CN109866249B - Blade type swing joint structure of underwater hydraulic manipulator - Google Patents
Blade type swing joint structure of underwater hydraulic manipulator Download PDFInfo
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- CN109866249B CN109866249B CN201711263746.1A CN201711263746A CN109866249B CN 109866249 B CN109866249 B CN 109866249B CN 201711263746 A CN201711263746 A CN 201711263746A CN 109866249 B CN109866249 B CN 109866249B
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Abstract
The invention belongs to the field of underwater hydraulic manipulators, in particular to a blade type swing joint structure of an underwater hydraulic manipulator, which can be applied to ocean development or underwater operation, a mechanical arm base is fixedly connected to an output shaft of a swing cylinder, a mechanical arm is arranged on the mechanical arm base, hydraulic oil is used for conveying power hydraulic oil to a blade type swing cylinder assembly and a subsequent joint driver through a pipe joint and an internal oil passing shaft, and joint driving and internal oil passing are realized; the joint is provided with a built-in full sea depth contact angle sensor, thereby meeting the requirements of deep sea operation. The invention has the advantages of compact structure, light weight, small volume, strong load capacity, large rotation angle range, low failure rate, full sea depth operation and the like.
Description
Technical Field
The invention belongs to the field of underwater hydraulic manipulators, and particularly relates to a blade type swing joint structure of an underwater hydraulic manipulator.
Background
At present, in the fields of marine oil and gas exploration and development, most of underwater operations have the characteristics of high pressure, load and the like, hydraulic driving has the advantages of high load capacity, high load/self weight ratio, adaptability to the full sea depth environmental pressure, realization of full sea depth operation and the like through a pressure compensator, and therefore, the hydraulic driving underwater manipulator has wide application prospect.
Due to the specificity of the operation environment, the underwater hydraulic manipulator is greatly different from land application, has the requirements of high pressure resistance, corrosion resistance, compact structure, reliable sealing and the like, and has been developed into the problems to be solved.
Disclosure of Invention
In order to meet the use requirements of the underwater hydraulic manipulator, the invention aims to provide a blade type swing joint structure of the underwater hydraulic manipulator. The blade type swing joint structure of the underwater hydraulic manipulator is driven by a blade type swing cylinder, has a position feedback function, and can be internally communicated with oil and wiring.
The aim of the invention is realized by the following technical scheme:
the mechanical arm comprises a swinging cylinder end cover, a compression end cover, a sealing end cover, a swinging cylinder output shaft, an internal oil passing shaft, rotor blades, stator blades, a joint shell, a mechanical arm base and a mechanical arm, wherein one end of the joint shell is in sealing connection with the swinging cylinder end cover, the other end of the joint shell is in sealing and rotating connection with the mechanical arm base, and the mechanical arm is arranged on the mechanical arm base; the outer surfaces of two ends of the output shaft of the swing cylinder are rotationally connected with sealing end covers which are in sealing butt joint with the inner wall of the joint shell, one end of the output shaft of the swing cylinder is linked with a compression end cover positioned between the sealing end cover and the end cover of the swing cylinder, and the other end of the output shaft of the swing cylinder is connected with the base of the mechanical arm; a rotor blade and a stator blade are respectively arranged in a cavity enclosed by the sealing end covers at the two ends and the output shaft of the swing cylinder, one end of the rotor blade is installed on the output shaft of the swing cylinder, the other end of the rotor blade is in sealing abutting joint with the inner wall of the joint shell, one end of the stator blade is installed on the joint shell, the other end of the stator blade is in sealing abutting joint with the outer surface of the output shaft of the swing cylinder, and the rotor blade and the stator blade divide the cavity into two mutually isolated sealing cavities; junction boxes for taking away the wire bodies are respectively arranged on the swinging cylinder end cover and the mechanical arm base, wires penetrate through the junction boxes on the swinging cylinder end cover, pass through the hollow bolts and the middle through holes of the internal oil through shafts, and penetrate out of the junction boxes on the mechanical arm base; the end cover of the swinging cylinder is provided with a plurality of combined type hinged pipe joints, the output shaft of the swinging cylinder and the oil passing shaft in the swinging cylinder are provided with process holes the same as the combined type hinged pipe joints in number, two of the process holes on the output shaft of the swinging cylinder are respectively communicated with sealing cavities on two sides of a rotor blade, the output shaft of the swinging cylinder is driven to swing through the rotor blade, and the rest process holes are respectively communicated with the straight pipe joints arranged on the base of the mechanical arm one by one;
