CN103264763A - Metamorphic expandable balance submersible device - Google Patents
Metamorphic expandable balance submersible device Download PDFInfo
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- CN103264763A CN103264763A CN2013100646423A CN201310064642A CN103264763A CN 103264763 A CN103264763 A CN 103264763A CN 2013100646423 A CN2013100646423 A CN 2013100646423A CN 201310064642 A CN201310064642 A CN 201310064642A CN 103264763 A CN103264763 A CN 103264763A
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Abstract
The present invention relates to a metamorphic expandable balance submersible device, which includes an inflator mechanism, four stretchable rods, a metamorphic sliding block mechanism, an umbrella-shaped mechanism and an elastic gasbag, wherein the inflator mechanism is composed of an inflator, a piston push rod, a piston and upper and lower inflator covers, four stretchable rods are respectively constituted by a branch pipe and a slender rod, the metamorphic sliding block mechanism is composed of upper and lower sliding blocks, four curved rods, a shaft, and a spring, and the umbrella-shaped mechanism is composed of a stop block, four arc-shaped brace rods and four connecting rods. During moving, the gas is transferred into the elastic gasbag from the inflator. From contraction to full expansion, the buoyancy torque of the elastic gasbag increases, so the impact interference of external environment for underwater robot is resisted.
Description
Technical field
The present invention relates to a kind of latent apparatus of the inflatable balance of change born of the same parents that is applied to microminiature underwater robot.
Technical background
Because when robot moves under water, be in three dimensional space, adjust in its attitude, run into unstable environment, as rapid current, stormy waves, and for the under-water robot that manipulator is arranged, when manipulator grasps load, because the influence of antagonistic force, robot is easy to lack of equilibrium and influences its underwater operation, research in the past is attitude adjustment and the balance that realizes robot by propelling unit or the rudder wing, but its control system is very complicated, and the adjustment time is long, and need manual intervention usually, can't accomplish Adjustable real-time.
Traditional theory of mechanisms theory is based on member and the kinematic pair of fixed number, and mechanism has only fixing degree of freedom.Become oneself's combination and self-reconstruct that born of the same parents mechanism is based on mechanism, compare with the fixing traditional mechanism of degree of freedom with having only the fixed number member, but change born of the same parents mechanism has variable freedom and variable number of components.Become born of the same parents mechanism and be the key concept that scholar in recent years proposes, it is defined as, and is in service continuously in mechanism, is changed by effective rod member number or kinematic pair type and geometric relationship and causes the change in topology of mechanism, and cause mechanism's mobility to change; In service continuously in mechanism, have at least a mobility to change, and after mobility changed, mechanism still kept operation.
Becoming born of the same parents mechanism is a kind of novel mechanism that presents different degree of freedom and number of components in different phase, flexible change born of the same parents mechanism has more flexibly, deformable super performance, thereby will become born of the same parents mechanism and be applied to under-water robot, realize the autonomic balance of robot, will have excellent research and be worth and realistic meaning.
Summary of the invention
The objective of the invention is to propose the latent apparatus of the inflatable balance of a kind of change born of the same parents, the external interference situation that it can be subjected to according to under-water robot inflation and bleeding in the elastic bag, realize expansion and the contraction of elastic bag, the position of gas transfer, thereby change the under-water robot part and be subjected to the buoyancy size, produce different moments, the impact of opposing external environment is disturbed, and realizes the autonomic balance of under-water robot.
For realizing above purpose, the present invention is achieved through the following technical solutions:
The inflatable balance of a kind of change born of the same parents apparatus of diving, comprise inflator mechanism, four expansion links, become born of the same parents' slide block mechanism, umbrella shape mechanism, elastic bag, inflator mechanism is by inflator, piston, piston push rod, air cylinder cover constitutes up and down, and air cylinder cover is separately fixed at the two ends of inflator up and down, piston is installed in the inflator, can slide up and down in inflator, piston push rod one end is fixed on the piston, and the other end passes down air cylinder cover and is connected with actuating device-slider-crank mechanism; Four telescopic rods are made of an arm and an elongate rod respectively, similar " fishing rod " structure, arm one end has four well-distributed sulculuses, be convenient to gas communication, elongate rod can relative motion in arm, when expansion link is elongated to extreme length, can transmit pulling force between elongate rod and the arm; Become born of the same parents' slide block mechanism by slide block, main shaft, spring and four bows constitute up and down, four bows hinge in twos are connected to form two pairs of curved rods, the two pairs of curved rod two ends form hinge with slide block up and down respectively and are connected, being 180 degree is symmetrically distributed, slide block is installed on the main shaft up and down, all can slide up and down along main shaft, spring housing freely is positioned over up and down between the slide block on main shaft; Umbrella shape mechanism is made of limiting stopper, four arc struts and four connecting rods, and four arc strut one ends are connected with the limiting stopper hinge, is 90 degree and arranges that evenly four connecting rods are connected with a bow hinge separately, constitutes umbrella frame frame shape structure; Elastic bag is covered on four arc struts, captives joint with sliding block with limiting stopper, constitutes the sphere structure of a sealing.
