CN103921283B - One is water hydraulic manipulator joint drive unit under water - Google Patents
One is water hydraulic manipulator joint drive unit under water Download PDFInfo
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- CN103921283B CN103921283B CN201410158234.9A CN201410158234A CN103921283B CN 103921283 B CN103921283 B CN 103921283B CN 201410158234 A CN201410158234 A CN 201410158234A CN 103921283 B CN103921283 B CN 103921283B
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Abstract
The object of the present invention is to provide one water hydraulic manipulator joint drive unit under water, be made up of water hydraulic drive part, position detection part and front and back articulated part; Position detection part is connected realization with water hydraulic drive part by driving rotor of output shaft axle.Water hydraulic drive part, by driving rotor assembly, driving stator to form, and by the dynamic bearing that rolls left, right sliding bearing supporting and location, and adopts sealing O type circle, sealing Glais ring Leakage prevention; Drive rotor assembly by drive shaft, drive rotor, rotor seal Glais ring, rotor O RunddichtringO, drive rotor right end cap to form, rotor is fastening to be arranged in drive shaft, the surface smear fluid sealant that rotor is contacted with end cap, right end cap endoporus is smeared fluid sealant and is arranged on rotor side, and by rotor pre-loading screw by turning cylinder, rotor, the locking of rotor right end cap, be assembled into a black box.The present invention is applicable to the joint drive of Controller of Underwater Manipulator.
Description
Technical field
What the present invention relates to is a kind of drive unit, specifically drive unit under water.
Background technology
Ocean is richly stored with living resources and mineral resources, and the mankind, to the development and utilization of ocean, be unable to do without underwater operation equipment.Underwater manipulator is the power tool that underwater operation equipment often configures, and underwater hydraulic manipulator becomes study hotspot as its important branch.Underwater hydraulic manipulator has larger driving moment and the good advantage of stationarity, and hydraulic system has better weight--to-power ratio, is conducive to the overall weight and the volume that reduce manipulator; But in recent years, the increase required the underwater hydraulic manipulator feature of environmental protection, security and energy saving along with people, more and more came into one's own as the water hydrostatic transmission of drive medium based on using fresh water or seawater.
At present, the joint drive technology being applicable to underwater manipulator is comparatively ripe, as Chinese Patent Application No. be 200810063943.3, name is called that " underwater manipulator upper arm " and Chinese Patent Application No. are 200810063942.9, name is called in the patent document of " submarine manipulator shoulder joint ", the drive unit of manipulator is linear hydraulic cylinder, and the manipulator joint drive unit be made up of linear hydraulic cylinder limits the angular range that this joint can be rotated; Chinese Patent Application No. 201110233303.4, name are called in the patent document of " a kind of swinging joint structure of underwater hydraulic manipulator ", manipulator driving device version is spiral oscillating cylinder, its structure is comparatively complicated, volume and weight is comparatively large, and does not relate to the feedback of joint job information.
Because the characteristic such as fresh water or seawater viscosity and conventional hydraulic oil have larger difference, the hydraulic knuckle drive unit causing above-mentioned grade to be commonly used exists larger internal leakage, external leakage and material etc. can not meet instructions for use; Simultaneously for improving the control accuracy of manipulator, manipulator joint drive unit need design closed loop feedback and regulate.Therefore design a kind of novel, efficient and the articulated driving equipment with closed loop feedback is applied on water hydraulic manipulator, this device needs in structure and sealing means, have larger improvement, to reduce internal leakage and to prevent external leakage.
Summary of the invention
The object of the present invention is to provide the one water hydraulic manipulator joint drive unit under water of the manipulator driving force of operation under water.
