CN100551643C - High strength operation underwater robot manipulator telescopic joint under water - Google Patents
High strength operation underwater robot manipulator telescopic joint under water Download PDFInfo
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- CN100551643C CN100551643C CNB2006101558203A CN200610155820A CN100551643C CN 100551643 C CN100551643 C CN 100551643C CN B2006101558203 A CNB2006101558203 A CN B2006101558203A CN 200610155820 A CN200610155820 A CN 200610155820A CN 100551643 C CN100551643 C CN 100551643C
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- telescopic
- telescopic arm
- high strength
- underwater robot
- under water
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Abstract
The present invention discloses a kind of high strength operation underwater robot manipulator telescopic joint under water.Comprise telescopic arm, guiding side's cover, telescopic oil cylinder, its telescopic arm are the rectangular cylinder of first-class wall thickness hollow, its cross section is a rectangle; Cylinder at telescopic arm one end is connected with the leading portion joint, carries out stretching motion in order to drive the leading portion joint; Drift angle place at four ribs of the cylinder of the telescopic arm other end is provided with rectangular-shaped groove along seamed edge, is used to place the relief angle supporting; Guiding side overlaps by front and back, upward lower baffle plate constitutes, and is enclosed within the telescopic arm outer surface; Telescopic oil cylinder is arranged in the telescopic arm cavity, and its center and telescopic arm center are in same vertical plane; Connect telescopic arm, and be used to support telescopic oil cylinder with back back shaft, preceding back shaft.The present invention can use for high strength operation underwater robot, prudent ability is big, flexible distance, submarine mechanical arm telescopic joint for strong in light weight, simple in structure.
Description
Technical field
The present invention relates to underwater manipulator, specifically is a kind of high strength operation underwater robot manipulator telescopic joint under water.
Background technology
Human development at present and utilize the ocean to be developed by leaps and bounds, related ocean engineering is increasing.Underwater robot with operation function has obtained using widely.The job task of underwater robot is mainly finished by entrained underwater manipulator and special-purpose underwater tool.Underwater manipulator generally should have 4 or 6 frees degree and a holding function in order to carry out various underwater operation effectively, and wherein 5 function underwater manipulator majorities have the flexible free degree.In the prior art, the flexible straight line hydraulic cylinder that utilizes of manipulator drives a columned extension sleeve realization, but hydraulic cylinder and extension sleeve are arranged off-centre, and both straight line cylinder force direction was not in the residing vertical guide in extension sleeve center.For the underwater manipulator that high strength operation underwater robot uses, because prudent ability increases, flexible distance increases, and when telescopic arm all stretches out, as still adopting said structure, owing to bigger eccentric force is arranged apart from effect, can cause extension sleeve to bounce back.
Summary of the invention
In order to overcome above-mentioned deficiency, the purpose of this invention is to provide a kind of for high strength operation underwater robot use, prudent ability is big, flexible distance, submarine mechanical arm telescopic joint for strong in light weight, simple in structure.
To achieve these goals, technical scheme of the present invention comprises:
Telescopic arm is the rectangular cylinder of first-class wall thickness hollow, and its cross section is a rectangle; One end of telescopic arm cylinder is connected with the leading portion joint, carries out stretching motion in order to drive the leading portion joint; Drift angle place at four ribs of the other end of telescopic arm cylinder is provided with rectangular-shaped groove along seamed edge, is used to place the relief angle supporting;
Guiding side's cover is made of front and back, last lower baffle plate, is enclosed within the telescopic arm outer surface;
Telescopic oil cylinder is arranged in the telescopic arm cavity, and its center and telescopic arm center are in same vertical plane; Comprise back back shaft, preceding back shaft, the back shaft two ends are connected with guiding side's cover one end thereafter, and the middle part penetrates the telescopic oil cylinder tailstock, is used to support telescopic oil cylinder; Preceding back shaft two ends and telescopic arm cylinder framework one end are connected, and the middle part links to each other with the telescopic oil cylinder piston rod;
The square-section of the rectangular cylinder of telescopic arm be up and down the length of side in front and rear side; End four limits at the telescopic arm cylinder are provided with connecting hole, are connected with the leading portion joint by screw; Described relief angle supporting is rectangular-shaped pad;
The concrete syndeton of described guiding side cover: vertically be provided with two location rectangle conduits on the inner surface both sides of front and rear baffle, be provided with the rectangle bead, with described conduit fastening and be slidingly connected in last lower baffle plate both sides of the edge; Cover inboard, end, guiding side is provided with embeddable supporting square groove, is equipped with the pad that is used to support telescopic arm; Be equipped with preceding long support on the front and rear baffle, short supporting before being equipped with on the last lower baffle plate, preceding short supporting is shim, the size of long support before being shorter than;
Preceding short supporting, preceding long support, relief angle supporting have constituted the slip plane bearing of telescopic arm along guiding side's interplanting stretching motion; Front and rear baffle, on the lower baffle plate outer surface be provided with the shallow square groove of loss of weight; Described telescopic arm, front and rear baffle, last lower baffle plate all adopt through strong anodized aluminum alloy materials; Preceding short supporting, preceding long support and relief angle supporting are made by the high aluminium bronze material of crush resistance strength.
