CN104084947A - Seven-functional underwater mechanical arm system - Google Patents
Seven-functional underwater mechanical arm system Download PDFInfo
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- CN104084947A CN104084947A CN201410201327.5A CN201410201327A CN104084947A CN 104084947 A CN104084947 A CN 104084947A CN 201410201327 A CN201410201327 A CN 201410201327A CN 104084947 A CN104084947 A CN 104084947A
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Abstract
The invention aims to provide a seven-functional underwater mechanical arm system. The seven-functional underwater mechanical arm system comprises a paw, a wrist, a first joint, a second joint, a third joint, a fourth joint and a fifth joint, wherein the first joint comprises a base and a first hydraulic cylinder; the second joint comprises a first connecting rod and a second hydraulic cylinder; the third joint comprises a second connecting rod and a third hydraulic cylinder; the fourth joint comprises a third connecting rod and a fourth hydraulic cylinder; the fifth joint comprises a fourth connecting rod and a fifth hydraulic cylinder; the paw comprises a front wrist end, a first finger end, a second finger end, a first main connecting rod, a second main connecting rod, a first auxiliary connecting rod, a second auxiliary connecting rod and a sixth hydraulic cylinder; the wrist comprises a connecting piece, a rotary motor and a fifth connecting rod. The seven-functional underwater mechanical arm system is simple and compact in structure and high in loading capacity, has seven degrees of freedom, and has higher applicability to deep sea exploration and corresponding seabed operation; the mechanical paw is detachable and replaceable.
Description
Technical field
What the present invention relates to is a kind of underwater robot, specifically a kind of submarine mechanical arm.
Background technology
Ocean is the field of not yet being developed on a large scale at present, especially rich and varied natural resources in the environment of sea bottom complex and deep-sea, these factors impel world's every country to drop into a large amount of human and material resources, financial resources in marine exploration, especially in deep-sea detecting and deep ocean work research.Although Ocean Development Technology is full maturity not yet, but underwater robot has still been obtained scientific research value widely, engineering experience and economic benefit aspect deep ocean work at present, and the research of underwater robot is also for national defense construction ocean column provides an important research direction.As the important component part of underwater robot, submarine mechanical arm system Shi Qi executing agency, directly determines level and quality that deep ocean work robot finishes the work.
Progress of research about submarine mechanical arm is listed below at present, the design and research > > (hydraulic pressure and pneumatic of < < six degree of freedom submarine mechanical arm, 2014 (1): 10-12,17), although the document is designed the submarine mechanical arm of six degree of freedom, but junction, the part joint intensity of mechanical arm can not guarantee, topology layout is compact not, mechanical paw cannot dismounting and change, and these factors can be buried operation hidden danger in practice.The Development Status of < < underwater manipulator and development trend > > (developing electro-mechanic product and innovation, 2012 (3): 25-26,29) development trend of proposition present stage underwater manipulator is embodied in to high-performance, high reliability, and the automation development of higher degree.The Optimal Structure Designing > > of < < underwater manipulator has designed three finger manipulators under water, although improved to a certain extent operation precision, but it does not have mechanical paw technology maturation and stable in deep-sea detecting and deep ocean work." submarine mechanical claw mechanism (200810063944.8) " this Patent design a kind of click-on mechanism under water, but the merging of claw, what rely on is master connecting-rod by being connected between bearing pin and hydraulic cylinder piston rod, the load capacity of this connection is less, and the degree of stability of paw clamping object neither be very high, opposing accidental shock power poor-performing.
Summary of the invention
The object of the present invention is to provide and can guarantee mechanical arm system under a kind of seven function water that the coordination of each function of mechanical arm realizes.
