CN104669262A - Underwater electromechanical wrist turning and clamping drive structure - Google Patents

Abstract

The invention belongs to the field of underwater manipulators in robot engineering, and specifically relates to a driving structure of an underwater electric mechanical wrist turning clamp, including a wrist turning driving module for realizing the function of underwater electric mechanical wrist turning, and realizing an underwater electric manipulator clamp Functional clamp drive module and joint shell, the wrist drive module and clamp drive module are respectively accommodated in the joint shell; the wrist drive module adopts gear transmission, and the clamp drive module adopts ball screw transmission , the second shaft in the wrist rotation module adopts a hollow structure, which allows the ball screw nut connecting rod driving the clamp to pass through, so that the wrist rotation module and the clamp module can be integrated into a joint shell without mutual interference, realizing water Two functions of the electric manipulator. The invention has the advantages of reliable performance, compact structure, convenient maintenance and debugging, and the like.

Description

A driving structure of underwater electromechanical wrist tongs

technical field

The invention belongs to the field of underwater manipulators in robot engineering, in particular to an underwater electric mechanical wrist-turning clamp driving structure.

Background technique

The underwater manipulator is the main tool for marine development or underwater operations, and it is oriented to the application requirements of future operating AUV (autonomous underwater robot)/ARV (semi-autonomous underwater robot) and small and medium-sized operating ROV (remote control underwater robot) , The underwater manipulator is required to have the characteristics of light weight and low power consumption. The motor drive has the advantages of small volume and weight, low power consumption, high control precision, and the full-sea deep operation can be realized through the pressure compensator. Therefore, the motor-driven underwater manipulator has broad application prospects.

At present, the underwater electromechanical wrist rotation adopts a rotating sleeve structure, and the clamp is driven by a linear motor, so the load capacity is low, the structure is complicated, and there is still the problem of clamp motor wiring and winding, and the number of conductive slip rings added to solve the winding problem increases. the complexity of the structure. In order to develop an underwater electric manipulator with stable performance, compact structure and high load capacity, simplifying the structure of the wrist-turning clamp and avoiding winding have become urgent problems to be solved.

Contents of the invention

The object of the present invention is to provide a driving structure of underwater electromechanical wrist tongs. The driving structure solves the problem of wiring and winding of the clamp motor, and meets the requirements of the underwater electric manipulator.

The purpose of the present invention is achieved through the following technical solutions:

The present invention includes a wrist-rotating drive module for realizing the wrist-rotating function of an underwater electric manipulator, a clamp driving module for realizing the clamp function of an underwater electric manipulator, and a joint casing. The wrist-rotating driving module and the clamp driving module are respectively housed in the In the joint housing; the wrist-rotating drive module includes a wrist-rotating motor and a gearbox assembly, a first shaft, a transmission device and a second shaft, wherein the first shaft and the second shaft are respectively installed in the joint housing for rotation, so One end of the first shaft is connected with the wrist motor installed in the joint casing and the reduction box assembly, the other end is linked with one end of the second shaft through the transmission device, and the other end of the second shaft passes through the joint casing. The second shaft outputs a continuous wrist rotation motion through the drive of the wrist motor and the gear box assembly; the clamp drive module includes a clamp motor connected to the screw shaft gear box assembly, a ball screw nut, and a ball screw nut. The clamp motor and the screw shaft reduction box assembly are installed in the joint housing, and the clamp motor is screwed with the screw shaft and the ball screw nut in the screw shaft reduction box assembly to form a screw transmission pair , one end of the ball screw nut connecting rod is connected with the ball screw nut, and the other end is passed through the second shaft, and the ball screw nut connecting rod passes through the clamp motor and the screw shaft reduction box assembly Driven to move linearly with the ball screw nut to drive the clamp of the underwater electric manipulator to move.

Wherein: the transmission device includes a first gear and a second gear that mesh with each other, the first gear is connected to the other end of the first shaft and rotates with the first shaft; the second gear is connected to the first One end of the two shafts drives the second shaft to rotate; the second shaft is a hollow shaft with a through hole in the middle along the axial direction, and the other end of the ball screw nut connecting rod passes through the through hole in the middle of the second shaft ; The ball screw nut connecting rod, the second shaft and the clamp motor are coaxially arranged with the screw shaft in the screw shaft reduction box assembly; the first shaft and the second shaft are placed side by side, and the first shaft The axial center line is parallel to the axial center line of the second shaft; the joint housing includes bearing caps, joint housing segment A, joint housing segment B, joint housing segment C, joint housing segment D and joint housing rear End cover; the wrist motor and the gear box assembly and the clamp motor and the screw shaft gear box assembly are placed side by side, and are respectively fixed inside the D section of the joint housing, and the wrist motor and the output end of the gear box assembly The axial centerline and clamp motor are parallel to the axial centerline of the output end of the screw shaft gearbox assembly.

