CN104029211A - Hydraulic joint of underwater manipulator - Google Patents
Hydraulic joint of underwater manipulator Download PDFInfo
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- CN104029211A CN104029211A CN201410244194.XA CN201410244194A CN104029211A CN 104029211 A CN104029211 A CN 104029211A CN 201410244194 A CN201410244194 A CN 201410244194A CN 104029211 A CN104029211 A CN 104029211A
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Abstract
The invention relates to a hydraulic joint of an underwater manipulator, which comprises an output screw, a cylinder body, a cored screw, a fixing nut and thrust bearings, wherein the two ends of the output screw are connected with the cylinder body via the thrust bearings; the fixing nut is assembled with the cylinder body into a whole via threaded fastening or interference fit; the output screw is inserted into a middle hollow part of the cored screw; the cored screw and the output screw form a first stage helical pair; the cored screw and the fixing nut form a second stage helical pair; hydraulic oil pressure at an oil inlet is converted into a torque for output by the two helical pairs; and forward rotation and reverse rotation of the output screw can be achieved by adjusting an oil pressure difference between the oil inlet and an oil outlet, so that large angle pendulum motion is achieved.According to the joint, very small internal leakage can be ensured via a unique helical structure and high precision processing; a stable rotation angle can be kept for a long time without external control; and most of the hydraulic joint is made of seawater corrosion-resisting stainless steel, so that the hydraulic joint is good in corrosion resistance and can operate underwater for a long term.
Description
Technical field
The present invention relates to a kind of hydraulic knuckle, particularly a kind of hydraulic knuckle of underwater manipulator.
Background technology
The resource that is richly stored with in ocean, human development and utilize the speed of ocean to accelerate gradually, related ocean engineering is increasing.At present in fields such as marine oil and gas exploration and developments, most underwater operations have that pressure is high, the load feature such as heavily, it is strong that hydraulic-driven has load capacity, load/high from anharmonic ratio, by pressure compensator, can realize the advantages such as the dark operation in full sea, so the underwater robot hydraulically powered with work capacity is widely used in ocean engineering field.The work capacity of underwater robot is mainly that the underwater manipulator by carrying thereon completes.Underwater manipulator is due to the particularity of operating environment, there is very large difference with the application of land, the hydraulic knuckle of underwater manipulator is required to have the requirements such as high pressure resistant, corrosion-resistant, compact conformation, sealing be reliable, develop the hydraulic knuckle of the underwater manipulator of stable performance, compact conformation, become letter problem to be solved.
In order effectively to carry out various underwater operation, underwater manipulator generally should have a plurality of frees degree and an end effector, and in these a plurality of frees degree, the rotational freedom of hydraulic knuckle is generally absolutely necessary.Hydraulic knuckle is mainly used in adjusting the pose of end effector, so that end effector can be executed the task with suitable angle.In this case, hydraulic knuckle does not need continuous rotation, and the hunting range of the limited angles such as 180 ° or 360 ° just can meet the demand of adjustment clamper pose; Hydraulic knuckle need to possess the good performance that slowly runs, and is beneficial to the adjustment of corner; And should be able to keep for a long time the stable of angle position.Underwater manipulator works under briny environment, and existing driving joint is: vane-type swaying motor and gear rack type swing cylinder.
Due to structural defect, there is larger internal leakage in vane-type swaying motor.It need to carry out real-Time Compensation by SERVO CONTROL for hydraulic knuckle, maintain the stable of hydraulic pressure joint rotation angle, otherwise under the impact of internal leakage, corner cannot keep stable for a long time.This can increase the complexity of hydraulic system and control system undoubtedly.
It is better that gear rack type swing cylinder makes full use of the sealing of the hydraulic cylinder of doing straight reciprocating motion, the feature that internal leakage is little, adopt rack-and-pinion transmission, by hydraulic cylinder, promote tooth bar and move, and then the mode that driven gear rotates is converted into rotation by rectilinear motion.It can keep the stable of corner for a long time, and manufacture and maintenance cost are very low, but owing to wanting lateral arrangement hydraulic cylinder, cause oscillating cylinder size in a lateral direction very large, can affect the motion of underwater manipulator.
Hydraulic knuckle will guarantee positioning function and easy for installation on the one hand, simplifies as best one can again on the other hand hydraulic system, reduces manufacturing cost and maintenance cost.Therefore, must provide a kind of simple and reliable, be convenient to install and possess the hydraulic knuckle structure that corner keeps function.
