CN100430191C - Underwater mechanical wrist part structure for strong-operation underwater robot - Google Patents
Underwater mechanical wrist part structure for strong-operation underwater robot Download PDFInfo
- Publication number
- CN100430191C CN100430191C CNB2005101367108A CN200510136710A CN100430191C CN 100430191 C CN100430191 C CN 100430191C CN B2005101367108 A CNB2005101367108 A CN B2005101367108A CN 200510136710 A CN200510136710 A CN 200510136710A CN 100430191 C CN100430191 C CN 100430191C
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- Prior art keywords
- wrist
- pivoted housing
- cylindrical cavity
- motor assembly
- sleeve
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 39
- 230000008878 coupling Effects 0.000 claims abstract description 14
- 238000010168 coupling process Methods 0.000 claims abstract description 14
- 238000005859 coupling reaction Methods 0.000 claims abstract description 14
- 239000012530 fluid Substances 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 208000002925 dental caries Diseases 0.000 claims description 3
- 238000007789 sealing Methods 0.000 description 5
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000019300 CLIPPERS Diseases 0.000 description 1
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003446 ligand Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
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- Hydraulic Motors (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater manipulator wrist structure for a strong-operation underwater robot, which comprises a cycloid motor assembly and the like, wherein the cycloid motor assembly is arranged in a cavity on one side of a wrist sleeve, and the end face of the wrist sleeve is sealed by a wrist backseat; one end of the long spline coupling is inserted into the cycloid motor assembly, and the other end of the long spline coupling is inserted into the inner spline groove at one end of the rotating sleeve; the shaft sleeve is arranged outside the rotating sleeve and positioned at one end sleeved with the long spline coupling; one end of the rotating sleeve is provided with a cylindrical cavity, a short piston rod is arranged in the cylindrical cavity, the clamp rotating seat is inserted in the cylindrical cavity of the rotating sleeve, and the short piston rod is arranged in the cylindrical cavity in a sealed mode; the centripetal needle roller bearing is sleeved on the outer circle surface of the rotating sleeve, and the thrust needle roller bearing is arranged between the centripetal needle roller bearing and the clamp rotating seat and between the shaft sleeve and the rotating sleeve. The invention can be used for a strong-operation underwater robot, can realize 360-degree continuous rotation of the wrist and safely work under high oil pressure, and has the characteristics of light weight and simple structure.
Description
Technical field
The present invention relates to the underwater robot technology, specifically a kind of industry underwater robot mechanical wrist part structure under water of pretending.
Background technology
Human development at present and utilize the ocean to be developed by leaps and bounds, related ocean engineering is increasing.Underwater robot with operation function has obtained using widely.The underwater operation task of underwater robot is mainly finished by entrained underwater manipulator and the power tool that is contained on the manipulator.Underwater manipulator generally should have 5 or 6 frees degree and a holding function in order to carry out various underwater operation effectively, and wherein the wrist commentaries on classics free degree is essential.In the prior art, the wrist revolution utilizes the feed screw nut principle to realize, has both used the precession of straight line Driven by Hydraulic Cylinder leading screw, drives the nut that is connected with muffetee and rotates to realize the wrist revolute function.Be subjected to frame for movement to limit this form wrist and can not carry out 360 ° of continuously revolutions, can't satisfy under water as screwing or unscrew the continuous rotating job task requirement of needs manipulator such as nut.In addition, pretend the industry underwater robot and higher rotary torque need be arranged with mechanical wrist part under water.High rotary torque just needs high operating oil pressure, and high operating oil pressure can bring difficulty to sealing.Pretend the industry requirement for satisfying, oil pressure generally should be 21MPa, and under this pressure, screw-nut structure rotatory sealing place can produce leakage.
Summary of the invention
In order to overcome above-mentioned deficiency, the purpose of this invention is to provide that a kind of the industry underwater robot uses, can realize 360 ° of revolutions continuously of wrist, trouble free service, submarine mechanical wrist portion structure in light weight, simple in structure under high oil pressure for pretending.
Technical solution of the present invention is: by wrist back seat, muffetee, gerotor motor assembly, long spline shaft coupling, axle sleeve, pivoted housing, entad needle bearing, needle roller thrust bearing, short piston rod, clamp rotation seat are formed, wherein: the cycloid gear motor sub-assembly is installed in the muffetee one side cavity, the wrist back seat is enclosed in the end face of muffetee with sealing screw; Long spline shaft coupling one end and gerotor motor modular connector, the other end insert in the inner spline groove of pivoted housing one end; Axle sleeve be installed in pivoted housing outer, be positioned at and an end of long spline shaft coupling socket; Pivoted housing one end is provided with cylindrical cavity, built-in short piston rod, and the clamp rotation seat is plugged in the cylindrical cavity of pivoted housing, is connected by screw, seals built-in short piston rod in described cylindrical cavity; Entad needle bearing is sleeved on the pivoted housing outer round surface, and needle roller thrust bearing entad is installed between the needle bearing and clamp rotation seat, and between axle sleeve and the pivoted housing;
Wherein: having 2 wrists that are connected with clack box by oil pipe on described wrist back seat changes the drain tap that hydraulic fluid port and is connected with compensator by oil pipe.