The object of the present invention is achieved like this:
One of the present invention is water hydraulic manipulator joint drive unit under water, it is characterized in that: comprise water hydraulic drive part, position detection part, cradle head shell, joint left end cap, joint right end cap, water hydraulic drive part and position detection part are arranged in cradle head shell, water hydraulic drive part comprises drive shaft, drive stator, drive rotor, stator is driven to be fixed on cradle head outer casing inner wall, rotor is driven to be connected mutually with drive shaft, drive shaft is arranged on and drives by stator, joint left end cap and joint right end cap are separately fixed at the left and right sides of cradle head shell, joint left end cap is connected by front articular link plate with joint right end cap, drive shaft matches with joint left end cap and cradle head shell respectively by roll left dynamic bearing and right sliding bearing, position detection part comprises rotary transformer, jump ring, rotary transformer comprises rotary transformer stator, rotary transformer rotor, rotary transformer rotor interference is arranged in drive shaft, rotary transformer stator is positioned at rotary transformer rotor outside, jump ring is stuck on rotary transformer stator and cradle head shell, rotary transformer stator is fixed on cradle head shell by jump ring screw, through jump ring in the middle part of jump ring screw, cradle head shell is installed water hydraulic pipe joint, cable watertight connector, water hydraulic pipe joint arranges through hole, through hole is communicated to cradle head enclosure, the liquid driven entered from water hydraulic pipe joint drives rotor and drive shaft to rotate relative to driving stator, cable watertight connector connects rotary transformer stator by cable.
The present invention can also comprise:
1, rotor is driven to be 180 degree ~ 270 degree relative to the anglec of rotation of driving stator.
2, the cradle head shell between right sliding bearing and rotary transformer arranges open type sealed groove, install sealing Glais ring in middle part in open type sealed groove, middle part forms enclosed groove after sealing Glais ring and right sliding bearing interference fit and realizes drive shaft movable sealing; Sealed by end cap O RunddichtringO between joint right end cap and cradle head shell; Drive rotor and drive between stator and cradle head shell and rotor right end cap is set, rotor right end cap is sleeved in drive shaft, fluid sealant is smeared between rotor right end cap and driving rotor, the face that rotor right end cap contacts with drive shaft arranges seal groove, rotor O RunddichtringO is set in seal groove, drive shaft and rotor right end cap and cradle head shell touching position arrange groove, all install rotor seal Glais ring in groove; End face static seal is realized by watertight head O RunddichtringO between cable watertight connector and cradle head shell.
Advantage of the present invention is:
1. utilize seawater or fresh water as mechanical hand hydraulic medium, for manipulator design a kind of lightweight, volume is little, easy for installation, driving force is large and free of contamination underwater hydraulic manipulator articulated driving equipment.
2. adopt modular method for designing, design articulated driving equipment, mutually can replace each free degree joint drive module of manipulator by designing unified joint connection mode, meeting the requirement of articulated driving equipment versatility and interchangeability.
3. utilize position detecting device to gather the angle angular acceleration signal of submarine mechanical swivel of hand operation, and transmitted back in manipulator control system, form underwater manipulator closed loop feedback.
4. water hydraulic drive unit and position detecting device are integrated in manipulator joint drive unit, make articulated driving equipment compact conformation, lightweight, improve the service efficiency of manipulator joint parts and inner space.
Accompanying drawing explanation
Fig. 1 is structure diagram of the present invention;
Fig. 2 is axial sectional view 1 of the present invention;
Fig. 3 is axial sectional view 2 of the present invention;
Fig. 4 is the axial sectional view driving rotor assembly;
Fig. 5 is the A-A sectional view that Fig. 4 drives rotor assembly;
Fig. 6 is front articular link plate structure diagram;
Fig. 7 is the structure diagram of jump ring;
Fig. 8 a drives the structure diagram a of rotor, and Fig. 8 b is the structure diagram b driving rotor, Fig. 8 c is the structure diagram c driving rotor;
Fig. 9 a drives the structure diagram a of stator, and Fig. 9 b is the structure diagram b driving stator, Fig. 9 c is the structure diagram c driving stator;
Figure 10 a is for improving rear drive rotor structure sketch a, and Figure 10 b is for improving rear drive rotor structure sketch b, and Figure 10 c is for improving rear drive rotor structure sketch c;
Figure 11 a is the structure diagram c of the structure diagram a of black box, Figure 11 b to be the structure diagram b of black box after improving, Figure 11 c be black box after improving after improving.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 11, patent object of the present invention be to provide a kind of lightweight, volume is little, easy for installation, driving force is large and free of contamination seawater or the fresh water of utilizing as the underwater hydraulic manipulator articulated driving equipment of hydraulic medium.This device, as the most important components of underwater hydraulic manipulator, provides the driving force of manipulator operation under water, and by the parameter such as angle, angular acceleration of position detection part feedback manipulator operation so that host computer is to the control of manipulator joint; This device adopts water hydraulic to drive, and can provide larger, that stationarity is strong driving moment, and water hydraulic mode is high compared to fluid pressure more environmental protection (hydraulic medium leaks in external environment pollution-free), security for manipulator.