Summary of the invention
The object of the invention is to overcome the deficiency of existing hydraulic knuckle, and proposed a kind of hydraulic knuckle of underwater manipulator.
The hydraulic knuckle of the underwater manipulator that the present invention proposes, by output screw, cylinder body, cored screw, hold-down nut and thrust bearing, formed, output screw inserts in cylinder body, its two ends are connected with cylinder body by thrust bearing, hold-down nut, by screw threads for fastening or interference fit, is assembled into an integral body with cylinder body; Cored screw is positioned at cylinder body, cylinder body is divided into two cavitys, a described cavity is provided with oil-in, another cavity is provided with oil-out, and output screw inserts the middle hollow parts of cored screw, and cored screw and output screw adopt and be threaded, form first order screw pair, cored screw inserts in cylinder body, and cored screw and hold-down nut adopt and be threaded, and forms second level screw pair; Secondary by this two-stage screw, convert the hydraulic fluid pressure of oil-in to moment of torsion output, and poor by the oil pressure of adjustment oil-in and oil-out, can realize being rotated in the forward and counter-rotating of output screw, thereby realize large angle pendulum motion.
In the present invention, described cored screw and one end, cylinder body junction are provided with screw rod sealing ring, and the other end is provided with cylinder body seal circle.
In the present invention, cored screw, owing to both forming screw pair with output screw, also forms screw pair with hold-down nut, and, at the periphery processing external spiral of cored screw, also disc is processed inside spin within it.Cored screw had both been done rectilinear motion and had also been rotated, motion is frequent, and for improving its wearability, inside spin part can be used bronze material, external spiral is partly used high-strength steel to guarantee its intensity, and bronze can become an integral body by screw threads for fastening or interference fit with high-strength steel.
The present invention has following several large advantages:
(1), by unique helical structure and high-accuracy processing, can guarantee that internal leakage is very little;
(2), under the prerequisite of not additional control, can keep for a long time the stable of corner;
(3) most materials of hydraulic knuckle are made by seawater corrosionresisting stainless steel, and good corrosion resistance can carry out operation for a long time under water.
Accompanying drawing explanation
Fig. 1 is the cutaway view of the hydraulic knuckle of underwater manipulator.
Number in the figure: 1 is that output screw, 2 is that thrust bearing, 3 is that hold-down nut, 4 is that cored screw, 5 is that cylinder body, 6 is that screw rod sealing ring, 7 is cylinder body seal circle.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment, the invention will be further elaborated.
Embodiment 1: as shown in Figure 1, described device is comprised of output screw 1, thrust bearing 2, hold-down nut 3, cored screw 4, cylinder body 5, screw rod sealing ring 6 and cylinder body seal circle 7.Described material major part is made by seawater corrosionresisting stainless steel material.The two ends of output screw 1 are connected with cylinder body 5 by thrust bearing 2.Hold-down nut 3, by screw threads for fastening or interference fit, is assembled into an integral body with cylinder body 5.Cored screw 4 and output screw 1 form first order screw pair, and cored screw 4 and hold-down nut 3 form second level screw pair.Secondary by this two-stage screw, convert the hydraulic fluid pressure of oil-in to moment of torsion output, and poor by the oil pressure of adjustment oil-in and oil-out, can realize being rotated in the forward and counter-rotating of output screw, thereby realize large angle pendulum motion.The course of work of the present invention is specific as follows:
In cylinder body 5 inside, two chambeies independently before and after being divided into by cored screw 4 and screw rod sealing ring 6 and cylinder body seal circle 7.When the P1 of cylinder body 5 is oil-in, when P2 is oil-out, when the pressure in the left chamber of oil cylinder is greater than the pressure in right chamber, cored screw 4 is pushed and moves right, due to the engagement of cored screw 4 with hold-down nut 3, cored screw 4 had both been made axial linear movement, was also rotated counterclockwise motion.Cored screw 4 is also one-level screw pair engagement (screw pair of the hand of spiral and cored screw and hold-down nut is contrary) with output screw 1 simultaneously, rotatablely moving of cored screw 4 passed to output screw 1, the axially-movable to the right of cored screw 4 simultaneously also drives output screw 1 to be rotated counterclockwise motion, by the amplification of two-stage screw pair, as long as less impulse stroke, just can obtain the larger output anglec of rotation.Otherwise when the right cavity pressure of hydraulic oil is greater than left cavity pressure, the traffic direction of output screw 1 is contrary.So, control hydraulic oil oil inlet and outlet pressure differential, direction of rotation that can output screw 1, thus meet the requirement of underwater manipulator hydraulic knuckle to rotational freedom.