Four elongate rod one ends of four expansion links are captiveed joint with piston, are 90 degree and evenly distribute, and four arms pass air cylinder cover captives joint with sliding block, are 90 degree and evenly distribute; Main shaft one end that becomes born of the same parents' slide block mechanism is fixed on the air cylinder cover its axis and inflator dead in line; The limiting stopper of umbrella shape mechanism is threaded fixing with the other end of main shaft, (hinge is connected, and is 90 degree and evenly distributes with top shoe in four companies; The length of elongate rod is less than the length of arm, and the elongate rod diameter is convenient to gas and is circulated by arm less than a bore.
During work, actuating device driven plunger push rod promotes the piston upward movement, piston promotes slide block upward movement up and down by four expansion links, begin simultaneously to inflate to elastic bag, beveled structure launches, when top shoe touched limiting stopper, top shoe stopped upwards to slide, and became born of the same parents' slide block mechanism and became born of the same parents, become one degree of freedom by before two degree of freedom, the effective exercise member becomes three by two, when piston continues upward movement, promotes top shoe by expansion link and upwards slides, the spring of slide down interblock is compressed, curved rod outwards launches, up to the elastic bag inflation, and the piston stop motion.In motion process, gas is transferred in the elastic bag in inflator, and elastic bag is from being retracted to abundant expansion, and buoyancy moment increases.Expansion link can make the stroke of piston greater than the stroke of sliding block, thereby the gas in the inflator is fully transferred in the elastic bag, and elastic bag is fully expanded.
The present invention compares with present technology, has following apparent outstanding substantive distinguishing features and remarkable technological advance:
1 compares with traditional under-water robot balancing technique, and this structure adopts mechanical mechanism, and is simple in structure, and the control system of no very complicated is more easy to control, the stability height.
2, will become born of the same parents mechanism and apply to under-water robot, because under-water robot works under water, be subjected to the hydraulic pressure effect, and become born of the same parents mechanism and can make mechanism present different motion process orders at stroke during with backhaul, thereby satisfy the balance underwater actual demand of apparatus of diving.
Description of drawings
Fig. 1-3 is for becoming the integral structure scheme drawing of the latent apparatus of the inflatable balance of born of the same parents.
Fig. 4 is the inflator structural scheme of mechanism.
Fig. 5 is the expansion link structural representation.
Fig. 6 is the slider component scheme drawing.
Fig. 7 is umbrella frame frame shape member scheme drawing.
Fig. 8 is for becoming the contraction state of the latent apparatus of the inflatable balance of born of the same parents.
Fig. 9,10 is respectively and becomes the latent transition condition of apparatus when stroke and backhaul of the inflatable balance of born of the same parents.
Figure 11 is for becoming the latent transition condition of apparatus when stroke and backhaul of the inflatable balance of born of the same parents.
Figure 12 is for becoming the deployed condition of the latent apparatus of the inflatable balance of born of the same parents.
