CN104029215B - A kind of miniaturized underwater hydraulic manipulator arm joint structure - Google Patents

A kind of miniaturized underwater hydraulic manipulator arm joint structure Download PDF

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Publication number
CN104029215B
CN104029215B CN201410246899.5A CN201410246899A CN104029215B CN 104029215 B CN104029215 B CN 104029215B CN 201410246899 A CN201410246899 A CN 201410246899A CN 104029215 B CN104029215 B CN 104029215B
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plate
mechanical arm
hinged
template
manipulator
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CN104029215A (en
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张铭钧
杨超
马小委
赵克楠
刘兵
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Harbin Engineering University
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Harbin Engineering University
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Abstract

A kind of miniaturized underwater hydraulic manipulator arm joint structure of the present invention, 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, driving mechanism comprises hydraulic cylinder, C template and straight plate, the cylinder body of hydraulic cylinder is hinged on the first mechanical arm, hinged in the middle part of cylinder bar and C template, one end and first mechanical arm of C template 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 has compact conformation, volume is little, easy for installation, joint drive is flexible, driving force is strong, can realize manipulator joint 180 ° rotation, be applicable to miniaturized underwater hydraulic manipulator joint drive.

Description

A kind of miniaturized underwater hydraulic manipulator arm joint structure
Technical field
What the present invention relates to is a kind of manipulator arm articulation structure, particularly a kind of one miniaturized underwater hydraulic manipulator arm joint structure being 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, it is also proposed higher requirement to its power tool.Current 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, the manipulator being applicable to AUV is little; The miniaturized hydraulic efficiency manipulator being particularly equipped on driving force on AUV stronger is 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; A kind of Manipulator arm structure is called as Chinese Patent Application No. is 201220635024.9, 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―ordinal shift structures, and hydraulic jack drives and realizes the motion that manipulator near normal is elevated and level of approximation is flexible; But manipulator joint cannot be realized and rotate 180 °, and robot manipulator structure can not realize miniaturization.
Summary of the invention
The object of this invention is to provide one and can realize manipulator joint 180 ° rotation, and be convenient to the miniaturized underwater hydraulic manipulator arm joint structure realizing 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, hinged in the middle part of cylinder bar and C template, one end and first mechanical arm of C template 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 connected to form by two side plate A and base plate A, the second described mechanical arm is connected to form by two side plate B and 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 is connected by support bar, the cylinder bar of hydraulic cylinder and support bar hinged, one end of each C template and side plate A is hinged, one end of the other end and a straight plate is hinged and the other end of this straight plate and side plate B 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 from shell middle through-hole cabling, and seals through hole.
3, one end of straight plate is pitched with Y shape, and one end of C template is inserted in Y shape fork and realizes the hinged of C template and straight plate by connection 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 have the advantages such as compact conformation, volume weight is little, driving force is strong.
2. adopt linear oil cylinder and six hinge mechanisms to realize the rotation in joint, make articulation can reach 180 °, achieve linear oil cylinder driving joint and obtain 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 realizing underwater manipulator closed loop feedback and controls.
4. adopt modularization principle design manipulator arm articulation structure, by the independent assortment by Manipulator arm structure of the present invention, manipulator degrees-of-freedom form can be changed 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, Figure 10-b is Y shape plate design of part sketch.
Detailed description of the invention
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 feed back the job parameter such as angle, angular acceleration in manipulator operation joint so that host computer is to the control of manipulator joint by the position detecting device of self; Patent of the present invention adopts oily hydraulic-driven six twisted point mechanism, makes articulation can reach 180 °, can provide larger, that stationarity is strong driving moment, and compact conformation, volume weight is little, meet the designing requirement of manipulator miniaturization for manipulator.
The present invention adopts oily hydraulic driving mode, and manipulator joint drives hydraulic cylinder, position detecting device and six twisted point mechanism four part compositions primarily of 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 miniaturized underwater manipulator.Described mechanical arm part is connected to form by the bolt assembly that two groups are made up of bolt, nut, pad primarily of arm biside plate A, base plate A, and side plate A and base plate A can will not affect rigidity, strength portion milling to reduce joint weight.Described position detecting device architectural feature is that turning cylinder is fastenedly connected respectively at biside plate A by the screw and nut of both sides, left side bearing and turning cylinder, the interference of side plate B difference are installed, and coordinate compression rotary oil seal by flat shim, prevent 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 is sealed by O type circle, coordinated realize joint movable sealing by rotary oil seal and O type circle; 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 from shell middle through-hole cabling, and adopts vulcanization to seal 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, pass through to be connected bearing pin between C template with Y template, 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 to be threaded with hydraulic cylinder mainly through connector 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 through interference fit between C template and copper sheathing and install with back shaft matched in clearance, and back shaft is connected with side plate A interference, there is fixing clearance between back shaft step restriction side plate A and C template.Above-mentioned side plate B attaching parts group will be passed through interference fit between Y template and copper sheathing and install 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 robot 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 host computer so that optimize manipulator joint control simultaneously.
Illustrate below in conjunction with accompanying drawing:
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 miniaturized underwater hydraulic manipulator arm joint structure, drives hydraulic cylinder, position detecting device and six twisted point bindiny mechanisms composition primarily of mechanical arm, manipulator joint.Manipulator arm biside plate A1, base plate A41 connect into manipulator frame-type arm by the bolt assembly be made up of bolt 21, nut 22, pad 20, and side plate 1 with base plate 41 can will not affect its rigidity, strength portion mill off to reduce joint weight.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 is arranged on side plate B9 and installs with turning cylinder 28 interference fit simultaneously, and compresses left side, location rotary oil seal 35 by left side flat shim 33; In like manner, right side deep groove ball bearing 32 and back shaft C36, side plate B9 interference fit compress position rotating oil sealing 35 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 clearance; Rotary transformer rotor 38 and turning cylinder 28 interference fit, gap is there is between rotor 38 and biside plate B9, wear and tear in order to prevent from producing when rotor 38 and 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 from shell 40 middle through-hole cabling, and adopts vulcanization to seal through hole.
As shown in Figure 1 and Figure 4, the bolt assembly that hydraulic cylinder 3 afterbody consists of pad C23, bolt B 24, nut B25 is connected with biside plate A1, and is axially positioned in the middle of manipulator arm " U-shaped framework " by supporting copper sheathing 2 by hydraulic cylinder 3 afterbody; Hydraulic cylinder 3 head is 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 and being made up of C template 4, Y template 11 and attaching parts thereof, hydraulic cylinder 3 coupling assembling, side plate A1 attaching parts and side plate B9 attaching parts.Pass through to be connected bearing pin 19 between C template 4 with Y template 11, 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, support bar 6 and long copper sheathing 29, matched in clearance between 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 to locate, and prevent support bar 6 axial motion., between back shaft B18 step restriction side plate A1 and C template 4, there is fixing clearance in 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.Side plate B attaching parts: interference fit between Y template 11 and abrasionproof copper sheathing B15 is also installed with back shaft A14 matched in clearance, 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 to clamp, and prevents vibration between Y template 11.
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 robot work, hydraulic cylinder 3 drives its coupling assembling, C template 4, Y template 11 driving mechanical hand side plate B arm 2 part and side plate A arm 1 part generation relative motion, its corner is 180 °, by position detecting device, the angle of manipulator joint, angular acceleration parameter feedback is returned host computer so that optimize manipulator joint control simultaneously.Rotary transformer inner cooperation by rotary oil seal 35 and rotating shaft O type circle 34 realizes joint movable sealing, shell 40 and shell O type circle 30 static seal, and output signal of rotary transformer line from shell 40 middle through-hole cabling, and adopts vulcanization to seal through hole.