Advantage of the present invention:
1. prudent ability is big.Because telescopic oil cylinder is arranged in the telescopic arm cavity, and center and telescopic arm center be in same vertical plane, so prudent big, distance stretches.
2. in light weight.Telescopic arm of the present invention, front and rear baffle, last lower baffle plate all adopt aluminum alloy materials, and have the shallow square groove of loss of weight at the baffle plate outer surface.And telescopic arm, front and rear baffle, last lower baffle plate are through strong anodization, and resistance to corrosion is stronger, can satisfy the instructions for use in seawater.
3. the present invention is simple in structure, can reduce cost.Short supporting before described, preceding long support and relief angle supporting are made long service life by the high aluminium bronze material of crush resistance strength.
4. the present invention can satisfy the high strength operation underwater robot instructions for use, and applicability is strong.
Description of drawings
Fig. 1 is a structural front view of the present invention.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the right view of Fig. 1.
Fig. 4-1 is the A-A cutaway view of Fig. 1.
Fig. 4-2 is the B-B cutaway view of Fig. 1.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is described in further detail.
Shown in Fig. 1,2,3,4-1,4-2, high strength operation underwater robot of the present invention structurally mainly comprises telescopic arm 1, guiding side's cover, telescopic oil cylinder 4 with manipulator telescopic joint under water, wherein:
Telescopic arm 1 is the rectangular cylinder of first-class wall thickness hollow, and its cross section is rectangle (length of side is in front and rear side up and down).End four limits at telescopic arm 1 cylinder are provided with connecting hole, are connected with the leading portion joint by screw, carry out stretching motion in order to drive the leading portion joint; Drift angle place at four ribs of the other end of telescopic arm 1 cylinder is processed with rectangular-shaped short groove along seamed edge, is used to place relief angle supporting 6; Wherein relief angle supporting 6 is rectangular-shaped pad;
Guiding side's cover, constitute by front and back, last lower baffle plate 3, be enclosed within telescopic arm 1 outer surface, vertically have two location rectangle conduits on the inner surface both sides of front and rear baffle 2, be provided with the rectangle bead in last lower baffle plate 3 both sides of the edge, be used for fastening and be slidingly connected that (the last lower baffle plate 3 rectangle beads of telescopic arm 1 can be along 2 two location of front and rear baffle with the slip of rectangle conduit with front and rear baffle 2 both sides conduits, to go up lower baffle plate 3 and front and rear baffle 2 is assembled into the rectangular cylinder of hollow by hexagon-headed bolt, telescopic arm 1 outer guiding with); The frame ends inboard is provided with embeddable supporting square groove, be equipped with pad, be used to support telescopic arm 1 (long support 8 before being equipped with on the front and rear baffle 2, short supporting 7 before being equipped with on the last lower baffle plate 3, preceding short supporting 7 is a shim, the size of long support 8 before being shorter than);
Preceding short supporting 7, preceding long support 8, relief angle supporting 6 have constituted the slip plane bearing of telescopic arm 1 along guiding side's interplanting stretching motion;
Be weight reduction, telescopic arm 1, front and rear baffle 2, go up lower baffle plate 3 and all adopt aluminum alloy materials, and through strong anodization, and front and rear baffle 2, on lower baffle plate 3 outer surfaces have the shallow square groove of loss of weight; Can satisfy instructions for use in seawater more by force through strong anodized aluminium alloy resistance to corrosion.Before short supporting 7, preceding long support 8 and relief angle supporting 6 make by the high aluminium bronze material of crush resistance strength.
Claims (9)
1. a high strength operation underwater robot is characterized in that comprising with manipulator telescopic joint under water:
Telescopic arm is the rectangular cylinder of first-class wall thickness hollow, and its cross section is a rectangle; One end of telescopic arm cylinder is connected with the leading portion joint, carries out stretching motion in order to drive the leading portion joint; Drift angle place at four ribs of the other end of telescopic arm cylinder is provided with rectangular-shaped groove along seamed edge, is used to place the relief angle supporting;
Guiding side's cover is made of front and back, last lower baffle plate, is enclosed within the telescopic arm outer surface;
Telescopic oil cylinder is arranged in the telescopic arm cavity, and its center and telescopic arm center are in same vertical plane; Comprise back back shaft, preceding back shaft, the back shaft two ends are connected with guiding side's cover one end thereafter, and the middle part penetrates the telescopic oil cylinder tailstock, is used to support telescopic oil cylinder; Preceding back shaft two ends and telescopic arm cylinder framework one end are connected, and the middle part links to each other with the telescopic oil cylinder piston rod.