Above-described embodiment is only explanation technical conceive of the present invention and feature, and its object is to allow person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences that Spirit Essence is done according to the present invention change or modify, within all should being encompassed in protection scope of the present invention.
The hydraulic knuckle of a kind of underwater manipulator that the present invention provides, operation under water for a long time, has that reliability is high, a registration, good corrosion resistance, has stronger practicality and higher economy.
Claims (2)
1. the hydraulic knuckle of a underwater manipulator, by output screw, cylinder body, cored screw, hold-down nut and thrust bearing, formed, it is characterized in that output screw inserts in cylinder body, its two ends are connected with cylinder body by thrust bearing, hold-down nut, by screw threads for fastening or interference fit, is assembled into an integral body with cylinder body; Cored screw is positioned at cylinder body, cylinder body is divided into two cavitys, a described cavity is provided with oil-in, another cavity is provided with oil-out, and output screw inserts the middle hollow parts of cored screw, and cored screw and output screw adopt and be threaded, form first order screw pair, cored screw inserts in cylinder body, and cored screw and hold-down nut adopt and be threaded, and forms second level screw pair; Secondary by this two-stage screw, convert the hydraulic fluid pressure of oil-in to moment of torsion output, and poor by the oil pressure of adjustment oil-in and oil-out, can realize being rotated in the forward and counter-rotating of output screw, thereby realize large angle pendulum motion.
2. the hydraulic knuckle of underwater manipulator according to claim 1, is characterized in that described cored screw and one end, cylinder body junction are provided with screw rod sealing ring, and the other end is provided with cylinder body seal circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410244194.XA CN104029211A (en) | 2014-06-05 | 2014-06-05 | Hydraulic joint of underwater manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410244194.XA CN104029211A (en) | 2014-06-05 | 2014-06-05 | Hydraulic joint of underwater manipulator |
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| Publication Number | Publication Date |
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| CN104029211A true CN104029211A (en) | 2014-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410244194.XA Pending CN104029211A (en) | 2014-06-05 | 2014-06-05 | Hydraulic joint of underwater manipulator |
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| CN (1) | CN104029211A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904480A (en) * | 2016-05-30 | 2016-08-31 | 广东工业大学 | Hydraulic joint |
| CN112405598A (en) * | 2020-10-14 | 2021-02-26 | 同济大学 | Ball double-screw hydraulic swing joint |
Citations (6)
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| JP2002113681A (en) * | 2000-08-04 | 2002-04-16 | Thk Co Ltd | Robot joint structure |
| CN1990198A (en) * | 2005-12-27 | 2007-07-04 | 中国科学院沈阳自动化研究所 | Underwater mechanical arm wrist portion structure for high strength operation underwater robot |
| CN101028859A (en) * | 2007-03-30 | 2007-09-05 | 哈尔滨工程大学 | Reconfigured underwater robot structure |
| CN101372992A (en) * | 2008-06-04 | 2009-02-25 | 郭玉恒 | Method for converting fluid input into torque and swinging angle outputs and specific oil cylinder |
| CN103317524A (en) * | 2013-06-04 | 2013-09-25 | 北京航空航天大学 | Wrist joint structure of underwater mechanical arm |
| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
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2014
- 2014-06-05 CN CN201410244194.XA patent/CN104029211A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002113681A (en) * | 2000-08-04 | 2002-04-16 | Thk Co Ltd | Robot joint structure |
| CN1990198A (en) * | 2005-12-27 | 2007-07-04 | 中国科学院沈阳自动化研究所 | Underwater mechanical arm wrist portion structure for high strength operation underwater robot |
| CN101028859A (en) * | 2007-03-30 | 2007-09-05 | 哈尔滨工程大学 | Reconfigured underwater robot structure |
| CN101372992A (en) * | 2008-06-04 | 2009-02-25 | 郭玉恒 | Method for converting fluid input into torque and swinging angle outputs and specific oil cylinder |
| CN103317524A (en) * | 2013-06-04 | 2013-09-25 | 北京航空航天大学 | Wrist joint structure of underwater mechanical arm |
| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
Non-Patent Citations (1)
| Title |
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| 李松柏: "螺旋摆动液压缸动态特性的研究", 《中国博士学位论文全文数据库》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904480A (en) * | 2016-05-30 | 2016-08-31 | 广东工业大学 | Hydraulic joint |
| CN112405598A (en) * | 2020-10-14 | 2021-02-26 | 同济大学 | Ball double-screw hydraulic swing joint |
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Application publication date: 20140910 |
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