wherein: the outer sides of the sealing end covers at both ends are respectively sleeved with a compression ring and an elastic check ring, and the elastic check rings axially limit the compression rings and the sealing end covers; the compression ring is uniformly provided with a plurality of threaded through holes for installing the set screws along the circumferential direction, and the sealing end cover is compressed on the joint shell by screwing the set screws; a needle bearing with a supporting function and a combined seal with a sealing function are arranged between the sealing end cover and the output shaft of the swing cylinder;
the other end of the rotor blade is provided with a blade sealing check ring and a rectangular ring combined seal, and the blade sealing check ring and the rectangular ring combined seal are in sealing abutting joint with the inner wall of the joint shell; the other end of the stator blade is provided with a blade sealing check ring and a rectangular ring combined seal, and the blade sealing check ring and the rectangular ring combined seal are in sealing abutting joint with the outer surface of the swing cylinder output shaft;
the outside of the swinging cylinder end cover is provided with a plurality of threaded holes, each threaded hole is internally provided with a combined hinged pipe joint, the swinging cylinder end cover is also provided with process holes the number of which is the same as that of the threaded holes, the inlet of each process hole on the swinging cylinder end cover is respectively communicated with one threaded hole, the outlet of each process hole on the swinging cylinder end cover is correspondingly communicated with one process hole inlet on the internal oil passing shaft, the outlet of each process hole of the internal oil passing shaft is correspondingly communicated with one process hole inlet on the swinging cylinder output shaft, the swinging cylinder output shaft is provided with two process hole outlets communicated with sealing cavities at two sides of the rotor blade and driving the swinging cylinder output shaft, the outlets of other process holes on the swinging cylinder output shaft are correspondingly communicated with one process hole inlet on the mechanical arm base, and each process hole outlet on the mechanical arm base is correspondingly communicated with one straight pipe joint;
the two sides of the outlet of each process hole on the internal oil through shaft are provided with rotary sealing rings for isolating oil of adjacent pipelines;
the other end of the internal oil passing shaft is provided with a sensor brush, the mechanical arm base is provided with a sensor diaphragm, the sensor diaphragm is driven by the swing cylinder output shaft to rotate relative to the sensor brush along with the mechanical arm base, and the change of the rotation angle of the swing cylinder output shaft is obtained by measuring the change of the pressure of the sensor;
the joint shell is connected with a vent hole bolt for discharging gas in the joint shell through threads; the outside of the combined type hinged pipe joint is provided with a joint protection cover which is arranged on the swing cylinder end cover.
The invention has the advantages and positive effects that:
1. the performance is stable: the invention adopts the oil and wiring in the joint, avoids the occurrence of faults such as bending and winding of the pipeline and the like caused by the oil and wiring in the outside, and has higher reliability because the sensor is arranged in the joint.
2. The structure is compact: the driver adopts the hydraulic vane type swing cylinder assembly, and the hydraulic vane type swing cylinder assembly can generate very high torque in a small space; the internal oil-through shaft realizes the internal communication of the hydraulic pipeline, and the wiring holes can pass through a plurality of sensor data lines; the sensors are located inside the joint and these designs make the whole joint mechanism very compact.
3. The functions are complete: the invention can realize a plurality of functions, such as large torque driving, communication of hydraulic pipelines, internal communication of data wires, detection of joint position information, unified arrangement of hydraulic pipe joints and pressure compensation.
4. The debugging and maintenance are convenient: the pipe joint is uniformly arranged, the wiring box can be independently disassembled, and the sensor is arranged on one side of the double-hole wiring box at the tail end of the joint, so that the joint is convenient to debug and maintain.