By the described high strength operation underwater robot of claim 1 with manipulator telescopic joint under water, it is characterized in that: the square-section of the rectangular cylinder of telescopic arm for the length of side up and down in front and rear side.
3. by the described high strength operation underwater robot of claim 1 manipulator telescopic joint under water, it is characterized in that: an end four limits at the telescopic arm cylinder are provided with connecting hole, are connected with the leading portion joint by screw.
4. by the described high strength operation underwater robot of claim 1 manipulator telescopic joint under water, it is characterized in that: described relief angle supporting is rectangular-shaped pad.
5. by the described high strength operation underwater robot of claim 1 manipulator telescopic joint under water, it is characterized in that: the concrete syndeton of described guiding side cover: vertically be provided with two location rectangle conduits on the inner surface both sides of front and rear baffle, be provided with the rectangle bead in last lower baffle plate both sides of the edge, fasten with described conduit and be slidingly connected; Cover inboard, end, guiding side is provided with embeddable supporting square groove, is equipped with the pad that is used to support telescopic arm.
6. by the described high strength operation underwater robot of claim 5 manipulator telescopic joint under water, it is characterized in that: be equipped with preceding long support on the front and rear baffle, short supporting before being equipped with on the last lower baffle plate, preceding short supporting is shim, the size of long support before being shorter than.
7. by the described high strength operation underwater robot of claim 6 manipulator telescopic joint under water, it is characterized in that: preceding short supporting, preceding long support, relief angle supporting have constituted the slip plane bearing of telescopic arm along guiding side's interplanting stretching motion.
8. press the described high strength operation underwater robot usefulness of claim 6 manipulator telescopic joint under water, it is characterized in that: described telescopic arm, front and rear baffle, last lower baffle plate all adopt through strong anodized aluminum alloy materials; Preceding short supporting, preceding long support and relief angle supporting are made by the high aluminium bronze material of crush resistance strength.
By claim 1 or 5 described high strength operation underwater robots with manipulator telescopic joint under water, it is characterized in that: front and rear baffle, on the lower baffle plate outer surface be provided with the shallow square groove of loss of weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101558203A CN100551643C (en) | 2006-12-29 | 2006-12-29 | High strength operation underwater robot manipulator telescopic joint under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101558203A CN100551643C (en) | 2006-12-29 | 2006-12-29 | High strength operation underwater robot manipulator telescopic joint under water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101209555A CN101209555A (en) | 2008-07-02 |
| CN100551643C true CN100551643C (en) | 2009-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101558203A Expired - Fee Related CN100551643C (en) | 2006-12-29 | 2006-12-29 | High strength operation underwater robot manipulator telescopic joint under water |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103130111A (en) * | 2011-11-30 | 2013-06-05 | 五洲工程设计研究院 | Robot sleeve type lifting mechanism |
| CN102699614A (en) * | 2012-06-18 | 2012-10-03 | 扬州巨人机械有限公司 | Hydraulic assembling machine |
| CN116237297B (en) * | 2023-03-24 | 2023-09-01 | 绍兴市华宏精密科技有限公司 | Immersive casting cleaning system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5906439A (en) * | 1997-11-27 | 1999-05-25 | Lin; Jui-Kun | Mechanism for maintaining linear motion of mechanical arm |
| CN1586831A (en) * | 2004-07-09 | 2005-03-02 | 北京理工大学 | Six-freedom remote control arm with gravity compensation and length regulation |
| CN200991900Y (en) * | 2006-12-29 | 2007-12-19 | 中国科学院沈阳自动化研究所 | Under-water mechanical-arm extending joint for strong operation type underwater robot |
-
2006
- 2006-12-29 CN CNB2006101558203A patent/CN100551643C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5906439A (en) * | 1997-11-27 | 1999-05-25 | Lin; Jui-Kun | Mechanism for maintaining linear motion of mechanical arm |
| CN1586831A (en) * | 2004-07-09 | 2005-03-02 | 北京理工大学 | Six-freedom remote control arm with gravity compensation and length regulation |
| CN200991900Y (en) * | 2006-12-29 | 2007-12-19 | 中国科学院沈阳自动化研究所 | Under-water mechanical-arm extending joint for strong operation type underwater robot |
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| CN101209555A (en) | 2008-07-02 |
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Granted publication date: 20091021 Termination date: 20191229 |
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| CF01 | Termination of patent right due to non-payment of annual fee |