The specific embodiment
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment one:
With reference to figure 1 ~ Figure 12, the inflatable balance of this change born of the same parents apparatus of diving comprises inflator mechanism (01), four expansion links (02), becomes born of the same parents' slide block mechanisms (03), umbrella shape mechanism (04), elastic bag (16).Inflator mechanism (01) is by inflator (1), piston (2), piston push rod (3), air cylinder cover (5 up and down, 4) constitute, air cylinder cover (5,4) is separately fixed at the two ends of inflator (1) up and down, piston (2) is installed in the inflator (1), can slide up and down in inflator (1), piston push rod (3) one ends are fixed on the piston (2), and the other end passes down air cylinder cover (4) and is connected with actuating device; Four expansion links (02) are made of an arm (a 8) elongate rod of slip socket (6) respectively, similar " fishing rod " structure, arm (8) one ends have four well-distributed sulculuses, be convenient to gas communication, relative slip can take place with arm (8) in elongate rod (6), and there is flange elongate rod (6) end, the oriented convex shoulder in arm (8) end, when expansion link (02) when being elongated to extreme length, can transmit pulling force between elongate rod (6) and the arm (8); Become born of the same parents' slide block mechanisms (03) by slide block (12 up and down, 9), main shaft (7), spring (10) and four bows (11) constitute, four bows (11) hinge in twos are connected to form a pair of curved rod, a pair of curved rod two ends respectively with slide block (12 up and down, 9) forming hinge connects, being 180 degree is symmetrically distributed, slide block (12 up and down, 9) be installed on the main shaft (7), all can slide up and down along main shaft (7), spring (10) is enclosed within on the main shaft (7), freely is positioned over up and down between the slide block (12,9); Umbrella shape mechanism (04) is made of limiting stopper (13), four arc struts (15) and four connecting rods (14), four arc strut (15) one ends are connected with limiting stopper (13) hinge, being 90 degree evenly arranges, four connecting rods (14) are connected with a bow (15) hinge separately, constitute umbrella frame frame shape structure; Elastic bag (16) is covered on four arc struts (15), captives joint with sliding block (9) with limiting stopper (13), constitutes the sphere structure of a sealing.
Embodiment two:
Present embodiment and embodiment one are basic identical, and special feature is:
Four elongate rod (6) one ends of expansion link (02) are captiveed joint with piston (2), are 90 degree and evenly distribute, and four arms (8) pass air cylinder cover (5) captives joint with sliding block (9), are 90 degree and evenly distribute; Main shaft (7) one ends that become born of the same parents' slide block mechanisms (03) are fixed on the air cylinder cover (5) its axis and inflator (7) dead in line; The limiting stopper of umbrella frame frame shape mechanism (04) is threaded fixing with the other end of main shaft (7), four connecting rods (14) are connected with top shoe (12) hinge, is 90 degree and evenly distributes; The length of elongate rod (6) is less than the length of arm (8), and elongate rod (6) diameter is convenient to gas and is circulated by arm less than arm (8) internal diameter.
Embodiment three:
As Fig. 1, should be used for the latent apparatus of the inflatable balance of subminiature change born of the same parents, this device is made of inflator mechanism (01), four telescopic rods (02), change born of the same parents' slide block mechanisms (03), umbrella shape mechanism (04), elastic bag (16).
As Figure 1-3, four elongate rod (6) one ends in four telescopic rods (02) are fixed on the piston (2), four arm (8) one ends are fixed on the sliding block (9), all being 90 degree evenly distributes, main shaft (7) one ends that become born of the same parents' slide block mechanisms (02) are fixed on the air cylinder cover (5), its axis and inflator (1) dead in line, spring (10) is enclosed within on the main shaft (7), freely be positioned over slide block (12 up and down, 9) between, the limiting stopper (13) of umbrella shape mechanism (04) is threaded fixing with the other end of main shaft (7), four connecting rods (14) are connected with sliding block (9) hinge, is 90 degree and evenly distributes.
As Fig. 4, inflator mechanism, this mechanism is by inflator (1), air cylinder cover (4 up and down, 5), piston (2), piston push rod (3) constitutes, air cylinder cover (4 up and down, 5) be separately fixed at the two ends of inflator (1), piston (2) is contained in the inflator (1), can slide in inflator, piston push rod (3) one ends are fixed on the piston (2), and the other end passes air cylinder cover (4) and is connected with actuating device-slider-crank mechanism.
As Fig. 5, telescopic rod, this expansion link is made of an arm (8) and an elongate rod (6), similar " fishing rod " structure, arm (6) one ends have four well-distributed sulculuses, are convenient to gas flow, and elongate rod (6) can relative motion in arm (8), when expansion link (02) when being elongated to extreme length, can transmit pulling force between elongate rod (6) and the arm (8).
