CN109866249A - A kind of underwater hydraulic manipulator vane type swinging joint structure - Google Patents
A kind of underwater hydraulic manipulator vane type swinging joint structure Download PDFInfo
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- CN109866249A CN109866249A CN201711263746.1A CN201711263746A CN109866249A CN 109866249 A CN109866249 A CN 109866249A CN 201711263746 A CN201711263746 A CN 201711263746A CN 109866249 A CN109866249 A CN 109866249A
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Abstract
The invention belongs to underwater hydraulic manipulator fields, specifically a kind of underwater hydraulic manipulator vane type swinging joint structure, it can be applied to ocean development or underwater operation, mechanical arm pedestal is fixed on oscillating cylinder output shaft, mechanical arm is mounted on mechanical arm pedestal, power fluid force feed is conveyed to vane type and swings cylinder component and subsequent joint driver by hydraulic oil by pipe fitting and internal logical oily axis, realizes joint drive and internal logical oil；Joint is equipped with built-in Quan Haishen contact type angle sensor, meets the needs of deep ocean work.The present invention has many advantages, such as that compact-sized, light weight, small in size, load capacity is strong, angle range is big, failure rate is low, can Quan Haishen operation.
Description
Technical field
The invention belongs to underwater hydraulic manipulator field, specifically a kind of underwater hydraulic manipulator vane type, which is swung, to be closed
Section structure.
Background technique
At present in fields such as gas and oil in sea exploitations, most underwater operations have the features such as pressure is high, load weight, hydraulic
Driving has load capacity strong, load/self weight than it is high, by pressure compensator, be suitable for Quan Haishen environmental pressure, it can be achieved that complete
The advantages that extra large depth operation, therefore the underwater manipulator of hydraulic-driven has broad application prospects.
Underwater hydraulic manipulator is due to the particularity of operating environment, and the application with land has very big difference, to underwater liquid
Press mechanical pressing hand requires the requirement such as high pressure resistant, corrosion-resistant, compact-sized, sealed reliable, develops performance and stablizes, compact-sized
Underwater hydraulic manipulator have become urgent problem to be solved.
Summary of the invention
In order to meet the requirement of underwater hydraulic manipulator, it is mechanical that the purpose of the present invention is to provide a kind of underwater hydraulics
Hand vane type swinging joint structure.The underwater hydraulic manipulator vane type swinging joint structure is driven by vane type oscillating cylinder, tool
There is position feedback function, it can internal logical oily cabling.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes swinging cylinder end cap, compressing end cap, end cover, oscillating cylinder output shaft, internal logical oily axis, rotor leaf
Piece, stator vane, articular shell, mechanical arm pedestal and mechanical arm, wherein one end of articular shell and oscillating cylinder end cap seal connect
It connects, the other end and the sealing of mechanical arm pedestal are rotatablely connected, and mechanical arm is mounted on the mechanical arm pedestal；The tilt cylinder output shaft with
The logical oily axis in inside is placed in articular shell, and one end of the logical oily axis in the inside is connected by hollow bolt with cylinder end cap is swung,
The oscillating cylinder output shaft is rotatably set in outside internal logical oily axis, and the both ends outer surface of oscillating cylinder output shaft turns
Dynamic to be connected with the end cover sealed against with the articular shell inner wall, one end of the tilt cylinder output shaft interlocks to have to be located at and be somebody's turn to do
It holds end cover and swings the compression end cap between cylinder end cap, the other end is connected with the mechanical arm pedestal；It is sealed described in both ends
Rotor blade and stator vane, one end installation of the rotor blade are respectively equipped in the cavity that end cap and oscillating cylinder output shaft surround
On the oscillating cylinder output shaft, the inner wall of the other end and the articular shell is sealed against, one end peace of the stator vane
On articular shell, the outer surface of the other end and the oscillating cylinder output shaft is sealed against, the rotor blade and stator leaf
Cavity is divided into two mutually isolated seal cavities by piece；Band is separately installed on the swing cylinder end cap and on mechanical arm pedestal
The terminal box of wire body is walked, electric wire is penetrated by the terminal box on swing cylinder end cap, by the hollow bolt, internal logical oily axis
Between through-hole, be pierced by by the terminal box on the mechanical arm pedestal；Multiple Combined hinge adapter tubes are installed on the swing cylinder end cap