Drawings
FIG. 1 is a cross-sectional view B-B of FIG. 2;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a cross-sectional view A-A of FIG. 1;
FIG. 4 is a cross-sectional view C-C of FIG. 1;
FIG. 5 is a view in the direction D of FIG. 1;
wherein: 1 is a joint boot, 2 is a combined hinged joint, 201 is a first combined hinged joint, 202 is a second combined hinged joint, 203 is a third combined hinged joint, 204 is a fourth combined hinged joint, 205 is a fifth combined hinged joint, 206 is a sixth combined hinged joint, 207 is a seventh combined hinged joint, 208 is an eighth combined hinged joint, 3 is a wire routing body, 4 is a single-hole wire routing box, 5 is a hollow bolt, 6 is a swinging cylinder end cover, 7 is a compression end cover, 8 is a compression ring, 9 is a sealing end cover, 10 is a swinging cylinder output shaft, 11 is an internal oil passing shaft, 12 rotor blades, 13 is a stator blade, 14 is a combined seal, 15 is a set screw, 16 is a circlip, 17 is a joint housing, 18 is a mechanical arm base, 19 is a sensor brush, 20 is a sensor diaphragm, 21 is a blade seal ring, 22 is a rectangular ring combined seal, 23 is a rotating seal ring, 25 is a needle bearing, 26 is a double-hole straight through body, 27 is a straight through joint, 272 is a third joint is a straight through joint, 276 is a straight through joint, and 274 is a mechanical through joint is a fifth joint is a straight through joint, 276 is a straight through joint.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 5, the invention comprises a joint boot 1, a combined hinged pipe joint 2, a wiring body 3, a single-hole junction box 4, a hollow bolt 5, a swinging cylinder end cover 6, a pressing end cover 7, a pressing ring 8, a sealing end cover 9, a swinging cylinder output shaft 10, an internal oil passing shaft 11, rotor blades 12, stator blades 13, a combined seal 14, a set screw 15, a circlip 16, a joint housing 17, a mechanical arm base 18, a sensor brush 19, a sensor diaphragm 20, a blade seal retainer 21, a rectangular ring combined seal 22, a vent hole bolt 23, a rotary seal ring 24, a needle bearing 25, a double-hole junction box 26, an end through pipe joint 27 and a mechanical arm 28, wherein the pressing end cover 7, the circlip 16, the set screw 15, the pressing ring 8, the swinging cylinder end cover 9, the swinging cylinder output shaft 10, the joint housing 17, the rotor blades 12, the stator blades 13, the combined seal 14, the blade seal retainer 21, the rectangular ring combined seal 22, the vent hole bolt 23 and the needle bearing 25 form a joint driving mechanism; the combined type articulated pipe joint 2, the hollow bolt 5, the swing cylinder end cover 6, the internal oil passing shaft 11, the swing cylinder output shaft 10, the mechanical arm base 18, the rotary sealing ring 24 and the straight pipe joint 27 form an oil passing pipeline of the rotary joint; the wiring body 3, the single-hole junction box 4, the sensor brush 19, the sensor diaphragm 20 and the double-hole junction box 26 form a joint rotation angle monitoring device.