As Fig. 6, become born of the same parents' slide block mechanism, this mechanism is by slide block (12 up and down, 9), main shaft (7), spring (10) and four bows (11) constitute, four bows (11) hinge in twos are connected to form two pairs of curved rods, the two pairs of curved rod two ends respectively with slide block (12 up and down, 9) forming hinge connects, be 180 degree and be symmetrically distributed, slide block (12,9) is installed on the main shaft (7) up and down, all can slide up and down along main shaft (7), spring (10) is enclosed within on the main shaft (7), freely is positioned over up and down between the slide block (12,9);
As Fig. 7, umbrella frame frame shape mechanism, this mechanism (04) is made of limiting stopper (13), four arc struts (15) and four connecting rods (14), four arc strut (15) one ends are connected with limiting stopper (13) hinge, being 90 degree evenly distributes, four connecting rods (14) are connected with a bow (15) hinge separately, constitute similar umbrella frame frame shape structure;
The present invention is a kind of to be applied to under-water robot to become born of the same parents' spheroid inflatable apparatus principle of work as follows:
As Fig. 8, be initial condition this moment, elastic bag shrinks fully, actuating device driven plunger push rod (3) promotes piston (2) upward movement, piston promotes elongate rod (6) and with arm (8) relative motion takes place, expansion link (02) shortens, up to the lower end of piston (2) top to arm (8), as shown in Figure 9, when piston push rod (3) continues to promote piston (2) upward movement, expansion link (02) promotes to become born of the same parents' slide block mechanisms (03) and upwards slides, become born of the same parents' slide block mechanism this moment two degree of freedom, have two effective exercise members, touch limiting stopper (13) up to top shoe (12), as shown in figure 11, at this moment, become born of the same parents' slide block mechanism and become born of the same parents, when piston (2) continues to promote expansion link (02) upward movement, sliding block (9) overcomes spring (10) elastic force and upwards slides, connecting rod (14) outwards launches, at this moment, becoming born of the same parents mechanism has one degree of freedom, has three effective exercise members, move to the end of inflator up to piston (2), spring (10) is compressed to the shortest, and umbrella frame frame shape structure is launched, and gas is by being compressed in the inflator in the elastic bag, elastic bag fully expands, as shown in figure 12, in this process, elastic bag launches from fully being retracted to fully.In this motion process, the degree of freedom that becomes born of the same parents' slide block mechanism becomes one from two, and the effective exercise member becomes three from two.
During backhaul, situation is similar, as Figure 12, the elastic bag expansion, when piston push rod (3) spurs piston (2) when moving downward, become the sliding block (9) of born of the same parents' slide block mechanisms (03) owing to be subjected to spring (10) elastic force effect to lower slider, top shoe (12) is withstood by spring (10) and limiting stopper (13), at this moment, become born of the same parents' slide block mechanism one degree of freedom is arranged, three effective exercise members, and relative motion can not take place in the elongate rod (6) of expansion link (02) and arm (8), when moving downward spring (10), piston (2) returns to normal length, this moment as shown in figure 11, piston (2) continues to move downward, pulling expansion link (02) elongation, relative motion takes place in elongate rod (6) and arm (8), reach the longest up to expansion link (02), as shown in figure 12, piston (2) continues to move downward, move slide block mechanism (03) to lower slider by expansion link (02), umbrella frame frame shape structure begins to shrink, at this moment, become born of the same parents' slide block mechanism two degree of freedom are arranged, two effective exercise members of tool touch air cylinder cover (5), piston stop motion up to sliding block (9), as shown in Figure 8, at this moment, gas is transferred to from elastic bag in the inflator, and elastic bag shrinks fully.In this motion process, the degree of freedom that becomes born of the same parents' slide block mechanism becomes two from one, and the effective exercise member becomes two from three.