The object of patent of the present invention is achieved through the following technical solutions:
Patent of the present invention adopts water hydraulic type of drive, and hydraulic medium is that fresh water or seawater all can; Articulated driving equipment is primarily of water hydraulic drive part, position detection part and front and back articulated part composition; Described position detection part is connected realization with water hydraulic drive part by driving rotor of output shaft axle.Described water hydraulic drive part forms primarily of driving rotor assembly, driving stator, and by the dynamic bearing that rolls left, right sliding bearing supporting and location, and adopt sealing O type circle, sealing Glais ring Leakage prevention; Drive rotor assembly primarily of drive shaft, drive rotor, rotor seal Glais ring, rotor O RunddichtringO, drive rotor right end cap to form, rotor is fastening to be arranged in drive shaft, the surface smear fluid sealant that rotor is contacted with end cap, right end cap endoporus is smeared fluid sealant and is arranged on rotor side, and by rotor pre-loading screw by turning cylinder, rotor, the locking of rotor right end cap, be assembled into a black box.When articulated driving equipment works, hydraulic medium acts on to drive rotor stress surface to make it drive and drive rotor assembly and drive between stator and relative motion occurs, and provides articulated driving equipment power.
Described position detection part is primarily of rotary transformer, installation jump ring, joint right end cap, sealing ring and homemade watertight connector composition.Rotary transformer rotor is arranged in drive shaft by interference fit, and stator is fastened on articulated driving equipment shell by two semicircle jump rings; Rotary transformer is absolute transducer, and drive shaft drives relative motion between rotor sensor and stator, and sensor produces the transmission of angle angular acceleration signal and returns in governor circuit, realizes the closed-loop control driven manipulator joint.Described articulated part forms primarily of joint left end cap, joint right end cap and front articular link plate; Left end cap posterior joint adjacent with manipulator in joint is connected and fixed by flat key, and joint right end cap turning cylinder is connected with posterior joint adjacent with manipulator after rolling bearing interference fit; Front articular link plate is arranged on the end cap of left and right by screw and alignment pin, more front joint adjacent with manipulator is connected and fixed.
As depicted in figs. 1 and 2, patent of the present invention is primarily characterized in that: adopt fresh water or seawater as hydraulic medium, form primarily of water hydraulic drive part 6, position detection part 5 and front and back articulated part 4,9,15; Water hydraulic drive part 6 and position detection part 5 are integrated in cradle head shell 11 inner, are connected with manipulator adjacent segment by the rotating shaft of water hydraulic drive shaft 8 and joint right end cap 15.Cradle head shell 11 assembles water hydraulic pipe joint 1 that taper thread connects and cable watertight connector 3 realizes respectively and the connection of external hydraulic oil circuit and position detecting device communication line.
As shown in Figure 1 and Figure 2, joint left end cap 9 is arranged on cradle head shell 11 by left hold-down screw 10, and joint right end cap 15 is fixed on cradle head shell 11 by right hold-down screw 16, and realizes sealing by end cap O RunddichtringO 17; Joint left end cap 9 posterior joint adjacent with manipulator is connected and fixed by flat key, and joint right end cap 15 turning cylinder is connected by posterior joint adjacent with manipulator after rolling bearing interference fit; Front articular link plate 4 is arranged on the end cap of left and right by screw and alignment pin, being connected and fixed of more front joint adjacent with manipulator.
