CN101224581A - Submarine manipulator shoulder joint - Google Patents
Submarine manipulator shoulder joint Download PDFInfo
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- CN101224581A CN101224581A CNA2008100639429A CN200810063942A CN101224581A CN 101224581 A CN101224581 A CN 101224581A CN A2008100639429 A CNA2008100639429 A CN A2008100639429A CN 200810063942 A CN200810063942 A CN 200810063942A CN 101224581 A CN101224581 A CN 101224581A
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- hydraulic cylinder
- shoulder joint
- rotating shaft
- foundation frame
- upper arm
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Abstract
The invention provides an underwater manipulator shoulder joint, consisting of a foundation frame, an upper arm, a yaw rotating shaft, a pitching rotating shaft, a hydraulic cylinder, a coupling spindle at the bottom of the hydraulic cylinder and a piston rod hinge base of the hydraulic cylinder; wherein, the foundation frame is linked to a shoulder joint through the yaw rotating shaft; the upper arm is linked to the shoulder joint through the pitching rotating shaft; the shoulder joint is provided with two piston rod hinge bases of the hydraulic cylinder which are respectively linked to two hydraulic cylinders; wherein, one hydraulic cylinder is arranged on the foundation frame, and the other hydraulic cylinder is arranged in a cavity of the upper arm. The invention is used for the underwater robot and has the advantages of simple structure, light weight, and flexible rotation. The invention realizes the motion of two DOFs rotation of the shoulder joint; furthermore, the distance between the two rotating shafts is extremely close, thus leading the structure to be compact.
Description
(1) technical field
What the present invention relates to is a kind of underwater robot technology, specifically the submarine manipulator shoulder joint structure of using for a kind of underwater robot.
(2) background technology
The ocean has abundant living resources, mineral resources and a large amount of oil, coal and natural gas equal energy sources.Along with the continuous breakthrough of the resource of land, thus the mankind to move towards the ocean be inexorable trend.The ocean has determined the weather of earth each department simultaneously, and the ecological environment of ocean is the barometer of the ecological environment of the earth, therefore is necessary the various piece to the ocean, comprises the place that the people can't arrive, and carries out environmental monitoring.
At present many in the world countries all recognize and utilize and the importance of exploitation ocean, drop into the research work that a large amount of funds, human and material resources are engaged in this respect one after another.Status in national economy such as marine resources development, marine environment climatic study, inland river water transport, water resource utilization have determined the significance of development Underwater Technology and underwater work system.Various underwater robots are the most important basic technologies of exploitation marine resources by consistent being known as of Marine Sciences men.Underwater robot will be human development from now on and utilize one of important means of ocean, and under some environment, underwater robot can be finished a large amount of human the work that at all can't finish.Now, underwater robot has been widely used in seabed mineral development of resources, marine salvage salvaging, oceanographic survey, underwater project construction and many aspects such as military affairs and national defense construction, and has produced very big economic benefit, social benefit and national defence eonomic effectiveness.
Underwater robot mainly is divided into cable underwater robot and no cable underwater robot.Because the offshore oil industrial rise has caused that developing rapidly of cable underwater robot arranged, and makes it become one of marine petroleum development imperative equipment.Divide by job task, underwater robot can be divided into operation type and observation type.Operation type underwater robot all is ROV (Remotely Operated Vehicle) basically.ROV is one of topmost instrument of current ocean exploratory development, and operating system is the important component part of ROV, mainly comprises manipulator and power tool.The development of underwater manipulator and exploitation are important contents in the underwater robot research and development always, usually manipulator are considered as the heart that ROV goes up operating system.
