CN105171740A - Underwater robot operating manipulator - Google Patents
Underwater robot operating manipulator Download PDFInfo
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- CN105171740A CN105171740A CN201510497236.5A CN201510497236A CN105171740A CN 105171740 A CN105171740 A CN 105171740A CN 201510497236 A CN201510497236 A CN 201510497236A CN 105171740 A CN105171740 A CN 105171740A
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- potentiometer
- turning arm
- manipulator
- cradle head
- servomotor
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Abstract
The invention discloses an underwater robot operating manipulator. The manipulator can be used for replacing heavy labor of human to achieve mechanical and automatic production and can conduct operation in a harmful environment so as to protect personal safety, thereby being widely applied to the departments such as mechanical manufacturing, metallurgy, electronics, light industry and atomic energy. Ordinary manipulators on the market now are complex in structure and short of flexibility. The underwater robot operating manipulator comprises an electric cylinder, a rotary arm, a servo motor, an electric push rod, a big gear, a small gear and a gripper. The underwater robot operating manipulator is used for underwater operation.
Description
Technical field
The present invention relates to a kind of industrial robot, particularly a kind of underwater robot manipulator.
Background technology
In life now, under the progress that science and technology is maked rapid progress, the appearance of manipulator can replace people's onerous toil to realize mechanization and the automation of production, some motor skill of staff and arm can be imitated, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Robot and the maximum difference of human arm are just flexibility ratio and resistance to dynamics.Namely the sharpest edges of manipulator are recursive does same action and can not feel tired under normal circumstances forever at machinery, the application of mechanical arm also will be more and more extensive, manipulator is a kind of high-tech automatic producing device grown up nearly decades, and the ability fulfiled assignment in the high and environment of the accuracy of operation forces manipulator to be an important branch in industry.
Current manipulator is on the market all promoted by hydraulic pressure, but these manipulators lack accuracy and smart, in reality is run, mainly there is following problem:
During hydraulic control, existing control circuit, has oil circuit control again, makes to lack accuracy when controlling.
Due to hydraulic test complex structure, lack smart during control, the motor imagination time is slow.
Summary of the invention
The object of the present invention is to provide a kind of underwater robot manipulator, the industrial operating efficiency of effective raising, improve accuracy and the operability of operation.With economization workman, raise the efficiency, reduce costs, improve product quality, security good, promote the total solution that factory's image provides high intelligence.This mechanical hand getting motor and electric pushrod carry out controlling all motions, hydraulic system of comparing, and control accurate stable, and flexibly movable, the corresponding time of moving is fast.
The object of the present invention is achieved like this:
A kind of underwater robot manipulator, its composition comprises: manipulator body, mechanical paw, controls manipulator, Electric Appliance Cabinet is formed; Described manipulator body by electric cylinder, turning arm, servomotor, electric pushrod, gear wheel, pinion form; Described mechanical paw part by jaw, connecting angle pieces, connecting rod, slide block, push rod form; Described control manipulator by base, mount pad, cradle head, potentiometer, direction key and screen are formed; Described manipulator body is by mechanical connection mechanical paw, and manipulator body is by wire connecting circuit cabinet, and described Electric Appliance Cabinet is by wire connection control manipulator.
Described underwater robot manipulator, described manipulator body by electric cylinder 1, electric cylinder 2, turning arm 1, turning arm 2, servomotor 1, servomotor 2, electric pushrod, gear wheel, pinion form, described electric cylinder 1 afterbody connects base, in the middle of described turning arm 1 afterbody and head, rotating shaft is installed, described electric cylinder 1 connects the rotating shaft of turning arm 1, described turning arm 1 afterbody connects base by rotating shaft, in the middle of described turning arm 2 afterbody and head, rotating shaft is installed, described turning arm 1 head connects the rotating shaft of turning arm 2 by rotating shaft, described turning arm 2 afterbody connects the push rod of electric cylinder 2 through rotating shaft, the afterbody of described electric cylinder 2 connects base by rotating shaft, described turning arm 2 connects the afterbody of turning arm 3 by decelerator, described decelerator is installed servomotor 1, described turning arm 3 head is provided with mechanical paw by rotating shaft, described mechanical paw is connected with gear wheel, described gear wheel engages with pinion, described pinion is provided with servomotor 2, described servomotor 2, pinion is fixedly connected with turning arm 2.
