CN103264763B - Become born of the same parents' expandable balance submersible apparatus - Google Patents
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- CN103264763B CN103264763B CN201310064642.3A CN201310064642A CN103264763B CN 103264763 B CN103264763 B CN 103264763B CN 201310064642 A CN201310064642 A CN 201310064642A CN 103264763 B CN103264763 B CN 103264763B
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Abstract
The present invention relates to a kind of change born of the same parents expandable balance submersible apparatus.It comprises inflator mechanism, four telescopic rods, becomes born of the same parents' slide block mechanism, umbrella shape mechanism, elastic bag, wherein, inflator mechanism is made up of inflator, piston push rod, piston and upper and lower air cylinder cover, four telescopic rods are made up of an arm and an elongate rod respectively, become born of the same parents' slide block mechanism to be made up of upper sliding block, four bows, main shaft and springs, umbrella shape mechanism is made up of limiting stopper, four arc struts and four connecting rods.In motion process, gas is transferred in elastic bag in inflator, and elastic bag is from being retracted to abundant expansion, and buoyancy torque increases, thus opposing external environment is to the impulsive disturbance of under-water robot.
Description
Technical field
The present invention relates to a kind of change born of the same parents expandable balance submersible apparatus being applied to microminiature underwater robot.
Technical background
Due to robot move under water time, be in three dimensional space, at its pose adjustment, run into unstable environment, as turbulent water, stormy waves, and for there being the under-water robot of manipulator, when manipulator captures load, due to the impact of antagonistic force, robot is easy to lack of equilibrium and affects its underwater operation, research is in the past the pose adjustment and the balance that are realized robot by propelling unit or the rudder wing, but its control system is very complicated, and regulation time is long, and usually need manual intervention, cannot real-time, tunable be accomplished.
Traditional theory of mechanisms theory is component based on fixed number and kinematic pair, and mechanism only has fixing degree of freedom.Metamorphic mechanisms be based on mechanism oneself combination and oneself reconstruct, as compared to the traditional mechanism only having fixed number component with fixing degree of freedom, metamorphic mechanisms has can variable freedom and variable number of components.Metamorphic mechanisms is the key concept that proposes of scholar in recent years, and it is defined as, and at mechanism's continuous operation, changes by effective rod member number or kinematic pair type and geometric relationship the change in topology causing mechanism, and causes mechanism's mobility change; At mechanism's continuous operation, have a mobility change at least, and after mobility change, mechanism still keeps running.
Metamorphic mechanisms is a kind of novel mechanism presenting different degree of freedom and number of components in different phase, flexible metamorphic mechanisms has more flexibly, deformable super performance, thus metamorphic mechanisms is applied to under-water robot, realize the autonomic balance of robot, good researching value and realistic meaning will be had.
Summary of the invention
The object of the invention is to propose a kind of change born of the same parents expandable balance submersible apparatus, the external interference situation that it can be subject to according to under-water robot is inflated and is bled in elastic bag, realize expansion and the contraction of elastic bag, the position of gas transfer, thus change under-water robot local by buoyancy size, produce different moment, the impulsive disturbance of opposing external environment, realizes the autonomic balance of under-water robot.
For realizing above object, the present invention is achieved through the following technical solutions:
A kind of change born of the same parents expandable balance submersible apparatus, 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, up and down air cylinder cover are formed, and upper and lower air cylinder cover is separately fixed at the two ends of inflator, piston is arranged in inflator, can slide up and down in inflator, piston push rod one end is fixed on piston, and the other end is connected with actuating device-slider-crank mechanism through lower air cylinder cover; Four telescopic rods are made up of an arm and an elongate rod respectively, similar " fishing rod " structure, arm one end has four well-distributed sulculuses, be convenient to gas circulation, elongate rod can relative motion in arm, when expansion link is elongated to extreme length, between elongate rod and arm, pulling force can be transmitted; Become born of the same parents' slide block mechanism to be made up of upper sliding block, main shaft, spring and four bows, four bows between two chain connection form two pairs of curved rods, two pairs of curved rod two ends form chain connection with upper sliding block respectively, symmetrical in 180 degree, upper sliding block is arranged on main shaft, all can slide up and down along main shaft, spring housing, on main shaft, is freely positioned between sliding block; Umbrella shape mechanism is made up of limiting stopper, four arc struts and four connecting rods, and four arc strut one end and limiting stopper chain connection, be evenly arranged in 90 degree, four connecting rods separately with a bow chain connection, form umbrella frame shape structure; Elastic bag is covered on four arc struts, is fixedly connected with sliding block with limiting stopper, forms a closed sphere structure.
