CN110181498B - An underwater execution arm and its execution method - Google Patents

Abstract

The invention discloses an underwater executive arm, which includes a mechanical arm, the mechanical arm includes a tailstock, a first swing arm is rotatably mounted on the end of the tailstock, and a steering gear on the tailstock can drive the first swing arm. The swing arm swings horizontally; the end of the first swing arm is rotated and installed with a second swing arm, and the steering gear on the first swing arm can drive the second swing arm to swing longitudinally; the end of the second swing arm is installed There is an execution claw unit; the execution claw unit includes a cylindrical wrist structure, and the root of the wrist structure is integrally fixed at the end of the second swing arm; the structure of the present invention isolates water through the water isolation piston function, so that the environment where the electromagnet and the linear push rod motor are located is always in a dry environment; at the same time, the electromagnetic ejection method is used to realize the rapid grasping of the mechanical claws, and the electromagnet chasing method is used to achieve a stable clamping effect after rapid grasping .

Description

An underwater execution arm and its execution method

technical field

The invention belongs to the field of underwater manipulators.

Background technique

Existing underwater mechanical claws need to achieve good waterproof performance, and at the same time, it is difficult for existing underwater mechanical claws to achieve fast grasping and stable clamping effects at the same time.

Contents of the invention

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an underwater actuating arm and its actuating method capable of fast and stable clamping.

Technical solution: In order to achieve the above object, an underwater execution arm of the present invention includes a mechanical arm, the mechanical arm includes a tailstock, and a first swing arm is rotatably installed on the end of the tailstock, and the tailstock on the tailstock The steering gear can drive the first swing arm to swing horizontally; the end of the first swing arm is rotated to install a second swing arm, and the steering gear on the first swing arm can drive the second swing arm to swing longitudinally; The end of the second swing arm is equipped with an execution claw unit; the execution claw unit includes a cylindrical wrist structure, and the root of the wrist structure is integrally fixed on the end of the second swing arm; the wrist structure is circular The array is distributed with three sets of finger mechanisms capable of grasping and releasing actions.

Further, a cylindrical piston channel is provided at the axial position of the wrist structure at the same axis, and a water isolation piston is provided in the piston channel, and the water isolation piston includes a hard disc body made of non-magnetic material, The contour edge of the hard disc body is integrally provided with a waterproof rubber ring, and the outer ring of the waterproof rubber ring is in sealing and sliding connection with the inner wall of the piston passage; An electromagnet is arranged on the side, and the electromagnet core of the electromagnet is arranged coaxially with the piston channel. The side of the electromagnet away from the water isolation piston is fixedly installed with a linear push rod motor. The end of the linear push rod is fixedly connected to the electromagnet, and the linear push rod motor can drive the entire electromagnet to move back and forth along the axis of the piston passage through the linear push rod; the water isolation piston is far away from the electromagnet One side of the core is coaxially provided with an execution pawl power shaft, and one end of the execution pawl power shaft close to the water isolation piston is fixedly installed with a permanent magnet rod, and the N pole of the permanent magnet rod is connected to the electromagnetic pole. One end of the iron core corresponds to the axial center; the water isolation piston is located between the permanent magnet rod and the electromagnet core;

Further, the coaxial center of the power shaft of the execution pawl moves away from the end of the water isolation piston through the power shaft passing hole at the end of the wrist structure; the power shaft of the execution pawl is coaxial with the end of the power shaft away from the water isolation piston The center is fixedly connected with a linkage plate, and the contour edge of the linkage plate is provided with three first hinges in a circular array; the end contour of the wrist structure is distributed with three second hinges in a circular array, and the three sets of finger mechanisms It includes three claws, the roots of the three claws are respectively hinged on the second hinges; the ends of the three claws are respectively provided with inwardly curved claw tips; the middle parts of the three claws are A third hinge is provided, and also includes three linkage rods, and the two ends of the three linkage rods are respectively hinged to the corresponding first hinge and the third hinge.

