CN105415367A - Controllable and stable height-adjustable deep sea grasping hand - Google Patents
Controllable and stable height-adjustable deep sea grasping hand Download PDFInfo
- Publication number
- CN105415367A CN105415367A CN201610020279.9A CN201610020279A CN105415367A CN 105415367 A CN105415367 A CN 105415367A CN 201610020279 A CN201610020279 A CN 201610020279A CN 105415367 A CN105415367 A CN 105415367A
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- China
- Prior art keywords
- triangle pole
- side lever
- hand
- straight pin
- arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a controllable and stable height-adjustable deep sea grasping hand. A side rod of the grasping hand is connected with a base through a fifth cylindrical pin. An eighth cylindrical pin is welded to the interior of a rectangular space on the top of the side rod, a third side rod of a triangular rod is connected with a third rotating body of a composite hinge through a third cylindrical pin, a straight rod is connected with the third side rod of the triangular rod through a first cylindrical pin, a first arm of the grasping hand is installed on a supporting base plate, and the supporting base plate is welded to a deep sea robot body. The deep sea grasping hand has the high controllability, flexibility and adaptability, and can change grasping space and grasping track so as to meet more grasping requirements.
Description
Technical field
The present invention relates to a kind of deep-sea manipulator, particularly the firm deep-sea of a kind of controllable height captures hand.
Background technology
In recent years; along with the development of society; the resource in shallow sea can not meet the desire of people and the demand to development; people go to deep-sea to explore precious resource gradually; therefore; the exploitation of deep-sea machinery also becomes the focus of people's research gradually; but; the gripping portion forms of motion of existing deep-sea manipulator is single; controllability, flexibility and adaptability are poor; be difficult to the operating type miscellaneous under the complex environment of adaptation deep-sea, be therefore necessary to design a kind of hand of crawl flexibly adapting to deep-sea complex environment needs.
Have not yet to see the crawl that a kind of crawl that can adapt to small articles can adapt to again big article, and the deep-sea with high controllability and flexibility captures the innovation design of hand.
Summary of the invention
The object of this invention is to provide the firm deep-sea of a kind of controllable height and capture hand, the crawl that can adapt to small articles can adapt to again the crawl of big article, has higher controllability, captures the demand of object under can meeting deep-sea complex environment.
The present invention is achieved through the following technical solutions above-mentioned purpose: the firm deep-sea of a kind of controllable height captures hand, the side lever of this crawl hand is connected with base by the 5th straight pin, 8th straight pin is welded in the coffin at side lever top, compound hinges is by compound hinges first rotary body, compound hinges second rotary body, compound hinges the 3rd rotary body and compound hinges the 4th rotary body are formed, compound hinges first rotary body is connected with side lever by the 8th straight pin with compound hinges second rotary body, compound hinges the 3rd rotary body is connected with compound hinges first rotary body by the 6th straight pin, compound hinges the 4th rotary body is connected with compound hinges second rotary body by the 7th straight pin, straight-bar is connected with compound hinges the 4th rotary body by the 4th straight pin, triangle pole the 3rd side lever is connected with compound hinges the 3rd rotary body by three cylindrical pin, straight-bar is connected with triangle pole the 3rd side lever by the first straight pin, triangle pole is by triangle pole first side lever, triangle pole second side lever, triangle pole the 3rd side lever, triangle pole the 4th side lever, triangle pole first bottom bar, triangle pole second bottom bar, triangle pole connecting rod and triangle pole crank are formed, triangle pole first side lever is connected with triangle pole second side lever by the tenth three cylindrical pin, triangle pole second side lever is connected with triangle pole first bottom bar by the 14 straight pin, triangle pole first bottom bar is connected with triangle pole connecting rod by the 15 straight pin, triangle pole connecting rod is connected with triangle pole crank by 16 straight pins, triangle pole crank is connected with triangle pole second bottom bar by the 17 straight pin, triangle pole second bottom bar is connected with triangle pole the 4th side lever by the 18 straight pin, triangle pole the 4th side lever is connected with triangle pole the 3rd side lever by the 19 straight pin, triangle pole first side lever is connected with triangle pole the 3rd side lever by the second straight pin, bottom surface pin and base interference fit, rotating disk is installed on the pin of bottom surface, can rotate around bottom surface pin, internal gear is welded on rotating disk, second Hooke's hinge is connected with rotating disk by the 20 straight pin, first Hooke's hinge one end is connected with side lever, the other end is connected with the second Hooke's hinge by Hooke's hinge connecting rod, external gear to be installed on motor and to match with internal gear, motor is installed on and captures in hand the 3rd arm, connecting rod one end is welded with base, the other end welds with crawl hand the 3rd arm, first cylinder connects rotating disk and is installed on crawl hand the 3rd arm, capture hand the 3rd arm to be connected with crawl hand second arm by the tenth straight pin, first cylinder is installed on and captures on hand second arm, and be connected rotating disk with the first cylinder connect by the 11 straight pin, second cylinder connects rotating disk and is installed on crawl hand second arm, capture hand second arm to be connected with crawl hand first arm by the 9th straight pin, second cylinder is installed on and captures on hand first arm, and be connected rotating disk with the second cylinder connect by the 12 straight pin, capturing hand first arm is installed on support baseboard, support baseboard is welded in deepwater robot main body.
