CN111098317A

CN111098317A - Mechanical arm

Info

Publication number: CN111098317A
Application number: CN202010038259.0A
Authority: CN
Inventors: 熊明磊; 陈龙冬; 刘海斌
Original assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Current assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2020-05-05

Abstract

The application discloses manipulator, including installation base, terminal subassembly, sealed cabin and the drive transmission who sets up in the sealed cabin inside. The driving transmission device comprises a first transmission mechanism driving the tail end assembly to rotate and a second transmission mechanism driving the tail end assembly to linearly move. The sealed cabin is connected with the installation base in a rotating mode, the fixing portion of the first transmission mechanism is fixedly connected with the installation base, the rotating portion of the first transmission mechanism is fixedly connected with the sealed cabin, the fixing portion of the second transmission mechanism is fixedly connected with the sealed cabin, the moving portion of the second transmission mechanism is fixedly connected with the terminal assembly, and the first transmission mechanism and the second transmission mechanism are arranged in parallel. According to the arrangement, the mounting base is connected with the mechanical arm, and the action of the tail end assembly can be controlled through the driving transmission device, so that underwater work can be completed by matching with the mechanical arm; the arrangement of the sealed cabin is combined, the problem of damage to the driving transmission device during underwater work can be avoided, and the normal work of the manipulator in an underwater environment is guaranteed.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of robots, in particular to a manipulator.

Background

Abundant resources are stored in the ocean, the speed of human developing and utilizing the ocean is gradually increased, and the number of ocean engineering involved is increasing. The exploration, excavation and exploitation of submarine resources are not separated from underwater operation tools, and as international competition gradually transits from land to deep sea, the sea gradually becomes a main battlefield for the competition of interests of countries in the world. In consideration of environmental factors of underwater work, it is an indisputable development trend to apply intelligent equipment to the underwater work, wherein the main form of the underwater intelligent equipment is an underwater robot, including a mechanical arm and a mechanical arm, the main functions are sampling, capturing, excavating and the like, and the mechanical arm as an execution unit of the underwater robot has great influence on the work of the underwater robot, and has important research significance.

Disclosure of Invention

To at least some extent overcome the problems of the related art, the present application provides a manipulator for cooperating with a robotic arm to perform underwater operations of an underwater robot.

The invention is realized by the following steps: a manipulator comprises a mounting base used for being connected with the manipulator, a tail end assembly used for executing actions, a sealed cabin with a sealed containing space inside and a driving transmission device arranged inside the sealed cabin; the driving transmission device comprises a first transmission mechanism for driving the tail end assembly to rotate, a first driving piece for providing power for the operation of the first transmission mechanism, a second transmission mechanism for driving the tail end assembly to move linearly and a second driving piece for providing power for the operation of the second transmission mechanism; the sealed cabin with the installation base rotates to be connected, first drive mechanism's fixed part with installation base fixed connection, first drive mechanism's rotation portion with sealed cabin fixed connection, second drive mechanism's fixed part with sealed cabin fixed connection, second drive mechanism's removal portion with terminal subassembly fixed connection, first drive mechanism with second drive mechanism sets up side by side.

Preferably, the first transmission mechanism includes an inner gear ring fixedly connected to the mounting base and a gear in meshing transmission with the inner gear ring, the first driving member includes a first motor for driving the gear to rotate, and the first motor is fixedly connected to the sealed cabin.

Preferably, the second transmission mechanism comprises a lead screw which can only rotate relative to the sealed cabin in a fixed shaft mode and a nut which can only move along the axial direction of the lead screw, the axis of the lead screw is parallel to the rotation axis of the sealed cabin, and the nut is fixedly connected with the terminal assembly.

Preferably, the second driving member includes a second motor for driving the lead screw to rotate, and the second motor is fixedly connected with the sealed cabin.

Preferably, a third transmission mechanism is arranged between the second driving member and the second transmission mechanism, and the second driving member and the second transmission mechanism are located on the same side of the third transmission mechanism.

Preferably, the third transmission mechanism is a synchronous belt transmission mechanism, a gear transmission mechanism or a chain transmission mechanism.

Preferably, the end member is a grasping member or a cutter.

Preferably, the grabbing component comprises an axis and a rotating axis of the sealed cabin is parallel, a first end of the rotating axis of the sealed cabin is fixedly connected with a push rod of a moving part of the second transmission mechanism, a second end of the push rod penetrates through the sealed cabin and is far away from a connecting base of one end of the mounting base and two oppositely arranged claws, two ends of the claws far away from each other are rotatably connected with the connecting base, two sliding grooves are formed in the ends, close to each other, of the claws, and the second end of the push rod is hinged to the sliding grooves.