Technique identical with the Combined hinge union nipple quantity is offered on connector, the oscillating cylinder output shaft and internal logical oily axis
Hole, there are two be connected with by the seal cavity of rotor blade two sides respectively, lead in the fabrication hole on the oscillating cylinder output shaft
Crossing rotor blade drives oscillating cylinder output shaft to swing, remaining fabrication hole respectively with the straight pipe installed on the mechanical arm pedestal
Connector is connected to one by one；
Wherein: the outside of end cover described in both ends is cased with compression ring and circlip, and the circlip is to the pressure
Tight ring and end cover axial limiting；It has along the circumferential direction been evenly distributed on the compression ring multiple for installing the screw thread of holding screw
End cover is pressed on articular shell by through-hole by screwing holding screw；The end cover and oscillating cylinder output shaft it
Between equipped with the needle bearing played a supporting role and the combination sealing for playing sealing function；
The other end of the rotor blade is equipped with runner sealing retaining ring and rectangular loop combination sealing, passes through the runner sealing
Retaining ring and rectangular loop combination sealing and the inner wall of the articular shell seal against；The other end of the stator vane is equipped with leaf
Piece Sealing shield ring and rectangular loop combination sealing are exported by the runner sealing retaining ring and rectangular loop combination sealing and the oscillating cylinder
The outer surface of axis seals against；
Multiple threaded holes are offered on the outside of the swing cylinder end cap, Combined hinge adapter tube is mounted in each threaded hole
Connector is also provided with quantity fabrication hole identical with the threaded hole on the swing cylinder end cap, swings each technique on cylinder end cap
The entrance in hole, which is respectively communicated with, swings the outlet of each fabrication hole and one on internal logical oily axis on cylinder end cap in a threaded hole
The corresponding connection of fabrication hole entrance, the outlet of each fabrication hole of the logical oily axis in the inside and a technique on oscillating cylinder output shaft
Hole entrance is corresponding to be connected to, and there are two the seal chambers of fabrication hole outlet to the rotor blade two sides on oscillating cylinder output shaft
Body drives oscillating cylinder output shaft, the work on remaining technique hole exits and the mechanical arm pedestal on oscillating cylinder output shaft
Skill hole entrance is corresponding to be connected to, the connection corresponding with a free flow coupling of each technique hole exits on mechanical arm pedestal；
The outlet two sides of each fabrication hole are mounted on the rotation for completely cutting off adjacent tubes oil liquid on the logical oily axis in the inside
Turn sealing ring；
The other end of the logical oily axis in the inside is equipped with sensor brush, is equipped with sensor film on the mechanical arm pedestal
Piece, the sensor diaphragm drive the rotation of relative sensors brush by oscillating cylinder output shaft with the mechanical arm pedestal, pass through measurement
Cell pressure variation obtains the corner variation of the oscillating cylinder output shaft；
The air vent bolt of gas in discharge articular shell is threaded on the articular shell；The combinational hinge
The outside of tube head is equipped with the joint protecting cover for being mounted on and swinging on cylinder end cap.
Advantages of the present invention and good effect are as follows:
1. performance is stablized: the present invention avoids pipeline caused by external logical oil, cabling using the logical oil of intra articular and cabling
The generation of the failures such as bending winding, and sensor is placed in intra articular, has higher reliability.
2. compact-sized: the driver in the present invention swings cylinder component, hydraulic vane formula oscillating cylinder using hydraulic vane formula
Component can generate very high torque in the space of very little；The logical oily axis in inside realizes the inside connection of fluid pressure line, cabling
Hole can pass through more sensor data cables；Sensor is located at intra articular, these designs keep entire articulation mechanism very compact.
3. multiple functional: numerous functions may be implemented in the present invention, such as generate large torque driving, the connection of fluid pressure line, number
According to the inside connection of line, the detection of joint position information, the unified arrangement of hydraulic fitting, pressure compensation.
4. debugging, being easy to maintain: the pipe fitting in the present invention arranges unification, and wiring casing can be dismantled individually, and sensor is placed in
The side of the diplopore wiring casing of joint end, these are all convenient for the debugging and maintenance in joint.