Four elongate rod one end of four expansion links are fixedly connected with piston, are uniformly distributed in 90 degree, and four arms are fixedly connected with sliding block through upper air cylinder cover, are uniformly distributed in 90 degree; The main shaft one end becoming born of the same parents' slide block mechanism is fixed on 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, and (chain connection, is uniformly distributed in 90 degree with top shoe in four companies; The length of elongate rod is less than the length of arm, and elongate rod diameter is less than a bore, is convenient to gas and is circulated by arm.
During work, actuating device driven plunger push rod promotes piston upwards, piston promotes upper sliding block upward movement by four expansion links, start to inflate to elastic bag simultaneously, beveled structure launches, when top shoe touches limiting stopper, top shoe stops upward sliding, become born of the same parents' slide block mechanism and become born of the same parents, one degree of freedom is become from the degree of freedom of two before, effective exercise component becomes three from two, when piston continues upward movement, top shoe upward sliding is promoted by expansion link, spring between upper sliding block is compressed, curved rod outwards launches, until elastic bag inflation, piston ceases movement.In motion process, gas is transferred in elastic bag in inflator, and elastic bag is from being retracted to abundant expansion, and buoyancy torque increases.Expansion link can make the stroke of piston be greater than the stroke of sliding block, thus the gas in inflator is fully transferred in elastic bag, and elastic bag is fully expanded.
The present invention, compared 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 structure is simple, and without the control system of very complicated, more easy to control, stability is high.
2, metamorphic mechanisms is applied to under-water robot, because under-water robot works under water, be subject to hydraulic pressure effect, metamorphic mechanisms can make mechanism present different motion process orders when stroke and backhaul, thus meets the latent underwater actual demand of apparatus of balance.
Accompanying drawing explanation
Fig. 1-3 is the integral structure schematic diagram becoming born of the same parents' expandable balance submersible apparatus.
Fig. 4 is inflator structural scheme of mechanism.
Fig. 5 is Telescopic rod structure schematic diagram.
Fig. 6 is slider component schematic diagram.
Fig. 7 is umbrella frame shape component schematic diagram.
Fig. 8 is the contraction state becoming born of the same parents' expandable balance submersible apparatus.
Fig. 9,10 is respectively and becomes the transition condition of born of the same parents' expandable balance submersible apparatus when stroke and backhaul.
Figure 11 becomes the transition condition of born of the same parents' expandable balance submersible apparatus when stroke and backhaul.
Figure 12 is the deployed condition becoming born of the same parents' expandable balance submersible apparatus.
Detailed description of the invention
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment one:
With reference to figure 1 ~ Figure 12, this change born of the same parents expandable balance submersible apparatus, comprises inflator mechanism (01), four expansion links (02), becomes born of the same parents' slide block mechanism (03), umbrella shape mechanism (04), elastic bag (16).Inflator mechanism (01) is by inflator (1), piston (2), piston push rod (3), up and down air cylinder cover (5,4) form, upper and lower air cylinder cover (5,4) is separately fixed at the two ends of inflator (1), piston (2) is arranged in inflator (1), can slide up and down in inflator (1), piston push rod (3) one end is fixed on piston (2), and the other end is connected with actuating device through lower air cylinder cover (4); Four expansion links (02) are slidably socketed an elongate rod (6) by an arm (8) respectively and form, similar " fishing rod " structure, arm (8) one end has four well-distributed sulculuses, be convenient to gas circulation, can there is relative sliding with arm (8) in elongate rod (6), there is flange elongate rod (6) end, the oriented convex shoulder in arm (8) end, when expansion link (02) is elongated to extreme length, between elongate rod (6) and arm (8), pulling force can be transmitted; Become born of the same parents' slide block mechanism (03) by upper sliding block (12,9), main shaft (7), spring (10) and four bows (11) are formed, four bows (11) between two chain connection form a pair curved rod, a pair curved rod two ends respectively with upper sliding block (12,9) chain connection is formed, symmetrical in 180 degree, upper sliding block (12,9) be arranged on main shaft (7), all can slide up and down along main shaft (7), spring (10) is enclosed within main shaft (7), is freely positioned between sliding block (12,9); Umbrella shape mechanism (04) is made up of limiting stopper (13), four arc struts (15) and four connecting rods (14), four arc strut (15) one end and limiting stopper (13) chain connection, be evenly arranged in 90 degree, four connecting rods (14) separately with bow (15) chain connection, form umbrella frame shape structure; Elastic bag (16) is covered on four arc struts (15), is fixedly connected with sliding block (9) with limiting stopper (13), forms a closed sphere structure.
Embodiment two:
The present embodiment is substantially identical with embodiment one, and special feature is:
Four elongate rod (6) one end of expansion link (02) are fixedly connected with piston (2), and be uniformly distributed in 90 degree, four arms (8) are fixedly connected with sliding block (9) through upper air cylinder cover (5), are uniformly distributed in 90 degree; Main shaft (7) one end becoming born of the same parents' slide block mechanism (03) is fixed on air cylinder cover (5), its axis and inflator (7) dead in line; The limiting stopper of umbrella frame shape mechanism (04) is threaded fixing with the other end of main shaft (7), and four connecting rods (14) and top shoe (12) chain connection, be uniformly distributed in 90 degree; The length of elongate rod (6) is less than the length of arm (8), and elongate rod (6) diameter is less than arm (8) internal diameter, is convenient to gas and is circulated by arm.