The object of the present invention is achieved like this:
Mechanical arm system under a kind of seven function water of the present invention, it is characterized in that: comprise paw, wrist, the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint, the first joint comprises base, the first hydraulic cylinder, second joint comprises first connecting rod, the second hydraulic cylinder, the 3rd joint comprises second connecting rod, the 3rd hydraulic cylinder, the 4th joint comprises third connecting rod, the 4th hydraulic cylinder, and the 5th joint comprises the 4th connecting rod, the 5th hydraulic cylinder, the first hydraulic cylinder is arranged on base, single rod piston of the first hydraulic cylinder is connected with head rod, the second hydraulic cylinder is arranged on head rod, single rod piston of the second hydraulic cylinder is connected with the second connecting rod, the 3rd hydraulic cylinder is arranged on second connecting rod, the 3rd hydraulic cylinder list rod piston is connected with the 3rd connecting rod, the 4th hydraulic cylinder is arranged on third connecting rod, single rod piston of the 4th hydraulic cylinder is connected with the 4th connecting rod, the 5th hydraulic cylinder is arranged on the 4th connecting rod, wrist comprises connector, rotation motor, the 5th connecting rod, rotation motor is fixed on the 5th connecting rod, connector is connected with the output of rotation motor, single rod piston of the 5th hydraulic cylinder is connected with the 5th connecting rod, paw comprises wrist front end, the first finger tip-the second finger tip, the the first-the second master connecting-rod, the the first-the second auxiliary connecting rod, the 6th hydraulic cylinder, the first finger tip and the second finger tip positioned opposite, broached-tooth design is all set on the face of positioned opposite, the upper end of the first master connecting-rod and the first auxiliary connecting rod is connected with the lower end of the first finger tip, the upper end of the second master connecting-rod and the second auxiliary connecting rod is connected with the lower end of the second finger tip, the first master connecting-rod, the second master connecting-rod, the first auxiliary connecting rod, the lower end of the second auxiliary connecting rod is all connected with wrist front end, on the first-the second master connecting-rod, be provided with broached-tooth design, the 6th hydraulic cylinder is arranged in wrist front end, the both sides of the 6th hydraulic cylinder all arrange broached-tooth design, the broached-tooth design of the first-the second master connecting-rod matches with the broached-tooth design of the 6th hydraulic cylinder both sides respectively, connector is connected with wrist front end.
The present invention can also comprise:
1, the second hydraulic cylinder and the dislocation of the 3rd hydraulic cylinder are arranged, the back-to-back layout of single rod piston of the second hydraulic cylinder and the 3rd hydraulic cylinder; The 4th hydraulic cylinder and the dislocation of the 5th hydraulic cylinder are arranged, the back-to-back layout of single rod piston of the 4th hydraulic cylinder and the 5th hydraulic cylinder.
2, the first master connecting-rod forms parallel construction, the rotation of synchronizeing with the first auxiliary connecting rod, the first master connecting-rod is positioned at the outside of the first auxiliary connecting rod, the second master connecting-rod forms parallel construction, the rotation of synchronizeing with the second auxiliary connecting rod, and the second master connecting-rod is positioned at the outside of the second auxiliary connecting rod.
Advantage of the present invention is: (1) structure is more succinct and compact, by Driven by Hydraulic Cylinder with and the flexible concrete form of single rod, realize the tight connection in each joint, and most between two between joint connecting rod carried out grooving processing, make the placement of hydraulic cylinder convenient rationally, and then making integral layout more succinct, structure is compacter, and the waterproof difficulty of whole system is declined to some extent; (2) abyssal environment job load ability strengthens, and the driving power in each joint of the present invention is all used hydraulic-driven, and hydraulic-driven power is larger, and mechanical arm system is more suitable in the relevant operation of carrying out under the condition of deep-sea; (3) mechanical paw can be changed, and based on paw structure design characteristic, this submarine mechanical arm system can more conveniently carry out paw replacement when the wearing and tearing of paw finger tip or breaking-up under off working state, reduces the maintenance cost of equipment; (4) set up model, be easy to analyze the kinematic parameter span in each joint, be convenient to plan each joint motions component according to corresponding function.
