CN109649610B - Adaptive parallel folding gripper and underwater pipeline robot - Google Patents
Adaptive parallel folding gripper and underwater pipeline robot Download PDFInfo
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- CN109649610B CN109649610B CN201811477243.9A CN201811477243A CN109649610B CN 109649610 B CN109649610 B CN 109649610B CN 201811477243 A CN201811477243 A CN 201811477243A CN 109649610 B CN109649610 B CN 109649610B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses a self-adaptive parallel folding gripper and an underwater pipeline robot, belonging to the field of underwater robots, wherein the self-adaptive parallel folding gripper comprises two claws and a parallel mechanism for connecting the two claws together, the parallel mechanism comprises two racks and at least three telescopic rods, two ends of each telescopic rod are respectively connected with the two racks through rotating shafts, the rotating shafts on the same rack are not all distributed on the same straight line, and the telescopic rods can rotate by taking the direction vertical to the telescopic rods as an axis at the rotating shafts; the two paws are respectively connected with the two racks through rotating motors; every hand claw includes two folding jack catchs of symmetric distribution and controls respectively two sets of die clamping cylinder that two folding jack catchs loosen and press from both sides tightly, folding jack catch is including the multistage snap ring that can fold and expand. The invention is suitable for cylinders which are distributed in a staggered way in space and have different diameters, and can crawl on the cylinders or similar cylinders which are distributed in the staggered way in space.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to a self-adaptive parallel folding gripper and an underwater pipeline robot.
Background
At the bottom of the offshore platform there are a large number of cylindrical pipes and support columns, which after a period of time have been built up tend to be attached by various marine organisms and their excrements, causing the weight of the pipes to change and thus affecting the safety performance of the entire platform, which requires cleaning of the pipes.
An underwater pipeline robot (underwater cleaning robot, climbing column robot) is a mechanical, electrical and instrument integrated system which can automatically walk along a pipeline, carry one or more sensors and operate machinery, and perform a series of pipeline operations under the remote control of workers or the automatic control of a computer.
Most of current underwater cleaning robots only aim at the cylinder of single direction or the cylinder of fixed diameter, but offshore platform's cylindrical cylinder distributes in the space is crisscross to the pipe diameter is not of uniform size, consequently needs cleaning machines can adapt to the change of pipe diameter, and can move on the crisscross pipeline that distributes in space.
Disclosure of Invention
In order to solve the technical problems, the invention provides a self-adaptive parallel folding gripper and an underwater pipeline robot, which are suitable for cylinders which are distributed in a staggered mode in space and have different diameters, and can crawl on the cylinders or similar cylinders which are distributed in the staggered mode in space.
The technical scheme provided by the invention is as follows:
an adaptive parallel folding gripper comprising two grippers and a parallel mechanism connecting the two grippers together, wherein:
the parallel mechanism comprises two racks and at least three telescopic rods, two ends of each telescopic rod are respectively connected with the two racks through rotating shafts, the rotating shafts on the same rack are not all distributed on the same straight line, and the telescopic rods can rotate at the rotating shafts by taking the direction vertical to the telescopic rods as an axis;
the two paws are respectively connected with the two racks through rotating motors;
every hand claw includes two folding jack catchs of symmetric distribution and controls respectively two sets of die clamping cylinder that two folding jack catchs loosen and press from both sides tightly, folding jack catch is including the multistage snap ring that can fold and expand.
Further, multistage snap ring includes first order snap ring and second level snap ring, first order snap ring quantity is 2, and the symmetric distribution is in the outside of second level snap ring, first order snap ring with die clamping cylinder connects, the second level snap ring pass through second level connecting rod and second level telescopic link with the first order snap ring is connected, be provided with second level rotating electrical machines on the first order snap ring, second level rotating electrical machines with the second level connecting rod is connected.
Further, multistage snap ring still includes third level snap ring, second level snap ring quantity is 2, and the symmetric distribution is in the outside of third level snap ring, third level snap ring pass through third connecting rod and third telescopic link with the second level snap ring is connected, be provided with third level rotating electrical machines on the second level snap ring, third level rotating electrical machines with third level connecting rod is connected.
Furthermore, the second-stage telescopic rod comprises a second-stage telescopic cylinder and a second-stage cylinder rod, and the third-stage telescopic rod comprises a third-stage telescopic cylinder and a third-stage cylinder rod.
Further, the telescopic rod comprises an air cylinder and an air cylinder rod.
Furthermore, a torsion spring is installed at the rotating shaft.
Furthermore, the number of the telescopic rods is 3, and three rotating shafts on the same rack are distributed in a triangular mode.
Further, the rotating motor can drive the paw to rotate for 360 degrees.