Described underwater robot manipulator, described control manipulator, by cradle head 1, cradle head 2, cradle head 3, potentiometer 1, potentiometer 2, potentiometer 3, direction key, base, mount pad forms, wherein base and mount pad fix, mount pad and potentiometer 1 are fixed, potentiometer 1 projecting shaft is connected with cradle head 1, cradle head 1 rotates, potentiometer 1 is driven to rotate, described potentiometer 1 is wired to base, potentiometer 2 and cradle head 1 fix, cradle head 2 is connected with potentiometer 2 projecting shaft, cradle head 2 rotates, potentiometer 2 is driven to rotate, described potentiometer 2 is wired to base, potentiometer 3 and cradle head 2 fix, cradle head 3 is connected with potentiometer 3 projecting shaft, cradle head 3 rotates, potentiometer 3 is driven to rotate, described potentiometer 3 is wired to base.
Described underwater robot manipulator, described control manipulator direction key is made up of four buttons up and down, and described up and down by key control servomotor 2 forward and reverse, left button controls servomotor 2 and rotates forward, and right button controls servomotor 2 and reverses; Described upper and lower two elongations by key control electric pushrod and shortening, electric pushrod is connected with the push rod on paw, and upper key control electric pushrod extends, and lower key control electric pushrod shortens.
Described underwater robot manipulator, described mechanical paw, electric pushrod is connected with the push rod of paw, and drive push rod and slide block to travel forward when electric pushrod extends, slipper push connecting rod and connecting angle pieces make jaw unclamp, and push rod shortens makes jaw clamp.
Described underwater robot manipulator, described electric cylinder 1 is connected with Electric Appliance Cabinet by wire, and described electric cylinder 2 is connected with Electric Appliance Cabinet by wire, and described electric cylinder 3 is connected with Electric Appliance Cabinet by wire.
Beneficial effect:
1. the present invention's campaign is all controlled by motor and electric pushrod, hydraulic system of comparing, and controls accurate stable, and flexibly movable, the motor imagination time is fast.
2. the present invention compares the manipulator maximum operating range of hydraulic driving mode greatly, and maximum operational speed is fast, and the speed of service is controlled by motor driver, can realize the control to movement velocity.
3. the present invention realizes controlling to be synchronized with the movement between hand and main hand, improves flexibility and the operability of manipulator.
4. the present invention realizes speed lifting by rotary shaft structure, and motor pattern is simple, realizes rapid movement.
Accompanying drawing illustrates:
In accompanying drawing 1 figure, 1 is electric cylinder 1, and 2 is paw, and 3 is turning arm 3, and 4 is turning arm 2, and 5 is electric cylinder 2, and 6 is turning arm 1, and 7 is base.
In accompanying drawing 2 figure, 8 is servomotor 1, and 9 is turbine and worm decelerator, and 10 is servomotor 2, and 11 is electric pushrod, and 12 is gear wheel, and 13 is pinion.
In accompanying drawing 3 figure, 14 is manipulator main body, and 15 is Electric Appliance Cabinet cabinet, and 16 for controlling manipulator.
In accompanying drawing 4 figure, 17 is drain pan, and 18 is mount pad, and 19 is cradle head 1, and 20 is potentiometer 1, and 21 is potentiometer 2, and 22 is direction key, and 23 is cradle head 3, and 24 is potentiometer 3, and 25 is cradle head 2.
Detailed description of the invention:
Embodiment 1:
A kind of underwater robot manipulator, its composition comprises: manipulator body, mechanical paw, controls manipulator, Electric Appliance Cabinet is formed; Described manipulator body by electric cylinder, turning arm, servomotor, electric pushrod, gear wheel, pinion form; Described mechanical paw part by jaw, connecting angle pieces, connecting rod, slide block, push rod form; Described control manipulator by base, mount pad, cradle head, potentiometer, direction key and screen are formed; Described manipulator body is by mechanical connection mechanical paw, and manipulator body is by wire connecting circuit cabinet, and described Electric Appliance Cabinet is by wire connection control manipulator.
Embodiment 2:
Underwater robot manipulator according to embodiment 1, described manipulator body by electric cylinder 1, electric cylinder 2, turning arm 1, turning arm 2, servomotor 1, servomotor 2, electric pushrod, gear wheel, pinion form, described electric cylinder 1 afterbody connects base, in the middle of described turning arm 1 afterbody and head, rotating shaft is installed, described electric cylinder 1 connects the rotating shaft of turning arm 1, described turning arm 1 afterbody connects base by rotating shaft, in the middle of described turning arm 2 afterbody and head, rotating shaft is installed, described turning arm 1 head connects the rotating shaft of turning arm 2 by rotating shaft, described turning arm 2 afterbody connects the push rod of electric cylinder 2 through rotating shaft, the afterbody of described electric cylinder 2 connects base by rotating shaft, described turning arm 2 connects the afterbody of turning arm 3 by decelerator, described decelerator is installed servomotor 1, described turning arm 3 head is provided with mechanical paw by rotating shaft, described mechanical paw is connected with gear wheel, described gear wheel engages with pinion, described pinion is provided with servomotor 2, described servomotor 2, pinion is fixedly connected with turning arm 2.