Advantage of the present invention and positive effect are:

1. Stable and reliable performance: the wrist turn of the present invention adopts gear transmission, and the gear transmission has the advantages of stable transmission, precise transmission ratio, high efficiency, long life, and large range of power, speed and size; the clamp of the present invention adopts ball The screw pair and the ball screw pair have high transmission precision and large output linear force, so that the clamp has a large clamping force.

2. Compact structure: the gear transmission of the present invention has the advantage of compact structure, and the gear transmission also makes the wrist motor and the reduction box assembly and the second shaft that outputs the wrist torque not on the same axis, so that the wrist rotation can be driven Wrist motor and gear box assembly and driving clamp clamp motor and screw shaft gear box assembly can be placed side by side; the second shaft is a hollow shaft, and the ball screw nut connecting rod can pass through the second shaft driving clamp, so that The wrist rotation module and the clamp module are integrated to avoid mutual interference, so that the structure is simple and compact.

3. Convenient debugging and maintenance: the joint shell in the present invention is divided into several sections, which facilitates the installation and replacement of parts or components.

Description of drawings

Fig. 1 is a schematic diagram of the internal structure of the present invention;

Fig. 2 A is A-A sectional view among Fig. 1;

Fig. 2B is the BB sectional view among Fig. 1;

Fig. 3 is the three-dimensional structure schematic diagram of the present invention;

Among them: 1 is the wrist motor and gearbox assembly, 2 is the coupling, 3 is the first shaft, 4 is the first gear, 5 is the ball screw nut connecting rod, 6 is the second shaft, 7 is the bearing cover, 8 is the A segment of the joint housing, 9 is the second gear, 10 is the B segment of the joint housing, 11 is the C segment of the joint housing, 12 is the ball screw nut, 13 is the clamp motor and the screw shaft reducer assembly, and 14 is the joint Shell D segment, 15 is the joint shell rear end cover.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Fig. 1, Fig. 2A, Fig. 2B and Fig. 3, the present invention includes a wrist-rotating drive module for realizing the wrist-rotating function of an underwater electromechanical manipulator, a gripper driving module and a joint housing for realizing the gripper function of an underwater electromechanical manipulator, and the wrist The rotation driving module and the clamp driving module are respectively accommodated in the joint housing. The joint housing includes a bearing cover 7 , a joint housing segment A 8 , a joint housing segment B 10 , a joint housing C segment 11 , a joint housing D segment 14 , and a joint housing rear end cover 15 which are sequentially fixed.

The wrist drive module includes a wrist motor and a reduction box assembly 1, a first shaft 3, a transmission device and a second shaft 6, wherein the transmission device includes a first gear 4 and a second gear 9 that are meshed with each other; the first shaft 3, The second shaft 6 is respectively installed in the joint housing through bearing rotation, the bearing on the first shaft 3 is located in the joint housing B section 10, the bearing on the second shaft 6 is located in the joint housing A section 8, and the two bearings pass through the sleeve respectively. Bearing caps, bushings and nuts on the first and second shafts are positioned axially. The first shaft 3 and the second shaft 6 are placed side by side, and the axial centerline of the first shaft 3 is parallel to the axial centerline of the second shaft 6 . One end of the first shaft 3 is connected to the reduction box assembly 1 through the coupling 2 and the wrist motor fixed in the D section 14 of the joint housing, and is driven to rotate by the wrist rotation motor and the reduction box assembly 1; the other end of the first shaft 3 A first gear 4 is fixedly connected, and the first gear 4 rotates with the first shaft 3 through a key connection. One end of the second shaft 6 is fixedly connected with a second gear 9, which forms an external meshing gear pair with the first gear 4. The first gear 4 is a driving wheel, and the second gear 9 is a driven wheel. 9 Drive the second shaft 6 to move through the key connection; the first shaft 3 driven by the wrist motor and the reduction box assembly 1 transmits the torque and speed to the second shaft 6 through the meshing of the first and second gears 4 and 9 The bearing cover 7 at one end of the joint shell at the other end of the second shaft 6 passes through, and outputs continuous wrist rotation motions to realize the wrist rotation function of the underwater electric manipulator.

The clamp driving module includes the clamp motor and screw shaft reduction box assembly 13, the ball screw nut 12 and the ball screw nut connecting rod 5, and the clamp motor and screw shaft reduction box assembly 13 is fixed in the D section 14 of the joint housing , and placed side by side with the wrist motor and the gearbox assembly 1, the axial centerline of the wrist motor and the output end of the gearbox assembly 1 and the axial centerline of the clamp motor and the output end of the screw shaft gearbox assembly 13 are parallel.

The clamp motor is threadedly connected with the screw shaft and the ball screw nut 12 in the screw shaft reduction box assembly 13 to cooperate to form a screw transmission pair; the second shaft 6 is a hollow shaft with a through hole in the middle along the axial direction, and the balls One end of the screw nut connecting rod 5 is affixed to the ball screw nut 12 , and the other end passes through the through hole in the middle of the second shaft 6 . The screw transmission pair converts the rotary motion of the clamp motor and the screw shaft reduction box assembly 13 into the linear motion of the ball screw nut 12, and the ball screw nut connecting rod 5 makes a linear motion together with the ball screw nut 12, thereby driving the underwater Gripper movement of an electric manipulator. The ball screw nut connecting rod 5, the second shaft 6, the clamp motor and the screw shaft in the screw shaft reduction box assembly 13 are arranged coaxially.