Accompanying drawing explanation
Fig. 1 is overall structure graphics of the present invention;
Fig. 2 is the tomograph of paw section of the present invention;
Fig. 3 is the tomograph of paw section finger tip 101 of the present invention;
Fig. 4 is the tomograph of paw section master connecting-rod 102 of the present invention;
Fig. 5 be paw section auxiliary connecting rod 103 of the present invention front view;
Fig. 6 is the tomograph of paw section wrist front end 104 of the present invention;
Fig. 7 is the tomograph of wrist joint part of the present invention;
Fig. 8 is the tomograph of wrist joint connector 201 of the present invention;
Fig. 9 is the tomograph of wrist joint connecting rod 203 of the present invention;
Figure 10 is connecting rod 301 tomographs in joint 5 of the present invention;
Figure 11 is connecting rod 401 tomographs in joint 4 of the present invention;
Figure 12 is connecting rod 501 tomographs in joint 3 of the present invention;
Figure 13 is connecting rod 601 tomographs in joint 2 of the present invention;
Figure 14 is the tomograph of base 8 of the present invention;
Figure 15 is hydraulic part composition diagram;
Figure 16 is control section composition diagram;
Figure 17 is entire system modeling figure;
Figure 18 is joint simplified model figure.
The specific embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail:
In conjunction with Fig. 1～18, base 8 and hydraulic cylinder 701 are all fixed on the operation body of mechanical arm system, here by control signal, control the servo valve of hydraulic cylinder 701, and then determining the oil mass in hydraulic cylinder 701, the single rod by hydraulic cylinder 701 promotes the connecting rod 601 in joint 26 and realizes rotatablely moving of joint 26; Joint 35 is acted on the servo valve of hydraulic cylinder 602 by control signal, thereby controls oil mass in it, and the promotion by its single rod and with the bearing pin of connecting rod 601, realize joint 35 around the oscillating motion of this bearing pin; Joint 44 is acted on the servo valve of hydraulic cylinder 502 by control signal, thereby controls oil mass in it, and the promotion by its single rod and with the bearing pin of connecting rod 501, realize joint 44 around the oscillating motion of this bearing pin; Joint 53 is acted on the servo valve of hydraulic cylinder 402 by control signal, thereby controls oil mass in it, and the promotion by its single rod and with the bearing pin of connecting rod 401, realize joint 53 around the oscillating motion of this bearing pin; Wrist 2 is acted on the servo valve of hydraulic cylinder 302 by control signal, thereby control oil mass in it, the connecting rod 203 of wrist 2 is with connecting rod 301 by connecting link pin, and the motion of hydraulic cylinder 302 single rods promotes, realize wrist 2 around the rotatablely moving of this bearing pin, and then realize carpal oscillating motion; Rotation motor 202 in wrist 2 is also hydraulic-driven, is the control to servo valve equally by control signal, realizes the rotational motion of motor, and then realizes rotatablely moving of wrist 2; In paw 1, finger tip 101 is connected by master connecting-rod 102 and bearing pin and wrist front end 104, master connecting-rod 102 provides driving power by the hydraulic cylinder 105 that is positioned at wrist front end 104, this drive force source is in the moving component with gear structure of hydraulic cylinder 105 ends, gear and its engagement by master connecting-rod 104 are converted to this hydraulic-driven the gear drive that realizes paw 1 holding action, and then the parallel mechanism consisting of master connecting-rod 104 and auxiliary connecting rod 103 passes to finger tip by this gear drive and realizes that paw opens and holding action.
As shown in figure 15, hydraulic part is comprised of hydraulic pump, overflow valve, servo valve case, check valve, hydraulic oil container, hydraulic cylinder, hydraulic motor and pipeline.Hydraulic pump is the power source of whole hydraulic system, provides and keeps hydraulic system oil pressure; Overflow valve protection hydraulic system, prevents the excessive accident that occurs of hydraulic system pressure; Check valve prevents that load is excessive, hydraulic oil adverse current; Servo valve case is used for controlling hydraulic cylinder corresponding to each joint and hydraulic motor motion and the direction of motion; Hydraulic oil container is used for storing hydraulic oil, for system provides hydraulic oil source and reclaims the hydraulic oil returning; Pipeline is used for connecting each hydraulic component, transmits hydraulic oil, provides power to shift.
