CN104029215A - Arm joint structure of small underwater hydraulic manipulator - Google Patents
Arm joint structure of small underwater hydraulic manipulator Download PDFInfo
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- CN104029215A CN104029215A CN201410246899.5A CN201410246899A CN104029215A CN 104029215 A CN104029215 A CN 104029215A CN 201410246899 A CN201410246899 A CN 201410246899A CN 104029215 A CN104029215 A CN 104029215A
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Abstract
The invention relates to an arm joint structure of a small underwater hydraulic manipulator, which comprises a first mechanical arm, a second mechanical arm and a drive mechanism, wherein the front end of the first mechanical arm is connected with the rear end of the second mechanical arm via a rotation shaft; the drive mechanism is arranged between the first mechanical arm and the second mechanical arm and comprises a hydraulic cylinder, a C-shaped plate and a straight plate; a cylinder body of the hydraulic cylinder is articulated with the first mechanical arm; a cylinder rod is articulated with the middle of the C-shaped plate; one end of the C-shaped plate is articulated with the first mechanical arm; the other end of the C-shaped plate is articulated with one end of the straight plate; and the other end of the straight plate is articulated with the second mechanical arm. The arm joint structure has the advantages of compact structure, small size, convenience in mounting, flexible joint driving and strong driving power, can achieve 180-degree rotation of a manipulator joint, and is applicable to driving the small underwater hydraulic manipulator joint.
Description
Technical field
What the present invention relates to is a kind of manipulator arm articulation structure, particularly a kind of a kind of miniaturization underwater hydraulic manipulator arm joint structure that is equipped on underwater robot.
Background technology
Underwater robot is the important tool of modern marine environmental monitoring and development of resources; Along with its working range, improving constantly of job requirements, also has higher requirement to its power tool.Autonomous Underwater Vehicle (AUV), due to advantages such as its environment for use are extensive, becomes the focus of research, but due to restrictions such as volume, weight and the energy, is applicable to the manipulator of AUV seldom at present; Particularly be equipped on the miniaturization hydraulic efficiency manipulator that the upper driving force of AUV is stronger especially rare.
At present, domestic mechanical arm structure adopts " U-shaped sheet frame posture " and " drum type brake " structure mostly, and robot drives mode adopts motor to drive and hydraulic-driven mostly; As being 201220635024.9, Chinese Patent Application No. is called a kind of manipulator arm structure, employing motor drives, its structure is comparatively simple, flexibility is good, but this manipulator arm structure is only applicable to land manipulator, the requirement of underwater operation can not be met, and the requirement of manipulator miniaturization can not be met; If Chinese Patent Application No. is that 200620086859.X name is called manipulator arm, this manipulator adopts several groups of parallel four-bar linkage structures, and hydraulic jack drives realizes the lifting of manipulator near normal and the flexible motion of level of approximation; But cannot realize manipulator joint and rotate 180 °, and robot manipulator structure can not be realized miniaturization.
Summary of the invention
The object of this invention is to provide and a kind ofly can realize 180 ° of rotations of manipulator joint, and be convenient to realize the miniaturization underwater hydraulic manipulator arm joint structure of automatic control, compact conformation.
The object of the present invention is achieved like this: comprise the first mechanical arm, the second mechanical arm, driving mechanism, the front end of the first mechanical arm is connected by turning cylinder with the rear end of the second mechanical arm, driving mechanism is arranged between the first mechanical arm and the second mechanical arm, it is characterized in that: described driving mechanism comprises hydraulic cylinder, C template and straight plate, the cylinder body of hydraulic cylinder is hinged on the first mechanical arm, cylinder bar and C template middle part is hinged, one end of C template and the first mechanical arm are hinged, one end of the other end and straight plate is hinged, and the other end and second mechanical arm of straight plate are hinged.
The present invention can also comprise:
1, the first mechanical arm is to be connected to form by two side plate A and a base plate A, the second described mechanical arm is to be connected to form by two side plate B and a base plate B, the cylinder body of hydraulic cylinder is hinged between two side plate A, driving mechanism comprises two C templates and two straight plates, the middle part of two C templates connects by support bar, cylinder bar and the support bar of hydraulic cylinder are hinged, and one end of each C template and side plate A are hinged, one end other end and the side plate B hinged and this straight plate of the other end and a straight plate are hinged.