Described side lever top is provided with a coffin, and the 8th straight pin is welded in this coffin.
Described straight-bar side is milled with elongated slot.
The side of described triangle pole first side lever is milled with long key, and this long key coordinates with the elongated slot on straight-bar.
Described triangle pole first bottom bar inside has elongated hole, and triangle pole second bottom bar inserts in the middle of this elongated hole, carrys out the length on adjusting triangle bar base by changing the length inserted.
Outstanding advantages of the present invention is:
1, this crawl hand mechanism in the process capturing object becomes single-degree-of-freedom from two-freedom, captures track more accurate, captures process more steady.
2, this crawl hand carrys out the closed angle of changing mechanism by the length changing triangle pole base, the crawl track of crawl hand is changed, can adapt to the crawl of small articles or the crawl of big article, have high flexibility.
3, this crawl hand getting symmetrical structure, has stronger controllability, makes it automatically regulate crawl angle when capturing object according to the size of object by control system, reaches and captures the firm and stable object of object.
Accompanying drawing explanation
The schematic diagram of output semi-closed state when Fig. 1 is controllable height of the present invention firm deep-sea crawl hand crawl big article.
The upward view of output flat state when Fig. 2 is controllable height of the present invention firm deep-sea crawl hand crawl big article.
Fig. 3 is the top view that the firm deep-sea of controllable height of the present invention captures the compound hinges of hand.
Fig. 4 is the front view that the firm deep-sea of controllable height of the present invention captures the compound hinges of hand.
Fig. 5 is the front view of the triangle pole under controllable height of the present invention firm deep-sea crawl hand crawl big article state.
Fig. 6 is the front view of the triangle pole under controllable height of the present invention firm deep-sea crawl hand crawl small articles state.
Fig. 7 is the front view that the firm deep-sea of controllable height of the present invention captures the side lever of hand.
Fig. 8 is the front view that the firm deep-sea of controllable height of the present invention captures the straight-bar of hand.
The schematic diagram of output semi-closed state when Fig. 9 is controllable height of the present invention firm deep-sea crawl hand crawl small articles.
The schematic diagram of output closure state when Figure 10 is controllable height of the present invention firm deep-sea crawl hand crawl small articles.
The schematic diagram of output closure state when Figure 11 is controllable height of the present invention firm deep-sea crawl hand crawl big article.
Figure 12 is the front view of deepwater robot of the present invention.
Figure 13 is the schematic diagram of deepwater robot of the present invention.
Figure 14 is that the firm deep-sea of controllable height of the present invention captures hand duty change schematic diagram.
Be labeled as in figure: 1. the first straight pin; 2. the second straight pin; 3. triangle pole first side lever; 4. triangle pole second side lever; 5. triangle pole first bottom bar; 6. triangle pole connecting rod; 7. triangle pole crank; 8. triangle pole second bottom bar; 9. three cylindrical pin; 10. the 4th straight pin; 11. side levers; 12. bases; 13. connecting rods; 14. external gears; 15. motors; 16. triangle poles the 3rd side lever; 17. straight-bars; 18. compound hingeses; 19. triangle poles the 4th side lever; 20. first Hooke's hinges; Pin bottom 21.; 22. internal gears; 23. Hooke's hinge connecting rods; 24. second Hooke's hinges; 25. the 5th straight pins; 26. the tenth three cylindrical pins; 27. the 14 straight pins; 28. the 15 straight pins; 29. the 16 straight pins; 30. the 17 straight pins; 31. the 18 straight pins; 32. the 19 straight pins; 33. the 6th straight pins; 34. the 7th straight pins; 35. compound hingeses the 4th rotary body; 36. compound hingeses the 3rd rotary body; 37. compound hinges second rotary bodies; 38. compound hinges first rotary bodies; 39. the 8th straight pins; 40. deepwater robot main bodys; 41. the 11 straight pins; 42. first cylinders connect rotating disk; 43. capture hand the 3rd arm; 44. the tenth straight pins; 45. first cylinders; 46. capture hand second arm; 47. the 12 straight pins; 48. second cylinders connect rotating disk; 49. second cylinders; 50. support baseboards; 51. capture hand first arm; 52. the 9th straight pins; 53. rotating disks; 54. the 20 straight pins; 55. capture hand output; 56. triangle poles.