One end of the joint housing 17 is in sealing connection with the swinging cylinder end cover 6, the other end is in sealing rotation connection with the mechanical arm base 18, and the mechanical arm 28 is arranged on the mechanical arm base 18. The swing cylinder output shaft 10 and the inner oil passing shaft 11 are both accommodated in the joint housing 17, one end of the inner oil passing shaft 11 is connected with the swing cylinder end cover 6 through the hollow bolt 5, and the swing cylinder output shaft 10 is sleeved outside the inner oil passing shaft 11 in a relatively rotatable manner. The outer surfaces of the two ends of the swing cylinder output shaft 10 are respectively and rotatably connected with a sealing end cover 9 in sealing contact with the inner wall of the joint shell 17, one end of the swing cylinder output shaft 10 is linked with a compression end cover positioned between the sealing end cover 9 and the swing cylinder end cover 6, and the other end of the swing cylinder output shaft is connected with a mechanical arm base 18; the rotor blades 12 and the stator blades 13 are respectively arranged in a cavity enclosed by the sealing end covers 9 at two ends and the swing cylinder output shaft 10, one end of each rotor blade 12 is arranged on the swing cylinder output shaft 10, the other end of each rotor blade is in sealing abutting joint with the inner wall of the joint shell 17, one end of each stator blade 13 is arranged on the joint shell 17, the other end of each stator blade is in sealing abutting joint with the outer surface of the swing cylinder output shaft 10, and the rotor blades 12 and the stator blades 13 divide the cavity into two mutually isolated sealing cavities. The swinging cylinder end cover 6 is provided with a single-hole junction box 4 for taking away the wire body 3, the mechanical arm base 18 is provided with a double-hole junction box 26 for taking away the wire body 3, and wires penetrate through the single-hole junction box 4 on the swinging cylinder end cover 6, pass through the hollow bolt 5 and the middle through hole of the internal oil through shaft 11 and are penetrated out by the double-hole junction box 26 on the mechanical arm base 18. The wiring body 3, the single-hole junction box 4 and the double-hole junction box 26 are used for placing and conducting the data wires of the sensor. The swing cylinder end cover 6 is provided with a plurality of combined hinged pipe joints 2, the swing cylinder output shaft 10 and the internal oil passing shaft 11 are provided with process holes the same as the combined hinged pipe joints 2 in number, two of the process holes on the swing cylinder output shaft 10 are respectively communicated with sealing cavities on two sides of the rotor blade 12, the swing cylinder output shaft 10 is driven to swing through the rotor blade 12, and the rest of the process holes are respectively communicated with the straight pipe joints 27 arranged on the mechanical arm base 18 one by one.
The outer sides of the sealing end covers 9 at the two ends are respectively sleeved with a compression ring 8 and an elastic check ring 16, and the elastic check rings 16 limit the compression rings 8 and the sealing end covers 9 in the axial direction. The compression ring 8 is uniformly provided with a plurality of threaded through holes for installing the set screws 15 along the circumferential direction, and the sealing end cover 9 can be compressed on the joint shell 17 by screwing the set screws 15. A needle bearing 25 with supporting function and a combined seal 14 with sealing function are arranged between the seal end cover 9 and the swing cylinder output shaft 10.
One end of the rotor blade 12 is fixed on the swing cylinder output shaft 10 by a bolt, and the other end is provided with a blade sealing retainer ring 21 and a rectangular ring combined seal 22, and the blade sealing retainer ring 21 and the rectangular ring combined seal 22 are in sealing contact with the inner wall of the joint housing 17. One end of the stator vane 13 is fixed on the joint housing 17 by a bolt, and the other end is provided with a vane sealing retainer ring 21 and a rectangular ring combined seal 22, and the vane sealing retainer ring 21 and the rectangular ring combined seal 22 are in sealing contact with the outer surface of the swing cylinder output shaft 10. The rotor blade 12 and the stator blade 13 divide the cavity between the two seal end covers 9 into two seal cavities which are isolated from each other, when oil is respectively communicated to any one of the seal cavities, the pressure difference between the two seal cavities can drive the rotor blade 12 to turn from a high pressure side to a low pressure side relative to the stator blade 13, and the rotor blade 12 drives the swing cylinder output shaft 10 to output rotation angle and torque.
The outer side of the swinging cylinder end cover 6 is provided with a plurality of (eight in the embodiment) threaded holes, each threaded hole is internally provided with a combined hinged pipe joint 2, eight combined hinged pipe joints 2 are respectively a first combined hinged pipe joint 201-208; the oscillating cylinder end cover 6 is also provided with eight process holes with the same number as the threaded holes in a one-to-one correspondence manner, and the number of the process holes on the oscillating cylinder end cover 6, the number of the process holes on the oscillating cylinder output shaft 10 and the number of the process holes on the internal oil through shaft 11 are respectively eight. Each threaded hole on the swinging cylinder end cover 6 is connected with a corresponding process hole inlet, the outlet of each process hole on the swinging cylinder end cover 6 is correspondingly communicated with one process hole inlet on the internal oil passing shaft 11, the outlet of each process hole of the internal oil passing shaft 11 is correspondingly communicated with one process hole inlet on the swinging cylinder output shaft 10, two process hole outlets on the swinging cylinder output shaft 10 are communicated to sealing cavities on two sides of the rotor blade 12 and drive the swinging cylinder output shaft 10, the other process hole outlets on the swinging cylinder output shaft 10 are correspondingly communicated with one process hole inlet on the mechanical arm base 18, and each process hole outlet on the mechanical arm base 18 is correspondingly communicated with a straight-through pipe joint 27. Six straight-through pipe joints 27, namely first through pipe joints 271 to 276, are arranged on the mechanical arm base 18 of the embodiment. Through the design, the hydraulic oil way is conducted through the combined type hinged pipe joint 2, the swing cylinder end cover 6, the internal oil through shaft 11, the swing cylinder output shaft 10, the mechanical arm base 18 and the through pipe joint 27 in sequence, the connection part of the oil way of the relatively static parts is sealed by an O-shaped ring, and the connection part of the oil way between the relatively rotating parts is sealed by a rotary sealing ring 24. The two sides of the outlet of each process hole on the internal oil through shaft 11 are provided with rotary sealing rings 24 for isolating oil of adjacent pipelines.