Preferably, the sealed cabin includes front end housing, sleeve and the rear end cap of fixed connection in proper order, the rear end cap with rotate between the installation base and be connected, the axis of rotation with telescopic axis coincidence, be provided with on the front end housing and supply the through-hole that the push rod passed.

Preferably, sealing elements are arranged between the push rod and the front end cover and between the rear end cover and the mounting base.

The technical scheme provided by the application comprises the following beneficial effects:

the application provides a manipulator, including the installation base that is used for being connected with the arm, the terminal subassembly that is used for carrying out the action, inside have sealed accommodation space's sealed cabin and set up the drive transmission at the sealed cabin inside, order about terminal subassembly through drive transmission and carry out corresponding action. The driving transmission device is arranged in the sealed cabin, and when the manipulator works underwater, the driving transmission device can be protected. The driving transmission device comprises a first transmission mechanism for driving the terminal assembly to rotate, a first driving piece for providing power for the operation of the first transmission mechanism, a second transmission mechanism for driving the terminal assembly to move linearly and a second driving piece for providing power for the operation of the second transmission mechanism, wherein the sealed cabin is rotatably connected with the mounting base, the fixed part of the first transmission mechanism is fixedly connected with the mounting base, the first driving piece and the sealed cabin which are connected with the rotating part of the first transmission mechanism are fixedly connected, the fixed part of the second transmission mechanism is fixedly connected with the sealed cabin, and the moving part of the second transmission mechanism is fixedly connected with the terminal assembly. The sealed cabin and the second transmission mechanism are driven to synchronously rotate in the operation process of the first transmission mechanism, so that the terminal assembly is driven to rotate, the moving part of the second transmission mechanism moves linearly relative to the fixed part and the sealed cabin in the operation process of the second transmission mechanism, so that the terminal assembly is driven to move, and the first transmission mechanism and the second transmission mechanism are matched with each other to realize the rotation and feeding actions of the terminal assembly. According to the arrangement, the mounting base is connected with the mechanical arm, and the action of the tail end assembly can be controlled through the driving transmission device, so that underwater work can be completed by matching with the mechanical arm; the arrangement of the sealed cabin is combined, the problem of damage to the driving transmission device during underwater work can be avoided, and the manipulator can work normally in an underwater environment.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is an external structural view of a robot according to an embodiment of the present invention;

fig. 2 is a schematic diagram (not shown in the sealed cabin) of the internal structure of a manipulator according to an embodiment of the present invention;

fig. 3 is a schematic diagram of the internal structure of a manipulator (the sealed cabin is not shown) according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a first transmission mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating the distribution of the positions of the second transmission, the third transmission and the second driving member according to the embodiment of the present invention;

fig. 6 is a schematic structural diagram of a grasping assembly according to an embodiment of the present invention.

Reference numerals:

1. installing a base; 2. sealing the cabin; 3. an inner gear ring; 4. a gear; 5. a first motor; 6. a lead screw; 7. a nut; 8. a second motor; 9. a third transmission mechanism; 10. a grasping assembly; 11. a push rod; 12. connecting a base; 13. a claw hand; 14. a sliding groove; 15. a front end cover; 16. a sleeve; 17. a rear end cap; 18. a driving pulley; 19. a driven pulley; 20. a transmission belt; 21. a first transmission mechanism; 22. and a second transmission mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

The purpose of this embodiment is to provide a manipulator, which is used for cooperating with a mechanical arm to complete underwater work of an underwater robot.

Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the contents of the invention described in the claims. The entire contents of the configurations shown in the following embodiments are not limited to those required as solutions of the inventions described in the claims.

Referring to FIGS. 1-3, schematic structural views of a robot in some exemplary embodiments are shown. The manipulator provided by the embodiment comprises a mounting base 1 used for being connected with the manipulator, a terminal assembly used for executing actions, a sealed cabin 2 with a sealed accommodating space inside and a driving transmission device arranged inside the sealed cabin 2, wherein the terminal assembly is driven to execute corresponding actions through the driving transmission device. The driving transmission device is arranged in the sealed cabin 2, and when the manipulator works underwater, the driving transmission device can be protected.

