CN105729497B - General hydraulic bionic mechanical hand under water - Google Patents
General hydraulic bionic mechanical hand under water Download PDFInfo
- Publication number
- CN105729497B CN105729497B CN201610268152.9A CN201610268152A CN105729497B CN 105729497 B CN105729497 B CN 105729497B CN 201610268152 A CN201610268152 A CN 201610268152A CN 105729497 B CN105729497 B CN 105729497B
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- suction nozzle
- paw
- fixed disk
- pull bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
-
- 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
- B25J15/0019—End effectors other than grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of General hydraulic bionic mechanical hand under water, including fixed disk, a suction nozzle hydraulic cylinder and three uniform paw hydraulic cylinders are equipped with end face behind, a main hydraulic cylinder is in series with suction nozzle hydraulic cylinder, hydraulic pump, overflow valve are connected with the front and rear chamber connection solenoid directional control valve of main hydraulic cylinder, solenoid directional control valve；The intrinsic suction nozzle pull bar of piston rod of suction nozzle hydraulic cylinder, suction nozzle pull bar passes through its front end adapter sleeve inboard with soft rubber suction nozzle front end after suction pipe to fix；Upper cover of piston rod in paw hydraulic cylinder ante-chamber has back-moving spring, and affixed with paw pull bar, and the front end of paw pull bar is hinged with a sliding block, and sliding block is connected with the rear portion prismatic pair of valve type paw, and valve type paw is hinged on fixed disk；Check valve is respectively arranged with the pipeline that chamber is connected with paw hydraulic cylinder back cavity before and after the suction nozzle hydraulic cylinder, suction nozzle hydraulic cylinder back cavity is provided with delivery port.It improves the stability and reliability of gripping and moving process, and operating efficiency is high.
Description
Technical field
It is specifically a kind of General hydraulic bionic mechanical hand under water the present invention relates to a kind of improved manipulator.
Background technology
Underwater manipulator generally uses clamping type at this stage, and generally has articulation structure, the mechanical manual task of this structure
Scope is very restricted, especially deep-sea salvage, seabed catch in terms of problem it is more prominent, and operating efficiency compared with
It is low.Firstly, since the operating environment of current and sea bottom complex, clamping type manipulator is difficult operationally that object is realized accurately
Positioning, even if successfully capture also easily occur in moving process grip thing come off the problem of；Furthermore, when the size of object,
When shape and type change, job stability will be further compromised；Finally, the control of clamping type manipulator gripping power is not square
Just, object is easily crushed.
The content of the invention
It is an object of the invention to provide a kind of General hydraulic bionic mechanical hand under water, it overcomes existing underwater manipulator pair
Object positioning precision is poor, gripping stability is low, limited and gripped the defects such as power control inconvenience by object body profile dimensions.
Technical scheme：
A kind of General hydraulic bionic mechanical hand, including fixed disk under water, is provided with a suction on the rear end face of fixed disk
First liquid cylinder pressure, the axial line of suction nozzle hydraulic cylinder is overlapped with the axial line of fixed disk, and the piston rod of suction nozzle hydraulic cylinder passes through fixed disk
Central through hole；It is disposed with before the front end face of fixed disk before the soft rubber suction nozzle of an ampuliform, soft rubber suction nozzle
Turnover aquaporin is provided with end face, the inboard center of its front end face is provided with adapter sleeve, the suction nozzle of soft rubber suction nozzle
Rear end is fastened on the front end of suction pipe, and the rear end of suction pipe is fixed on fixed disk, and suction pipe is by the inner chamber of soft rubber suction nozzle and suction nozzle
The ante-chamber connection of hydraulic cylinder, the piston rod of suction nozzle hydraulic cylinder is connected with a suction nozzle pull bar, and suction nozzle pull bar passes through after suction pipe it
The leading section adapter sleeve inboard with soft rubber suction nozzle front end face is fixed together；
A main hydraulic cylinder is in series with suction nozzle hydraulic cylinder, the front and rear chamber of main hydraulic cylinder connects a solenoid directional control valve,
Hydraulic pump, overflow valve are communicated with solenoid directional control valve；
To fix disk center to be uniformly provided with three paw hydraulic pressure on the same circumference in the center of circle on fixed disk rear end face
Cylinder, the axial line of paw hydraulic cylinder and the axis parallel of fixed disk, the piston rod of paw hydraulic cylinder pass through leading on fixed disk
Hole and paw pull bar are affixed, and the upper cover of piston rod in paw hydraulic cylinder ante-chamber has back-moving spring, the front end hinge of paw pull bar
A sliding block is connected to, sliding block is connected with the rear portion prismatic pair of valve type paw, and valve type paw is hinged on fixed disk；
It is communicated with the ante-chamber of suction nozzle hydraulic cylinder and the back cavity of paw hydraulic cylinder on pipeline, pipeline and is provided with check valve, really
The back cavity of paw hydraulic cylinder can be flowed to by protecting the water of suction nozzle hydraulic cylinder ante-chamber；After the back cavity and paw hydraulic cylinder of suction nozzle hydraulic cylinder
Chamber is communicated with pipeline, pipeline and is provided with check valve, it is ensured that the water of paw hydraulic cylinder back cavity can flow back suction nozzle hydraulic cylinder back cavity；Inhale
First liquid cylinder pressure back cavity is provided with delivery port.