Further, an execution method of an underwater execution arm:

In the initial state, the actuator claw unit is in the open state, the electromagnet is in the state of no power, and the actuator claw unit of the mechanical arm is completely submerged underwater. At this time, the water isolation piston plays a role in isolating the water, thereby making the electromagnet and the linear The environment where the push rod motor is located is always in a dry environment;

The execution method of fast grab and catch action: electrify the electromagnet, and then make the electromagnet core obtain magnetism quickly, and make the permanent magnet bar of the power shaft of the execution claw and the electromagnet core repel each other strongly, and then make the power shaft of the execution claw move outward quickly After being ejected by electromagnetic force, the power shaft of the execution claw is ejected, and the electromagnet is quickly cut off, so that the electromagnet core loses its magnetism. When the electromagnet is energized, the linear push rod motor is started at the same time, and then the linear push rod is extended. Make the electromagnet as a whole do the movement of chasing the power shaft of the execution claw, and the end of the electromagnet core will start to press the water isolation piston to the left, and then make the water isolation piston move along with the electromagnet to chase the power shaft of the execution claw; at this time, the linkage The disk pops up synchronously with the power shaft of the execution claw, and then the linkage disk drives the three claws to grab inward through the three linkage rods, so that the claw tips at the end of the three claws quickly grab inward and pierce the grasped object. And then realize the purpose of grabbing quickly; after the three claws finish the grabbing action, the linkage plate and the power shaft of the execution claw will stop moving, and the whole electromagnet and the water isolation piston will catch up with the power shaft of the execution claw. After the water isolation piston catches up with the power shaft of the execution claw, the operation of the linear push rod motor is suspended. At this time, the left end of the electromagnet core contacts the right side of the water isolation piston, and the right end of the execution claw power shaft contacts the left side of the water isolation piston; At this time, the stable grasping of the execution claw unit is realized;

Execution method of releasing and returning the claw unit:

Re-energize the electromagnet, and make the permanent magnet rod of the actuator claw power shaft and the electromagnet core attract each other, so that the electromagnet and the actuator claw power shaft form a synchronous state; at the same time, start the linear push rod motor, and then make the linear push rod Do the shortening motion, and then make the electromagnet, the power shaft of the execution claw, and the linkage plate move to the right synchronously, until the linkage plate drives the three claws to loosen outwards through the three linkage rods.

Beneficial effects: the structure of the present invention isolates the water through the water isolation piston, so that the environment where the electromagnet and the linear push rod motor are located is always in a dry environment; at the same time, the rapid grasping of the mechanical claw is realized by means of electromagnetic ejection , using the electromagnet chasing method to achieve a stable clamping effect after fast grabbing.

Description of drawings

Accompanying drawing 1 is the schematic diagram of mechanical arm structure;

Accompanying drawing 2 is a schematic diagram of the execution claw of the mechanical arm;

Accompanying drawing 3 is the three-dimensional schematic diagram of the internal cutaway of wrist structure;

Accompanying drawing 4 is the front sectional view of wrist structure.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

A kind of underwater execution arm as described in accompanying drawing 1 to 4, comprises mechanical arm, and described mechanical arm comprises tailstock 7, and first swing arm 5 is installed on the end of described tailstock 7 rotation, and described tailstock 7 The steering gear on the first swing arm 5 can drive the first swing arm 5 to swing horizontally; The arm 3 swings longitudinally; the end of the second swing arm 3 is equipped with an execution claw unit 1; the execution claw unit 1 includes a cylindrical wrist structure 2, and the root of the wrist structure 2 is integrally fixed on the second The end of the swing arm 3; the wrist structure 2 has three groups of finger mechanisms distributed in a circular array, and the three groups of finger mechanisms can perform grasping and releasing actions.

The inner axis position of the wrist structure 2 is coaxially provided with a cylindrical piston passage 22, and a water isolation piston 24 is arranged in the piston passage 22, and the water isolation piston 24 includes a hard disc made of non-magnetic material body 18, the contour edge of the hard disc body 18 is integrally provided with a waterproof rubber ring 20, the outer ring of the waterproof rubber ring 20 is in sealing and sliding connection with the inner wall of the piston channel 22; the water isolation piston 24 An electromagnet 25 is arranged on the side far away from the execution claw unit 1 , the electromagnet core 21 of the electromagnet 25 is arranged coaxially with the piston channel 22 , and the side of the electromagnet 25 away from the water isolation piston 24 A linear push rod motor 29 is fixedly installed, and the end of the linear push rod 28 of the linear push rod motor 29 is fixedly connected to the electromagnet 25, and the linear push rod motor 29 can drive the electromagnet through the linear push rod 28 25 as a whole moves back and forth along the axis of the piston channel 22; the side of the water isolation piston 24 far away from the electromagnet core 21 is coaxially provided with an execution claw power shaft 27, and the execution claw power shaft 27 is close to the One end of the water isolation piston 24 is fixedly equipped with a permanent magnet bar 16, and the N extreme 16.1 of the permanent magnet bar 16 corresponds to the coaxial center of one end of the electromagnet core 21; the water isolation piston 24 is located at the Between the permanent magnet rod 16 and the electromagnet core 21;