Detailed description of the invention:
Below in conjunction with drawings and Examples, technical scheme of the present invention is further described.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 7 and Figure 12, the firm deep-sea of controllable height of the present invention captures hand, and concrete structure and annexation are:
The side lever 11 of this crawl hand is connected with base 12 by the 5th straight pin 25, 8th straight pin 39 is welded in the little coffin at side lever 11 top, compound hinges 18 is by compound hinges first rotary body 38, compound hinges second rotary body 37, compound hinges the 3rd rotary body 36 and compound hinges the 4th rotary body 35 combine, compound hinges first rotary body 38 is connected with side lever 11 by the 8th straight pin 39 with compound hinges second rotary body 37, compound hinges the 3rd rotary body 36 is connected with compound hinges first rotary body 38 by the 6th straight pin 33, compound hinges the 4th rotary body 35 is connected with compound hinges second rotary body 37 by the 7th straight pin 34, straight-bar 17 is connected with compound hinges the 4th rotary body 35 by the 4th straight pin 10, triangle pole the 3rd side lever 16 is connected with compound hinges the 3rd rotary body 36 by three cylindrical pin 9, straight-bar 17 is connected with triangle pole the 3rd side lever 16 by the first straight pin 1, triangle pole 56 is by triangle pole first side lever 3, triangle pole second side lever 4, triangle pole the 3rd side lever 16, triangle pole the 4th side lever 19, triangle pole first bottom bar 5, triangle pole second bottom bar 8, triangle pole connecting rod 6 and triangle pole crank 7 form, triangle pole first side lever 3 is connected with triangle pole second side lever 4 by the tenth three cylindrical pin 26, triangle pole second side lever 4 is connected with triangle pole first bottom bar 5 by the 14 straight pin 27, triangle pole first bottom bar 5 is connected with triangle pole connecting rod 6 by the 15 straight pin 28, triangle pole connecting rod 6 is connected with triangle pole crank 7 by 16 straight pins 29, triangle pole crank 7 is connected with triangle pole second bottom bar 8 by the 17 straight pin 30, triangle pole second bottom bar 8 is connected with triangle pole the 4th side lever 19 by the 18 straight pin 31, triangle pole the 4th side lever 19 is connected with triangle pole the 3rd side lever 16 by the 19 straight pin 32, triangle pole first side lever 3 is connected with triangle pole the 3rd side lever 16 by the second straight pin 2, bottom surface pin 21 and base 12 interference fit, rotating disk 53 is installed on bottom surface pin 21, can rotate around bottom surface pin 21, internal gear 22 is welded on rotating disk 53, second Hooke's hinge 24 is connected with rotating disk 53 by the 20 straight pin 54, first Hooke's hinge 20 one end is connected with side lever 11, one end is connected with the second Hooke's hinge 24 by Hooke's hinge connecting rod 23, external gear 14 to be installed on motor 15 and to match with internal gear 22, motor 15 is installed on and captures in hand the 3rd arm 43, connecting rod 13 one end is welded with base 12, the other end welds with crawl hand the 3rd arm 43, first cylinder connects rotating disk 42 and is installed on crawl hand the 3rd arm 43, capture hand the 3rd arm 43 to be connected with crawl hand second arm 46 by the tenth straight pin 44, first cylinder 45 is installed on and captures on hand second arm 46, and be connected rotating disk 42 by the 11 straight pin 41 with the first cylinder and connect, second cylinder connects rotating disk 48 and is installed on crawl hand second arm 46, capture hand second arm 46 to be connected with crawl hand first arm 51 by the 9th straight pin 52, second cylinder 49 is installed on and captures on hand first arm 51, and be connected rotating disk 48 by the 12 straight pin 47 with the second cylinder and connect, capturing hand first arm 51 is installed on support baseboard 50, support baseboard 50 is welded in deepwater robot main body 40.