As shown in Figure 1 and Figure 2, water hydraulic drive part 6 is by driving rotor assembly and driving relative motion between stator 12 to realize its function, corner between rotor assembly and stator 12 is driven to be 180 °, drive stator 12 by regulating and drive the size of rotor 22 in order to change the size of corner, hard-over can reach 270 °; After driving stator 12 alignment pin 2 to locate, be arranged on cradle head shell 11 by stator screw 7, install and when driving stator 12, the seal combination 31,32 shown in Fig. 3 is arranged in stator arc surface groove, reduce the internal leakage of hydraulic medium; Drive rotor assembly by bearing 13,24 supporting and location that horizontally slips; Middle part is sealed Glais ring 14 and be arranged on cradle head shell 11 open type sealed groove inside, and realize drive shaft 8 movable sealing by forming enclosed groove after itself and right sliding bearing 13 interference fit, prevent the hydraulic medium of drive part 6 from leaking into position detection part 5, cause short circuit sensor to damage.
As shown in Figure 3, rotary transformer rotor 28 interference is arranged in drive shaft 8, and stator 27 clamps rear jump ring screw 18 by two semicircle jump rings 26 and is arranged on cradle head shell 11; After submerged cable is connected with watertight head fixing base, and carry out sulfuration with fixing base and seal and form cable watertight connector 3, cable watertight connector 3 is threaded by fixing base and is pressed on cradle head shell 11, between cable watertight connector 3 and cradle head shell 11, realize end face static seal by watertight head O RunddichtringO 25.
As shown in Figure 4, Figure 5, rotor 22 is driven to be arranged in drive shaft 8 by rotor mounting screw 29 and rotor fixed position pin 30, the surface smear fluid sealant will rotor 22 being driven to contact with rotor right end cap 20 with drive shaft 8 during installation; Rotor O RunddichtringO 21 is arranged in the seal groove of rotor right end cap 20, install fixing after right end cap 20 endoporus being smeared during installation fluid sealant, and by rotor pre-loading screw 19, drive shaft 8, driving rotor 22, rotor right end cap 20 are locked, form and drive rotor assembly; Rotor seal Glais ring 23 is arranged in drive shaft 8 and rotor right end cap 20 groove, prevents hydraulic medium and external environment condition generation external leakage; Rotor seal assembly is driven to form by providing flexible acrylonitrile-butadiene rubber circle 31 and square PTFE teflon seal ring 32, during installation, black box and the cradle head shell 11 be mated are compressed sealing effectiveness, in order to prevent the internal leakage of hydraulic-driven part 6.
The operation principle of this embodiment is:
When manipulator joint drive unit works, hydraulic medium enters into water hydraulic drive part 6 by water hydraulic pipe joint 1, act on to drive rotor 22 to drive whole driving rotor assembly 8,19,20,21,22,23 and drive between stator 12 and produce relative motion, relative motion between the adjacent front joint of manipulator that the adjacent posterior joint of manipulator of now drive shaft 8, joint right end cap 15 connection and joint left end cap 9, front articular link plate 4 are fastenedly connected, completes the joint motions of manipulator; Be arranged on relative motion between rotary transformer rotor 28 in drive shaft 8 and its stator 27 to produce angle angular acceleration signal and transmit back in governor circuit by cable watertight connector 3 simultaneously, form the closed-loop control to manipulator.
Composition graphs 3, Figure 10 and Figure 11, change driving rotor 22 into as shown in Figure 10 structure, changed by black box 31,32 is the homemade nitrile rubber square seal ring shown in Figure 11 simultaneously, this kind of mode can reduce the installation procedure smearing fluid sealant, and internal leakage when can reduce motion, improve the operating efficiency of articulated driving equipment.