Claims (5)
1. one kind becomes the latent apparatus of the inflatable balance of born of the same parents, comprises inflator mechanism (01), four expansion links (02), becomes born of the same parents' slide block mechanisms (03), umbrella shape mechanism (04), elastic bag (16), it is characterized in that:
1), described inflator mechanism (01) is by inflator (1), piston (2), piston push rod (3), air cylinder cover (5 up and down, 4) constitute, air cylinder cover (5,4) is separately fixed at the two ends of inflator (1) up and down, piston (2) is installed in the inflator (1), can slide up and down in inflator (1), piston push rod (3) one ends are fixed on the piston (2), and the other end passes down air cylinder cover (4) and is connected with actuating device;
2), described four expansion links (02) are made of an arm (a 8) elongate rod of slide block socket (6) respectively, arm (8) one ends have four well-distributed sulculuses, be convenient to gas communication, relative slip can take place with arm (8) in elongate rod (6), there is flange elongate rod (6) end, the oriented internal shoulder in arm (8) end when expansion link (02) when being elongated to extreme length, can transmit pulling force between elongate rod (6) and the arm (8);
3), described change born of the same parents slide block mechanisms (03) are by slide block (12 up and down, 9), main shaft (7), spring (10) and four bows (11) constitute, four bows (11) hinge in twos are connected to form a pair of curved rod, a pair of curved rod two ends respectively with slide block (12 up and down, 9) forming hinge connects, being 180 degree is symmetrically distributed, slide block (12 up and down, 9) do not slide on the main shaft (7), all can slide up and down along main shaft (7), spring (10) is enclosed within on the main shaft (7), freely is positioned over up and down between the slide block (12,9);
4), described umbrella shape mechanism (04) is made of limiting stopper (13), four arc struts (15) and four connecting rods (14), four arc strut (15) one ends are connected with limiting stopper (13) hinge, being 90 degree evenly arranges, four connecting rods (14) end separately are connected with a bow (15) middle part hinge, and the other end and sliding block (9) are hinged, and constitute umbrella frame frame shape structure;
5), described elastic bag (16) is covered on four arc struts (15), captives joint with sliding block (9) with limiting stopper (13), constitutes the sphere structure of a sealing.
2. the inflatable balance of the change born of the same parents according to claim 1 apparatus of diving, it is characterized in that: four elongate rod (6) one ends of described four expansion links (02) are captiveed joint with piston (2), being 90 degree evenly distributes, four arms (8) pass air cylinder cover (5) captives joint with sliding block (9), is 90 degree and evenly distributes.
3. the inflatable balance of the change born of the same parents according to claim 1 apparatus of diving, it is characterized in that: main shaft (7) one ends of described change born of the same parents' slide block mechanisms (03) are fixed on the air cylinder cover (5) its axis and inflator (7) dead in line.
4. the inflatable balance of the change born of the same parents according to claim 1 apparatus of diving, it is characterized in that: the limiting stopper of described umbrella frame frame shape mechanism (04) is threaded fixing with the other end of main shaft (7), four connecting rods (14) are connected with top shoe (12) hinge, are 90 degree and evenly distribute.
5. change born of the same parents inflatable balloon body device according to claim 1, it is characterized in that: the length of described elongate rod (6) is less than the length of arm (8), and elongate rod (6) diameter is convenient to gas and is circulated by arm less than arm (8) internal diameter.
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| CN201310064642.3A CN103264763B (en) | 2013-03-01 | 2013-03-01 | Become born of the same parents' expandable balance submersible apparatus |
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| CN201310064642.3A CN103264763B (en) | 2013-03-01 | 2013-03-01 | Become born of the same parents' expandable balance submersible apparatus |
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| CN103264763B CN103264763B (en) | 2015-10-07 |
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Cited By (5)
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| CN104443318A (en) * | 2014-10-29 | 2015-03-25 | 上海大学 | Underwater robot balancing control movement mechanism |
| CN104787269A (en) * | 2015-03-24 | 2015-07-22 | 上海大学 | Metamorphic balance mechanism of subminiature underwater robot |
| CN107702050A (en) * | 2017-10-30 | 2018-02-16 | 贵州润柏吉科技有限公司 | Solar street light luminance detection device |
| CN108163166A (en) * | 2017-12-27 | 2018-06-15 | 合肥工业大学 | A kind of underwater stabilising arrangement of umbrella-type liftable translation |
| CN113799929A (en) * | 2021-10-25 | 2021-12-17 | 华北电力大学 | Telescopic buoyancy cabin and submarine mineral lifting system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113799929A (en) * | 2021-10-25 | 2021-12-17 | 华北电力大学 | Telescopic buoyancy cabin and submarine mineral lifting system |
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| CN103264763B (en) | 2015-10-07 |
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Granted publication date: 20151007 Termination date: 20180301 |