Swinging joint of small-sized electric manipulator

Abstract

The invention provides a swinging joint of a small-sized electric manipulator. The swinging joint comprises a mechanical arm, a swinging mechanism and a swinging connection plate, wherein the swinging mechanism comprises a swinging mechanism shell, a shell cover and a transmission device which consists of a worm gear and a worm; the mechanism arm comprises a mechanical arm shell, a drive motor arranged in the mechanical arm shell and a watertight cable socket; the output of the drive motor is used for driving the worm through a coupling; the swinging connecting plate is arranged on the shell cover of the mechanical arm shell; a glyd ring is arranged on the coupling; the watertight cable socket passes through the mechanical arm shell; and an O-shaped ring is arranged on the shell cover of the mechanical arm shell. In the invention, dynamic seal is directly performed in the direction of an output shaft of the motor, so that the size of the joint is reduced; extremely high environmental external pressure can be born by an angular contact ball bearing; and the joint has a self-locking function and the swinging direction of the joint can be changed by adjusting the mounting direction of the joint through the transmission of the worm gear and the worm, so that the whole manipulator which is formed by serially connecting a plurality of swinging joints has high degree of freedom and higher flexibility.

Description

technical field [0001] The invention relates to an underwater operation manipulator, in particular to a swing joint structure of a small manipulator using an electric motor as a driving element. Background technique [0002] Underwater robot is an important tool for modern marine environment monitoring and resource development. With the continuous improvement of its working scope and operating requirements, higher requirements are put forward for its operating tools. At present, unmanned unmanned underwater robots have become a research hotspot due to their large working range and good concealment. The improvement of their working tools and working capabilities will further improve their work efficiency and expand their application fields. However, due to the limitations of volume, weight, energy and other conditions, there are very few operating manipulators suitable for unmanned unmanned underwater robots. The existing underwater electric manipulators have complex joint st...

AI Technical Summary

Problems solved by technology

However, due to the limitations of volume, weight, energy and other conditions, there are very few operating manipulators suitable for unmanned and cable-free underwater robots. The existing underwater electric manipulators have complex joint structures, which is not conducive to overall miniaturization. Usually, the sealed shell needs to be filled with oil for pressure compensation, which not only affects the efficiency of the motor, but also easily pollutes the environment. The technical solutions disclosed in the patent document titled "An Underwater Electric Manipulator Joint Mechanism", etc.

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