2, setting position checkout gear on turning cylinder, position detecting device comprises rotary transformer rotor, rotary transformer stator, shell and output signal of rotary transformer line, rotary transformer rotor and turning cylinder interference fit, rotary transformer stator is placed on the outside of rotary transformer rotor and fixes inside the shell, shell is arranged on two side plate B of the second mechanical arm, output signal of rotary transformer line is from shell middle through-hole cabling, and seals through hole.
3, pitch with Y shape one end of straight plate, and one end of C template is inserted in Y shape fork and realizes the hinged of C template and straight plate by connecting pin.
Beneficial effect of the present invention is:
1. by by the Miniaturization Design in manipulator arm joint and employing hydraulic driving mode, make manipulator arm joint there is the advantages such as compact conformation, volume weight is little, driving force is strong.
2. adopt the rotation in linear oil cylinder and six hinge winding machine joints, joint is rotated and can reach 180 °, realized linear oil cylinder driving joint and obtained larger rotational angle.
3. the inner integrated position detecting device of manipulator joint, utilizes position detecting device to gather angle, the angular acceleration signal of the operation of submarine mechanical swivel of hand, and is transmitted back in manipulator control system, is conducive to realize underwater manipulator closed loop feedback and controls.
4. adopt modularization principle design manipulator arm articulation structure, by by the independent assortment of manipulator arm structure of the present invention, can change manipulator free degree form and maybe can meet manipulator various structures assembled scheme.
Accompanying drawing explanation
Fig. 1 is structure three-dimensional view of the present invention.
Fig. 2 is structural front view of the present invention.
Fig. 3 is D place turning cylinder axial, cross-sectional view.
Fig. 4 is that A place bolt connects axial, cross-sectional view.
Fig. 5 is that C place back shaft connects axial, cross-sectional view.
Fig. 6 is that B place support bar connects axial, cross-sectional view.
Fig. 7 is that E place back shaft connects axial, cross-sectional view.
Fig. 8-a is casing part structure diagram, and Fig. 8-b is casing part sectional view.
Fig. 9 is C template design of part sketch.
Figure 10-a is Y shape plate part section figure, and Figure 10-b is Y shape plate design of part sketch.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
The important component part of underwater hydraulic manipulator of the present invention, for manipulator provides the driving force of underwater operation, and by self the job parameters such as angle, angular acceleration in position detecting device feedback manipulator operation joint so that the control of host computer to manipulator joint; Patent of the present invention adopts oily hydraulic-driven six twisted point mechanisms, joint is rotated and can reach 180 °, can provide driving moment larger, that stationarity is strong for manipulator, and compact conformation, volume weight are little, meet the designing requirement of manipulator miniaturization.
The present invention adopts oily hydraulic driving mode, and manipulator joint mainly drives hydraulic cylinder, position detecting device and six twisted point mechanism four parts to form by mechanical arm, manipulator joint; Its advantage is manipulator joint compact conformation and inner integrated position signalling feedback device, and hydraulic-driven can improve the driving force of miniaturization underwater manipulator.Described mechanical arm part is mainly connected to form by two groups of bolt assemblies that are comprised of bolt, nut, pad by arm biside plate A, base plate A, and side plate A and base plate A can will not affect rigidity, the milling of intensity part to reduce joint weight.The screw and nut that described position detecting device architectural feature is turning cylinder by both sides is fastenedly connected respectively at biside plate A, left side bearing and turning cylinder, side plate B respectively interference install, and coordinate and compress rotary oil seal by flat shim, prevent that underwater environment from damaging sensor; Right side bearing and back shaft, side plate B interference fit, compress rotary oil seal by flat shim, and the gap of back shaft and turning cylinder seals by O type circle, by rotary oil seal and O type circle, coordinated and realized joint movable sealing; Rotary transformer rotor and turning cylinder interference fit, stator is fixed on shell by two semicircle jump rings of installing, and shell is fastenedly connected by screw and side plate B, and seals with O type circle, output signal of rotary transformer line is from shell middle through-hole cabling, and adopts vulcanization sealing through hole.