The turnover aquaporin of soft rubber suction nozzle front end face is that the distance (i.e. cell width) between cell structure, grid is
1—8㎜。
The connection at the sliding block that paw pull bar front end is hinged and valve type paw rear portion is dovetail groove prismatic pair.
Design concept of the present invention comes from lizard predation, and common gripping is grabbed into the suction that object space formula is changed in similar lizard predation
Take and packaging type, it controls soft rubber suction nozzle by hydraulic cylinder and solenoid directional control valve to the absorption parcel and valve type of object
The folding parcel of paw, reduces requirement of the manipulator to object positioning precision, improves the stabilization of gripping and moving process
Property and reliability, operating efficiency significantly improves, while the parcel of soft rubber suction nozzle will not cause damage to object, it is ensured that
The integrality of object.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is single valve type paw kinematic sketch in the present invention.
Fig. 3 is soft rubber sucker structure schematic diagram in the present invention.
Fig. 4 is three dimensional structure diagram of the invention.
In figure：1 suction nozzle pull bar, 2 soft rubber suction nozzles, 3 valve type paws, 4 fixed disks, 5 sliding blocks, 6 suction pipes, 7 paws are pushed away
Pull bar, 8 back-moving springs, 9 paw hydraulic cylinders, 10 check valves, 11 suction nozzle hydraulic cylinders, 12 main piston rods, 13 main hydraulic cylinders, 14 electromagnetism
Arrow represents motion side in reversal valve, 15 hydraulic pumps, 16 overflow valves, 17 suction nozzle rear ends, 18 adapter sleeves, 19 turnover aquaporins, figure
To.
Embodiment
The present invention can be arranged on various mechanical arms and use.
As shown in drawings, the present invention include fixed disk 4, be provided with end face thereafter three it is circumferentially distributed into 120 degree of angles
Paw hydraulic cylinder 9, the center of rear end face is provided with suction nozzle hydraulic cylinder 11；Paw pull bar 7 passes through the through hole and hand on fixed disk 4
The upper piston rod of pawl hydraulic cylinder 9 is connected, and front end is hinged with dovetail slide block 5, dovetail slide block 5 and the valve type hand being hinged on fixed disk 4
Dovetail groove on pawl 3 constitutes prismatic pair, while the upper cover of piston rod in the ante-chamber of paw hydraulic cylinder 9 has back-moving spring 8.
The rear end of suction nozzle pull bar 1 is connected with the piston rod of suction nozzle hydraulic cylinder 11, front end and the adapter sleeve of soft rubber suction nozzle 2
18 connections, the suction nozzle rear end 17 of soft rubber suction nozzle 2 is fixed on the front end of suction pipe 6；The rear portion of suction nozzle hydraulic cylinder 11 is provided with master
Hydraulic cylinder 13, its main piston rod 12 is connected with the piston rod of the back cavity of suction nozzle hydraulic cylinder 11, two liquid of the front and rear chamber of main hydraulic cylinder 13
Pressure pipe interface is connected with solenoid directional control valve 14 respectively, and solenoid directional control valve 14 is connected with hydraulic pump, overflow valve.In addition, paw hydraulic pressure
The back cavity of cylinder 9 is provided with hydraulic pressure interface tube, is connected respectively with chamber before and after suction nozzle hydraulic cylinder 11 by flexible rubber hose, is connected to respectively thereon unidirectional
Valve 10.