Furthermore, the paw is provided with a mounting hole for mounting an actuator.
The underwater pipeline robot comprises an actuator and the adaptive parallel folding gripper, wherein the actuator is mounted on the gripper.
The invention has the following beneficial effects:
the steering and advancing mechanism adopts a structural form that the rotating motor is connected with the two-degree-of-freedom parallel mechanism in series, the steering mode is flexible and changeable, and the steering mechanism can move on cylinders which are distributed in a staggered mode in space. And the paw adopts a foldable mechanism, so that the paw can adapt to the change of the diameter of the cylinder, and the volume of the paw is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an adaptive parallel folding gripper of the present invention;
FIG. 2 is a schematic view of a parallel mechanism;
FIG. 3 is a schematic view of the paw in a folded position;
FIG. 4 is a schematic view of the paw in an extended position;
FIG. 5 is a state of the adaptive parallel folding gripper when the pipeline is out of shape;
FIG. 6 is a state of the adaptive parallel folding gripper when the pipes are parallel;
FIG. 7 is a state of the adaptive parallel folding gripper with the pipe vertical.
Wherein, the numbering of each part is: paw 1, parallel mechanism 2, frame 3, telescopic link 4, pivot 5, rotating electrical machines 6, folding jack catch 7, die clamping cylinder 8, first order snap ring 9, second level snap ring 10, third level snap ring 11, second level connecting rod 12, second level telescopic link 13, second level rotating electrical machines 14, third level connecting rod 15, third level telescopic link 16, third level rotating electrical machines 17, second level telescopic cylinder 18, second level cylinder pole 19, third level telescopic cylinder 20, third level cylinder pole 21, cylinder 22, cylinder pole 23, torsion spring 24.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
In one aspect, embodiments of the present invention provide an adaptive parallel folding gripper, as shown in fig. 1 to 3, including two grippers 1 and a parallel mechanism 2 connecting the two grippers 1 together, where:
the parallel mechanism 2 comprises two racks 3 and at least three telescopic rods 4, two ends of each telescopic rod 4 are respectively connected with the two racks 3 through rotating shafts 5, the telescopic rods and the racks form a rotating pair, the telescopic rods 4 can rotate in the rotating shafts 5 in a direction perpendicular to the telescopic rods 4 as an axis, and the rotating shafts 5 on the same rack 3 are not all distributed on the same straight line; the parallel mechanism has a degree of freedom of forward movement and a degree of freedom of rotation around the direction perpendicular to the telescopic rods, when the telescopic length of each rod is the same, the mechanism is a planar mechanism, when the telescopic extension lengths of a plurality of rods are different, the mechanism becomes a spatial parallel mechanism, and one paw moves to a three-dimensional space relative to the other paw.
The two paws 1 are respectively connected with the two racks 3 through rotating motors 6, and the rotating motors control the paws to rotate;
every hand claw 1 includes two folding jack catchs 7 of symmetric distribution and controls two folding jack catchs 7 respectively and unclamp with two sets of die clamping cylinder 8 that press from both sides tightly, folding jack catch 7 is including the multistage snap ring that can fold and expand, and when multistage snap ring expanded, the cylinder of adaptation major diameter, when multistage snap ring was folded, the cylinder of adaptation minor diameter, expansion or the folding progression of multistage snap ring were selected according to the size of cylinder.
The self-adaptive parallel folding gripper is suitable for cylinders which are distributed in a staggered mode in space and have different diameters, and can crawl on the cylinders or similar cylinders which are distributed in the staggered mode in space. The using process of the invention is as follows:
firstly, the whole self-adaptive parallel folding gripper is clamped on a cylinder, if the self-adaptive parallel folding gripper needs to move forwards, the clamping cylinder of the front-end gripper controls the two folding jaws to loosen, the multiple telescopic rods of the parallel mechanism extend out simultaneously, then the clamping cylinder of the front-end gripper controls the two folding jaws to clamp tightly, the clamping cylinder of the rear-end gripper controls the two folding jaws to loosen, the multiple telescopic rods of the parallel mechanism retract simultaneously, and the forward movement of the self-adaptive parallel folding gripper is completed.
If the self-adaptive parallel folding gripper needs to climb to another cylinder in the space, one gripper is firstly loosened, then a plurality of telescopic rods of the parallel mechanism do not extend or retract at the same time (specifically which telescopic rod extends or retracts is determined according to the position of the other cylinder), so that the gripper is lifted, the parallel mechanism is converted into a space parallel mechanism, two rotating motors control the gripper to rotate, and the gripper is matched with the parallel mechanism to move to a proper position and then is clamped; at the moment, the other paw is loosened, and the parallel mechanism and the rotating motor are matched to move to the position same as that of the previous paw, so that the crawling between the columns is completed. As shown in fig. 5, the state of the adaptive parallel folding gripper when the pipeline is different; as shown in fig. 6, the state of the adaptive parallel folding gripper when the pipes are parallel; as shown in fig. 7, the state of the adaptive parallel folding gripper when the pipe is vertical.
