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Underwater mechanical arm wrist portion structure for high strength operation underwater robot

A technology of underwater robots and underwater machinery, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve problems such as difficult sealing, and achieve the effects of safe and reliable work, high rotational torque, and light weight

Inactive Publication Date: 2007-07-04
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

High rotary torque requires high working oil pressure, and high working oil pressure will make sealing difficult

Method used

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  • Underwater mechanical arm wrist portion structure for high strength operation underwater robot
  • Underwater mechanical arm wrist portion structure for high strength operation underwater robot
  • Underwater mechanical arm wrist portion structure for high strength operation underwater robot

Examples

Experimental program
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Embodiment Construction

[0013] As shown in FIG. 1, the present invention consists of a wrist back seat 1, a wrist sleeve 3, a cycloid motor assembly 4, a long spline connecting shaft 5, a shaft sleeve 6, a rotating sleeve 7, a radial needle roller bearing 8, and a thrust needle roller. The bearing 9, the short piston rod 10, and the clamp rotating seat 11 are composed, wherein: the cycloid motor assembly 4 is installed in the cavity on one side of the wrist sleeve 3, and the wrist rear seat 1 is sealed on the end face of the wrist sleeve 3 with the sealing screw 2; One end of the long spline connecting shaft section 5 is inserted into the cycloid motor assembly 4, and the other end is inserted into the inner spline groove at one end of the rotating sleeve 7; One end of the rotary sleeve 7 is provided with a cylindrical cavity with a built-in short piston rod 10, and the clamp rotating seat 11 is inserted into the cylindrical cavity of the rotary sleeve 7, and is fixedly connected by screws 15, and the...

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PUM

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Abstract

The invention discloses a submerged mechanic wrist structure of strong-operation submerged robot, which is characterized by the following: the motor component of cycloid is assembled on one side of cavity, which seals the end surface of wrist through back seat; one end of long-spline connecting cardo is plugged in the motor component of cycloid and the other end is sleeved in the inner-spline groove; the sleeve is set on the exterior of rotary jacket, which lies one end of long-spline connecting cardo; one end of rotary jacket possesses column-shaped cavity, which contains short piston rod; the chuck rotary seat is loaded in the column cavity, which seals short piston rod in the column cavity; the centripetal rolling needle bearing sleeve is set on the exterior of rotary jacket; the push rolling bearing is set between centripetal rolling bearing and chuck rotary seat, which is between rotary jacket and sleeve.

Description

technical field [0001] The invention relates to an underwater robot technology, in particular to an underwater mechanical wrist structure for a strong operation underwater robot. Background technique [0002] At present, the development and utilization of the ocean by human beings are developing rapidly, and the number of marine engineering involved is increasing day by day. Underwater robots with working functions have been widely used. The underwater operation task of the underwater robot is mainly completed by the underwater manipulator carried and the working tools mounted on the manipulator. In order to effectively carry out various underwater operations, the underwater manipulator should generally have 5 or 6 degrees of freedom plus a clamping function, in which the wrist rotation degree of freedom is necessary. In the prior art, the rotation of the wrist is realized by the principle of the lead screw and the nut. The linear hydraulic cylinder is used to drive the le...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
Inventor 张将胡克
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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