed worm gear knuckle unit |
| CN101279618A (en) * | 2007-10-24 | 2008-10-08 | 杨德智 | Crawler type multi-arm rod mobile robot |
| CN201338275Y (en) * | 2008-06-30 | 2009-11-04 | 王东立 | Fusion robot shoulder joint |
| CN202129800U (en) * | 2011-06-23 | 2012-02-01 | 哈尔滨工程大学 | Secondary swinging joint structure for underwater electric mechanical hand |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029215A (en) * | 2014-06-05 | 2014-09-10 | 哈尔滨工程大学 | Arm joint structure of small underwater hydraulic manipulator |
| CN107186321A (en) * | 2017-06-12 | 2017-09-22 | 华南理工大学 | The partially sealed diving wire feeder of Underwater Welding |
| CN109707797A (en) * | 2019-02-18 | 2019-05-03 | 哈尔滨工程大学 | A self-locking X-shaped rudder AUV transmission structure |
| CN109707797B (en) * | 2019-02-18 | 2021-10-26 | 哈尔滨工程大学 | X type rudder AUV transmission structure with self-locking performance |
| CN110587586A (en) * | 2019-09-29 | 2019-12-20 | 纳博特南京科技有限公司 | Six arms |
| CN115182970A (en) * | 2022-08-10 | 2022-10-14 | 上海理工大学 | A watertight motor device with a disc output shaft |
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Application publication date: 20111102 |