CN104084947B - Mechanical arm system under a kind of seven function water - Google Patents
Mechanical arm system under a kind of seven function water Download PDFInfo
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- CN104084947B CN104084947B CN201410201327.5A CN201410201327A CN104084947B CN 104084947 B CN104084947 B CN 104084947B CN 201410201327 A CN201410201327 A CN 201410201327A CN 104084947 B CN104084947 B CN 104084947B
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Abstract
The object of the present invention is to provide mechanical arm system under a kind of seven function water of the present invention, comprise paw, wrist, the first-five joint, first joint comprises base, the first hydraulic cylinder, second joint comprises first connecting rod, the second hydraulic cylinder, 3rd joint comprises second connecting rod, the 3rd hydraulic cylinder, 4th joint comprises third connecting rod, the 4th hydraulic cylinder, and the 5th joint comprises double leval jib, the 5th hydraulic cylinder; Paw comprises wrist front end, the first finger tip-the second finger tip, the first-the second master connecting-rod, the first-the second auxiliary connecting rod, the 6th hydraulic cylinder, and wrist comprises connector, rotation motor, the 5th connecting rod.The present invention is simple for structure compact, and load capacity is strong, and mechanical paw can carry out dismounting and change, has 7 degree of freedom, in deep-sea detecting and corresponding seabed operation, has larger applicability.
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 at present not yet by the field developed on a large scale, especially rich and varied in the environment of sea bottom complex and deep-sea natural resources, these factors impel world's every country to drop into a large amount of human and material resources, financial resources in marine exploration, during especially deep-sea detecting and deep ocean work are studied.Although Ocean Development Technology is full maturity not yet, but underwater robot still achieves scientific research value, engineering experience and economic benefit widely in deep ocean work at present, and the research of underwater robot also provides an important research direction for national defense construction ocean column.As the important component part of underwater robot, submarine mechanical arm system is its executing agency, directly determines the level that deep ocean work robot finishes the work and quality.
Progress of research at present about submarine mechanical arm is listed below, " design and research of six degree of freedom submarine mechanical arm " (Hydraulics and pneumatics, 2014 (1): 10-12,17), although the document designs the submarine mechanical arm of six degree of freedom, the partial joint junction intensity of mechanical arm can not ensure, topology layout is compact not, mechanical paw cannot dismounting and change, and these factors can bury operation hidden danger in practice." Development Status of underwater manipulator and development trend " (developing electro-mechanic product and innovation, 2012 (3): 25-26,29) development trend proposing present stage underwater manipulator is embodied in high-performance, high reliability, and the automation development of higher degree." Optimal Structure Designing of underwater manipulator " devises three finger manipulators under water, although improve operation precision to a certain extent, it is in deep-sea detecting and deep ocean work, does not have mechanical paw technology maturation and stablizes." submarine mechanical claw mechanism (200810063944.8) " this Patent design one click-on mechanism under water, but the merging of claw, what rely on is that master connecting-rod is by the connection between bearing pin and hydraulic cylinder piston rod, the load capacity of this connection is less, and the degree of stability of paw gripping objects neither be very high, opposing accidental shock power poor-performing.
Summary of the invention
Mechanical arm system under one seven function water that the object of the present invention is to provide the coordination that can ensure each function of mechanical arm to realize.