Detailed description of the invention
Fig. 1 is B-B cross-sectional view of Fig. 3；
Fig. 2 is the partial enlarged view in Fig. 1；
Fig. 3 is A-A cross-sectional view of Fig. 1；
Fig. 4 is C-C cross-sectional view of Fig. 1；
Fig. 5 is the D direction view in Fig. 1；
Wherein: 1 be joint protecting cover, 2 be Combined hinge union nipple, 201 be the first Combined hinge union nipple, 202
It is third Combined hinge union nipple for the second Combined hinge union nipple, 203,204 be the 4th group of Combined hinge union nipple,
205 be the 5th group of Combined hinge union nipple, and 206 be the 6th group of Combined hinge union nipple, and 207 be the 7th group of combinational hinge
Pipe fitting, 208 be the 8th group of Combined hinge union nipple, and 3 be to walk wire body, and 4 be single hole wiring casing, and 5 be hollow bolt, and 6 be pendulum
Dynamic cylinder end cap, 7 is compress end cap, and 8 be compression ring, and 9 be end cover, and 10 be oscillating cylinder output shaft, and 11 be internal logical oily axis, and 12
Rotor blade, 13 be stator vane, and 14 be combination sealing, and 15 be holding screw, and 16 be circlip, and 17 be articular shell, 18
It is sensor brush for mechanical arm pedestal, 19,20 be sensor diaphragm, and 21 be runner sealing retaining ring, and 22 is close for rectangular loop combination
Envelope, 23 be air vent bolt, and 24 be rotating seal ring, and 25 be needle bearing, and 26 walk wire body for diplopore, and 27 be free flow coupling,
271 be the first free flow coupling, and 272 be the second free flow coupling, and 273 be third free flow coupling, and 274 connect for the 4th straight pipe
Head, 275 be the 5th free flow coupling, and 276 be the 6th free flow coupling, and 28 be mechanical arm.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Fig. 1~5, the present invention includes joint protecting cover 1, Combined hinge union nipple 2, walks wire body 3, single hole wiring
Box 4, hollow bolt 5 swing cylinder end cap 6, compress end cap 7, compression ring 8, end cover 9, oscillating cylinder output shaft 10, internal logical oil
Axis 11, rotor blade 12, stator vane 13, combination sealing 14, holding screw 15, circlip 16, articular shell 17, machinery
Arm pedestal 18, sensor brush 19, sensor diaphragm 20, runner sealing retaining ring 21, rectangular loop combination sealing 22, air vent bolt
23, rotating seal ring 24, needle bearing 25, diplopore terminal box 26, end free flow coupling 27 and mechanical arm 28, wherein compressing end cap
7, circlip 16, holding screw 15, compression ring 8, swing cylinder end cap 9, oscillating cylinder output shaft 10, articular shell 17, rotor leaf
Piece 12, stator vane 13, combination sealing 14, runner sealing retaining ring 21, rectangular loop combination sealing 22, air vent bolt 23 and needle roller
Bearing 25 constitutes joint driving mechanism；Combined hinge union nipple 2, hollow bolt 5 swing cylinder end cap 6, internal logical oily axis
11, oscillating cylinder output shaft 10, mechanical arm pedestal 18, rotating seal ring 24 and free flow coupling 27 constitute the logical oil of cradle head
Pipeline；It walks wire body 3, single hole terminal box 4, sensor brush 19, sensor diaphragm 20 and diplopore terminal box 26 and constitutes joint turn
Angle monitoring device.