The driving transmission device comprises a first transmission mechanism 21 for driving the terminal assembly to rotate, a first driving piece for providing power for the operation of the first transmission mechanism 21, a second transmission mechanism 22 for driving the terminal assembly to move linearly and a second driving piece for providing power for the operation of the second transmission mechanism 22, wherein the sealed cabin 2 is rotatably connected with the mounting base 1, the fixed part of the first transmission mechanism 21 is fixedly connected with the mounting base 1, the first driving piece connected with the rotating part of the first transmission mechanism 21 is fixedly connected with the sealed cabin 2, the fixed part of the second transmission mechanism 22 is fixedly connected with the sealed cabin 2, and the moving part of the second transmission mechanism 22 is fixedly connected with the terminal assembly. The sealed cabin 2 and the second transmission mechanism 22 are driven to synchronously rotate in the operation process of the first transmission mechanism 21, so that the terminal assembly is driven to rotate, the moving part of the second transmission mechanism 22 moves linearly relative to the fixed part and the sealed cabin 2 in the operation process of the second transmission mechanism 22, so that the terminal assembly is driven to move, and the first transmission mechanism 21 and the second transmission mechanism 22 are matched with each other to realize the rotation and feeding actions of the terminal assembly.

According to the arrangement, the mounting base 1 is connected with the mechanical arm, and the action of the tail end assembly can be controlled through the driving transmission device, so that underwater work can be completed by matching with the mechanical arm; the arrangement of the sealed cabin 2 can avoid the damage problem of the driving transmission device during underwater work, and the manipulator can be ensured to normally work in the underwater environment.

In addition, the connection between the second transmission mechanism 22 and the first transmission mechanism 21 is realized through the sealed cabin 2, and the second transmission mechanism 22 and the first transmission mechanism 21 can be arranged in parallel, so that the problem of larger length size caused by the fact that the second transmission mechanism 22 is directly connected with the first transmission mechanism 21 to enable the first transmission mechanism 21 and the second transmission mechanism 22 to be arranged in a straight line is solved, the structure of the manipulator is compact, the length size of the manipulator is favorably reduced, and the flexibility of the underwater robot is favorably improved; and the first transmission mechanism 21 and the second transmission mechanism 22 are respectively and independently controlled by the first driving piece and the second driving piece, so that the rotation action and the feeding action of the tail end assembly can be independently realized, and the improvement of the working efficiency of the underwater robot is facilitated.

The first transmission mechanism 21 may be, but is not limited to, a gear transmission mechanism, and in a preferred embodiment, the first transmission mechanism 21 is provided in the form of a ring gear set, as shown in fig. 4, specifically including a ring gear 3 and a gear 4 which are meshed with each other, wherein the gear 4 is located inside the ring gear 3, and an end surface of the gear 4 is parallel to an end surface of the ring gear 3. The inner gear ring 3 is fixedly connected with the mounting base 1, the sealed cabin 2 is rotatably connected with the mounting base 1, the sealed cabin 2 coincides with the axis of the inner gear ring 3 relative to the rotating axis of the mounting base 1, at the moment, the first driving piece drives the gear 4 to rotate, the gear 4 is in meshing transmission with the inner gear ring 3, the gear 4 rotates along the circumferential direction of the inner gear ring 3 by taking the axis of the inner gear ring 3 as a shaft, and therefore the sealed cabin 2 is driven to rotate in a fixed axis mode. Compared with other transmission forms, the gear transmission has the advantage of compact structure, and compared with an external gear set, the internal gear set has a more compact structure and occupies a small space, so that the radial size and the volume of the sealed cabin 2 are reduced. In the implementation, the first driving part comprises a first motor 5, the first motor 5 is arranged on one side of the gear 4 far away from the installation base 1, the outer shell of the first motor 5 is fixedly connected with the inner side wall of the sealed cabin 2, and the output shaft of the first motor 5 is fixedly connected with the gear 4 in a coaxial mode and used for driving the gear 4 to rotate.

The second transmission mechanism 22 may be, but is not limited to, configured as a lead screw nut transmission mechanism, in this embodiment, the second transmission mechanism 22 includes a lead screw 6 and a nut 7 cooperatively connected with the lead screw 6, an axis of the lead screw 6 is parallel to an axis of rotation of the capsule 2, the lead screw 6 is rotatably connected with the capsule 2, the lead screw 6 can only rotate with respect to the capsule 2 in a fixed axis manner, and the nut 7 can only move in an axial direction of the lead screw 6 during the fixed axis rotation of the lead screw 6 with respect to the capsule 2. The nut 7 is fixedly connected with the terminal component, and the terminal component is driven to move in the process that the nut 7 moves along the axial direction of the lead screw 6.

In implementation, the second driving element includes a second motor 8, a housing of the second motor 8 is fixedly connected to an inner side wall of the sealed cabin 2, and an output shaft of the second motor 8 is coaxially and fixedly connected to the lead screw 6, so as to drive the lead screw 6 to rotate.