Claims (3)

1. a miniaturized underwater hydraulic manipulator arm joint structure, comprise the first mechanical arm, 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, two C templates and two straight plates, the first described mechanical arm is connected to form by two side plate A and base plate A, the second described mechanical arm is connected to form by two side plate B and base plate B, the cylinder body of hydraulic cylinder is hinged between two side plate A, the middle part of two C templates is connected by support bar, the cylinder bar of hydraulic cylinder and support bar hinged, one end and a side plate A of each C template are hinged, hinged and the other end of this straight plate in one end of the other end and a straight plate and side plate B hinged.
2. one according to claim 1 miniaturized underwater hydraulic manipulator arm joint structure, 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.
3. one according to claim 1 and 2 miniaturized underwater hydraulic manipulator arm joint structure, is characterized in that: one end of described straight plate is pitched with Y shape, and one end of C template is inserted in Y shape fork and realizes the hinged of C template and straight plate by connection pin.
CN201410246899.5A 2014-06-05 2014-06-05 A kind of miniaturized underwater hydraulic manipulator arm joint structure Active CN104029215B (en)

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CN105545929B (en) * 2016-01-28 2018-04-17 上海庆华蜂巢科技发展股份有限公司 A kind of folding extension mechanism
CN106426270A (en) * 2016-12-15 2017-02-22 徐航 Mechanical arm joint structure
CN106640874B (en) * 2017-01-26 2018-11-13 上海庆华蜂巢科技发展股份有限公司 A kind of folding extension mechanism
CN106640875B (en) * 2017-01-26 2018-11-23 上海庆华蜂巢科技发展股份有限公司 A kind of folding extension 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

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DE10106427B4 (en) * 2001-02-12 2006-06-22 Schwing Gmbh Distributor device for thick materials, in particular for concrete
CN101224581A (en) * 2008-01-30 2008-07-23 哈尔滨工程大学 Submarine manipulator shoulder joint
CN102229145A (en) * 2011-06-23 2011-11-02 哈尔滨工程大学 Secondary oscillating joint structure of underwater electric manipulator
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