Embodiment three:
As Fig. 1, should be used for subminiature change born of the same parents expandable balance submersible apparatus, this device is made up of inflator mechanism (01), four telescopic rods (02), change born of the same parents' slide block mechanism (03), umbrella shape mechanism (04), elastic bags (16).
As Figure 1-3, four elongate rod (6) one end in four telescopic rods (02) are fixed on piston (2), four arm (8) one end are fixed on sliding block (9), all be uniformly distributed in 90 degree, main shaft (7) one end becoming born of the same parents' slide block mechanism (02) is fixed on air cylinder cover (5), its axis and inflator (1) dead in line, spring (10) is enclosed within main shaft (7), freely be positioned over sliding block (12, 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) and sliding block (9) chain connection, be uniformly distributed in 90 degree.
As Fig. 4, inflator mechanism, this mechanism is by inflator (1), upper and lower air cylinder cover (4,5), piston (2), piston push rod (3) is formed, upper and lower air cylinder cover (4,5) be separately fixed at the two ends of inflator (1), piston (2) is contained in inflator (1), can slide in inflator, piston push rod (3) one end is fixed on piston (2), and the other end is connected with actuating device-slider-crank mechanism through air cylinder cover (4).
As Fig. 5, telescopic rod, this expansion link is made up of an arm (8) and an elongate rod (6), similar " fishing rod " structure, arm (6) one end has four well-distributed sulculuses, and be convenient to gas flowing, elongate rod (6) can relative motion in arm (8), when expansion link (02) is elongated to extreme length, between elongate rod (6) and arm (8), pulling force can be transmitted.
As Fig. 6, become born of the same parents' slide block mechanism, this mechanism is by upper sliding block (12,9), main shaft (7), spring (10) and four bows (11) are formed, four bows (11) between two chain connection form two pairs of curved rods, the two pairs of curved rod two ends respectively with upper sliding block (12,9) chain connection is formed, symmetrical in 180 degree, upper sliding block (12,9) is arranged on main shaft (7), all can slide up and down along main shaft (7), spring (10) is enclosed within main shaft (7), is freely positioned between sliding block (12,9);
As Fig. 7, umbrella frame shape mechanism, this mechanism (04) is made up of limiting stopper (13), four arc struts (15) and four connecting rods (14), four arc strut (15) one end and limiting stopper (13) chain connection, be uniformly distributed in 90 degree, four connecting rods (14) separately with bow (15) chain connection, form similar umbrella frame shape structure;
It is as follows that one of the present invention is applied to under-water robot change born of the same parents spheroid inflatable apparatus principle of work:
As Fig. 8, it is now initial condition, elastic bag shrinks completely, actuating device driven plunger push rod (3) promotes piston (2) upward movement, piston promotes elongate rod (6), with arm (8), relative motion occurs, expansion link (02) shortens, until piston (2) top is to the lower end of 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 mechanism (03) upward sliding, now become born of the same parents' slide block mechanism and have two degree of freedom, there are two effective exercise components, until top shoe (12) touches limiting stopper (13), as shown in figure 11, now, 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 upward sliding, connecting rod (14) outwards launches, now, metamorphic mechanisms has one degree of freedom, there are three effective exercise components, until piston (2) moves to the end of inflator, spring (10) is compressed to the shortest, umbrella frame shape structure is launched, gas is by being compressed in elastic bag in inflator, elastic bag fully expands, as shown in figure 12, in this process, elastic bag launches completely from being fully retracted to.In this motion process, the degree of freedom becoming born of the same parents' slide block mechanism becomes one from two, and effective exercise component becomes three from two.
During backhaul, situation is similar, as Figure 12, elastic bag expansion, when piston push rod (3) pulls piston (2) to move downward, become the sliding block (9) of born of the same parents' slide block mechanism (03) owing to being subject to spring (10) elastic force effect slide downward, top shoe (12) is withstood by spring (10) and limiting stopper (13), now, become born of the same parents' slide block mechanism and have one degree of freedom, three effective exercise components, and relative motion can not be there is in the elongate rod (6) of expansion link (02) and arm (8), normal length is returned to when piston (2) moves downward spring (10), now as shown in figure 11, piston (2) continues to move downward, expansion link (02) is pulled to extend, there is relative motion in elongate rod (6) and arm (8), until expansion link (02) reaches the longest, as shown in Figure 10, piston (2) continues to move downward, slide block mechanism (03) slide downward is moved to by expansion link (02), umbrella frame shape structure starts to shrink, now, become born of the same parents' slide block mechanism and have two degree of freedom, tool two effective exercise components, until sliding block (9) touches air cylinder cover (5), piston ceases movement, as shown in Figure 8, now, gas is transferred in inflator from elastic bag, elastic bag shrinks completely.In this motion process, the degree of freedom becoming born of the same parents' slide block mechanism becomes two from one, and effective exercise component becomes two from three.