In a preferred embodiment of the present invention, a third transmission mechanism 9 may be disposed between the second driving member and the second transmission mechanism 22 for facilitating the adjustment of the relative positions of the second driving member and the second transmission mechanism 22 according to the inner space of the capsule 2. Specifically, the third transmission mechanism 9 is arranged between the output shaft of the second motor 8 and the lead screw 6, so that the coaxial arrangement of the second motor 8 and the lead screw 6 can be avoided, and if the second motor 8 and the lead screw 6 are both arranged on the same side of the third transmission mechanism 9, namely, the second driving part and the second transmission mechanism 22 are arranged on the same side of the third transmission mechanism 9, so that the overall length and size of the second driving part and the second transmission mechanism 22 in transmission connection can be reduced, and the structure is more compact.

In practice, the third transmission mechanism 9 may be a synchronous belt transmission mechanism, a gear transmission mechanism or a chain transmission mechanism. The connection between the second driving element, the third transmission mechanism 9 and the second transmission mechanism 22 will be explained below by taking as an example the case where the third transmission mechanism 9 is provided as a synchronous belt transmission mechanism. Referring to fig. 5, the synchronous belt transmission mechanism includes a driving pulley 18, a driven pulley 19 and a transmission belt 20 engaged with both the driving pulley 18 and the driven pulley 19, wherein the driving pulley 18 is coaxially fixed with an output shaft of the second motor 8, the driven pulley 19 is coaxially fixed with the lead screw 6, an extending direction of the transmission belt 20 is perpendicular to an axis of the lead screw 6, the second motor 8 is located on one side of the driving pulley 18 far away from the mounting base 1, and the lead screw 6 is located on one side of the driven pulley 19 far away from the mounting base 1.

In practice, the end assembly may be a tool, and may perform excavation and the like. A through hole for a cutter handle of the cutter to pass through is formed in one end, far away from the mounting base 1, of the sealed cabin 2, and the cutter handle end of the cutter is fixedly connected with the moving part of the second transmission mechanism 22 after passing through the through hole. The action position of the tool can be adjusted by the second transmission mechanism 22, and the action angle of the tool can be adjusted by the first transmission mechanism 21.

In practice, the above-mentioned terminal component may also be the grasping component 10, which is used for implementing operations such as sampling, capturing, etc. Specifically, the grasping assembly 10 may be configured as shown in fig. 6, and includes a push rod 11, two opposing claws 13, and a connecting base 12 for mounting the claws 13 on the capsule 2, wherein the axis of the push rod 11 is parallel to the rotation axis of the capsule 2, a first end of the push rod 11 is fixedly connected to the moving portion of the second transmission mechanism 22, i.e., the nut 7 of the screw nut transmission mechanism, the connecting base 12 is fixedly connected to one end of the capsule 2 away from the mounting base 1, a mounting point is provided for the two claws 13, one end of the two claws 13 close to the connecting base 12 and one end of the two claws 13 away from each other are rotatably connected to the connecting base 12, e.g., hinged, a sliding groove 14 is provided at one end of the capsule 2 away from the mounting base 1, and a through hole for the second end of the push rod 11 to pass through is provided at both the end of the capsule 2 away from the mounting base 12, the second end of the push rod 11 passes through the through hole and is hinged with two claws 13 at a sliding groove 14. Thus, under the driving action of the second transmission mechanism 22, the length of the push rod 11 extending out of the capsule 2 changes, that is, the distance between the second end of the push rod 11 and the connecting base 12 changes, so as to push the two claws 13 to rotate, so that the ends of the two claws 13 far away from the connecting base 12 are close to or far away from each other, that is, the grabbing action or releasing action of the grabbing component 10 is realized, that is, the grabbing action of the grabbing component 10 can be controlled through the second transmission mechanism 22. The gripping angle of the gripper assembly 10 can be adjusted by means of the first transmission 21.

In the implementation, can make the axis of push rod 11 and the axis coincidence of ring gear 3, even the axis of push rod 11 and the rotation axis coincidence of sealed cabin 2 etc. so set up, when the angle of grabbing of subassembly 10 is grabbed in the adjustment, the position of grabbing subassembly 10 can not change, is convenient for adjust, is favorable to improving the operating efficiency.

