CN203650506U - Underwater multi-degree-of-freedom remote control manipulator - Google Patents
Underwater multi-degree-of-freedom remote control manipulator Download PDFInfo
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- CN203650506U CN203650506U CN201320862221.0U CN201320862221U CN203650506U CN 203650506 U CN203650506 U CN 203650506U CN 201320862221 U CN201320862221 U CN 201320862221U CN 203650506 U CN203650506 U CN 203650506U
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- cradle head
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Abstract
The utility model relates to an underwater multi-degree-of-freedom remote control manipulator and belongs to the field of mechanical equipment. The underwater multi-degree-of-freedom remote control manipulator comprises a clamping joint, a universal joint shaft, a wrist deflection joint, an elbow rotating joint, a rotating joint, a waist rotating joint, a mechanical arm, a clamping hand, a rotating platform, a base and a wireless transceiver module, wherein the wireless transceiver module and the rotating platform are installed on the base; the clamping hand is of a steel wire net structure and is made of a memory titanium alloy material; the rotating angles of the clamping joint and the rotating platform are 360 degrees. Two sets of multi-degree-of-freedom remote control manipulators are arranged and the ratio of master manipulator to slave manipulator is 1:10. Since a master and slave type structure is provided, one slave manipulator in a control system is enabled to follow up a master manipulator which provides action change control signals, the actions of all postures can be realized more effectively, quickly and conveniently, the working accuracy and reliability of the operation manipulator are improved and great convenience is provided to operation.
Description
Technical field
The utility model relates to a kind of multiple degrees of freedom telemanipulator under water, belongs to plant equipment field.
Background technology
Generally, in the time executing the task, mechanical arm is short for underwater detectoscope (ROV, AUV etc.), and the free degree is little, causes scope of activities little, rotates underaction, and complicated task is difficult to carry out as detected pipe crack, collection biological specimen, detection paintpot rock matter etc.; General manipulator, by wire circuit control, causes control convenient not, and data line extends the problems such as oversize; The mode of operation of general underwater operation type manipulator is switching regulator, the action in the each joint of manipulator is to be realized by console switch key, carry out point driving switch control, the startup of executing agency's motor and stop all can having larger impact on manipulator, is a urgent problem at present.
Summary of the invention
The purpose of this utility model is to provide a kind of multiple degrees of freedom telemanipulator under water.
To be solved in the utility model is the deficiency of existing machinery hand underaction.
A kind of multiple degrees of freedom telemanipulator under water, comprise clamping joint, cardan axis, wrist deflection joint, elbow cradle head, cradle head, waist cradle head, mechanical arm, clamping hand, reverse platform, base and radio receiving transmitting module, radio receiving transmitting module is installed on described base and reverses platform, reverse on platform waist cradle head is installed, waist cradle head, wrist deflection joint, elbow cradle head, between cradle head, connect by mechanical arm, one end, wrist deflection joint is provided with cardan axis, clamping joint is installed on cardan axis, clamping is provided with clamping hand on joint.
Described clamping hand is steel mesh structure, and material is memory titanium alloy material.
The described rotational angle by clamping joint, torsion platform is 360 degree.
Described multiple degrees of freedom telemanipulator is for being provided with two covers, and a set of underwater detectoscope inside that is arranged on is another set ofly arranged on head outside underwater detectoscope, the action that can interact, and mutual ratio is 1:10.
Advantage of the present utility model: provide a kind of primary and secondary structure to make one in control system to provide action to change the master manipulator of control signal from manipulator is servo-actuated in another, more can be effectively, quicker, realize more easily the action of various attitudes, can avoid on & off switch operations a large amount of in bang-bang control structure operation, thereby improve the work accuracy of manipulator, reliability, bring great convenience to operation, this robot movement scope is large, rotate without dead angle, can carry out more complicated undersea detection task, can realize wireless remote control control, manipulator is followed the motion of control end real-time synchronization.
Brief description of the drawings
Fig. 1 is a kind of structural representation for multiple degrees of freedom telemanipulator under water of the utility model;
In figure: 1, clamping joint 2, cardan axis 3, wrist deflection joint 4, elbow cradle head 5, cradle head 6, waist cradle head 7, mechanical arm 8, clamping hand.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described.
A kind of multiple degrees of freedom telemanipulator under water, comprise clamping joint 1, cardan axis 2, wrist deflection joint 3, elbow cradle head 4, cradle head 5, waist cradle head 6, mechanical arm 7, clamping hand 8, reverse platform 9, base 10 and radio receiving transmitting module 11, radio receiving transmitting module 11 is installed on described base 10 and reverses platform 9, reverse on platform 9 waist cradle head 6 is installed, waist cradle head 6, wrist deflection joint 3, elbow cradle head 4, between cradle head 5, connect by mechanical arm 7, 3 one end, wrist deflection joint are provided with cardan axis 2, clamping joint 1 is installed on cardan axis 2, clamping hand 8 is installed on clamping joint 1.
Radio receiving transmitting module 11 connects the potentiometer of each steering wheel and controls each steering wheel work, and is connected with the D.C. regulated power supply of controlling energising.
Manipulator design is 6 frees degree, have 6 joints, the 1st joint is manipulator clamping joint 1, can effectively capture, the 2nd joint is that 3, the 3 joints, wrist deflection joint are that elbow cradle head 4, the 4 joints are cradle head 5, the 5th joint is that waist cradle head 6, the 6 joints are for reversing platform 9.Can carry out 4 kinds of forms of motion of coordinating mutually:
Rotatablely moving of mechanical arm fuselage;
The pitching of shoulder joint and elbow joint;
Carpal pitching and rotatablely moving;
The clamping movement of manipulator.