The other end of the internal oil passing shaft 11 is provided with a sensor brush 19, the mechanical arm base 18 is provided with a sensor diaphragm 20, the mechanical arm base 18 is fixedly connected with the other end of the swing cylinder output shaft 10 through a bolt, when the swing cylinder output shaft 10 rotates, the sensor diaphragm 20 is driven by the swing cylinder output shaft 10 to rotate relative to the sensor brush 19 along with the mechanical arm base 18, and the rotation angle change of the swing cylinder output shaft 10 is obtained through measuring the pressure change of a sensor.
The joint housing 17 is screw-coupled with a gas vent bolt 23 for venting gas from the joint housing 17. The outside of the combined hinged pipe joint 2 is provided with a joint protection cover 1 which is arranged on a swinging cylinder end cover 6.
The working principle of the invention is as follows:
the rotor blade 12 and the stator blade 13 divide the cavity between the two seal end covers 9 into two seal cavities which are isolated from each other, when oil is respectively communicated to any one of the seal cavities, the pressure difference between the two seal cavities can drive the rotor blade 12 to turn from a high pressure side to a low pressure side relative to the stator blade 13, and the rotor blade 12 drives the swing cylinder output shaft 10 to output rotation angle and torque. When the swing cylinder output shaft 10 rotates, the sensor diaphragm 20 rotates relative to the sensor brush 19, and by measuring the sensor pressure change, the change in the rotation angle of the swing cylinder output shaft 10 can be obtained. The hydraulic oil way is conducted through the combined type hinged pipe joint 2, the swing cylinder end cover 6, the internal oil passing shaft 11, the swing cylinder output shaft 10, the mechanical arm base 18 and the end straight pipe joint 27 in sequence.
In summary, the invention provides the blade type swing joint structure of the underwater hydraulic manipulator, which has the advantages of compact structure, strong load capacity, large swing range, reliable performance, complete functions, convenience in maintenance and debugging and the like. The invention adopts the oil and wiring in the joint, avoids the occurrence of faults such as bending and winding of the pipeline and the like caused by the oil and wiring in the outside, and the sensors are all arranged in the joint, thereby having higher reliability. The driver adopts a hydraulic blade swing cylinder assembly, and the hydraulic blade assembly can generate very high torque in a small space; the internal oil-through shaft realizes the internal communication of the hydraulic pipeline, and the wiring hole can pass through the sensor data line; the sensors are located inside the joint and these designs make the whole joint mechanism very compact. The joint can realize the functions of generating large torque driving force, communicating hydraulic pipelines, communicating the inside of data wires, detecting joint position information, uniformly arranging hydraulic pipe joints, compensating pressure and the like. The pipe joint is uniformly arranged, the wiring box can be independently disassembled, and the sensor is arranged on one side of the double-hole wiring box at the tail end of the joint, so that the joint is convenient to debug and maintain.