Working principle of the present invention is:

The wrist rotation driving module and the gripper driving module of the present invention are integrated into one joint to realize the two functions of the wrist rotation and the gripper of the manipulator. Specifically:

The wrist motor works with the gearbox assembly 1, drives the first shaft 3 to rotate through the coupling 2, and then drives the first gear 4 to rotate with the first shaft 3; the second gear 9 meshes with the first gear 4, and utilizes the formed meshing The gear pair transmits the torque and rotational speed to the second shaft 6 to drive the second shaft 6 to rotate, and the second shaft outputs continuous wrist rotation motion to realize the wrist rotation function of the underwater electric manipulator.

At the same time, the clamp motor and the screw shaft reduction box assembly 13 work, and the screw shaft (that is, the output end of the clamp motor and the screw shaft reduction box assembly 13) and the ball screw nut 12 form the screw transmission pair to drive the clamp The rotary motion of the motor and the screw shaft reduction box assembly 13 is converted into the linear motion that the ball screw nut 12 drives the ball screw nut connecting rod 5, and the ball screw nut connecting rod 5 drives the clamp motion of the underwater electric manipulator.

The invention can be applied to marine development or underwater operation.

Claims (7)

1. An underwater electromechanical wrist turning clamp driving structure is characterized in that: it comprises a wrist turning driving module realizing the underwater electromechanical wrist turning function, a clamp driving module and a joint shell realizing the underwater electric manipulator clamp function , the wrist-rotating drive module and the clamp driving module are housed in the joint housing respectively; the wrist-rotating driving module includes a wrist-rotating motor and a gearbox assembly (1), a first shaft (3), a transmission device and The second shaft (6), in which the first shaft (3) and the second shaft (6) are installed in the joint housing for rotation respectively, one end of the first shaft (3) and the wrist rotation installed in the joint housing The motor is connected with the reduction box assembly (1), and the other end is linked with one end of the second shaft (6) through the transmission device, and the other end of the second shaft (6) passes through the joint casing, and the second shaft ( 6) Output continuous wrist rotation through the driving of the wrist motor and the reduction box assembly (1); the clamp drive module includes the clamp motor and the screw shaft reduction box assembly (13), the ball screw nut (12) and ball screw nut connecting rod (5), the clamp motor and screw shaft reduction box assembly (13) is installed in the joint housing, the clamp motor and screw shaft reduction box assembly (13) The screw shaft and the ball screw nut (12) are threaded to form a screw transmission pair. One end of the ball screw nut connecting rod (5) is connected with the ball screw nut (12), and the other end is connected by the second The shaft (6) passes through, and the ball screw nut connecting rod (5) is driven by the clamp motor and the screw shaft reduction box assembly (13), and moves linearly with the ball screw nut (12), driving the Gripper motion of an underwater electric manipulator. 2. The driving structure of underwater electromechanical wrist tongs according to claim 1, characterized in that: the transmission device includes a first gear (4) and a second gear (9) for mutual meshing transmission, the first gear The gear (4) is connected to the other end of the first shaft (3) and rotates with the first shaft (3); the second gear (9) is connected to one end of the second shaft (6) to drive the second Two shafts (6) rotate. 3. The driving structure of underwater electromechanical wrist tongs according to claim 1, characterized in that: the second shaft (6) is a hollow shaft with a through hole in the middle along the axial direction, and the ball screw The other end of the nut connecting rod (5) passes through the through hole in the middle of the second shaft (6). 4. The driving structure of underwater electromechanical wrist tongs according to claim 1 or 3, characterized in that: the ball screw nut connecting rod (5), the second shaft (6) and the tongs motor and wire The screw shaft in the shaft reduction box assembly (13) is coaxially arranged. 5. The driving structure of underwater electromechanical wrist tongs according to claim 1 or 3, characterized in that: the first shaft (3) and the second shaft (6) are placed side by side, and the first shaft (3) ) is parallel to the axial centerline of the second shaft (6). 6. The driving structure of underwater electromechanical wrist tongs according to claim 1, characterized in that: the joint housing includes bearing caps (7), joint housing section A (8) and joint housing section B sequentially connected (10), segment C of the joint housing (11), segment D of the joint housing (14) and the rear end cover of the joint housing (15). 7. The driving structure of underwater electromechanical wrist-turning clamp according to claim 6, characterized in that: the wrist-turning motor and gear box assembly (1) and the clamp motor and screw shaft gear box assembly (13) Placed side by side and respectively fixed inside the D section (14) of the joint housing, the axial centerline of the output end of the wrist motor and the reduction box assembly (1) and the clamp motor and the screw shaft reduction box assembly (13 ) parallel to the axial centerline of the output.