The relevant report of submarine manipulator shoulder joint is also more, for example: " variable structure control method of six function underwater manipulators and application study " (Shenyang Inst of Automation, Chinese Academy of Sciences's Master's thesis, 2002), " monitor-type underwater manipulator and The Research of Relevant Technology " (Shenyang Inst of Automation, Chinese Academy of Sciences's Master's thesis, 2001) underwater manipulator of mentioning in, its shoulder changes by the hydraulic cylinder that is installed in the base to be realized, the shoulder pendulum is realized by the hydraulic cylinder that is installed in the shoulder cavity, distance between shoulder rotating shaft and the shoulder balance staff is far away, structure is not compact, and the layout that is unfavorable for the hydraulic oil pipe pipeline causes whole manipulator volume big, defectives such as Heavy Weight; " development of 5DOF autonomous type underwater manipulator " (Chinese mechanical engineering, 2001,12 supplementary issues: the 5DOF autonomous type underwater manipulator of mentioning 16～18), this underwater manipulator shoulder have only a revolution free degree; The underwater manipulator shoulder of record has only a pitching free degree in the U.S. Pat 4648782, and shoulder is directly installed on the base; " design of underwater robot manipulator control system " (the rock drilling machinery pneumatic tool, 2003 (4): shoulder 53～58) has only a pitching free degree.
Characteristics such as that underwater manipulator requires to have is in light weight, volume is little, compact conformation, manoeuvrable, range of movement are big, the relevant design scheme of obvious existing submarine manipulator shoulder joint can not reach this requirement.
(3) summary of the invention
The object of the present invention is to provide a kind of in light weight, volume is little, compact conformation, manoeuvrable, submarine manipulator shoulder joint that range of movement is big.
The object of the present invention is achieved like this: connected free bearing and formed by foundation frame, upper arm, driftage rotating shaft, pitching rotating shaft, hydraulic cylinder, hydraulic cylinder bottom coupling spindle, hydraulic cylinder piston rod, wherein foundation frame connects with shoulder joint by the driftage rotating shaft, and upper arm links by pitching rotating shaft and shoulder joint; Shoulder joint is provided with two hydraulic cylinder piston rods and connects free bearing, connects two hydraulic cylinders respectively; Two hydraulic cylinders are installed in respectively in the outer and upper arm cavity of foundation frame by hydraulic cylinder bottom coupling spindle, and the hydraulic cylinder that connects with foundation frame is installed in the outside of foundation frame.
Patent advantage of the present invention is:
(1) patent of the present invention supplies water down that robot uses, have mechanism simple, in light weight, rotate flexible characteristic.
(2) realized the two-freedom rotational motion of shoulder joint, and the distance between two turning cylinders is very near, makes compact conformation.
(3) hydraulic cylinder that connects with foundation frame is installed in the outside of foundation frame, has saved the big quantity space of foundation frame, has reduced the volume of foundation frame greatly, thereby has reduced the weight and volume of underwater manipulator, and the pipeline that also helps hydraulic oil pipe is arranged.
(4) description of drawings
Fig. 1 is a perspective view of the present invention;
Fig. 2 is a front view of the present invention;
Fig. 3 is the vertical view of Fig. 2.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1-Fig. 3, submarine manipulator shoulder joint connects free bearing 8 and hydraulic cylinder piston rod connection free bearing 9 etc. by foundation frame 1, upper arm 2, driftage rotating shaft 3, pitching rotating shaft 4, hydraulic cylinder 5, hydraulic cylinder 6, hydraulic cylinder bottom coupling spindle 7, hydraulic cylinder piston rod and forms, wherein foundation frame 1 and shoulder joint connect by driftage rotating shaft 3, and upper arm 2 links by pitching rotating shaft 4 and shoulder joint; Hydraulic cylinder 5 bottoms connect with foundation frame 1 by hydraulic cylinder bottom coupling spindle 7, and hydraulic cylinder 5 tailpieces of the piston rod connect free bearing 8 by hydraulic cylinder piston rod and connect with shoulder joint; Hydraulic cylinder 6 tailpieces of the piston rod connect free bearing 9 by hydraulic cylinder piston rod and connect with shoulder joint, and the bottom of hydraulic cylinder 6 is installed in the cavity of upper arm 2.
The course of work of the present invention and principle are: foundation frame is fixedly mounted on (as ROV etc.) on the underwater robot.Rectilinear motion driving shoulder joint by hydraulic cylinder 5 is done yawing rotation around driftage rotating shaft 3, and the rectilinear motion of hydraulic cylinder 6 drives shoulder joint and does elevating movement around pitching rotating shaft 4.