In this embodiment, the sealed cabin 2 includes three parts, namely a front end cover 15, a sleeve 16 and a rear end cover 17, which are detachably connected, the sleeve 16 is a tubular structure with two open ends, and the three parts are relatively fixed. The rear end cover 17 is rotatably connected with the mounting base 1, specifically, a connecting shaft is arranged on the mounting base 1, a through hole for the connecting shaft to pass through is formed in the rear end cover 17, the axis of the through hole coincides with the rotating axis of the rear end cover 17 and the axis of the sleeve 16, and a bearing is arranged between the connecting shaft and the rear end cover 17, so that the rear end cover 17 can be rotatably connected with the mounting base 1. The through hole through which the second end of the push rod 11 passes is provided in the front end cover 15. The sealed cabin 2 is arranged to be detachably connected with three parts, so that the sealed cabin is convenient to detach and maintain in later period. The connection between the front end cover 15 and the sleeve 16 and the connection between the sleeve 16 and the rear end cover 17 are all sealing connections, for example, sealing elements such as a sealing gasket and a sealing ring are arranged at the connection position to ensure the sealing performance of the inner space of the sealed cabin 2.

In practice, sealing elements are arranged between the push rod 11 and the front end cover 15 and between the rear end cover 17 and the mounting base 1 to ensure the sealing performance of the inner space of the sealed cabin 2. Specifically, an O-ring or a gray ring may be selected for use.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A manipulator is characterized by comprising a mounting base (1) used for being connected with a mechanical arm, a terminal component used for executing actions, a sealed cabin (2) with a sealed containing space inside and a driving transmission device arranged inside the sealed cabin (2);

the driving transmission device comprises a first transmission mechanism (21) for driving the tail end assembly to rotate, a first driving piece for providing power for the operation of the first transmission mechanism (21), a second transmission mechanism (22) for driving the tail end assembly to move linearly, and a second driving piece for providing power for the operation of the second transmission mechanism (22);

the sealed cabin (2) with installation base (1) rotates to be connected, the fixed part of first drive mechanism (21) with installation base (1) fixed connection, the rotation portion of first drive mechanism (21) with sealed cabin (2) fixed connection, the fixed part of second drive mechanism (22) with sealed cabin (2) fixed connection, the removal portion of second drive mechanism (22) with terminal subassembly fixed connection, first drive mechanism (21) with second drive mechanism (22) set up side by side.

2. The manipulator according to claim 1, wherein the first transmission mechanism (21) comprises an inner gear ring (3) fixedly connected with the mounting base (1) and a gear (4) in meshing transmission with the inner gear ring (3), the first driving member comprises a first motor (5) for driving the gear (4) to rotate, and the first motor (5) is fixedly connected with the sealed cabin (2).

3. The manipulator according to claim 1, characterized in that the second transmission mechanism (22) comprises a lead screw (6) which can only rotate with respect to the capsule (2) in a fixed axis and a nut (7) which can only move in the axial direction of the lead screw (6), the axis of the lead screw (6) is parallel to the axis of rotation of the capsule (2), and the nut (7) is fixedly connected with the end assembly.

4. The manipulator according to claim 3, characterized in that the second drive comprises a second motor (8) for driving the screw (6) in rotation, the second motor (8) being fixedly connected to the capsule (2).

5. A manipulator according to claim 3, characterized in that a third transmission mechanism (9) is arranged between the second drive member and the second transmission mechanism (22), and the second drive member and the second transmission mechanism (22) are located on the same side of the third transmission mechanism (9).

6. A manipulator according to claim 5, characterized in that the third transmission (9) is a synchronous belt transmission, a gear transmission or a chain transmission.

7. The manipulator according to claim 1, characterized in that the tip assembly is a gripping assembly (10) or a knife.

8. The manipulator according to claim 7, characterized in that the gripping assembly (10) comprises a push rod (11) having an axis parallel to the rotation axis of the capsule (2) and a first end fixedly connected to the moving part of the second transmission mechanism (22), a connecting base (12) through which the second end of the push rod (11) passes and fixedly connected to the end of the capsule (2) remote from the mounting base (1), and two opposing claws (13), wherein the end of the two claws (13) remote from each other is rotatably connected to the connecting base (12), a sliding groove (14) is provided at the end of the two claws (13) close to each other, and the second end of the push rod (11) is hinged to the two claws (13) at the sliding groove (14).

9. The manipulator according to claim 8, wherein the sealed cabin (2) comprises a front end cover (15), a sleeve (16) and a rear end cover (17) which are fixedly connected in sequence, the rear end cover (17) is rotatably connected with the mounting base (1), the rotation axis coincides with the axis of the sleeve (16), and a through hole for the push rod (11) to pass through is formed in the front end cover (15).

10. The manipulator according to claim 9, characterized in that seals are provided between the pusher (11) and the front cover (15) and between the rear cover (17) and the mounting base (1).