The front end face of soft rubber suction nozzle 2 (sunk area) in this example is cell structure, and cell width is 5 ㎜.
The first step is that the tongue that flies out holds prey when catching prey according to lizard, and second that food is pulled into depths fond of gossip is same
Soft meat around Shi Yingyong tongues is wrapped up, and the prey of capture is suffocated, and still further aspect prey is difficult when struggling
Escape.Therefore the course of work of the present invention can be divided into three phases：First stage is to pull, due to using assimilating type work under water
Industry, lowers significantly to the positioning accuracy request of target；Second stage is parcel, is constantly sucked in target object and pulls to suction pipe 6
During, soft rubber suction nozzle 2 carries out one layer of parcel to it, the peripheral formation of valve type paw 3 secondary capsulation, on the one hand can be with
The coming off due to flow action object in crawl and handling process is prevented, on the other hand prevents from producing machinery during crawl
Damage；Phase III is release object.
First stage is to pull：During original state, solenoid directional control valve 14 is in chamber pressure phase before and after middle position, main hydraulic cylinder 13
Deng piston is not moved.When manipulator is close to object, control system sends control instruction, and solenoid directional control valve 14 changes connection
Mode.The water that water under high pressure is flowed into the back cavity of main hydraulic cylinder 13, ante-chamber by solenoid directional control valve 14 is flowed back to by solenoid directional control valve 14
Water tank, the piston advances forward of the piston driving suction nozzle hydraulic cylinder 11 of main hydraulic cylinder 13, passes through piston rod under water under high pressure effect
The soft rubber suction nozzle 2 of the front end of suction nozzle pull bar 1 is promoted to stretch forward.When soft rubber suction nozzle 2 is fully contacted with object,
Control system sends instruction, and solenoid directional control valve 14 changes connected mode.Water under high pressure flows into main hydraulic cylinder by solenoid directional control valve 14
Water in 13 ante-chambers, back cavity is by the reflow tank of solenoid directional control valve 14, the piston driving of main hydraulic cylinder 13 under water under high pressure effect
The piston of suction nozzle hydraulic cylinder 11 is moved backward, and object ambient water is quickly sucked in the cavity of soft rubber suction nozzle 2 during being somebody's turn to do,
Negative pressuren zone is formed around object, object is close to soft rubber suction nozzle 2 under hydraulic pressure effect, and is lived with suction nozzle hydraulic cylinder 11
The motion backward of plug is then moved, and forms rubber parcel.When the piston of suction nozzle hydraulic cylinder 11 is not moved on completely enclosed back cavity also
Before water inlet, water enters the ante-chamber of suction nozzle hydraulic cylinder 11, then pass through suction nozzle hydraulic pressure after the suction of soft rubber suction nozzle 2 by suction pipe 6
Check valve 10 on the ante-chamber delivery port of cylinder 11, the check valve 10 on back cavity water inlet enter the back cavity of suction nozzle hydraulic cylinder 11, finally lead to
The delivery port outflow of the back cavity of suction nozzle hydraulic cylinder 11 is crossed, water does not enter into the piston that the back cavity of paw hydraulic cylinder 9 promotes paw hydraulic cylinder 9
Reach, because the resistance to compression pression of back-moving spring 8 in the ante-chamber of paw hydraulic cylinder 9 is more than the unlatching resistance of check valve 10, now valve type
Paw 3 is failure to actuate.
Second stage is parcel：After the piston movement of suction nozzle hydraulic cylinder 11 is to water inlet on completely enclosed back cavity, water from
Soft rubber suction nozzle 2 is sucked, and enters the ante-chamber of suction nozzle hydraulic cylinder 11 by suction pipe 6, then pass through the ante-chamber delivery port of suction nozzle hydraulic cylinder 11
On check valve 10 enter the back cavity of paw hydraulic cylinder 9, promote the piston compression reseting spring 8 of paw hydraulic cylinder 9 to travel forward, this
When valve type paw 3 start action, meanwhile, soft rubber suction nozzle 2 continues to attract object to move backward with suction nozzle pull bar 1, directly
Moved to valve type paw 3 completely enclosed.