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, first joint comprises base, the first hydraulic cylinder, second joint comprises head rod, the second hydraulic cylinder, 3rd joint comprises the second connecting rod, the 3rd hydraulic cylinder, 4th joint comprises the 3rd connecting rod, the 4th hydraulic cylinder, and the 5th joint comprises the 4th connecting rod, the 5th hydraulic cylinder, first hydraulic cylinder is arranged on base, single rod piston of the first hydraulic cylinder is connected with head rod, second hydraulic cylinder is arranged on head rod, single rod piston of the second hydraulic cylinder is connected with the second connecting rod, 3rd hydraulic cylinder is arranged on the second connecting rod, 3rd hydraulic cylinder list rod piston is connected with the 3rd connecting rod, 4th hydraulic cylinder is arranged on the 3rd connecting rod, single rod piston of the 4th hydraulic cylinder is connected with the 4th connecting rod, 5th hydraulic cylinder is arranged on the 4th connecting rod, wrist comprises connector, rotation motor, 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, first finger tip-the second finger tip, first-the second master connecting-rod, first-the second auxiliary connecting rod, 6th hydraulic cylinder, first finger tip and the second finger tip positioned opposite, face positioned opposite all arranges broached-tooth design, first master connecting-rod is connected with the lower end of the first finger tip with the upper end of the first auxiliary connecting rod, second master connecting-rod is connected with the lower end of the second finger tip with the upper end of the second auxiliary connecting rod, first master connecting-rod, second master connecting-rod, first auxiliary connecting rod, the Jun Yuwan front end, lower end of the second auxiliary connecting rod is connected, first-the second master connecting-rod is provided with broached-tooth design, 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 3rd hydraulic cylinder misplace and arrange, the back-to-back layout of single rod piston of the second hydraulic cylinder and the 3rd hydraulic cylinder; 4th hydraulic cylinder and the 5th hydraulic cylinder misplace and arrange, 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 and the first auxiliary connecting rod form parallel construction, synchronous axial system, first master connecting-rod is positioned at the outside of the first auxiliary connecting rod, second master connecting-rod and the second auxiliary connecting rod form parallel construction, synchronous axial system, 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 the concrete form that Driven by Hydraulic Cylinder and its single rod stretch, realize the compact siro spinning technology in each joint, and connecting rod has carried out grooving process between most two two joint, make the placement of hydraulic cylinder rationally convenient, 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 all uses hydraulic-driven, and hydraulic-driven power is comparatively large, makes mechanical arm system be more suitable for the relevant operation carried out under deep sea condition; (3) mechanical paw can be changed, and based on paw structure design characteristic, this submarine mechanical arm system more conveniently can carry out paw replacement in the wearing and tearing of paw finger tip or when damaging under off working state, reduces the maintenance cost of equipment; (4) Modling model, is easy to the kinematic parameter span analyzing each joint, is 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 tomograph in joint 5 of the present invention;
Figure 11 is connecting rod 401 tomograph in joint 4 of the present invention;
Figure 12 is connecting rod 501 tomograph in joint 3 of the present invention;
Figure 13 is connecting rod 601 tomograph 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.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 18, base 8 and hydraulic cylinder 701 are all fixed on the operation body of mechanical arm system, here by the servo valve of control signal hydraulic control cylinder 701, and then the oil mass in decision hydraulic cylinder 701, the rotary motion in joint 6 is realized by the connecting rod 601 in single rod promotion joint 6 of hydraulic cylinder 701; Joint 5 acts on the servo valve of hydraulic cylinder 602 by control signal, thus controls oil mass in it, and by the promotion of its single rod and the bearing pin with connecting rod 601, realizes the oscillating motion of joint 5 around this bearing pin; Joint 4 acts on the servo valve of hydraulic cylinder 502 by control signal, thus controls oil mass in it, and by the promotion of its single rod and the bearing pin with connecting rod 501, realizes the oscillating motion of joint 4 around this bearing pin; Joint 3 acts on the servo valve of hydraulic cylinder 402 by control signal, thus controls oil mass in it, and by the promotion of its single rod and the bearing pin with connecting rod 401, realizes the oscillating motion of joint 3 around this bearing pin; Wrist 2 acts on the servo valve of hydraulic cylinder 302 by control signal, thus controlling oil mass in it, the connecting rod 203 of wrist 2 passes through connecting link pin, the movement progress of the single rod of hydraulic cylinder 302 with connecting rod 301, realize the rotary motion of wrist 2 around this bearing pin, and then realize carpal oscillating motion; Rotation motor 202 in wrist 2 is also hydraulic-driven, is by the control of control signal to servo valve equally, realizes the rotational motion of motor, and then realize the rotary motion 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 being positioned at wrist front end 104, this drive force source is in the moving component with gear structure of hydraulic cylinder 105 end, engage by the gear of master connecting-rod 102 gear drive this hydraulic-driven being converted to and realizing paw 1 holding action with it, and then this gear drive is passed to finger tip and realizes paw and open and holding action by the parallel mechanism consisted of master connecting-rod 102 and auxiliary connecting rod 103.