Operation principle of the present invention is:
The angle captured between hand the 3rd arm 43 and crawl hand second arm 46 regulates by the first cylinder 45, when the first cylinder 45 extends, first cylinder 45 promotes to capture hand the 3rd arm 43 and rotates counterclockwise, the angle captured between hand the 3rd arm 43 and crawl hand second arm 46 increases, otherwise, when the first cylinder 45 shortens, the first cylinder 45 pulls crawl hand the 3rd arm 43 to rotate clockwise, and the angle captured between hand the 3rd arm 43 and crawl hand second arm 46 reduces; In like manner, the angle captured between hand second arm 46 and crawl hand first arm 51 regulates by the second cylinder 49, when the second cylinder 49 extends, the angle captured between hand second arm 46 and crawl hand first arm 51 increases, when the second cylinder 49 shortens, the angle captured between hand second arm 46 and crawl hand first arm 51 reduces.This deep-sea captures the core of hand at crawl hand output 55, because this crawl hand output 55 has symmetrical structure, be made up of six identical unit, the structure of each unit is all identical with motion mode, therefore, only analyze the operation principle of a unit here, the operation principle of remaining element is all identical.Unit is made up of the first Hooke's hinge 20, Hooke's hinge connecting rod 23, second Hooke's hinge 24, side lever 11, compound hinges first rotary body 38, compound hinges second rotary body 37, compound hinges the 3rd rotary body 36, compound hinges the 4th rotary body 35, straight-bar 17, triangle pole first side lever 3, triangle pole second side lever 4, triangle pole the 3rd side lever 16, triangle pole the 4th side lever 19, triangle pole first bottom bar 5, triangle pole second bottom bar 8, triangle pole connecting rod 6 and triangle pole crank 7.The original state capturing hand output 55 is flat state, when capturing hand output 55 and will capturing object, first the size of object will be judged, according to the size of object, the coincidence length of adjusting triangle bar first bottom bar 5 and triangle pole second bottom bar 8 in a flat state, change the closed angle of side lever 11 with this, the crawl track of final changing mechanism and crawl space, to adapt to the size of object.After adjusting the closed angle of side lever in a flat state, motor 15 is rotated, motor 15 drives external gear 14 to rotate, external gear 14 drives internal gear 22 to rotate, internal gear 22 drives rotating disk 53 to rotate, rotating disk 53 rotates by means of promoting Hooke's hinge connecting rod 23 with the annexation of the first Hooke's hinge 20, thus promotion side lever 11 is internally closed by flat state gradually, in the process that side lever 11 is inwardly closed gradually, elongated slot on straight-bar 17 overlaps with the long key on triangle pole first side lever 3 gradually, when elongated slot overlaps completely with long key, mechanism freedom changes, now side lever 11 cannot continue internally to rotate again, now, straight-bar 17 and triangle pole first side lever 3 can be rotated further to the direction that mechanism is closed around compound hinges the 4th rotary body 35 and compound hinges the 3rd rotary body 36, final crawl object, in like manner, when the process capturing object is complete, when original state will be got back to by mechanism, first the direction that straight-bar 17 and triangle pole first side lever 3 open to mechanism around compound hinges the 4th rotary body 35 and compound hinges the 3rd rotary body 36 is rotated, turn to straight-bar 17 parallel with the plane at side lever 11 place with the plane at triangle pole first side lever 3 place time rotary electric machine 15, motor 15 drives external gear 14 to rotate, external gear 14 drives internal gear 22 to rotate, internal gear 22 drives rotating disk 53 to rotate, rotating disk 53 is by means of pulling Hooke's hinge connecting rod 23 to rotate with the annexation of the first Hooke's hinge 20, thus pull side lever 11 to be rotated outward by interior, until mechanism returns to flat state.In the process that mechanism runs, compound hinges 18 act as the effect of ball pair, and it is combined by the revolute pair of axis along x-axis, y-axis and z-axis, as shown in Figure 3 and Figure 4.