As shown in figure 16, control section turns analog circuit, amplifying circuit of analog signal, servo valve case the electric circuit constitute by controller, communication interface circuit, numeral.Host computer sends mechanical arm control command by communication interface circuit to mechanical arm controller, controller calculates decomposition according to order, export the control signal of corresponding digital form, this signal turns analog circuit through numeral and exports corresponding analog signal, after amplifying circuit, be passed to servo valve case, servo valve case, according to the corresponding hydraulic actuator action of signal controlling, is realized the control of mechanical arm.
As shown in figure 17, at the base of this mechanical arm system, joint 1 to joint 5, and the wrist joint corresponding coordinate system x that sets up respectively
0y
0z
0x
1y
1z
1x
2y
2z
2x
3y
3z
3x
4y
4z
4x
5y
5z
5x
6y
6z
6.According to corresponding transformation matrix, can rely in the hope of each function of manipulator the motor behavior in joint, and then seven functions of this mechanical arm system be realized to corresponding control basis is provided.Transformation matrix of coordinates is as follows, wherein makes s
i=sin θ
i, c
i=cos θ
i, d
ifor corresponding distance, and carry out reduced representation.
For each joint, especially each joint in joint 1 to the joint 5 in this mechanical arm system all can be abstract be analytical model as shown in figure 18, might as well get joint i is example explanation (i=1-6): a
i, b
iand L
ifor the regular length after the simplification in corresponding joint, Δ L
ifor the collapsing length of hydraulic cylinder list rod, and its value Δ L
i∈ [Δ L
imin, Δ L
imax], can be in the hope of corresponding angle θ
iscope, model utilizes the cosine law to have:
Solve, draw
Comprehensive the above, submarine mechanical arm system of the present invention passes through control signal, control each hydraulic cylinder servo valve amount of opening, regulate oil mass in each hydraulic cylinder, hydraulic-driven is provided, and then realize the motion of six degree of freedom, and paw folding this perform an action, this submarine mechanical arm system invention has realized seven kinds of functions.
The present invention aims to provide a kind of compact conformation, and mechanical arm system under seven function water of flexible operating can supply all kinds of deep-seas underwater robot, and especially ROV completes deep ocean work.The present invention, by the ingenious groove that is placed in compactly each connector of hydraulic cylinder, is meeting under the prerequisite of compact conformation, can guarantee that again the coordination of each function of mechanical arm realizes.According to kinematic principle, this mechanical arm system is realized the foundation of its model.
The technical solution used in the present invention is:
This submarine mechanical arm system is comprised of paw 1, wrist 2, the 5th joint 3, the 4th joint 4, the 3rd joint 5, second joint 6, the first joint 7 and base 8.Wherein paw 1 is comprised of finger tip 101, master connecting-rod 102, auxiliary connecting rod 103, wrist front end 104 and hydraulic cylinder 105.Wrist 2 is comprised of connector 201, rotation motor 202, connecting rod 203.The 5th joint 3 is comprised of connecting rod 301 and hydraulic cylinder 302.The 4th joint 4 is comprised of connecting rod 401 and hydraulic cylinder 402.The 3rd joint 5 is comprised of connecting rod 501 and hydraulic cylinder 502.Second joint 6 is comprised of connecting rod 601 and hydraulic cylinder 602.The first joint 7 is comprised of hydraulic cylinder 701 and base 8.