As shown in figure 15, hydraulic part is made up 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 that hydraulic system pressure is excessive occurs accident; 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, for storing hydraulic oil, provides hydraulic oil source for system and reclaims the hydraulic oil returned; Pipeline, for connecting each hydraulic component, transmits hydraulic oil, provides power to shift.
As shown in figure 16, control section turns analog circuit by controller, communication interface circuit, numeral, amplifying circuit of analog signal, servo valve case circuit form.Host computer by communication interface circuit to mechanical arm controller transmitter mechanical arm control command, controller carries out calculating according to order and decomposes, export the control signal of corresponding digital form, this signal turns analog circuit through numeral and exports corresponding analog signal, servo valve case is passed to after amplifying circuit, servo valve case controls corresponding hydraulic actuator action according to signal, realizes the control of mechanical arm.
As shown in figure 17, at the base of this mechanical arm system, 1 to joint, joint 5, and wrist joint is corresponding respectively sets up coordinate system x
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, the motor behavior in joint can be relied in the hope of each function of manipulator, and then provide basis to seven the corresponding controls of functional realiey of this mechanical arm system.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, each joint in 1 to the joint, joint 5 especially in this mechanical arm system can abstractly be all analytical model as shown in figure 18, and might as well get joint i is that example illustrates (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 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 opening amount, 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 achieve seven kinds of functions.
The present invention aims to provide a kind of compact conformation, mechanical arm system under seven function water of flexible operating, and can supply all kinds of deep-seas underwater robot, especially ROV completes deep ocean work.The present invention is placed in the groove of each connector compactly by ingenious for hydraulic cylinder, under the prerequisite meeting compact conformation, can ensure that again the coordination of each function of mechanical arm realizes.According to kinematic principle, this mechanical arm system is realized to the foundation of its model.
The technical solution used in the present invention is:
This submarine mechanical arm system is made up of paw 1, wrist 2, the 5th joint 3, the 4th joint 4, the 3rd joint 5, second joint 6, first joint 7 and base 8.Wherein paw 1 is made up of finger tip 101, master connecting-rod 102, auxiliary connecting rod 103, wrist front end 104 and hydraulic cylinder 105.Wrist 2 is made up of connector 201, rotation motor 202, connecting rod 203.5th joint 3 is made up of connecting rod 301 and hydraulic cylinder 302.4th joint 4 is made up of connecting rod 401 and hydraulic cylinder 402.3rd joint 5 is made up of connecting rod 501 and hydraulic cylinder 502.Second joint 6 is made up of connecting rod 601 and hydraulic cylinder 602.First joint 7 is made up of hydraulic cylinder 701 and base 8.
Finger tip 101 in paw 1 is connected by master connecting-rod 102 and its bearing pin and wrist front end 104, master connecting-rod 102 provides driving power by the hydraulic cylinder 105 being positioned at wrist front end 104, and this hydraulic-driven being converted to by the gear structure of master connecting-rod 102 gear drive realizing paw holding action, this gear drive transmission is realized paw 1 and opens the driving with holding action by the parallel mechanism consisted of master connecting-rod 102 and auxiliary connecting rod 103; Wrist joint 2 connector 201 is 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 rotating by connector 201, and then drives paw 1 to realize the rotary motion in this joint; 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 the single rod of hydraulic cylinder 302, realizes the oscillating motion of wrist joint 2; 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 the single rod of hydraulic cylinder 402, realizes the oscillating motion in the 5th joint 3; 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 the single rod of hydraulic cylinder 502, 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 the single rod of hydraulic cylinder 602, realizes the oscillating motion in the 3rd joint 5; 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 the single rod of hydraulic cylinder 701, realizes the rotary motion of whole mechanical arm system respect thereto.Hydraulic cylinder 701 and base 8 are all fixed on the connection body of this submarine mechanical arm system.
Under a kind of seven function water of the present invention, mechanical arm system is made up of mechanical part, hydraulic part and control section, and mechanical arm system kinematics model is that manipulator motion controls to set up basis.