The present invention has following advantage:
1. the present invention uses for pretending the industry underwater robot, and is in light weight, simple in structure.
2. the present invention adopts the gerotor motor assembly, with satisfy pretend the industry underwater manipulator can 360 ° of continuous rotating job requirements, change hydraulic fluid port by wrist and change the oil-feed direction, just changed the gyratory directions of motor.
3. the operating pressure height of gerotor motor assembly of the present invention (can use under the 21MPa oil pressure), rotary torque height, high oil pressure do not have leakage down, and be safe and reliable.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is that the C of Fig. 1 is to view.
Fig. 3 is that the D of Fig. 1 is to view.
The specific embodiment
As shown in Figure 1, the present invention is by wrist back seat 1, muffetee 3, gerotor motor assembly 4, long spline shaft coupling 5, axle sleeve 6, pivoted housing 7, entad needle bearing 8, needle roller thrust bearing 9, short piston rod 10, clamp rotation seat 11 are formed, wherein: gerotor motor assembly 4 is installed in the muffetee 3 one side cavitys, wrist back seat 1 is enclosed in the end face of muffetee 3 with sealing screw 2; Long spline shaft coupling 5 one ends insert in the gerotor motor assembly 4, and the other end inserts in the inner spline groove of pivoted housing 7 one ends; Axle sleeve 6 be installed in pivoted housing 7 outer, be positioned at and an end of long spline shaft coupling 5 sockets; Pivoted housing 7 one ends are provided with cylindrical cavity, built-in short piston rod 10, and clamp rotation seat 11 is plugged in the cylindrical cavity of pivoted housing 7, is connected by screw 15, seals built-in short piston rod 10 in described cylindrical cavity; Entad needle bearing 8 is sleeved on pivoted housing 7 outer round surface, and needle roller thrust bearing 9 entad is installed between the needle bearing 8 and clamp rotation seat 11, and between axle sleeve 6 and the pivoted housing 7; On described wrist back seat 1, have 2 wrists that are connected with clack box by oil pipe and change the drain tap 13 that hydraulic fluid port 12 and is connected with compensator by oil pipe.
The course of work of the present invention and principle are: the present invention realizes that the executive component of wrist revolute function selects the cycloid gear motor of in light weight, little discharge capacity, the slow-speed of revolution, valve plate distribution for use.Gerotor motor assembly 4 mainly is made up of parts such as valve plate, auxiliary ligand flow table, short splined shaft, rotor, stators, this motor mechanical efficiency height, and noise is low, operating pressure height (can reach 21MP).Gerotor motor assembly 4 is installed in the muffetee 3 left side cavitys by screw.Wrist back seat 1 is connected with 6 sealing screws 2 and muffetee 3 near muffetee 3 left sides.On wrist back seat 1, have 2 wrists and change hydraulic fluid port 12 and drain tap 13.Wrist changes hydraulic fluid port 12, is connected with outside clack box by oil pipe, when change the gyratory directions that just can change mechanical wrist when hydraulic fluid port 12 changes the oil-feed direction by wrist.Drain tap 13 is connected with external compensator by oil pipe, is higher than the external sea water pressure all the time to guarantee manipulator muffetee 3 internal oil pressure.Long spline shaft coupling 5 left ends insert in the gerotor motor assembly 4, and right-hand member inserts in the pivoted housing 7 left end inner spline grooves.When gerotor motor assembly 4 rotates, drive pivoted housing 7 rotations by long spline shaft coupling 5.Pivoted housing 7 suffered radial loads are born by entad needle bearing 6 and axle sleeve 7, and its axial load is born by needle roller thrust bearing 9.Pivoted housing 7 right-hand members are processed with cylindrical cavity, and built-in short piston rod 10 is used for two clamps of driving device hand and finishes switching motion (clamp is not drawn).Clamp rotation seat 11 inserts in the pivoted housings 7 right-hand member cylindrical cavities and by screw 15 and links to each other with pivoted housing 7, and clamp rotation seat 11 rotates with pivoted housing 7, on clamp rotation seat 11 installing hole can be set, and is used to install other underwater operation tool, as hydraulic clipper etc.
Be to reduce the volume and weight of submarine mechanical wrist portion, wrist back seat 1, muffetee 3, pivoted housing 7, clamp rotation seat with etc. the aluminium alloy make material.