One end of articular shell 17 and swing cylinder end cap 6 are tightly connected, the other end and the sealing rotation of mechanical arm pedestal 18 company
It connects, mechanical arm 28 is mounted on the mechanical arm pedestal 18.Tilt cylinder output shaft 10 and internal logical oily axis 11 are placed in articular shell
In 17, one end of the logical oily axis 11 in the inside is connected by hollow bolt 5 with cylinder end cap 6 is swung, and oscillating cylinder output shaft 10 can be opposite
It is rotationally set in outside internal logical oily axis 11.The both ends outer surface of oscillating cylinder output shaft 10 is rotatably connected to and articular shell
The end cover 9 that 17 inner walls seal against, one end of tilt cylinder output shaft 10, which interlocks, to be had positioned at the end end cover 9 and swings cylinder end
Compression end cap between lid 6, the other end are connected with mechanical arm pedestal 18；Both ends end cover 9 is surrounded with oscillating cylinder output shaft 10
Cavity in be respectively equipped with rotor blade 12 and stator vane 13, one end of the rotor blade 12 is mounted on oscillating cylinder output shaft 10
On, the inner wall of the other end and articular shell 17 seals against, and one end of stator vane 13 is mounted on articular shell 17, the other end
Sealed against with the outer surface of oscillating cylinder output shaft 10, rotor blade 12 and stator vane 13 by cavity be divided into two it is mutually isolated
Seal cavity.The single hole terminal box 4 for being provided with away wire body 3 on cylinder end cap 6 is swung, is provided on mechanical arm pedestal 18
Walk the diplopore terminal box 26 of wire body 3, electric wire penetrates by the single hole terminal box 4 on swing cylinder end cap 6, by hollow bolt 5, interior
The intermediate throughholes of the logical oily axis 11 in portion, are pierced by by the diplopore terminal box 26 on mechanical arm pedestal 18.Walk wire body 3, single hole terminal box 4,
Diplopore terminal box 26 is used to place and be connected the data line of sensor.It swings and multiple Combined hinge adapter tubes is installed on cylinder end cap 6
Work identical with 2 quantity of Combined hinge union nipple is offered on connector 2, oscillating cylinder output shaft 10 and internal logical oily axis 11
Skill hole, in the fabrication hole on oscillating cylinder output shaft 10 there are two be connected respectively with by the seal cavity of 12 two sides of rotor blade,
Drive oscillating cylinder output shaft 10 to swing by rotor blade 12, remaining fabrication hole respectively with install on mechanical arm pedestal 18
Free flow coupling 27 is connected to one by one.
The outside of both ends end cover 9 is cased with compression ring 8 and circlip 16, and the circlip 16 is by 8 He of compression ring
End cover 9 is limited in the axial direction.It has along the circumferential direction been evenly distributed on compression ring 8 multiple for installing the spiral shell of holding screw 15
End cover 9 can be pressed on articular shell 17 by line through-hole by screwing holding screw 15.End cover 9 and oscillating cylinder are defeated
Equipped with the needle bearing 25 played a supporting role and the combination sealing 14 for playing sealing function between shaft 10.
One end of rotor blade 12 is fixed by bolts on oscillating cylinder output shaft 10, and the other end is equipped with runner sealing gear
Circle 21 and rectangular loop combination sealing 22 pass through the runner sealing retaining ring 21 and rectangular loop combination sealing 22 and articular shell 17
Inner wall seals against.One end of stator vane 13 is fixed by bolts on articular shell 17, and the other end is equipped with runner sealing
Retaining ring 21 and rectangular loop combination sealing 22 pass through the runner sealing retaining ring 21 and rectangular loop combination sealing 22 and oscillating cylinder output shaft
10 outer surface seals against.Cavity between two end covers 9 is divided into two phases with stator vane 13 by rotor blade 12
The seal cavity being mutually isolated, the pressure difference when any seal cavity connection oil liquid thereto respectively, between two seal cavities
12 relative stator blade 13 of rotor blade can be driven to turn to low-pressure side by high-pressure side, rotor blade 12 drives oscillating cylinder output shaft
10 output corners and torque.