Phase III is release object：After object is moved to specified location, control system sends control instruction,
Solenoid directional control valve 14 changes connected mode, the water that water under high pressure is flowed into the back cavity of main hydraulic cylinder 13, ante-chamber by solenoid directional control valve 14
By the reflow tank of solenoid directional control valve 14, the piston of the piston driving suction nozzle hydraulic cylinder 11 of main hydraulic cylinder 13 under water under high pressure effect
Travel forward.When the piston of suction nozzle hydraulic cylinder 11 gradually advances, suction nozzle pull bar 1 promotes soft rubber suction nozzle 2 also to move forward, so that
Gradually release parcel of the soft rubber suction nozzle 2 to object.Water in the ante-chamber of suction nozzle hydraulic cylinder 11 is compressed simultaneously from soft rubber
The front end of suction nozzle 2 sprays, and eliminates the suction-operated to object.When suction nozzle hydraulic cylinder 11 piston movement to open back cavity on intake
Behind mouth position, the water under high pressure of the back cavity of paw hydraulic cylinder 9 is entered by the check valve 10 on the back cavity water inlet of suction nozzle hydraulic cylinder 11 to be inhaled
The back cavity of first liquid cylinder pressure 11, finally by the delivery port reflow tank of the back cavity of suction nozzle hydraulic cylinder 11, while back-moving spring 8 promotes paw
The piston of hydraulic cylinder 9 is moved rearwards by, and is driven and is moved after paw pull bar 7, opens valve type paw 3, final three valve types paw 3 discharges
Object.After the completion of release, solenoid directional control valve 14 returns middle position.
The content not being described in detail in this specification is prior art known in professional and technical personnel in the field.
Claims (3)
1. a kind of General hydraulic bionic mechanical hand under water, it is characterized in that：Including fixed disk, it is provided with the rear end face of fixed disk
One suction nozzle hydraulic cylinder, the axial line of suction nozzle hydraulic cylinder is overlapped with the axial line of fixed disk, and the piston rod of suction nozzle hydraulic cylinder is passed through
The central through hole of fixed disk；The soft rubber suction nozzle of an ampuliform is disposed with before the front end face of fixed disk, soft rubber is inhaled
Turnover aquaporin is provided with the front end face of head, the inboard center of its front end face is provided with adapter sleeve, soft rubber suction nozzle
Suction nozzle rear end be fastened on the front end of suction pipe, the rear end of suction pipe is fixed on fixed disk, and suction pipe is by the inner chamber of soft rubber suction nozzle
Connected with the ante-chamber of suction nozzle hydraulic cylinder, the piston rod of suction nozzle hydraulic cylinder is connected with a suction nozzle pull bar, and suction nozzle pull bar, which is passed through, to be inhaled
Its leading section adapter sleeve inboard with soft rubber suction nozzle front end face is fixed together after pipe；
A main hydraulic cylinder is in series with suction nozzle hydraulic cylinder, the front and rear chamber of main hydraulic cylinder connects a solenoid directional control valve, electromagnetism
Hydraulic pump, overflow valve are communicated with reversal valve；
To fix disk center to be uniformly provided with three paw hydraulic cylinders, hand on the same circumference in the center of circle on fixed disk rear end face
The axial line of pawl hydraulic cylinder and the axis parallel of fixed disk, the piston rod of paw hydraulic cylinder pass through through hole and hand on fixed disk
Pawl pull bar is affixed, and the upper cover of piston rod in paw hydraulic cylinder ante-chamber has back-moving spring, and the front end of paw pull bar is hinged with one
Sliding block, sliding block is connected with the rear portion prismatic pair of valve type paw, and valve type paw is hinged on fixed disk；
It is communicated with the ante-chamber of suction nozzle hydraulic cylinder and the back cavity of paw hydraulic cylinder on pipeline, pipeline and is provided with check valve, it is ensured that is inhaled
The water of first liquid cylinder pressure ante-chamber can flow to the back cavity of paw hydraulic cylinder；Connect in the back cavity of suction nozzle hydraulic cylinder with the back cavity of paw hydraulic cylinder
It is connected with pipeline, pipeline and is provided with check valve, it is ensured that the water of paw hydraulic cylinder back cavity can flows back suction nozzle hydraulic cylinder back cavity；Suction nozzle liquid
Cylinder pressure back cavity is provided with delivery port.