Free rotation, by the control of power source steering wheel, can be realized in each joint, can rotating, turn to and corner by the potentiometer follow-up adjustment of controlling arm.Whole robot manipulator structure is stable, and motor coordination is consistent, and response rapidly.
Radio receiving transmitting module 11 is provided with the oil-filled electric cabinet that can be operated under hyperbaric environment, by pressure compensation way, prevents the infiltration of outside water.The effectively extraneous seawater of isolation; And reduce weight, can convenient for maintaining.
Described clamping hand 8 is steel mesh structure, and material, for memory titanium alloy material, makes this manipulator have good elasticity, prevents fragility damage.
The described rotational angle by clamping joint 1, torsion platform 9 is 360 degree, the complicated task of convenient execution.
Described multiple degrees of freedom telemanipulator is for being provided with two covers, and a set of underwater detectoscope inside that is arranged on is another set ofly arranged on head outside underwater detectoscope, the action that can interact, and mutual ratio is 1:10.
Using method of the present utility model, staff can operate the gadget hand that is arranged on underwater detectoscope inside, gadget hand is realized and the collaborative work of manipulator greatly by radio receiving transmitting module 11, staff stirs gadget and manually does, large manipulator also can do corresponding action, therefore easy to use, and can carry out complex task.
Claims (4)
1. one kind for multiple degrees of freedom telemanipulator under water, comprise clamping joint (1), cardan axis (2), wrist deflection joint (3), elbow cradle head (4), cradle head (5), waist cradle head (6), mechanical arm (7), clamping hand (8), reverse platform (9), base (10) and radio receiving transmitting module (11), it is characterized in that: radio receiving transmitting module (11) is installed on described base (10) and reverses platform (9), reverse on platform (9) waist cradle head (6) is installed, waist cradle head (6), wrist deflection joint (3), elbow cradle head (4), between cradle head (5), connect by mechanical arm (7), one end, wrist deflection joint (3) is provided with cardan axis (2), clamping joint (1) is installed on cardan axis (2), clamping hand (8) is installed on clamping joint (1).
2. a kind of multiple degrees of freedom telemanipulator under water according to claim 1, is characterized in that: described clamping hand (8) is steel mesh structure, and material is memory titanium alloy material.
3. a kind of multiple degrees of freedom telemanipulator under water according to claim 1, is characterized in that: described clamping joint (1), the rotational angle that reverses platform (9) are 360 degree.
4. a kind of multiple degrees of freedom telemanipulator under water according to claim 1, it is characterized in that: described multiple degrees of freedom telemanipulator is for being provided with two covers, a set of underwater detectoscope inside that is arranged on, another set ofly be arranged on head outside underwater detectoscope, the action that can interact, ratio is 1:10 mutually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320862221.0U CN203650506U (en) | 2013-12-25 | 2013-12-25 | Underwater multi-degree-of-freedom remote control manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320862221.0U CN203650506U (en) | 2013-12-25 | 2013-12-25 | Underwater multi-degree-of-freedom remote control manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203650506U true CN203650506U (en) | 2014-06-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320862221.0U Expired - Fee Related CN203650506U (en) | 2013-12-25 | 2013-12-25 | Underwater multi-degree-of-freedom remote control manipulator |
Country Status (1)
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| CN (1) | CN203650506U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400947A (en) * | 2014-11-12 | 2015-03-11 | 宁夏嘉翔自控技术有限公司 | Arm of demoulding hand for latex gloves moulding |
| CN105108727A (en) * | 2015-07-24 | 2015-12-02 | 沈阳千会科技有限公司 | Robot profiling controller and control method thereof |
| CN105500386A (en) * | 2016-01-12 | 2016-04-20 | 上海海事大学 | Grab device for remotely operated vehicle |
| CN106976535A (en) * | 2017-03-20 | 2017-07-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of ROV is with water from replacing, high-volume power tool storehouse |
| CN108024837A (en) * | 2015-10-01 | 2018-05-11 | 索尼公司 | Therapeutic support arm equipment and medical system |
| CN113715008A (en) * | 2021-08-31 | 2021-11-30 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
| CN114484176A (en) * | 2022-01-28 | 2022-05-13 | 武汉大学 | Multi freedom sensor installing support |
-
2013
- 2013-12-25 CN CN201320862221.0U patent/CN203650506U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400947A (en) * | 2014-11-12 | 2015-03-11 | 宁夏嘉翔自控技术有限公司 | Arm of demoulding hand for latex gloves moulding |
| CN105108727A (en) * | 2015-07-24 | 2015-12-02 | 沈阳千会科技有限公司 | Robot profiling controller and control method thereof |
| CN108024837A (en) * | 2015-10-01 | 2018-05-11 | 索尼公司 | Therapeutic support arm equipment and medical system |
| CN105500386A (en) * | 2016-01-12 | 2016-04-20 | 上海海事大学 | Grab device for remotely operated vehicle |
| CN106976535A (en) * | 2017-03-20 | 2017-07-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of ROV is with water from replacing, high-volume power tool storehouse |
| CN113715008A (en) * | 2021-08-31 | 2021-11-30 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
| CN114484176A (en) * | 2022-01-28 | 2022-05-13 | 武汉大学 | Multi freedom sensor installing support |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140618 Termination date: 20141225 |
|
| EXPY | Termination of patent right or utility model |