Embodiment 3:
Underwater robot manipulator according to embodiment 1, described control manipulator, by cradle head 1, cradle head 2, cradle head 3, potentiometer 1, potentiometer 2, potentiometer 3, direction key, base, mount pad forms, wherein base and mount pad fix, mount pad and potentiometer 1 are fixed, potentiometer 1 projecting shaft is connected with cradle head 1, cradle head 1 rotates, potentiometer 1 is driven to rotate, described potentiometer 1 is wired to base, potentiometer 2 and cradle head 1 fix, cradle head 2 is connected with potentiometer 2 projecting shaft, cradle head 2 rotates, potentiometer 2 is driven to rotate, described potentiometer 2 is wired to base, potentiometer 3 and cradle head 2 fix, cradle head 3 is connected with potentiometer 3 projecting shaft, cradle head 3 rotates, potentiometer 3 is driven to rotate, described potentiometer 3 is wired to base.
Embodiment 4:
Underwater robot manipulator according to embodiment 1, described control manipulator direction key is made up of four buttons up and down, described up and down by key control servomotor 2 forward and reverse, left button controls servomotor 2 and rotates forward, and right button controls servomotor 2 and reverses; Described upper and lower two elongations by key control electric pushrod and shortening, electric pushrod is connected with the push rod on paw, and upper key control electric pushrod extends, and lower key control electric pushrod shortens.
Embodiment 5:
Underwater robot manipulator according to embodiment 1, described mechanical paw, electric pushrod is connected with the push rod of paw, drives push rod and slide block to travel forward when electric pushrod extends, slipper push connecting rod and connecting angle pieces make jaw unclamp, and push rod shortens makes jaw clamp.
Embodiment 6:
Underwater robot manipulator according to embodiment 2, described electric cylinder 1 is connected with Electric Appliance Cabinet by wire, and described electric cylinder 2 is connected with Electric Appliance Cabinet by wire, and described electric cylinder 3 is connected with Electric Appliance Cabinet by wire.
Embodiment 7:
Underwater robot manipulator according to above-described embodiment, this manipulator is accompanied with the control manipulator identical with the master manipulator free degree, by control manipulator, control signal is sent in switch board, each motor is driven to move by switch board again, control little hand and run few angle, corresponding main hand runs how many angles, rotation and the crawl of master manipulator are controlled by little button on hand, first initial position is recovered after system electrification, after initial position puts in place, manipulator can run to the position of current control hand, now motion control paw, main hand can be synchronized with the movement by model-following control paw.
Claims (6)
1. a underwater robot manipulator, is characterized in that: its composition comprises: manipulator body, mechanical paw, controls manipulator, Electric Appliance Cabinet is formed; Described manipulator body by electric cylinder, turning arm, servomotor, electric pushrod, gear wheel, pinion form; Described mechanical paw part by jaw, connecting angle pieces, connecting rod, slide block, push rod form; Described control manipulator by base, mount pad, cradle head, potentiometer, direction key and screen are formed; Described manipulator body is by mechanical connection mechanical paw, and manipulator body is by wire connecting circuit cabinet, and described Electric Appliance Cabinet is by wire connection control manipulator.
2. underwater robot manipulator according to claim 1, is characterized in that: described manipulator body by electric cylinder 1, electric cylinder 2, turning arm 1, turning arm 2, servomotor 1, servomotor 2, electric pushrod, gear wheel, pinion form, described electric cylinder 1 afterbody connects base, in the middle of described turning arm 1 afterbody and head, rotating shaft is installed, described electric cylinder 1 connects the rotating shaft of turning arm 1, described turning arm 1 afterbody connects base by rotating shaft, in the middle of described turning arm 2 afterbody and head, rotating shaft is installed, described turning arm 1 head connects the rotating shaft of turning arm 2 by rotating shaft, described turning arm 2 afterbody connects the push rod of electric cylinder 2 through rotating shaft, the afterbody of described electric cylinder 2 connects base by rotating shaft, described turning arm 2 connects the afterbody of turning arm 3 by decelerator, described decelerator is installed servomotor 1, described turning arm 3 head is provided with mechanical paw by rotating shaft, described mechanical paw is connected with gear wheel, described gear wheel engages with pinion, described pinion is provided with servomotor 2, described servomotor 2, pinion is fixedly connected with turning arm 2.
