CN209067847U - A kind of sealed waterproof device of underwater robot - Google Patents
A kind of sealed waterproof device of underwater robot Download PDFInfo
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- CN209067847U CN209067847U CN201821904860.8U CN201821904860U CN209067847U CN 209067847 U CN209067847 U CN 209067847U CN 201821904860 U CN201821904860 U CN 201821904860U CN 209067847 U CN209067847 U CN 209067847U
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- robot
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- threaded hole
- shaft
- wrist
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Abstract
The utility model discloses a kind of sealed waterproof devices of underwater robot, including robot wrist, gasket, shaft coupling and motor, sealing shroud is provided on the outside of the robot wrist, the sealing shroud is internally provided with circumferential threaded hole, the sealing shroud side is equipped with the gasket, the gasket side is equipped with gland, the gland is internally provided with axial threaded hole, the robot wrist side is provided with robot hand, the robot hand is internally provided with shaft, the shaft coupling is installed on the outside of the shaft, pressure ring is provided between the robot hand and the robot wrist, described shaft one end is provided with the motor, described motor one end is provided with mounting base.Beneficial effect is: 1, by setting axial threaded hole and circumferential threaded hole, multi-angle sealing carried out to the joint of underwater robot, keeps the waterproofness of device more preferable, it is practical；2, gasket and pressure ring are set, device is made to connect closer, better tightness.
Description
Technical field
The utility model relates to underwater robot technical fields, more particularly to a kind of sealing wader of underwater robot
It sets.
Background technique
Dynamic sealing technology is one of key technology of underwater robot.As the joint of mechanical arm of underwater robot, including
Motor drive component and rotary joint output precision include the dynamic cooperation between axis and casing during its driving, due to axis with
There are gap between casing, cause to leak, and higher along with pressure, leakage rate is bigger.It is a kind of anti-therefore, it is necessary to design
The sealing structure of water, to meet the requirement of underwater robot.
Number of patent application is the Chinese patent of CN201621322085.6, and it is close to disclose a kind of underwater robot rotary joint
Seal apparatus, sealing device is for the sealing between the fixing joint and rotary joint of underwater robot；Sealing device includes motor
Seat, sealing shroud and output precision；Sealing shroud is cylindrical in shape, and both ends are respectively equipped with to flanging is externally provided with, and pass through the fold at both ends
Side is fixedly linked with motor cabinet and output precision respectively；The center of motor cabinet and output precision is equipped with through-hole, and two through-holes are logical
Sealing shroud is crossed to be connected；Sealing shroud uses water-proof elastic material.The motor cabinet of the utility model sealing device is fixing joint；It is defeated
Component is rotary joint out, is fastenedly connected with the transmission mechanism for being fixed on motor cabinet.
In above-mentioned patent, apparatus structure is simple, can not the rotary joint to underwater robot adequately sealed.
Utility model content
The purpose of this utility model is that solve the above-mentioned problems and provides a kind of sealing waterproof of underwater robot
Device.
The utility model achieves the above object through the following technical schemes:
A kind of sealed waterproof device of underwater robot, including robot wrist, gasket, shaft coupling and motor, it is described
Sealing shroud is provided on the outside of robot wrist, the sealing shroud is internally provided with circumferential threaded hole, the sealing shroud side installation
There is the gasket, the gasket side is equipped with gland, and the gland is internally provided with axial threaded hole, the robot
Wrist side is provided with robot hand, and the robot hand is internally provided with shaft, is equipped on the outside of the shaft described
Shaft coupling, is provided with pressure ring between the robot hand and the robot wrist, described shaft one end is provided with the electricity
Machine, described motor one end are provided with mounting base.
In order to further increase underwater robot sealed waterproof device use function, the mounting base is solid by screw
It is scheduled on the robot wrist, the motor is fixed by screws in the mounting base.
In order to further increase underwater robot sealed waterproof device use function, the shaft and the motor are logical
Transmission connection is crossed, the shaft is connected by key with the shaft coupling.
In order to further increase underwater robot sealed waterproof device use function, the sealing shroud and the circumferential direction
Threaded hole is integrally formed, and the robot wrist and the circumferential screw thread are integrally formed, the sealing shroud and the robot wrist
Portion is connected by screw to.
In order to further increase underwater robot sealed waterproof device use function, the gasket use rubber system
At the gasket and the robot hand pass through nested encryptions.
In order to further increase underwater robot sealed waterproof device use function, the gland and the axial screw
Pit is integrally formed, and the robot hand and the axial threaded hole are integrally formed, the gasket and the axial thread
Hole is integrally formed, and the gland is connected by screw to after passing through the gasket with the robot hand.
In order to further increase underwater robot sealed waterproof device use function, the pressure ring use rubber system
At the pressure ring and the robot wrist are glued.
Compared with prior art, the beneficial effects of the utility model are as follows:
1, by setting axial threaded hole and circumferential threaded hole, multi-angle sealing is carried out to the joint of underwater robot, is made
The waterproofness of device is more preferable, practical；
2, gasket and pressure ring are set, device is made to connect closer, better tightness.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of main view internal structure schematic diagram of sealed waterproof device of underwater robot of the utility model；
Fig. 2 is a kind of sealing shroud main structure figure of the sealed waterproof device of underwater robot of the utility model；
Fig. 3 is a kind of right view structure diagram of the gland of the sealed waterproof device of underwater robot of the utility model.
The reference numerals are as follows:
1, robot wrist；2, sealing shroud；3, circumferential threaded hole；4, gasket；5, gland；6, axial threaded hole；7, machine
Device human hand；8, shaft；9, shaft coupling；10, pressure ring；11, motor；12, mounting base.