Six described twisted point bindiny mechanisms, mainly comprise C template, Y template and attaching parts thereof, hydraulic cylinder coupling assembling, side plate A attaching parts and side plate B attaching parts.Wherein, between C template and Y template by being connected bearing pin, supporting and location copper sheathing connects, and be connected with hydraulic cylinder, side plate A, side plate B respectively by hydraulic cylinder coupling assembling, side plate A attaching parts, side plate B attaching parts, hydraulic cylinder drives arm joint to rotate by six twisted point syndetons.Above-mentioned hydraulic cylinder coupling assembling mainly by connector, be threaded with hydraulic cylinder and with abrasionproof copper sheathing interference fit, and by two long copper sheathings axial location on support bar, matched in clearance between support bar and copper sheathing, support bar two ends adopt jump ring location, prevent vibration.Above-mentioned side plate A attaching parts are mainly installed by interference fit between C template and copper sheathing and with back shaft matched in clearance, and back shaft is connected with side plate A interference, between back shaft step limits side plate A and C template, has fixing clearance.Above-mentioned side plate B attaching parts group will be installed by interference fit between Y template and copper sheathing and with back shaft matched in clearance, location copper sheathing is connected with back shaft interference and side plate B interference fit, and back shaft end adopts location jump ring to prevent Y template vibration on back shaft.During manipulator work, its coupling assembling of Driven by Hydraulic Cylinder, C template, Y template driving mechanical hand side plate B arm and side plate A arm segment generation relative motion, its corner is 180 °, by position detecting device, the angle of manipulator joint, angular acceleration parameter feedback is returned to host computer so that optimization manipulator joint is controlled simultaneously.
Below in conjunction with accompanying drawing, illustrate:
The parts that the present invention includes have: side plate A1, support copper sheathing 2, hydraulic cylinder 3, C template 4, jump ring 5, support bar 6, abrasionproof copper sheathing A7, hydraulic cylinder connector 8, side plate B9, base plate B10, Y template 11, location copper sheathing 12, location jump ring 13, back shaft A14, abrasionproof copper sheathing B15, pad A16, abrasionproof copper sheathing C17, back shaft B18, connect bearing pin 19, pad B20, bolt A21, nut A22, pad C23, bolt B 24, nut B25, pad D26, nut C27, turning cylinder 28, long copper sheathing 29, shell O type circle 30, jump ring 31 is installed, deep groove ball bearing 32, flat shim 33, rotating shaft O type circle 34, rotary oil seal 35, back shaft C36, rotary transformer stator 37, rotary transformer rotor 38, screw 39, shell 40, base plate A41, abrasionproof copper sheathing D42, supporting and location copper sheathing 43.
As depicted in figs. 1 and 2, what the present invention set forth is a kind of miniaturization underwater hydraulic manipulator arm joint structure, mainly by mechanical arm, manipulator joint, drives hydraulic cylinder, position detecting device and six twisted point bindiny mechanisms to form.Manipulator arm biside plate A1, base plate A41 connect into manipulator frame-type arm by the bolt assembly being comprised of bolt 21, nut 22, pad 20, can not affect its rigidity, intensity part mill off to reduce joint weight on side plate 1 and base plate 41.In like manner, biside plate B9, base plate B10 connect to form next arm tower structure of manipulator by two groups of screw assemblies.
As shown in Fig. 3, Fig. 8-a, Fig. 8-b, turning cylinder 28 is fastenedly connected respectively at biside plate A1 by screw 39, pad A16 and nut C27, pad D26; Deep groove ball bearing 32 interference of diagram left side are arranged on side plate B9 and install with turning cylinder 28 interference fit simultaneously, and compress left side, location rotary oil seal 35 by left side flat shim 33; In like manner, right side deep groove ball bearing 32 compresses position rotating oil sealing 35 with back shaft C36, side plate B9 interference fit by right side flat shim 33, and between back shaft C36 and turning cylinder 28, matched in clearance is installed, and by rotating shaft O type circle 34 seal clearances; Rotary transformer rotor 38 and turning cylinder 28 interference fit, between rotor 38 and biside plate B9, there is gap, produce wearing and tearing when preventing rotor 38 with biside plate B9 relative motion, stator 37 is fixed on shell 40 by two semicircle jump rings 31 of installing, shell 40 is fastenedly connected by screw and side plate B9, and seals with O type circle 30; Output signal of rotary transformer line is from shell 40 middle through-hole cablings, and adopts vulcanization sealing through hole.