Claims (5)
1. become a born of the same parents expandable balance submersible apparatus, comprise inflator mechanism (01), four expansion links (02), become born of the same parents' slide block mechanism (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), up and down air cylinder cover (5,4) form, upper and lower air cylinder cover (5,4) is separately fixed at the two ends of inflator (1), piston (2) is arranged in inflator (1), can slide up and down in inflator (1), piston push rod (3) one end is fixed on piston (2), and the other end is connected with actuating device through lower air cylinder cover (4);
2), described four expansion links (02) are socketed an elongate rod (6) by arm (8) slide block respectively and form, arm (8) one end has four well-distributed sulculuses, be convenient to gas circulation, relative sliding can be there is in elongate rod (6) with arm (8), there is flange elongate rod (6) end, the oriented internal shoulder in arm (8) end, when expansion link (02) is elongated to extreme length, can transmit pulling force between elongate rod (6) and arm (8);
3), described change born of the same parents slide block mechanism (03) are by upper sliding block (12,9), main shaft (7), spring (10) and four bows (11) are formed, four bows (11) between two chain connection form a pair curved rod, a pair curved rod two ends respectively with upper sliding block (12,9) chain connection is formed, symmetrical in 180 degree, upper sliding block (12,9) do not slide on main shaft (7), all can slide up and down along main shaft (7), spring (10) is enclosed within main shaft (7), is freely positioned between sliding block (12,9);
4), described umbrella shape mechanism (04) is made up of limiting stopper (13), four arc struts (15) and four connecting rods (14), four arc strut (15) one end and limiting stopper (13) chain connection, be evenly arranged in 90 degree, four connecting rods (14) one end and arc strut (15) middle part chain connection separately, and the other end and sliding block (9) are hinged, form umbrella frame shape structure;
5), described elastic bag (16) is covered on four arc struts (15), is fixedly connected with sliding block (9) with limiting stopper (13), forms a closed sphere structure.
2. change born of the same parents expandable balance submersible apparatus according to claim 1, it is characterized in that: four elongate rod (6) one end of described four expansion links (02) are fixedly connected with piston (2), be uniformly distributed in 90 degree, four arms (8) are fixedly connected with sliding block (9) through upper air cylinder cover (5), are uniformly distributed in 90 degree.
3. change born of the same parents expandable balance submersible apparatus according to claim 1, is characterized in that: main shaft (7) one end of described change born of the same parents' slide block mechanism (03) is fixed on air cylinder cover (5), its axis and inflator (1) dead in line.
4. change born of the same parents expandable balance submersible apparatus according to claim 1, it is characterized in that: the limiting stopper of described umbrella frame shape mechanism (04) is threaded fixing with the other end of main shaft (7), four connecting rods (14) and top shoe (12) chain connection, be uniformly distributed in 90 degree.
5. change born of the same parents expandable balance submersible apparatus according to claim 1, 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 less than arm (8) internal diameter, is convenient to gas and is circulated by arm.
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| Application Number | Priority Date | Filing Date | Title |
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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 true CN103264763B (en) | 2015-10-07 |
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Families Citing this family (5)
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| CN104443318B (en) * | 2014-10-29 | 2017-02-15 | 上海大学 | Underwater robot balancing control movement mechanism |
| CN104787269B (en) * | 2015-03-24 | 2017-03-15 | 上海大学 | A kind of change born of the same parents' balanced controls of microminiature underwater robot |
| CN107702050B (en) * | 2017-10-30 | 2024-10-01 | 贵州润柏吉科技有限公司 | Solar street lamp brightness detection device |
| CN108163166B (en) * | 2017-12-27 | 2019-08-30 | 合肥工业大学 | A kind of underwater stabilising arrangement of umbrella-type liftable translation |
| CN113799929B (en) * | 2021-10-25 | 2022-06-24 | 华北电力大学 | Telescopic buoyancy cabin and submarine mineral lifting system |
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| WO2012009719A2 (en) * | 2010-07-16 | 2012-01-19 | University Of South Florida | Shape-shifting surfaces |
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|---|---|---|---|---|
| CN101870352A (en) * | 2010-06-29 | 2010-10-27 | 北京邮电大学 | Deformation mechanism for underwater robots |
| CN102672716A (en) * | 2012-05-22 | 2012-09-19 | 广西大学 | Reconfigurable metamorphic polyhedron robot mechanism |
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