Claims (2)
1. pretend industry underwater robot mechanical wrist part structure under water for one kind, it is characterized in that: by wrist back seat (1), muffetee (3), gerotor motor assembly (4), long spline shaft coupling (5), axle sleeve (6), pivoted housing (7), entad needle bearing (8), needle roller thrust bearing (9), short piston rod (10), clamp rotation seat (11) are formed, wherein: gerotor motor assembly (4) is installed in muffetee (3) the one side cavitys, seals the end face of muffetee (3) with wrist back seat (1); Long spline shaft coupling (5) one ends and gerotor motor assembly (4) are pegged graft, and the other end inserts in the inner spline groove of pivoted housing (7) one ends; Axle sleeve (6) be installed in pivoted housing (7) outer, be positioned at and an end of long spline shaft coupling (5) socket; Pivoted housing (7) one ends are provided with cylindrical cavity, built-in short piston rod (10), and clamp rotation seat (11) is plugged in the cylindrical cavity of pivoted housing (7), seals built-in short piston rod (10) in described cylindrical cavity; Entad needle bearing (8) is sleeved on pivoted housing (7) outer round surface, and needle roller thrust bearing (9) entad is installed between the needle bearing (8) and clamp rotation seat (11), and between axle sleeve (6) and the pivoted housing (7); Have 2 wrists that are connected with clack box by oil pipe on the described wrist back seat (1) and change the drain tap (13) that hydraulic fluid port (12) and is connected with compensator by oil pipe.
2. by the described industry underwater robot mechanical wrist part structure under water of pretending of claim 1, it is characterized in that: clamp rotation seat (11) is provided with installing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101367108A CN100430191C (en) | 2005-12-27 | 2005-12-27 | Underwater mechanical wrist part structure for strong-operation underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101367108A CN100430191C (en) | 2005-12-27 | 2005-12-27 | Underwater mechanical wrist part structure for strong-operation underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1990198A CN1990198A (en) | 2007-07-04 |
| CN100430191C true CN100430191C (en) | 2008-11-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005101367108A Expired - Fee Related CN100430191C (en) | 2005-12-27 | 2005-12-27 | Underwater mechanical wrist part structure for strong-operation underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100430191C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317524B (en) * | 2013-06-04 | 2015-03-11 | 北京航空航天大学 | Wrist joint structure of underwater mechanical arm |
| CN104669262B (en) * | 2013-11-30 | 2016-04-13 | 中国科学院沈阳自动化研究所 | A kind of underwater electric manipulator wrist turns clamp drives structure |
| CN103707318A (en) * | 2013-12-03 | 2014-04-09 | 广西大学 | Wrist of electric manipulator |
| CN104029211A (en) * | 2014-06-05 | 2014-09-10 | 同济大学 | Hydraulic joint of underwater manipulator |
| CN107627301A (en) * | 2017-08-14 | 2018-01-26 | 芜湖慧盈自动化设备有限公司 | A kind of 90 degree of rotating mechanisms of pneumatic type |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3535885A1 (en) * | 1985-10-08 | 1986-05-07 | Manfred Dipl.-Ing. 7052 Schwaikheim Egner | Fluid articulated drive |
| JPS6458487A (en) * | 1987-08-26 | 1989-03-06 | Shikoku Elec Power | Power transmission mechanism of robot arm |
| DE4108262A1 (en) * | 1991-03-14 | 1992-09-17 | Friedhelm Wirxel | Two-part joint for handling tool for robot - consists of two contra rotating angled segments activated by hydraulic or electric power |
| JPH04300190A (en) * | 1991-03-27 | 1992-10-23 | Matsushita Electric Ind Co Ltd | Wrist device for industrial robot |
| JPH0752074A (en) * | 1993-08-19 | 1995-02-28 | Fanuc Ltd | Wrist device for industrial robot |
| CN1178495A (en) * | 1995-11-17 | 1998-04-08 | 株式会社安川电机 | Wrist mechanism for articulated robot |
| CN2875727Y (en) * | 2005-12-27 | 2007-03-07 | 中国科学院沈阳自动化研究所 | Wrist structure of underwater mechanical arm |
-
2005
- 2005-12-27 CN CNB2005101367108A patent/CN100430191C/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3535885A1 (en) * | 1985-10-08 | 1986-05-07 | Manfred Dipl.-Ing. 7052 Schwaikheim Egner | Fluid articulated drive |
| JPS6458487A (en) * | 1987-08-26 | 1989-03-06 | Shikoku Elec Power | Power transmission mechanism of robot arm |
| DE4108262A1 (en) * | 1991-03-14 | 1992-09-17 | Friedhelm Wirxel | Two-part joint for handling tool for robot - consists of two contra rotating angled segments activated by hydraulic or electric power |
| JPH04300190A (en) * | 1991-03-27 | 1992-10-23 | Matsushita Electric Ind Co Ltd | Wrist device for industrial robot |
| JPH0752074A (en) * | 1993-08-19 | 1995-02-28 | Fanuc Ltd | Wrist device for industrial robot |
| CN1178495A (en) * | 1995-11-17 | 1998-04-08 | 株式会社安川电机 | Wrist mechanism for articulated robot |
| CN2875727Y (en) * | 2005-12-27 | 2007-03-07 | 中国科学院沈阳自动化研究所 | Wrist structure of underwater mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1990198A (en) | 2007-07-04 |
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Granted publication date: 20081105 Termination date: 20100127 |