Finger tip 101 in paw 1 by master connecting-rod 102 with and bearing pin and wrist front end 104 be connected, master connecting-rod 102 provides driving power by the hydraulic cylinder 105 that is positioned at wrist front end 104, and this hydraulic-driven being converted to the gear drive that realizes paw holding action by the gear structure of master connecting-rod 104, the parallel mechanism consisting of master connecting-rod 104 and auxiliary connecting rod 103 is realized paw 1 by this gear drive transmission and is opened the driving with holding action; Wrist joint 2 connectors 201 are flange arrangements, and itself and wrist front end 104 are connected, and rotation motor 202 is by Driven by Hydraulic Cylinder, and this motor drives wrist front end 104 to realize rotation by connector 201, and then drives paw 1 to realize rotatablely moving of this joint; The 5th joint 3 is connected by connecting rod 203 in bearing pin and wrist joint 2 by single rod piston of hydraulic cylinder 302, by the stretching motion of hydraulic cylinder 302 single rods, realizes the oscillating motion of wrist joint 2; The 4th joint 4 is connected by connecting rod 301 in bearing pin and the 5th joint 3 by single rod piston of hydraulic cylinder 402, by the stretching motion of hydraulic cylinder 402 single rods, realizes the oscillating motion in the 5th joint 3; The 3rd joint 5 is connected by connecting rod 401 in bearing pin and the 4th joint 4 by single rod piston of hydraulic cylinder 502, by the stretching motion of hydraulic cylinder 502 single rods, realizes the oscillating motion in the 4th joint 4; Second joint 6 is connected by connecting rod 501 in bearing pin and the 3rd joint 5 by single rod piston of hydraulic cylinder 602, by the stretching motion of hydraulic cylinder 602 single rods, realizes the oscillating motion in the 3rd joint 5; The first joint 7 is connected by connecting rod 601 in bearing pin and second joint 6 by single rod piston of hydraulic cylinder 701, by the stretching motion of hydraulic cylinder 701 single rods, realizes rotatablely moving of the relative base of whole mechanical arm system.Hydraulic cylinder 701 is all fixed on being connected on body of this submarine mechanical arm system with base 8.
Under a kind of seven function water of the present invention, mechanical arm system is comprised of mechanical part, hydraulic part and control section, and mechanical arm system kinematics model is that manipulator motion is controlled foundation basis.
Mechanical arm is comprised of paw 1, wrist 2, the 5th joint 3, the 4th joint 4, the 3rd joint 5, second joint 6, the first joint 7 and base 8.Wherein paw 1 is comprised of finger tip 101, master connecting-rod 102, auxiliary connecting rod 103, wrist front end 104 and hydraulic cylinder 105.Wrist 2 is comprised of connector 201, rotation motor 202, connecting rod 203.The 5th joint 3 is comprised of connecting rod 301 and hydraulic cylinder 302.The 4th joint 4 is comprised of connecting rod 401 and hydraulic cylinder 402.The 3rd joint 5 is comprised of connecting rod 501 and hydraulic cylinder 502.Second joint 6 is comprised of connecting rod 601 and hydraulic cylinder 602.The first joint 7 is comprised of hydraulic cylinder 701 and base 8.
Paw finger tip 101, master connecting-rod 102, auxiliary connecting rod 103 is symmetrical existence, and master connecting-rod 102 be parallel construction with auxiliary connecting rod 103, and master connecting-rod 102 is positioned at outside, inside auxiliary connecting rod 103 is positioned at.
Under this seven function water, the paw 1 of mechanical arm system can carry out demolition and replacement comparatively easily.
The driving mechanism of master connecting-rod 102 is to provide gear drive by hydraulic cylinder 105, and the end of master connecting-rod 102 is quadrant gear structures, and transfer motion power is realized opening of paw 1 and closed up by parallel construction.
This submarine mechanical arm system has been realized the opening and closing movement of six-freedom degree motion and paw 1, and is connected on body by base 8.
Hydraulic part is comprised of hydraulic pump, overflow valve, servo valve case, check valve, hydraulic oil container, hydraulic cylinder, hydraulic motor and pipeline.
Control section turns analog circuit, amplifying circuit of analog signal, servo valve case the electric circuit constitute by controller, communication interface circuit, numeral.
By the foundation of coordinate system is carried out in each joint of this mechanical arm system, and the calculating of the kinematic parameter of corresponding joint, realize the modeling to whole submarine mechanical arm system.