2. a kind of General hydraulic bionic mechanical hand under water according to claim 1, it is characterized in that：Soft rubber suction nozzle front end
The turnover aquaporin in face is that the distance between cell structure, grid is 1-8 ㎜.
3. a kind of General hydraulic bionic mechanical hand under water according to claim 1, it is characterized in that：Cut with scissors paw pull bar front end
The connection at the sliding block connect and valve type paw rear portion is dovetail groove prismatic pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610268152.9A CN105729497B (en) | 2016-04-27 | 2016-04-27 | General hydraulic bionic mechanical hand under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610268152.9A CN105729497B (en) | 2016-04-27 | 2016-04-27 | General hydraulic bionic mechanical hand under water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105729497A CN105729497A (en) | 2016-07-06 |
| CN105729497B true CN105729497B (en) | 2017-09-08 |
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ID=56285665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610268152.9A Expired - Fee Related CN105729497B (en) | 2016-04-27 | 2016-04-27 | General hydraulic bionic mechanical hand under water |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202338B (en) * | 2016-12-16 | 2021-03-16 | 中国科学院沈阳自动化研究所 | Flexible manipulator |
| CN107186704A (en) * | 2017-06-30 | 2017-09-22 | 南京理工大学 | A kind of folding three claw robot |
| CN110640770B (en) * | 2018-06-27 | 2024-06-28 | 深圳市乾行达科技有限公司 | Multifunctional robot arm |
| FR3106997B1 (en) * | 2020-02-10 | 2023-07-21 | Ascodero Productique | Robotic gripping system |
| CN113358513A (en) * | 2021-07-08 | 2021-09-07 | 济南大学 | Electrochemical dynamic testing device applied to friction and wear testing machine |
| CN114988094B (en) * | 2022-06-13 | 2023-05-23 | 上海大学 | Soft handle assembly |
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|---|---|---|---|---|
| CN202264225U (en) * | 2011-09-01 | 2012-06-06 | 蔡进辉 | Operating device of clamping machine with claw and rechargeable suction plate |
| CN203471784U (en) * | 2013-08-15 | 2014-03-12 | 浙江安统汽车部件有限公司 | Plate grabbing mechanical arm |
| CN105108765A (en) * | 2015-10-12 | 2015-12-02 | 王学义 | Manipulator capable of simulating finger holding |
| CN204868895U (en) * | 2015-09-02 | 2015-12-16 | 东莞市翠峰五金机械有限公司 | Snatch robot tongs of heavy work piece |
| CN205572462U (en) * | 2016-04-27 | 2016-09-14 | 周杰 | General hydraulic pressure bionic manipulator under water |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09141588A (en) * | 1995-11-21 | 1997-06-03 | Mitsubishi Electric Corp | Grip device for industrial robot |
| JP2010005736A (en) * | 2008-06-26 | 2010-01-14 | Fuji Heavy Ind Ltd | Dangerous object gripping device |
-
2016
- 2016-04-27 CN CN201610268152.9A patent/CN105729497B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202264225U (en) * | 2011-09-01 | 2012-06-06 | 蔡进辉 | Operating device of clamping machine with claw and rechargeable suction plate |
| CN203471784U (en) * | 2013-08-15 | 2014-03-12 | 浙江安统汽车部件有限公司 | Plate grabbing mechanical arm |
| CN204868895U (en) * | 2015-09-02 | 2015-12-16 | 东莞市翠峰五金机械有限公司 | Snatch robot tongs of heavy work piece |
| CN105108765A (en) * | 2015-10-12 | 2015-12-02 | 王学义 | Manipulator capable of simulating finger holding |
| CN205572462U (en) * | 2016-04-27 | 2016-09-14 | 周杰 | General hydraulic pressure bionic manipulator under water |
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| Publication number | Publication date |
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| CN105729497A (en) | 2016-07-06 |
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Granted publication date: 20170908 |