3. underwater robot manipulator according to claim 1, it is characterized in that: described control manipulator, by cradle head 1, cradle head 2, cradle head 3, potentiometer 1, potentiometer 2, potentiometer 3, direction key, base, mount pad forms, wherein base and mount pad fix, mount pad and potentiometer 1 are fixed, potentiometer 1 projecting shaft is connected with cradle head 1, cradle head 1 rotates, potentiometer 1 is driven to rotate, described potentiometer 1 is wired to base, potentiometer 2 and cradle head 1 fix, cradle head 2 is connected with potentiometer 2 projecting shaft, cradle head 2 rotates, potentiometer 2 is driven to rotate, described potentiometer 2 is wired to base, potentiometer 3 and cradle head 2 fix, cradle head 3 is connected with potentiometer 3 projecting shaft, cradle head 3 rotates, potentiometer 3 is driven to rotate, described potentiometer 3 is wired to base.
4. underwater robot manipulator according to claim 1, it is characterized in that: described control manipulator direction key is made up of four buttons up and down, described up and down by key control servomotor 2 forward and reverse, left button controls servomotor 2 and rotates forward, and right button controls servomotor 2 and reverses; Described upper and lower two elongations by key control electric pushrod and shortening, electric pushrod is connected with the push rod on paw, and upper key control electric pushrod extends, and lower key control electric pushrod shortens.
5. underwater robot manipulator according to claim 1, it is characterized in that: described mechanical paw, electric pushrod is connected with the push rod of paw, push rod and slide block is driven to travel forward when electric pushrod extends, slipper push connecting rod and connecting angle pieces make jaw unclamp, and push rod shortens makes jaw clamp.
6. underwater robot manipulator according to claim 2, is characterized in that: described electric cylinder 1 is connected with Electric Appliance Cabinet by wire, and described electric cylinder 2 is connected with Electric Appliance Cabinet by wire, and described electric cylinder 3 is connected with Electric Appliance Cabinet by wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510497236.5A CN105171740A (en) | 2015-08-14 | 2015-08-14 | Underwater robot operating manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510497236.5A CN105171740A (en) | 2015-08-14 | 2015-08-14 | Underwater robot operating manipulator |
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| Publication Number | Publication Date |
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| CN105171740A true CN105171740A (en) | 2015-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510497236.5A Pending CN105171740A (en) | 2015-08-14 | 2015-08-14 | Underwater robot operating manipulator |
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| CN (1) | CN105171740A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186715A (en) * | 2017-05-25 | 2017-09-22 | 深圳市越疆科技有限公司 | Motion control method and device and storage medium, the computer of mechanical arm |
| CN110450147A (en) * | 2019-08-19 | 2019-11-15 | 北京墨狄科技有限公司 | A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm |
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| CN201800045U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Clamping mechanism for multiple-degree-of-freedom robot |
| CN202622801U (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod type manipulator |
| CN203712687U (en) * | 2014-03-12 | 2014-07-16 | 山东大学 | Joint type force feedback tele-operation master manipulator |
| CN104647331A (en) * | 2015-03-23 | 2015-05-27 | 常州米泽智能装备科技有限公司 | Master-slave follow-up teaching industrial robot system |
| US20150224638A1 (en) * | 2014-02-07 | 2015-08-13 | Control Interfaces LLC | Remotely operated manipulator and rov control systems and methods |
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2015
- 2015-08-14 CN CN201510497236.5A patent/CN105171740A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201800045U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Clamping mechanism for multiple-degree-of-freedom robot |
| CN202622801U (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod type manipulator |
| US20150224638A1 (en) * | 2014-02-07 | 2015-08-13 | Control Interfaces LLC | Remotely operated manipulator and rov control systems and methods |
| CN203712687U (en) * | 2014-03-12 | 2014-07-16 | 山东大学 | Joint type force feedback tele-operation master manipulator |
| CN104647331A (en) * | 2015-03-23 | 2015-05-27 | 常州米泽智能装备科技有限公司 | Master-slave follow-up teaching industrial robot system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186715A (en) * | 2017-05-25 | 2017-09-22 | 深圳市越疆科技有限公司 | Motion control method and device and storage medium, the computer of mechanical arm |
| CN107186715B (en) * | 2017-05-25 | 2020-07-31 | 深圳市越疆科技有限公司 | Method and device for controlling movement of mechanical arm, storage medium and computer |
| CN110450147A (en) * | 2019-08-19 | 2019-11-15 | 北京墨狄科技有限公司 | A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm |
| CN110450147B (en) * | 2019-08-19 | 2024-06-25 | 北京墨狄科技有限公司 | Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof |
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Application publication date: 20151223 |
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