Water hydraulic manipulator joint drive unit, adopts fresh water or seawater as driving hydraulic medium, forms primarily of water hydraulic drive part 6, position detection part 5 and front and back articulated part 4,9,15; It is inner that this device advantage is water hydraulic drive part 6 and position detection part 5 to be integrated in cradle head shell 11, is fastenedly connected by the rotating shaft of drive shaft 8 and joint right end cap 15 and manipulator adjacent segment.
Cradle head shell 11 is realized respectively the connection of hydraulic pressure water route and position detection signal circuit by water hydraulic pipe joint 1 and cable watertight connector 3.
Water hydraulic drive part forms by driving rotor assembly, driving stator 12, rotor O RunddichtringO 21, the dynamic bearing 24 that rolls left, right sliding bearing 13 and middle part to seal Glais ring 14; Drive stator 12 and drive between rotor assembly and relatively rotate, rotor assembly is by left and right bearing 24,13 supporting and location; Middle part sealing Glais ring 14 to be arranged on articular shell 11 groove and right sliding bearing 13 interference fit to be realized the sealing of position detection part 5.
Position detection part is made up of rotary transformer rotor 28 and rotary transformer stator 27, installation jump ring 26, joint right end cap 15, end cap O RunddichtringO 17 and cable watertight connector 3; Rotary transformer rotor 28 interference is arranged in drive shaft 8, and rotate relative with stator 27 produces angle angular acceleration signal by cable watertight connector 3 and transmit back main control loop, realizes manipulator closed-loop control; The right hold-down screw 16 of joint right end cap 15 is fixed on cradle head shell 11, is sealed by end cap O RunddichtringO 17.
Front and back articulated part is made up of joint left end cap 9, joint right end cap 15 and front articular link plate 4; Joint left end cap 9 and front articular link plate 4 are fastenedly connected with adjacent front joint, and the turning cylinder of joint right end cap 15 is connected with posterior joint adjacent with manipulator after rolling bearing interference fit.
Drive rotor assembly by drive shaft 8, drive rotor 22, rotor seal Glais ring 23, rotor O RunddichtringO 21, rotor right end cap 20, rotor pre-loading screw 19, rotor mounting screw 29, rotor fixed position pin 30 and black box 31,32 to form.Be installed in drive shaft 8 after driving rotor 22 both ends of the surface to smear fluid sealant, right end cap 20 coordinates rotor O RunddichtringO 21 and drive shaft 8, drives rotor 22 to assembly an entirety; Rotor assembly realizes dynamic radial seal by rotor seal Glais ring 23, prevents aqueous medium external leakage; Black box is made up of acrylonitrile-butadiene rubber circle 31 and square PTFE teflon seal ring 32.
Stator 12 is driven to be fastenedly connected in cradle head shell 11 by dowel pins pump ring 2 and stator screw 7, drive the main sealing innovative point of stator 12 to be the improvement of its sealing original paper, and drive the mode that stator 12 adopts twice to repeat to seal to improve its sealing effectiveness.
Claims (3)
1. a water hydraulic manipulator joint drive unit under water, it is characterized in that: comprise water hydraulic drive part, position detection part, cradle head shell, joint left end cap, joint right end cap, water hydraulic drive part and position detection part are arranged in cradle head shell, water hydraulic drive part comprises drive shaft, drive stator, drive rotor, stator is driven to be fixed on cradle head outer casing inner wall, rotor is driven to be connected mutually with drive shaft, drive shaft is arranged on and drives by stator, drive stator between cradle head shell and drive shaft, joint left end cap and joint right end cap are separately fixed at the left and right sides of cradle head shell, joint left end cap is connected by front articular link plate with joint right end cap, drive shaft matches with joint left end cap and cradle head shell respectively by roll left dynamic bearing and right sliding bearing, position detection part comprises rotary transformer, jump ring, rotary transformer comprises rotary transformer stator, rotary transformer rotor, rotary transformer rotor interference is arranged in drive shaft, rotary transformer stator is positioned at rotary transformer rotor outside, jump ring is stuck on rotary transformer stator and cradle head shell, rotary transformer stator is fixed on cradle head shell by jump ring screw, through jump ring in the middle part of jump ring screw, cradle head shell is installed water hydraulic pipe joint, cable watertight connector, water hydraulic pipe joint arranges through hole, through hole is communicated to cradle head enclosure, the liquid driven entered from water hydraulic pipe joint drives rotor and drive shaft to rotate relative to driving stator, cable watertight connector connects rotary transformer stator by cable.