Specific embodiment
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model is described in further detail with embodiment with reference to the accompanying drawing:
Embodiment one:
As shown in Figure 1-Figure 3, a kind of sealed waterproof device of underwater robot, including robot wrist 1, gasket 4, connection
Axis device 9 and motor 11 are provided with sealing shroud 2 on the outside of robot wrist 1, and sealing shroud 2 is internally provided with circumferential threaded hole 3, sealing
It covers 2 sides and gasket 4 is installed, 4 side of gasket is equipped with gland 5, and gland 5 is internally provided with axial threaded hole 6, robot
1 side of wrist is provided with robot hand 7, and robot hand 7 is internally provided with shaft 8, shaft coupling 9 is equipped on the outside of shaft 8,
Pressure ring 10 is provided between robot hand 7 and robot wrist 1,8 one end of shaft is provided with motor 11, and motor 11 is for driving
Shaft 8,11 one end of motor are provided with mounting base 12, and mounting base 12 installs driving motor 11.
Embodiment two:
The difference between this embodiment and the first embodiment lies in gasket 4 is made of rubber in the present embodiment.
Specifically, setting is not only able to improve the leakproofness of device in this way, additionally it is possible to prevent from producing between gland 5 and sealing shroud 2
Raw abrasion, extends the service life of device.
The concrete operating principle of the utility model are as follows: after installing device inner body, by 2 sets of sealing shroud in robot
Sealing shroud 2 is fixed on robot wrist 1 by circumferential threaded hole 3, makes sealing shroud 2 by robot hand 7 and machine by wrist 1
Gap between people's wrist 1 covers, and then gasket 4, gland 5 is sequentially sleeved on robot hand 7, and according to axial threaded hole
Then gland 5 is fixed on robot hand 7 by screw, makes gland 5 by sealing shroud 2 and robot by 6 positions adjusted
Gap sealing between portion 7.
The basic principles and main features and advantage of the utility model have been shown and described above.The technical staff of the industry
It should be appreciated that the present utility model is not limited to the above embodiments, the above embodiments and description only describe this
The principle of utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model also has various change
And improvement, these various changes and improvements fall within the scope of the claimed invention.
Claims (7)
1. a kind of sealed waterproof device of underwater robot, it is characterised in that: including robot wrist (1), gasket (4), connection
Axis device (9) and motor (11), robot wrist (1) outside are provided with sealing shroud (2), setting inside the sealing shroud (2)
Have circumferential threaded hole (3), sealing shroud (2) side is equipped with the gasket (4), and gasket (4) side is equipped with
Gland (5), the gland (5) are internally provided with axial threaded hole (6), and robot wrist (1) side is provided with robot
Hand (7), the robot hand (7) are internally provided with shaft (8), are equipped with the shaft coupling on the outside of the shaft (8)
(9), it is provided with pressure ring (10) between the robot hand (7) and the robot wrist (1), described shaft (8) one end is set
It is equipped with the motor (11), described motor (11) one end is provided with mounting base (12).
2. a kind of sealed waterproof device of underwater robot according to claim 1, it is characterised in that: the mounting base
(12) it is fixed by screws in the robot wrist (1), the motor (11) is fixed by screws in the mounting base (12)
On.
3. a kind of sealed waterproof device of underwater robot according to claim 1, it is characterised in that: the shaft (8)
With the motor (11) by transmission connection, the shaft (8) is connected by key with the shaft coupling (9).
4. a kind of sealed waterproof device of underwater robot according to claim 1, it is characterised in that: the sealing shroud
(2) it is integrally formed with the circumferential threaded hole (3), the robot wrist (1) and the circumferential screw thread are integrally formed, described close
Big envelope (2) is connected by screw to the robot wrist (1).
5. a kind of sealed waterproof device of underwater robot according to claim 1, it is characterised in that: the gasket
(4) it is made of rubber, the gasket (4) and the robot hand (7) pass through nested encryptions.
6. a kind of sealed waterproof device of underwater robot according to claim 1, it is characterised in that: the gland (5)
It is integrally formed with the axial threaded hole (6), the robot hand (7) and the axial threaded hole (6) are integrally formed, described
Gasket (4) and the axial threaded hole (6) are integrally formed, the gland (5) pass through the gasket (4) afterwards with the machine
Human hand (7) is connected by screw to.
7. a kind of sealed waterproof device of underwater robot according to claim 1, it is characterised in that: the pressure ring (10)
It is made of rubber, the pressure ring (10) and the robot wrist (1) are glued.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821904860.8U CN209067847U (en) | 2018-11-19 | 2018-11-19 | A kind of sealed waterproof device of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821904860.8U CN209067847U (en) | 2018-11-19 | 2018-11-19 | A kind of sealed waterproof device of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209067847U true CN209067847U (en) | 2019-07-05 |
Family
ID=67099727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821904860.8U Active CN209067847U (en) | 2018-11-19 | 2018-11-19 | A kind of sealed waterproof device of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209067847U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928401A (en) * | 2018-06-12 | 2018-12-04 | 杭州云深处科技有限公司 | The shell and bionic machine everybody leg for having functions of waterproof and dustproof |
| CN114622868A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Underwater sealing joint |
-
2018
- 2018-11-19 CN CN201821904860.8U patent/CN209067847U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928401A (en) * | 2018-06-12 | 2018-12-04 | 杭州云深处科技有限公司 | The shell and bionic machine everybody leg for having functions of waterproof and dustproof |
| CN108928401B (en) * | 2018-06-12 | 2024-03-15 | 杭州云深处科技有限公司 | Shell with waterproof and dustproof functions and bionic robot leg |
| CN114622868A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Underwater sealing joint |
| CN114622868B (en) * | 2020-12-10 | 2023-09-08 | 中国科学院沈阳自动化研究所 | Underwater sealing joint |
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