Claims (8)
1. The utility model provides a hydraulic manipulator vane type swing joint structure under water which characterized in that: the mechanical arm comprises a swinging cylinder end cover (6), a pressing end cover (7), a sealing end cover (9), a swinging cylinder output shaft (10), an internal oil passing shaft (11), rotor blades (12), stator blades (13), a joint shell (17), a mechanical arm base (18) and a mechanical arm (28), wherein one end of the joint shell (17) is in sealing connection with the swinging cylinder end cover (6), the other end of the joint shell is in sealing rotation connection with the mechanical arm base (18), and the mechanical arm (28) is arranged on the mechanical arm base (18); the swing cylinder output shaft (10) and the internal oil passing shaft (11) are both accommodated in the joint housing (17), one end of the internal oil passing shaft (11) is connected with the swing cylinder end cover (6) through the hollow bolt (5), the swing cylinder output shaft (10) is rotationally sleeved outside the internal oil passing shaft (11), the outer surfaces of the two ends of the swing cylinder output shaft (10) are rotationally connected with the sealing end covers (9) which are in sealing butt joint with the inner wall of the joint housing (17), one end of the swing cylinder output shaft (10) is linked with the compression end cover positioned between the end sealing end cover (9) and the swing cylinder end cover (6), and the other end of the swing cylinder output shaft is connected with the mechanical arm base (18); a rotor blade (12) and a stator blade (13) are respectively arranged in a cavity enclosed by the sealing end covers (9) at two ends and the swing cylinder output shaft (10), one end of the rotor blade (12) is installed on the swing cylinder output shaft (10), the other end of the rotor blade is in sealing abutting joint with the inner wall of the joint shell (17), one end of the stator blade (13) is installed on the joint shell (17), the other end of the stator blade is in sealing abutting joint with the outer surface of the swing cylinder output shaft (10), and the rotor blade (12) and the stator blade (13) divide the cavity into two mutually isolated sealing cavities; junction boxes for taking away the wire body (3) are respectively arranged on the swinging cylinder end cover (6) and the mechanical arm base (18), wires penetrate through the junction boxes on the swinging cylinder end cover (6), pass through the hollow bolts (5) and the middle through holes of the internal oil through shafts (11) and penetrate out of the junction boxes on the mechanical arm base (18); a plurality of combined hinged pipe joints (2) are arranged on the swing cylinder end cover (6), the number of the process holes which are the same as that of the combined hinged pipe joints (2) are formed on the swing cylinder output shaft (10) and the inner oil passing shaft (11), two process holes on the swing cylinder output shaft (10) are respectively communicated with sealing cavities on two sides of the rotor blade (12), the swing cylinder output shaft (10) is driven to swing through the rotor blade (12), and the rest process holes are respectively communicated with straight pipe joints (27) arranged on the mechanical arm base (18) one by one;
both ends the outside of seal end cover (9) has all been overlapped clamp ring (8) and circlip (16), and this circlip (16) are right clamp ring (8) and seal end cover (9) axial spacing, a plurality of screw through-holes that are used for installing holding screw (15) have been equipartition along the circumferencial direction on clamp ring (8), compress tightly seal end cover (9) on joint shell (17) through screwing holding screw (15).
2. The underwater hydraulic manipulator blade type swing joint structure according to claim 1, wherein: a needle bearing (25) with a supporting function and a combined seal (14) with a sealing function are arranged between the seal end cover (9) and the swing cylinder output shaft (10).
3. The underwater hydraulic manipulator blade type swing joint structure according to claim 1, wherein: a blade sealing retainer ring (21) and a rectangular ring combined seal (22) are arranged at the other end of the rotor blade (12), and the blade sealing retainer ring (21) and the rectangular ring combined seal (22) are in sealing abutting connection with the inner wall of the joint shell (17); the other end of the stator blade (13) is provided with a blade sealing retainer ring (21) and a rectangular ring combined seal (22), and the blade sealing retainer ring (21) and the rectangular ring combined seal (22) are in sealing abutting connection with the outer surface of the swing cylinder output shaft (10).