If the pipe diameter changes, the multistage snap ring is unfolded or folded, and the unfolded or folded state is selected according to the size of the pipe diameter.
In conclusion, the steering and advancing device adopts a structural form that the rotating motor is connected with the two-degree-of-freedom parallel mechanism in series, the steering mode is flexible and changeable, and the device can move on cylinders which are distributed in a staggered mode in space. And the paw adopts a foldable mechanism, so that the paw can adapt to the change of the diameter of the cylinder, and the volume of the paw is reduced.
As an improvement of the present invention, as shown in fig. 4, the multistage snap ring includes a first-stage snap ring 9 and a second-stage snap ring 10, the number of the first-stage snap rings 9 is 2, the first-stage snap rings 9 are symmetrically distributed on the outer side of the second-stage snap ring 10, the first-stage snap rings 9 are connected with the clamping cylinder 8, the clamping cylinder and the folding jaws form a four-bar mechanism, and the folding jaws are driven to move integrally by the expansion and contraction of the clamping cylinder, so as to control the integral loosening and clamping of the folding jaws.
Second level snap ring 10 is connected with first level snap ring 9 through second level connecting rod 12 and second level telescopic link 13, and connecting rod and telescopic link are parallel to each other, with first level snap ring, five-bar mechanism are constituteed jointly to the second level snap ring, be provided with second level rotating electrical machines 14 on the first level snap ring 9, second level rotating electrical machines 14 is connected with the pivot of second level connecting rod 12, second level rotating electrical machines drives the second level connecting rod, together control the expansion and the folding of second level snap ring with the second level telescopic link.
Further, as shown in fig. 4, the multistage snap ring further includes a third-stage snap ring 11, the number of the second-stage snap rings 10 is 2, the second-stage snap rings are symmetrically distributed on the outer side of the third-stage snap ring 11, the third-stage snap ring 11 is connected with the second-stage snap ring 10 through a third-stage connecting rod 15 and a third-stage telescopic rod 16, a third-stage rotating motor 17 is arranged on the second-stage snap ring 10, the third-stage rotating motor 17 is connected with the third-stage connecting rod 15, and the control mode of the third-stage snap ring is the same as that of the.
The fully folded state, the state of the second-level snap ring or the state of the third-level snap ring extending out are selected according to the pipe diameter. In fig. 4, the folding jaw (multi-stage snap ring) on the left is unfolded to the second stage snap ring, and the folding jaw (multi-stage snap ring) on the right is unfolded to the third stage snap ring.
Similarly, the device can also comprise a plurality of stages of clamping rings, and the structure and the control mode of the device are the same as those of the second-stage clamping ring and the third-stage clamping ring.
The second level telescopic link and the third level telescopic link are preferably realized through the form of cylinder, and are specific: the second stage telescopic rod 13 comprises a second stage telescopic cylinder 18 and a second stage cylinder rod 19, and the third stage telescopic rod 16 comprises a third stage telescopic cylinder 20 and a third stage cylinder rod 21.
The telescopic rod of the parallel mechanism is preferably realized in a cylinder mode, and specifically: the telescopic rod 4 comprises a cylinder 22 and a cylinder rod 23.
In order to overcome the dead point of the parallel mechanism, a torsion spring 24 is arranged at the rotating shaft 5.
The number of the telescopic rods is at least three, and the telescopic rods can be used as long as two degrees of freedom of the parallel mechanism can be realized. When the number of the telescopic rods 4 is 3, the three rotating shafts 5 on the same frame 1 are distributed in a triangular shape. When the three rods have the same telescopic length, the parallel mechanism is a plane mechanism, and when the middle telescopic rod and the telescopic rods on the two sides have different extending lengths, the parallel mechanism is changed into a space parallel mechanism.
The rotary motor 6 is preferably capable of driving the gripper 1 to rotate 360 °.
The paw 1 can be provided with a mounting hole for mounting an actuator, and the actuator is a cleaning mechanism and the like.
On the other hand, the invention provides an underwater pipeline robot which comprises an actuator and the self-adaptive parallel folding gripper, wherein the actuator is arranged on the gripper 1, and the actuator is a cleaning mechanism and the like.