As shown in Figure 1 and Figure 4, the bolt assembly that hydraulic cylinder 3 afterbodys consist of pad C23, bolt B 24, nut B25 is connected with biside plate A1, and by supporting copper sheathing 2, hydraulic cylinder 3 afterbody axial location are middle in manipulator arm " U-shaped framework "; Hydraulic cylinder 3 heads are threaded with hydraulic cylinder connector 8.
As shown in Fig. 1, Fig. 5, Fig. 6, Fig. 7, Fig. 9, Figure 10-a and Figure 10-b, six twisted point mechanisms mainly comprise by C template 4, Y template 11 and attaching parts thereof, hydraulic cylinder 3 coupling assemblings, side plate A1 attaching parts and side plate B9 attaching parts and forming.Between C template 4 and Y template 11 by being connected bearing pin 19, supporting and location copper sheathing 43 connects; And be connected with hydraulic cylinder 3, side plate A1, side plate B9 respectively by hydraulic cylinder coupling assembling, side plate A attaching parts, side plate B attaching parts.Hydraulic cylinder connector 8 be threaded with hydraulic cylinder 3 and with abrasionproof copper sheathing D42 interference fit, and by two long copper sheathings 29 axial location on support bar 6, matched in clearance between support bar 6 and long copper sheathing 29, abrasionproof copper sheathing D42, abrasionproof copper sheathing A7, abrasionproof copper sheathing A7 is connected with C template 4 interference fit, support bar 6 two ends adopt jump ring 5 location, prevent support bar 6 axial motions.Side plate A attaching parts: install with back shaft B18 matched in clearance after interference fit between C template 4 and abrasionproof copper sheathing C17, back shaft B18 is connected with side plate A1 interference, has fixing clearance between back shaft B18 step limits side plate A1 and C template 4.Side plate B attaching parts: interference fit installing with back shaft A14 matched in clearance between Y template 11 and abrasionproof copper sheathing B15, location copper sheathing 12 is respectively at back shaft A14 and side plate B9 interference fit, back shaft A14 end adopts location jump ring 13 clampings, prevent and Y template 11 between vibration.
The operation principle of this embodiment is:
Manipulator biside plate A1, turning cylinder 28 are fastenedly connected with screw 39, nut 27, and form arm 1 with rotary transformer rotor 38 interference fit; Rotary transformer stator 37, shell 40, biside plate B9 etc. form arm 2.During manipulator work, hydraulic cylinder 3 drives its coupling assembling, C template 4, Y template 11 driving mechanical hand side plate B arm 2 parts and the 1 part generation relative motion of side plate A arm, its corner is 180 °, by position detecting device, the angle of manipulator joint, angular acceleration parameter feedback is returned to host computer so that optimization manipulator joint is controlled simultaneously.Rotary transformer inside is coordinated and is realized joint movable sealing by rotary oil seal 35 and rotating shaft O type circle 34, shell 40 and shell O type circle 30 static seals, and output signal of rotary transformer line is from shell 40 middle through-hole cablings, and adopts vulcanization sealing through hole.
Claims (4)
1. a miniaturization underwater hydraulic manipulator arm joint structure, comprise the first mechanical arm, the second mechanical arm, driving mechanism, the front end of the first mechanical arm is connected by turning cylinder with the rear end of the second mechanical arm, driving mechanism is arranged between the first mechanical arm and the second mechanical arm, it is characterized in that: described driving mechanism comprises hydraulic cylinder, C template and straight plate, the cylinder body of hydraulic cylinder is hinged on the first mechanical arm, cylinder bar and C template middle part are hinged, one end of C template and the first mechanical arm are hinged, the other end is hinged with one end of straight plate, the other end and second mechanical arm of straight plate are hinged.