The outside for swinging cylinder end cap 6 offers multiple (the present embodiment is eight) threaded holes, is respectively mounted in each threaded hole
There is Combined hinge union nipple 2, Combined hinge union nipple 2 totally eight, be the first~eight Combined hinge union nipple 201 respectively
~208；It swings and is also provided with quantity fabrication hole identical with threaded hole, one-to-one correspondence on cylinder end cap 6, the present embodiment swings cylinder end
Fabrication hole on lid 6, the fabrication hole on oscillating cylinder output shaft 10 and the fabrication hole on internal logical oily axis 11 are respectively eight.Oscillating cylinder
Each threaded hole is connected with corresponding fabrication hole entrance on end cap 6, and the outlet and inside for swinging each fabrication hole on cylinder end cap 6 are logical
The corresponding connection of a fabrication hole entrance on oily axis 11, the outlet of each fabrication hole of the logical oily axis 11 in inside and oscillating cylinder output shaft
A fabrication hole entrance on 10, which corresponds to, to be connected to, and there are two fabrication hole outlets to rotor blade 12 on oscillating cylinder output shaft 10
The seal cavity of two sides drives oscillating cylinder output shaft 10, remaining technique hole exits and mechanical arm bottom on oscillating cylinder output shaft 10
A fabrication hole entrance on seat 18 corresponds to connection, and each technique hole exits on mechanical arm pedestal 18 connect with a straight pipe
First 27 corresponding connections.Free flow coupling 27 there are six setting on the mechanical arm pedestal 18 of the present embodiment, respectively the first~six is straight-through
Pipe fitting 271~276.By above-mentioned design, hydraulic circuit passes sequentially through Combined hinge union nipple 2, swings cylinder end cap 6, is interior
The logical oily axis 11 in portion, oscillating cylinder output shaft 10, mechanical arm pedestal 18, free flow coupling 27 are connected, and opposing stationary part
With seal with O ring at oil circuit connection, sealed at oil circuit connection using rotating seal ring 24 between the part of relative rotation.Inside is logical
The outlet two sides of each fabrication hole are mounted on rotating seal ring 24 on oily axis 11, for completely cutting off the oil liquid of adjacent tubes.
The other end of the logical oily axis 11 in inside is equipped with sensor brush 19, is equipped with sensor film on mechanical arm pedestal 18
Piece 20, mechanical arm pedestal 18 are connected by the other end of bolt and oscillating cylinder output shaft 10, when oscillating cylinder output shaft 10 rotates
When, sensor diaphragm 20 drives relative sensors brush 19 to rotate with mechanical arm pedestal 18 by oscillating cylinder output shaft 10, passes through survey
Quantity sensor pressure change obtains the corner variation of oscillating cylinder output shaft 10.
The air vent bolt 23 of gas in discharge articular shell 17 is threaded on articular shell 17.Combinational hinge
The outside of tube head 2 is equipped with the joint protecting cover 1 for being mounted on and swinging on cylinder end cap 6.
The operation principle of the present invention is that:
Cavity between two end covers 9 is divided into two mutually isolated sealings by rotor blade 12 and stator vane 13
Cavity, when any seal cavity connection oil liquid thereto respectively, the pressure difference between two seal cavities can drive rotor leaf
12 relative stator blade 13 of piece turns to low-pressure side by high-pressure side, and rotor blade 12 drives 10 output corner of oscillating cylinder output shaft and torsion
Square.When oscillating cylinder output shaft 10 rotates, sensor diaphragm 20 is rotated relative to sensor brush 19, passes through measurement sensor pressure
Power variation, the corner variation of available oscillating cylinder output shaft 10.Hydraulic circuit passes sequentially through Combined hinge union nipple 2, pendulum
Dynamic cylinder end cap 6, internal logical oily axis 11, oscillating cylinder output shaft 10, mechanical arm pedestal 18, end free flow coupling 27 are connected.
In conclusion it has structure The present invention gives a kind of underwater hydraulic manipulator vane type swinging joint structure
Many advantages, such as compact, load capacity is strong, and hunting range is big, reliable performance, multiple functional, convenient for safeguarding and debugging.The present invention
Using the logical oil of intra articular and cabling, the generation of the failures such as pipeline bending winding caused by external logical oil, cabling is avoided, and
Sensor is all placed in intra articular, has higher reliability.Driver swings cylinder component, hydraulic vane using hydraulic vane
Formula component can generate very high torque in the space of very little；The logical oily axis in inside realizes the inside connection of fluid pressure line, walks
String holes can pass through sensor data cable；Sensor is located at intra articular, these designs keep entire articulation mechanism very compact.Joint
It can be achieved to generate large torque driving force, the connection of fluid pressure line, the inside connection of data line, the detection of joint position information, liquid
The various functions such as the unified arrangement of pressure pipe joint, pressure compensation.Pipe fitting in the present invention arranges unification, and wiring casing can individually be torn open
It unloads, sensor is placed in the side of the diplopore wiring casing of joint end, these are all convenient for the debugging and maintenance in joint.