Claims (3)
1. mechanical arm system under a function water, it is characterized in that: comprise paw (1), wrist (2), the first joint (7), second joint (6), the 3rd joint (5), the 4th joint (4), the 5th joint (3), the first joint (7) comprises base (8), the first hydraulic cylinder (701), second joint (6) comprises first connecting rod (601), the second hydraulic cylinder (602), the 3rd joint (5) comprises second connecting rod (501), the 3rd hydraulic cylinder (502), the 4th joint (4) comprises third connecting rod (401), the 4th hydraulic cylinder (402), the 5th joint (3) comprises the 4th connecting rod (301), the 5th hydraulic cylinder (302), the first hydraulic cylinder (701) is arranged on base (8), single rod piston of the first hydraulic cylinder (701) is connected with head rod (601), the second hydraulic cylinder (602) is arranged on head rod (601), single rod piston of the second hydraulic cylinder (602) is connected with the second connecting rod (501), the 3rd hydraulic cylinder (502) is arranged on second connecting rod (501), the single rod piston of the 3rd hydraulic cylinder (502) is connected with the 3rd connecting rod (401), the 4th hydraulic cylinder (402) is arranged on third connecting rod (401), single rod piston of the 4th hydraulic cylinder (402) is connected with the 4th connecting rod (301), the 5th hydraulic cylinder (302) is arranged on the 4th connecting rod (301), wrist (2) comprises connector (201), rotation motor (202), the 5th connecting rod (203), rotation motor (202) is fixed on the 5th connecting rod (203), connector (201) is connected with the output of rotation motor (202), single rod piston of the 5th hydraulic cylinder (302) is connected with the 5th connecting rod (203), paw (1) comprises wrist front end (104), the first finger tip-the second finger tip, the the first-the second master connecting-rod, the the first-the second auxiliary connecting rod, the 6th hydraulic cylinder (105), the first finger tip and the second finger tip positioned opposite, broached-tooth design is all set on the face of positioned opposite, the upper end of the first master connecting-rod and the first auxiliary connecting rod is connected with the lower end of the first finger tip, the upper end of the second master connecting-rod and the second auxiliary connecting rod is connected with the lower end of the second finger tip, the first master connecting-rod, the second master connecting-rod, the first auxiliary connecting rod, the lower end of the second auxiliary connecting rod is all connected with wrist front end (104), on the first-the second master connecting-rod, be provided with broached-tooth design, it is inner that the 6th hydraulic cylinder (105) is arranged on wrist front end (104), the both sides of the 6th hydraulic cylinder (105) all arrange broached-tooth design, the broached-tooth design of the first-the second master connecting-rod matches with the broached-tooth design of the 6th hydraulic cylinder (105) both sides respectively, connector (201) is connected with wrist front end (104).
2. mechanical arm system under a kind of seven function water according to claim 1, it is characterized in that: the second hydraulic cylinder (602) is arranged with the 3rd hydraulic cylinder (502) dislocation, the back-to-back layout of single rod piston of the second hydraulic cylinder (602) and the 3rd hydraulic cylinder (502); The 4th hydraulic cylinder (402) is arranged with the 5th hydraulic cylinder (302) dislocation, the back-to-back layout of single rod piston of the 4th hydraulic cylinder (402) and the 5th hydraulic cylinder (302).
3. mechanical arm system under a kind of seven function water according to claim 1 and 2, it is characterized in that: the first master connecting-rod forms parallel construction, the rotation of synchronizeing with the first auxiliary connecting rod, the first master connecting-rod is positioned at the outside of the first auxiliary connecting rod, the second master connecting-rod forms parallel construction, the rotation of synchronizeing with the second auxiliary connecting rod, and the second master connecting-rod is positioned at the outside of the second auxiliary connecting rod.
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| CN110630596B (en) * | 2019-10-17 | 2020-04-17 | 山东大学 | Underwater redundant hydraulic mechanical arm and working method thereof |
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| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN112296989A (en) * | 2020-10-23 | 2021-02-02 | 青岛罗博飞海洋技术有限公司 | Underwater five-degree-of-freedom rotary manipulator |
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