CN101224583A - Submarine manipulator elbow joint structure - Google Patents
Submarine manipulator elbow joint structure Download PDFInfo
- Publication number
- CN101224583A CN101224583A CNA2008100639467A CN200810063946A CN101224583A CN 101224583 A CN101224583 A CN 101224583A CN A2008100639467 A CNA2008100639467 A CN A2008100639467A CN 200810063946 A CN200810063946 A CN 200810063946A CN 101224583 A CN101224583 A CN 101224583A
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- hydraulic cylinder
- elbow joint
- forearm
- upper arm
- piston rod
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Abstract
The invention provides an elbow joint structure for an underwater manipulator, which consists of a forearm 1, an upper arm 2, an elbow joint pitching rotating shaft 3, a hydraulic cylinder bottom coupling shaft 4 arranged on the upper arm 2 and a hydraulic cylinder piston rod coupling shaft 6 arranged on the forearm 1 and the hydraulic cylinder 5. The forearm 1 is connected with the upper arm 2 by the elbow joint pitching rotating shaft 3; the bottom of a hydraulic cylinder 5 is connected with the hydraulic cylinder bottom coupling shaft 4 arranged on the upper arm 2, the end of the piston rod of the hydraulic cylinder 5 is connected with the hydraulic cylinder piston rod coupling shaft 6 arranged on the forearm 1. The invention can be applied to an underwater robot, is characterized by simple mechanism, compact structure and reasonable arrangement, can realize the wide range pitching rotation of the elbow joint and can considerably reduce the dead zone of the operation space of the underwater manipulator.
Description
(1) technical field
What the present invention relates to is underwater robot, specifically the submarine manipulator elbow joint structure that uses 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.
Characteristics such as that underwater manipulator requires to have is in light weight, volume is little, compact conformation, manoeuvrable, range of movement are big do not retrieve the submarine manipulator elbow joint structure approximate with the present patent application at present.
(3) summary of the invention
Be requirement such as realize that underwater manipulator is in light weight, volume is little, compact conformation, manoeuvrable, range of movement are big, when each joint of design underwater manipulator, must take into full account its frame for movement.The invention provides a kind of that use for operation type underwater robot, simple in structure, rotate flexibly, can realize rotation on a large scale, can effectively reduce the submarine manipulator elbow joint structure in the dead band of job area.
The object of the present invention is achieved like this:
The present invention is made up of the hydraulic cylinder piston rod coupling spindle 6 on hydraulic cylinder bottom coupling spindle 4, hydraulic cylinder 5 and the forearm 1 on forearm 1, upper arm 2, elbow joint pitching rotating shaft 3, the upper arm 2, and forearm 1 links by elbow joint pitching rotating shaft 3 and upper arm 2; The bottom of hydraulic cylinder 5 is connected on the hydraulic cylinder bottom coupling spindle 4 on the upper arm 2, and hydraulic cylinder 5 tailpieces of the piston rod are connected on the hydraulic cylinder piston rod coupling spindle 6 on the forearm 1.
When manipulator during at horizontal level, upper arm 2 center lines and forearm 1 center line be not in same horizontal plane, and forearm 1 center line is higher than the center line of upper arm 2.
Patent advantage of the present invention is:
(1) patent of the present invention supplies water down that robot uses, and has that mechanism is simple, a compact conformation, favorably situated characteristics.
(2) pitch rotation on a large scale that can realize elbow joint is moved.
(3) can significantly reduce the interior dead band of underwater manipulator working space scope.
(4) description of drawings
Fig. 1 is a graphics of the present invention.
Fig. 2 is a plane of the present invention.
Fig. 3 is the vertical view of Fig. 2.
Fig. 4 is an extreme position schematic diagram of the present invention.
(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 elbow joint structure of the present invention is made up of the hydraulic cylinder piston rod coupling spindle 6 on hydraulic cylinder bottom coupling spindle 4, hydraulic cylinder 5 and the forearm 1 on forearm 1, upper arm 2, elbow joint pitching rotating shaft 3, the upper arm 2, and forearm 1 links by elbow joint pitching rotating shaft 3 and upper arm 2; The bottom of hydraulic cylinder 5 is connected on the hydraulic cylinder bottom coupling spindle 4 on the upper arm 2, and hydraulic cylinder 5 tailpieces of the piston rod are connected on the hydraulic cylinder piston rod coupling spindle 6 on the forearm 1.
The course of work of the present invention and principle are: by the rectilinear motion of hydraulic cylinder 5, drive forearm and do elevating movement around elbow joint pitching rotating shaft 3, realize the elevating movement of elbow joint.
As can be seen, this structure can improve the scope of activities of elbow joint greatly from elbow joint shown in Figure 4 one extreme position schematic diagram, effectively reduces the dead band in the underwater manipulator working space scope, improves the flexibility of submarine mechanical manual task.
Claims (2)
1. submarine manipulator elbow joint structure, be made up of the hydraulic cylinder piston rod coupling spindle [6] on the hydraulic cylinder bottom coupling spindle [4] on forearm [1], upper arm [2], elbow joint pitching rotating shaft [3], the upper arm, hydraulic cylinder [5] and the forearm, it is characterized in that: forearm [1] links by elbow joint pitching rotating shaft [3] and upper arm [2]; The bottom of hydraulic cylinder [5] is connected on the hydraulic cylinder bottom coupling spindle [4] on the upper arm, and the hydraulic cylinder piston rod end is connected on the hydraulic cylinder piston rod coupling spindle [6] on the forearm.
2. require 1 described submarine manipulator elbow joint structure according to patent, it is characterized in that: when manipulator during at horizontal level, upper arm [2] center line and forearm [1] center line be not in same horizontal plane, and forearm [1] center line is higher than the center line of upper arm [2].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100639467A CN101224583A (en) | 2008-01-30 | 2008-01-30 | Submarine manipulator elbow joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100639467A CN101224583A (en) | 2008-01-30 | 2008-01-30 | Submarine manipulator elbow joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101224583A true CN101224583A (en) | 2008-07-23 |
Family
ID=39856898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100639467A Pending CN101224583A (en) | 2008-01-30 | 2008-01-30 | Submarine manipulator elbow joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101224583A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106670710A (en) * | 2016-12-30 | 2017-05-17 | 北京天恒长鹰科技股份有限公司 | Adjusting device and method used for truss structure assembly |
-
2008
- 2008-01-30 CN CNA2008100639467A patent/CN101224583A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106670710A (en) * | 2016-12-30 | 2017-05-17 | 北京天恒长鹰科技股份有限公司 | Adjusting device and method used for truss structure assembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20080723 |