Claims (5)
1. the firm deep-sea of controllable height captures hand, it is characterized in that, the side lever of this crawl hand is connected with base by the 5th straight pin, 8th straight pin is welded in the coffin at side lever top, compound hinges is by compound hinges first rotary body, compound hinges second rotary body, compound hinges the 3rd rotary body and compound hinges the 4th rotary body are formed, compound hinges first rotary body is connected with side lever by the 8th straight pin with compound hinges second rotary body, compound hinges the 3rd rotary body is connected with compound hinges first rotary body by the 6th straight pin, compound hinges the 4th rotary body is connected with compound hinges second rotary body by the 7th straight pin, straight-bar is connected with compound hinges the 4th rotary body by the 4th straight pin, triangle pole the 3rd side lever is connected with compound hinges the 3rd rotary body by three cylindrical pin, straight-bar is connected with triangle pole the 3rd side lever by the first straight pin, triangle pole is by triangle pole first side lever, triangle pole second side lever, triangle pole the 3rd side lever, triangle pole the 4th side lever, triangle pole first bottom bar, triangle pole second bottom bar, triangle pole connecting rod and triangle pole crank are formed, triangle pole first side lever is connected with triangle pole second side lever by the tenth three cylindrical pin, triangle pole second side lever is connected with triangle pole first bottom bar by the 14 straight pin, triangle pole first bottom bar is connected with triangle pole connecting rod by the 15 straight pin, triangle pole connecting rod is connected with triangle pole crank by 16 straight pins, triangle pole crank is connected with triangle pole second bottom bar by the 17 straight pin, triangle pole second bottom bar is connected with triangle pole the 4th side lever by the 18 straight pin, triangle pole the 4th side lever is connected with triangle pole the 3rd side lever by the 19 straight pin, triangle pole first side lever is connected with triangle pole the 3rd side lever by the second straight pin, bottom surface pin and base interference fit, rotating disk is installed on the pin of bottom surface, can rotate around bottom surface pin, internal gear is welded on rotating disk, second Hooke's hinge is connected with rotating disk by the 20 straight pin, first Hooke's hinge one end is connected with side lever, the other end is connected with the second Hooke's hinge by Hooke's hinge connecting rod, external gear to be installed on motor and to match with internal gear, motor is installed on and captures in hand the 3rd arm, connecting rod one end is welded with base, the other end welds with crawl hand the 3rd arm, first cylinder connects rotating disk and is installed on crawl hand the 3rd arm, capture hand the 3rd arm to be connected with crawl hand second arm by the tenth straight pin, first cylinder is installed on and captures on hand second arm, and be connected rotating disk with the first cylinder connect by the 11 straight pin, second cylinder connects rotating disk and is installed on crawl hand second arm, capture hand second arm to be connected with crawl hand first arm by the 9th straight pin, second cylinder is installed on and captures on hand first arm, and be connected rotating disk with the second cylinder connect by the 12 straight pin, capturing hand first arm is installed on support baseboard, support baseboard is welded in deepwater robot main body.
2. the firm deep-sea of controllable height according to claim 1 captures hand, and it is characterized in that: described side lever top is provided with a coffin, the 8th straight pin is welded in this coffin.
3. the firm deep-sea of controllable height according to claim 1 captures hand, it is characterized in that: described straight-bar side is milled with elongated slot.
4. the firm deep-sea of controllable height according to claim 1 captures hand, it is characterized in that: the side of described triangle pole first side lever is milled with long key, and this long key coordinates with the elongated slot on straight-bar.
5. the firm deep-sea of controllable height according to claim 1 captures hand, it is characterized in that: described triangle pole first bottom bar inside has elongated hole, triangle pole second bottom bar inserts in the middle of this elongated hole, carrys out the length on adjusting triangle bar base by changing the length inserted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610020279.9A CN105415367A (en) | 2016-01-13 | 2016-01-13 | Controllable and stable height-adjustable deep sea grasping hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610020279.9A CN105415367A (en) | 2016-01-13 | 2016-01-13 | Controllable and stable height-adjustable deep sea grasping hand |
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| Publication Number | Publication Date |
|---|---|
| CN105415367A true CN105415367A (en) | 2016-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610020279.9A Pending CN105415367A (en) | 2016-01-13 | 2016-01-13 | Controllable and stable height-adjustable deep sea grasping hand |
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Cited By (5)
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| CN106965997A (en) * | 2017-04-06 | 2017-07-21 | 广西大学 | A kind of drive device of mechanism type variable topological packaging machine robot mechanism |
| CN106976611A (en) * | 2017-04-06 | 2017-07-25 | 广西大学 | A kind of drive device of passive closed type variable topological packaging machine robot mechanism |
| CN107021272A (en) * | 2017-04-06 | 2017-08-08 | 广西大学 | A kind of driving auxiliary equipment of autonomous closed type variable topological packaging robot |
| CN109051565A (en) * | 2018-09-10 | 2018-12-21 | 中国电子科技集团公司第三十八研究所 | A kind of aerial shuttle |
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Application publication date: 20160323 |