4. The underwater hydraulic manipulator blade type swing joint structure according to claim 1, wherein: the outside of swing cylinder end cover (6) has seted up a plurality of screw holes, and every screw hole is interior all to install combination formula articulated pipe joint (2), still has seted up on this swing cylinder end cover (6) quantity with the same process hole of screw hole, every process hole's on swing cylinder end cover (6) entry communicates respectively in a screw hole, and every process hole's on swing cylinder end cover (6) export corresponds the intercommunication with a process hole entry on inside oil passing shaft (11), the export of every process hole of inside oil passing shaft (11) corresponds the intercommunication with a process hole entry on swing cylinder output shaft (10), has two process hole exports to be linked to on swing cylinder output shaft (10) the sealed cavity of rotor blade (12) both sides, drive swing cylinder output shaft (10), and the other process hole exports on swing cylinder output shaft (10) correspond the intercommunication with a process hole entry on the arm base (18), every process hole export on the arm base (18) all corresponds the intercommunication with a straight-through coupling (27).
5. The underwater hydraulic manipulator blade type swing joint structure according to claim 4, wherein: and rotary sealing rings (24) used for isolating oil of adjacent pipelines are arranged on two sides of an outlet of each process hole on the internal oil passing shaft (11).
6. The underwater hydraulic manipulator blade type swing joint structure according to claim 1, wherein: the sensor brush (19) is installed to the other end of inside logical oily axle (11), install sensor diaphragm (20) on arm base (18), this sensor diaphragm (20) are along with arm base (18) are rotated by swing jar output shaft (10) drive sensor brush (19), obtain through measuring sensor pressure variation swing jar output shaft (10) corner change.
7. The underwater hydraulic manipulator blade type swing joint structure according to claim 1, wherein: the joint shell (17) is connected with a vent hole bolt (23) for discharging gas in the joint shell (17) in a threaded manner.
8. The underwater hydraulic manipulator blade type swing joint structure according to claim 1, wherein: the outside of the combined hinged pipe joint (2) is provided with a joint protection cover (1) which is arranged on the swinging cylinder end cover (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109866249A CN109866249A (en) | 2019-06-11 |
| CN109866249B true CN109866249B (en) | 2023-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711263746.1A Active CN109866249B (en) | 2017-12-05 | 2017-12-05 | Blade type swing joint structure of underwater hydraulic manipulator |
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| CN (1) | CN109866249B (en) |
Families Citing this family (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 |
| CN117565029B (en) * | 2024-01-15 | 2024-03-19 | 云南师范大学 | Robot based on remote operation |
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| GB817964A (en) * | 1956-07-23 | 1959-08-06 | Frederick Weatherill | Improvements relating to oscillating vane hydraulic motors |
| CN101499693A (en) * | 2009-03-19 | 2009-08-05 | 哈尔滨工程大学 | Oil path built-in swivel motor for underwater manipulator |
| CN102935643A (en) * | 2011-08-15 | 2013-02-20 | 中国科学院沈阳自动化研究所 | Underwater hydraulic manipulator swinging joint structure |
| CN103711741A (en) * | 2013-12-17 | 2014-04-09 | 东南大学 | Robot joint rotating hydraulic cylinder with torque and angle feedback functions |
| CN104440939A (en) * | 2014-11-13 | 2015-03-25 | 哈尔滨工程大学 | Small underwater hydraulic mechanical arm two-stage drive joint |
| CN105545863A (en) * | 2016-01-19 | 2016-05-04 | 北京工业大学 | Water-hydraulic single-vane type oscillating cylinder |
| KR20160116879A (en) * | 2015-03-31 | 2016-10-10 | (주)케이엔알시스템 | Integrated hydraulic rotary actuator |
| 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 |
-
2017
- 2017-12-05 CN CN201711263746.1A patent/CN109866249B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB817964A (en) * | 1956-07-23 | 1959-08-06 | Frederick Weatherill | Improvements relating to oscillating vane hydraulic motors |
| CN101499693A (en) * | 2009-03-19 | 2009-08-05 | 哈尔滨工程大学 | Oil path built-in swivel motor for underwater manipulator |
| CN102935643A (en) * | 2011-08-15 | 2013-02-20 | 中国科学院沈阳自动化研究所 | Underwater hydraulic manipulator swinging joint structure |
| CN103711741A (en) * | 2013-12-17 | 2014-04-09 | 东南大学 | Robot joint rotating hydraulic cylinder with torque and angle feedback functions |
| 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 | Publication date |
|---|---|
| CN109866249A (en) | 2019-06-11 |
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