2. one according to claim 1 water hydraulic manipulator joint drive unit under water, is characterized in that: driving rotor relative to the anglec of rotation driving stator is 180 degree ~ 270 degree.
3. one according to claim 1 and 2 water hydraulic manipulator joint drive unit under water, it is characterized in that: the cradle head shell between right sliding bearing and rotary transformer arranges open type sealed groove, install sealing Glais ring in middle part in open type sealed groove, middle part forms enclosed groove after sealing Glais ring and right sliding bearing interference fit and realizes drive shaft movable sealing; Sealed by end cap O RunddichtringO between joint right end cap and cradle head shell; Drive rotor and drive between stator and cradle head shell and rotor right end cap is set, rotor right end cap is sleeved in drive shaft, fluid sealant is smeared between rotor right end cap and driving rotor, the face that rotor right end cap contacts with drive shaft arranges seal groove, rotor O RunddichtringO is set in seal groove, drive shaft and rotor right end cap and cradle head shell touching position arrange groove, all install rotor seal Glais ring in groove; End face static seal is realized by watertight head O RunddichtringO between cable watertight connector and cradle head shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410158234.9A CN103921283B (en) | 2014-04-18 | 2014-04-18 | One is water hydraulic manipulator joint drive unit under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410158234.9A CN103921283B (en) | 2014-04-18 | 2014-04-18 | One is water hydraulic manipulator joint drive unit under water |
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| Publication Number | Publication Date |
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| CN103921283A CN103921283A (en) | 2014-07-16 |
| CN103921283B true CN103921283B (en) | 2015-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410158234.9A Expired - Fee Related CN103921283B (en) | 2014-04-18 | 2014-04-18 | One is water hydraulic manipulator joint drive unit under water |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479442B (en) * | 2016-01-19 | 2018-01-19 | 北京工业大学 | A kind of pure water hydraulicses system and its control method for manipulator joint driving |
| CN105904480A (en) * | 2016-05-30 | 2016-08-31 | 广东工业大学 | Hydraulic joint |
| CN106272540A (en) * | 2016-09-09 | 2017-01-04 | 广东工业大学 | A kind of hydraulic knuckle and the robot being made up of it |
| CN107914267A (en) * | 2018-01-05 | 2018-04-17 | 北京章鱼智控科技有限公司 | A kind of underwater hydraulic rotating mechanism and underwater hydraulic manipulator |
| CN110125973B (en) * | 2018-02-02 | 2024-05-07 | 中国科学院沈阳自动化研究所 | Underwater electric joint structure with position and speed feedback |
| CN112984111B (en) * | 2021-02-04 | 2022-08-12 | 中国船舶科学研究中心 | Underwater actuating mechanism with speed feedback function |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58156097U (en) * | 1982-04-12 | 1983-10-18 | 海洋科学技術センタ− | underwater hydraulic tools |
| DE10223844B4 (en) * | 2002-05-28 | 2013-04-04 | Danfoss A/S | Water hydraulic machine |
| CN1542295A (en) * | 2003-11-06 | 2004-11-03 | 浙江大学 | Pure water hydraulic axial plunger pump / motor by total water lubrication |
| CN2864188Y (en) * | 2006-01-18 | 2007-01-31 | 宁波中意液压马达有限公司 | Sea water resistance hydraulic motor |
| CN101429955B (en) * | 2008-12-11 | 2011-06-29 | 哈尔滨工程大学海能科技有限责任公司 | Servo pipe positioning fluid driver |
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