Claims (10)
1. a kind of underwater hydraulic manipulator vane type swinging joint structure, it is characterised in that: including swinging cylinder end cap (6), compressing
End cap (7), end cover (9), oscillating cylinder output shaft (10), internal logical oily axis (11), rotor blade (12), stator vane
(13), articular shell (17), mechanical arm pedestal (18) and mechanical arm (28), wherein one end of articular shell (17) and swing cylinder end
It covers (6) to be tightly connected, the other end and mechanical arm pedestal (18) sealing are rotatablely connected, and mechanical arm (28) is mounted on the mechanical arm pedestal
(18) on；The tilt cylinder output shaft (10) and internal logical oily axis (11) are placed in articular shell (17), the logical oily axis in the inside
(11) one end is connected by hollow bolt (5) with cylinder end cap (6) are swung, and the oscillating cylinder output shaft (10) is rotatably
It is external to be set in internal logical oily axis (11), the both ends outer surface of oscillating cylinder output shaft (10) be rotatably connected to outside the joint
The end cover (9) that shell (17) inner wall seals against, one end of the tilt cylinder output shaft (10), which interlocks, to be had positioned at the end sealed end
It covers (9) and swings the compression end cap between cylinder end cap (6), the other end is connected with the mechanical arm pedestal (18)；It is close described in both ends
It is respectively equipped with rotor blade (12) and stator vane (13) in the cavity that sealing end lid (9) and oscillating cylinder output shaft (10) surrounds, it should
One end of rotor blade (12) is mounted on the oscillating cylinder output shaft (10), the inner wall of the other end and the articular shell (17)
It seals against, one end of the stator vane (13) is mounted on articular shell (17), the other end and the oscillating cylinder output shaft
(10) outer surface seals against, the rotor blade (12) and stator vane (13) by cavity be divided into two it is mutually isolated close
Seal cavity；It is separately installed with the terminal box for taking away wire body (3) on the swing cylinder end cap (6) and on mechanical arm pedestal (18), electricity
Line penetrates by the terminal box on swing cylinder end cap (6), by the hollow bolt (5), the intermediate throughholes of internal logical oily axis (11),
It is pierced by by the terminal box on the mechanical arm pedestal (18)；Multiple Combined hinge adapter tubes are installed on the swing cylinder end cap (6)
It is offered and the Combined hinge union nipple (2) on connector (2), the oscillating cylinder output shaft (10) and internal logical oily axis (11)
The identical fabrication hole of quantity, there are two respectively and by rotor blade (12) two in the fabrication hole on the oscillating cylinder output shaft (10)
The seal cavity of side is connected, drives oscillating cylinder output shaft (10) to swing by rotor blade (12), remaining fabrication hole difference
It is connected to one by one with the free flow coupling (27) installed on the mechanical arm pedestal (18).
2. underwater hydraulic manipulator vane type swinging joint structure according to claim 1, it is characterised in that: close described in both ends
The outside of sealing end lid (9) is cased with compression ring (8) and circlip (16), the circlip (16) to the compression ring (8) and
End cover (9) axial limiting.
3. underwater hydraulic manipulator vane type swinging joint structure according to claim 2, it is characterised in that: the compression ring
(8) multiple tapped through holes for being used to install holding screw (15) have along the circumferential direction been evenly distributed on, by screwing holding screw (15)
End cover (9) is pressed on articular shell (17).
4. underwater hydraulic manipulator vane type swinging joint structure according to claim 2, it is characterised in that: the sealed end
Equipped with the needle bearing (25) played a supporting role and the combination for playing sealing function between lid (9) and oscillating cylinder output shaft (10)
It seals (14).
5. underwater hydraulic manipulator vane type swinging joint structure according to claim 1, it is characterised in that: the rotor leaf
The other end of piece (12) is equipped with runner sealing retaining ring (21) and rectangular loop combination sealing (22), passes through the runner sealing retaining ring
(21) it is sealed against with rectangular loop combination sealing (22) and the inner wall of the articular shell (17)；The stator vane (13) it is another
One end is equipped with runner sealing retaining ring (21) and rectangular loop combination sealing (22), passes through the runner sealing retaining ring (21) and rectangular loop
Combination sealing (22) and the outer surface of the oscillating cylinder output shaft (10) seal against.