Whole shoulder joint structural design compactness has realized binary shoulder joint kinesitherapy, thereby can greatly fall The volume of low underwater manipulator alleviates the weight of underwater manipulator, and has flexible operation, improves working space Etc. advantage.
Claims (2)
1. submarine manipulator shoulder joint, connect free bearing and form by foundation frame, upper arm, driftage rotating shaft, pitching rotating shaft, hydraulic cylinder, hydraulic cylinder bottom coupling spindle, hydraulic cylinder piston rod, it is characterized in that: foundation frame connects with shoulder joint by the driftage rotating shaft, and upper arm links by pitching rotating shaft and shoulder joint; Shoulder joint is provided with two hydraulic cylinder piston rods and connects free bearing, connects two hydraulic cylinders respectively, and one of them hydraulic cylinder is installed on the foundation frame, and another hydraulic cylinder is installed in the upper arm cavity.
2. submarine manipulator shoulder joint according to claim 1 is characterized in that: the hydraulic cylinder that connects with foundation frame is installed in the outside of foundation frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100639429A CN101224581A (en) | 2008-01-30 | 2008-01-30 | Submarine manipulator shoulder joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100639429A CN101224581A (en) | 2008-01-30 | 2008-01-30 | Submarine manipulator shoulder joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101224581A true CN101224581A (en) | 2008-07-23 |
Family
ID=39856896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100639429A Pending CN101224581A (en) | 2008-01-30 | 2008-01-30 | Submarine manipulator shoulder joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101224581A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804634B (en) * | 2010-02-06 | 2011-11-23 | 山东科技大学 | Large-arm joint pneumatic balanced structure and optimization design method thereof |
| CN102913258A (en) * | 2012-10-23 | 2013-02-06 | 游天月 | Special automatic guniting mechanical arm for tunnel |
| CN104029215A (en) * | 2014-06-05 | 2014-09-10 | 哈尔滨工程大学 | Arm joint structure of small underwater hydraulic manipulator |
| CN107322631A (en) * | 2017-07-12 | 2017-11-07 | 国家康复辅具研究中心 | Apery shoulder joint based on dielectric elastomer actuator |
| CN109454649A (en) * | 2018-11-27 | 2019-03-12 | 孙喜斌 | A kind of automobile deformed robot |
| CN109849050A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of hydraulic manipulator two degree-of-freedom joint based on double cruciform shaft cooperation |
| CN109849049A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint connected using crossed joint |
-
2008
- 2008-01-30 CN CNA2008100639429A patent/CN101224581A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804634B (en) * | 2010-02-06 | 2011-11-23 | 山东科技大学 | Large-arm joint pneumatic balanced structure and optimization design method thereof |
| CN102913258A (en) * | 2012-10-23 | 2013-02-06 | 游天月 | Special automatic guniting mechanical arm for tunnel |
| CN102913258B (en) * | 2012-10-23 | 2015-04-15 | 游天月 | Special automatic guniting mechanical arm for tunnel |
| CN104029215A (en) * | 2014-06-05 | 2014-09-10 | 哈尔滨工程大学 | Arm joint structure of small underwater hydraulic manipulator |
| CN107322631A (en) * | 2017-07-12 | 2017-11-07 | 国家康复辅具研究中心 | Apery shoulder joint based on dielectric elastomer actuator |
| CN107322631B (en) * | 2017-07-12 | 2020-05-22 | 国家康复辅具研究中心 | Human shoulder-imitating joint based on dielectric elastomer actuator |
| CN109454649A (en) * | 2018-11-27 | 2019-03-12 | 孙喜斌 | A kind of automobile deformed robot |
| CN109849050A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of hydraulic manipulator two degree-of-freedom joint based on double cruciform shaft cooperation |
| CN109849049A (en) * | 2019-01-13 | 2019-06-07 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint connected using crossed joint |
| CN109849050B (en) * | 2019-01-13 | 2020-09-15 | 浙江大学 | Hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching |
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