The underwater pipeline robot adopts a structural form that a rotating motor is connected with a two-degree-of-freedom parallel mechanism in series for steering and advancing, the steering mode is flexible and changeable, and the underwater pipeline robot can move on cylinders which are distributed in a staggered mode in space. And the paw adopts a foldable mechanism, so that the paw can adapt to the change of the diameter of the cylinder and reduce the volume of the paw.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides a parallelly connected folding tongs of self-adaptation which characterized in that includes two paws and the parallel mechanism who links together two paws, wherein:
the parallel mechanism comprises two racks and at least three telescopic rods, two ends of each telescopic rod are respectively connected with the two racks through rotating shafts, the rotating shafts on the same rack are not all distributed on the same straight line, and the telescopic rods can rotate at the rotating shafts by taking the direction vertical to the telescopic rods as an axis;
the two paws are respectively connected with the two racks through rotating motors;
each gripper comprises two folding jaws which are symmetrically distributed and two groups of clamping cylinders which respectively control the two folding jaws to loosen and clamp, and each folding jaw comprises a multistage clamping ring which can be folded and unfolded;
the multistage snap ring includes first order snap ring and second level snap ring, first order snap ring quantity is 2, and the symmetric distribution is in the outside of second level snap ring, first order snap ring with die clamping cylinder connects, the second level snap ring pass through second level connecting rod and second level telescopic link with the first order snap ring is connected, be provided with second level rotating electrical machines on the first order snap ring, second level rotating electrical machines with the second level connecting rod is connected.
2. The adaptive parallel folding gripper according to claim 1, wherein the multistage snap rings further comprise 2 third-stage snap rings, the number of the second-stage snap rings is symmetrically distributed on the outer sides of the third-stage snap rings, the third-stage snap rings are connected with the second-stage snap rings through third-stage connecting rods and third-stage telescopic rods, third-stage rotating motors are arranged on the second-stage snap rings, and the third-stage rotating motors are connected with the third-stage connecting rods.
3. The adaptive parallel folding gripper of claim 2, wherein the second stage telescoping rods comprise second stage telescoping cylinders and second stage cylinder rods and the third stage telescoping rods comprise third stage telescoping cylinders and third stage cylinder rods.
4. The adaptive parallel folding gripper of claim 1 wherein said telescoping rod comprises a cylinder and a cylinder rod.
5. The adaptive parallel folding gripper as in any one of claims 1 to 4, wherein a torsion spring is mounted at the pivot.
6. The adaptive parallel folding gripper according to claim 5, characterized in that the number of said telescopic rods is 3, and three shafts on the same frame are distributed in a triangular shape.
7. The adaptive parallel folding gripper of claim 5, wherein said rotating motor is capable of driving said gripper to rotate 360 °.
8. The adaptive parallel folding gripper of claim 5 wherein said gripper is provided with mounting holes for mounting an actuator.
9. An underwater pipeline robot comprising an actuator and the adaptive parallel folding gripper of any one of claims 1-8, wherein the actuator is mounted on the gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477243.9A CN109649610B (en) | 2018-12-05 | 2018-12-05 | Adaptive parallel folding gripper and underwater pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477243.9A CN109649610B (en) | 2018-12-05 | 2018-12-05 | Adaptive parallel folding gripper and underwater pipeline robot |
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| Publication Number | Publication Date |
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| CN109649610A CN109649610A (en) | 2019-04-19 |
| CN109649610B true CN109649610B (en) | 2020-10-09 |
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| CN201811477243.9A Expired - Fee Related CN109649610B (en) | 2018-12-05 | 2018-12-05 | Adaptive parallel folding gripper and underwater pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110422621B (en) * | 2019-08-21 | 2024-07-23 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Material handling device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5740699A (en) * | 1995-04-06 | 1998-04-21 | Spar Aerospace Limited | Wrist joint which is longitudinally extendible |
| DE102004058450A1 (en) * | 2004-12-03 | 2006-06-08 | Hartmut Friedrich | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
| JP4661402B2 (en) * | 2005-07-01 | 2011-03-30 | 日産自動車株式会社 | Gripping method with robot hand |
| CN106594455B (en) * | 2016-12-20 | 2018-08-21 | 中国石油大学(北京) | Robot is detected outside a kind of across the obstacle direction-adaptive pipeline of double claw type |
| CN207273248U (en) * | 2017-09-30 | 2018-04-27 | 长沙矿山研究院有限责任公司 | Pipe holder for Work robot outside pipe |
| CN108748076B (en) * | 2018-06-21 | 2021-10-01 | 山东拓步教育科技有限公司 | Automatic connect end water robot |
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2018
- 2018-12-05 CN CN201811477243.9A patent/CN109649610B/en not_active Expired - Fee Related
Non-Patent Citations (3)
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| 几种混联/并联臂手机构运动与动力学研究;王鹏;《信息科技辑》;20180530;全文 * |
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Granted publication date: 20201009 Termination date: 20211205 |