Mechanical arm is made up of paw 1, wrist 2, the 5th joint 3, the 4th joint 4, the 3rd joint 5, second joint 6, first joint 7 and base 8.Wherein paw 1 is made up of finger tip 101, master connecting-rod 102, auxiliary connecting rod 103, wrist front end 104 and hydraulic cylinder 105.Wrist 2 is made up of connector 201, rotation motor 202, connecting rod 203.5th joint 3 is made up of connecting rod 301 and hydraulic cylinder 302.4th joint 4 is made up of connecting rod 401 and hydraulic cylinder 402.3rd joint 5 is made up of connecting rod 501 and hydraulic cylinder 502.Second joint 6 is made up of connecting rod 601 and hydraulic cylinder 602.First joint 7 is made up 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 and auxiliary connecting rod 103 are parallel construction, and master connecting-rod 102 is positioned at outside, and auxiliary connecting rod 103 is positioned at inner side.
Under this seven function water, the paw 1 of mechanical arm system can conveniently carry out demolition and replacement.
The driving mechanism of master connecting-rod 102 provides gear drive by hydraulic cylinder 105, and the end of master connecting-rod 102 is quadrant gear structures, and transfer motion power realizes opening of paw 1 by parallel construction and closes up.
This submarine mechanical arm system achieves the opening and closing movement of six-freedom degree motion and paw 1, and is connected on body by base 8.
Hydraulic part is made up of hydraulic pump, overflow valve, servo valve case, check valve, hydraulic oil container, hydraulic cylinder, hydraulic motor and pipeline.
Control section turns analog circuit by controller, communication interface circuit, numeral, amplifying circuit of analog signal, servo valve case circuit form.
By carrying out the foundation of coordinate system to each joint of this mechanical arm system, and the beginning parameter transform model 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), first joint (7), second joint (6), 3rd joint (5), 4th joint (4), 5th joint (3), first joint (7) comprises base (8), first hydraulic cylinder (701), second joint (6) comprises head rod (601), second hydraulic cylinder (602), 3rd joint (5) comprises the second connecting rod (501), 3rd hydraulic cylinder (502), 4th joint (4) comprises the 3rd connecting rod (401), 4th hydraulic cylinder (402), 5th joint (3) comprises the 4th connecting rod (301), 5th hydraulic cylinder (302), first hydraulic cylinder (701) is arranged on base (8), single rod piston of the first hydraulic cylinder (701) is connected with head rod (601), 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), 3rd hydraulic cylinder (502) is arranged on the second connecting rod (501), single rod piston of the 3rd hydraulic cylinder (502) is connected with the 3rd connecting rod (401), 4th hydraulic cylinder (402) is arranged on the 3rd connecting rod (401), single rod piston of the 4th hydraulic cylinder (402) is connected with the 4th connecting rod (301), 5th hydraulic cylinder (302) is arranged on the 4th connecting rod (301), wrist (2) comprises connector (201), rotation motor (202), 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), first finger tip, second finger tip, first master connecting-rod, second master connecting-rod, first auxiliary connecting rod, second auxiliary connecting rod, 6th hydraulic cylinder (105), first finger tip and the second finger tip positioned opposite, face positioned opposite all arranges broached-tooth design, first master connecting-rod is connected with the lower end of the first finger tip with the upper end of the first auxiliary connecting rod, second master connecting-rod is connected with the lower end of the second finger tip with the upper end of the second auxiliary connecting rod, first master connecting-rod, second master connecting-rod, first auxiliary connecting rod, the Jun Yuwan front end, lower end (104) of the second auxiliary connecting rod is connected, first master connecting-rod and the second master connecting-rod are provided with broached-tooth design, it is inner that 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 master connecting-rod and the broached-tooth design of the second master connecting-rod match 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) and the 3rd hydraulic cylinder (502) misplace and arrange, the back-to-back layout of single rod piston of the second hydraulic cylinder (602) and the 3rd hydraulic cylinder (502); 4th hydraulic cylinder (402) and the 5th hydraulic cylinder (302) misplace and arrange, 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 and the first auxiliary connecting rod form parallel construction, synchronous axial system, first master connecting-rod is positioned at the outside of the first auxiliary connecting rod, second master connecting-rod and the second auxiliary connecting rod form parallel construction, synchronous axial system, and the second master connecting-rod is positioned at the outside of the second auxiliary connecting rod.
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