2. a kind of miniaturization underwater hydraulic manipulator arm joint structure according to claim 1, it is characterized in that: the first described mechanical arm is to be connected to form by two side plate A and a base plate A, the second described mechanical arm is to be connected to form by two side plate B and a base plate B, the cylinder body of hydraulic cylinder is hinged between two side plate A, driving mechanism comprises two C templates and two straight plates, the middle part of two C templates connects by support bar, cylinder bar and the support bar of hydraulic cylinder are hinged, one end of each C template and a side plate A are hinged, one end other end and the side plate B hinged and this straight plate of the other end and a straight plate are hinged.
3. a kind of miniaturization underwater hydraulic manipulator arm joint structure according to claim 2, it is characterized in that: setting position checkout gear on described turning cylinder, position detecting device comprises rotary transformer rotor, rotary transformer stator, shell and output signal of rotary transformer line, rotary transformer rotor and turning cylinder interference fit, rotary transformer stator is placed on the outside of rotary transformer rotor and fixes inside the shell, shell is arranged on two side plate B of the second mechanical arm, output signal of rotary transformer line is from shell middle through-hole cabling, and seal through hole.
4. according to a kind of miniaturization underwater hydraulic manipulator arm joint structure described in claim 1,2 or 3, it is characterized in that: pitch with Y shape one end of described straight plate, one end of C template is inserted in Y shape fork and realizes the hinged of C template and straight plate by connecting pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410246899.5A CN104029215B (en) | 2014-06-05 | 2014-06-05 | A kind of miniaturized underwater hydraulic manipulator arm joint structure |
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| CN201410246899.5A CN104029215B (en) | 2014-06-05 | 2014-06-05 | A kind of miniaturized underwater hydraulic manipulator arm joint structure |
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| CN104029215A true CN104029215A (en) | 2014-09-10 |
| CN104029215B CN104029215B (en) | 2015-12-02 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105545929A (en) * | 2016-01-28 | 2016-05-04 | 上海庆华蜂巢科技发展股份有限公司 | Folding and stretching mechanism |
| CN106426270A (en) * | 2016-12-15 | 2017-02-22 | 徐航 | Mechanical arm joint structure |
| CN106640874A (en) * | 2017-01-26 | 2017-05-10 | 上海庆华蜂巢科技发展股份有限公司 | Folding and unfolding mechanism |
| CN106640875A (en) * | 2017-01-26 | 2017-05-10 | 上海庆华蜂巢科技发展股份有限公司 | Folding and unfolding mechanism |
| CN108297126A (en) * | 2018-02-05 | 2018-07-20 | 歌思（天津）低温设备有限公司 | A kind of joint of mechanical arm structure |
| CN113001532A (en) * | 2021-04-27 | 2021-06-22 | 南京华研动密封科技有限公司 | Electro-hydraulic hybrid driven underwater multifunctional mechanical arm |
| CN114274170A (en) * | 2021-12-17 | 2022-04-05 | 镇江市高等专科学校 | Manipulator rotating device |
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Patent Citations (6)
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| US4063359A (en) * | 1977-01-12 | 1977-12-20 | Luscombe Arthur J | Vehicle mounted boom apparatus |
| DE10106427A1 (en) * | 2001-02-12 | 2002-08-14 | Schwing Gmbh F | Distribution device for thick matter, in particular for concrete |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105545929A (en) * | 2016-01-28 | 2016-05-04 | 上海庆华蜂巢科技发展股份有限公司 | Folding and stretching mechanism |
| CN106426270A (en) * | 2016-12-15 | 2017-02-22 | 徐航 | Mechanical arm joint structure |
| CN106640874A (en) * | 2017-01-26 | 2017-05-10 | 上海庆华蜂巢科技发展股份有限公司 | Folding and unfolding mechanism |
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| CN108297126A (en) * | 2018-02-05 | 2018-07-20 | 歌思（天津）低温设备有限公司 | A kind of joint of mechanical arm structure |
| CN113001532A (en) * | 2021-04-27 | 2021-06-22 | 南京华研动密封科技有限公司 | Electro-hydraulic hybrid driven underwater multifunctional mechanical arm |
| CN114274170A (en) * | 2021-12-17 | 2022-04-05 | 镇江市高等专科学校 | Manipulator rotating device |
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| CN104029215B (en) | 2015-12-02 |
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