6. underwater hydraulic manipulator vane type swinging joint structure according to claim 1, it is characterised in that: the oscillating cylinder
Multiple threaded holes are offered on the outside of end cap (6), and Combined hinge union nipple (2), the swing are mounted in each threaded hole
Quantity fabrication hole identical with the threaded hole is also provided on cylinder end cap (6), each fabrication hole enters in swing cylinder end cap (6)
Mouth is respectively communicated in a threaded hole, swings one on cylinder end cap (6) in the outlet of each fabrication hole and internal logical oily axis (11)
The corresponding connection of a fabrication hole entrance, the inside lead in the outlet and oscillating cylinder output shaft (10) of each fabrication hole of oily axis (11)
The corresponding connection of a fabrication hole entrance, there are two fabrication hole outlets to the rotor blade on oscillating cylinder output shaft (10)
(12) seal cavity of two sides, driving oscillating cylinder output shaft (10), remaining technique hole exits on oscillating cylinder output shaft (10) with
A fabrication hole entrance on the mechanical arm pedestal (18) corresponds to connection, each technique hole exits on mechanical arm pedestal (18)
Connection corresponding with one free flow coupling (27).
7. underwater hydraulic manipulator vane type swinging joint structure according to claim 6, it is characterised in that: the inside is logical
The outlet two sides of each fabrication hole are mounted on the rotating seal ring (24) for completely cutting off adjacent tubes oil liquid on oily axis (11).
8. underwater hydraulic manipulator vane type swinging joint structure according to claim 1, it is characterised in that: the inside is logical
The other end of oily axis (11) is equipped with sensor brush (19), is equipped with sensor diaphragm on the mechanical arm pedestal (18)
(20), which drives relative sensors brush by oscillating cylinder output shaft (10) with the mechanical arm pedestal (18)
(19) it rotates, is changed by the corner that measurement sensor pressure change obtains the oscillating cylinder output shaft (10).
9. underwater hydraulic manipulator vane type swinging joint structure according to claim 1, it is characterised in that: outside the joint
The air vent bolt (23) of discharge articular shell (17) interior gas is threaded on shell (17).
10. underwater hydraulic manipulator vane type swinging joint structure according to claim 1, it is characterised in that: the combination
The outside of the hinged tube head of formula (2) is equipped with the joint protecting cover (1) for being mounted on and swinging on cylinder end cap (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711263746.1A CN109866249B (en) | 2017-12-05 | 2017-12-05 | Blade type swing joint structure of underwater hydraulic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711263746.1A CN109866249B (en) | 2017-12-05 | 2017-12-05 | Blade type swing joint structure of underwater hydraulic manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN109866249A true CN109866249A (en) | 2019-06-11 |
| CN109866249B CN109866249B (en) | 2023-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711263746.1A Active CN109866249B (en) | 2017-12-05 | 2017-12-05 | Blade type swing joint structure of underwater hydraulic manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589789A (en) * | 2020-12-08 | 2021-04-02 | 太原理工大学 | Full hydraulic drive six-degree-of-freedom mechanical arm |
| CN117565029A (en) * | 2024-01-15 | 2024-02-20 | 云南师范大学 | Robot based on remote operation |
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| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
| KR20160116879A (en) * | 2015-03-31 | 2016-10-10 | (주)케이엔알시스템 | Integrated hydraulic rotary actuator |
| CN105545863A (en) * | 2016-01-19 | 2016-05-04 | 北京工业大学 | Water-hydraulic single-vane type oscillating cylinder |
| CN207616610U (en) * | 2017-12-05 | 2018-07-17 | 中国科学院沈阳自动化研究所 | Underwater hydraulic manipulator vane type swinging joint structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112589789A (en) * | 2020-12-08 | 2021-04-02 | 太原理工大学 | Full hydraulic drive six-degree-of-freedom mechanical arm |
| CN117565029A (en) * | 2024-01-15 | 2024-02-20 | 云南师范大学 | Robot based on remote operation |
| CN117565029B (en) * | 2024-01-15 | 2024-03-19 | 云南师范大学 | Robot based on remote operation |
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