The power shaft 27 of the execution pawl moves away from the end of the water isolation piston 24 coaxially through the power shaft passing hole 17 at the end of the wrist structure 2; One end is fixedly connected to the center of the axis with a linkage disc 14, and the contour edge of the linkage disc 14 is provided with three first hinges 10 in a circular array; the end contour of the wrist structure 2 is distributed with three second hinges in a circular array 8. The three groups of finger mechanisms respectively include three claws 11, the roots of the three claws 11 are respectively hinged on the three second hinges 8; the ends of the three claws 11 are respectively provided with inward Curved claw tip 12; the middle parts of the three claws 11 are provided with a third hinge 9, and also include three linkage rods 13, and the two ends of the three linkage rods 13 are respectively hinged to the corresponding first hinge 10 and the third hinge Item 9.

The method, process and technical progress of this program are summarized as follows:

In the initial state, the execution claw unit 1 is in an open state, the electromagnet 25 is in a state of no power supply, and the execution claw unit 1 of the mechanical arm is completely submerged under water. The environment where the electromagnet 25 and the linear push rod motor 29 are located is always in a dry environment;

The execution method of fast grabbing action: energize the electromagnet 25, and then make the electromagnet core 21 obtain magnetism rapidly, and make the permanent magnet rod 16 of the power shaft 27 of the execution claw and the electromagnet core 21 strongly repel each other, and then make the execution claw The power shaft 27 is quickly ejected by the electromagnetic force outwards, and the electromagnet 25 is powered off quickly after the execution claw power shaft 27 is ejected, so that the electromagnet core 21 loses magnetism, and the linear push rod motor 29 is started when the electromagnet 25 is energized. Further, the linear push rod 28 is extended, and the electromagnet 25 as a whole is moved to chase the claw power shaft 27, and the end of the electromagnet core 21 will start to press the water isolation piston 24 to the left, thereby making the water isolation piston 24 moves along with the electromagnet 25 to chase the power shaft 27 of the claw; at this time, the linkage disk 14 pops up synchronously with the power shaft 27 of the claw, and then the linkage disk 14 drives the three claws 11 to grasp inwardly through the three linkage rods 13. Then the claw tip 12 at the end of the three claws 11 can quickly grab and pierce the grasped object, and then realize the purpose of grabbing quickly; The claw power shaft 27 will stop moving, and the electromagnet 25 as a whole and the water isolation piston 24 will catch up with the execution claw power shaft 27 immediately, and the linear push rod motor will be suspended after the electromagnet 25 and the water isolation piston 24 catch up with the execution claw power shaft 27 29, the left end of the electromagnet core 21 is in contact with the right side of the water isolation piston 24, and the right end of the execution claw power shaft 27 is in contact with the left side of the water isolation piston 24; Pick;

Execute the release and return execution method of claw unit 1:

Re-energize the electromagnet 25, and make the permanent magnet bar 16 and the electromagnet core 21 of the execution claw power shaft 27 attract each other, and then make the electromagnet 25 and the execution claw power shaft 27 form a synchronous state; at the same time, start the linear push rod motor 29, and then make the linear push rod 28 do shortening motion, and then make the electromagnet 25, the power shaft 27 of the execution claw, and the linkage disk 14 move to the right synchronously, until the linkage disk 14 drives the three claws 11 through the three linkage rods 13 to move outward Let go of the action.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.

Claims (1)

1. The execution method of the underwater execution arm comprises a mechanical arm, wherein the mechanical arm comprises a tailstock (7), a first swing arm (5) is rotatably arranged at the tail end of the tailstock (7), and a steering engine on the tailstock (7) can drive the first swing arm (5) to swing horizontally; the tail end of the first swing arm (5) is rotatably provided with a second swing arm (3), and a steering engine on the first swing arm (5) can drive the second swing arm (3) to swing longitudinally; the tail end of the second swing arm (3) is provided with an execution claw unit (1); the executing claw unit (1) comprises a cylindrical wrist structure (2), and the root part of the wrist structure (2) is integrally fixed at the tail end of the second swing arm (3); three groups of finger mechanisms are distributed on the wrist structure (2) in a circumferential array, and the three groups of finger mechanisms can perform grabbing and loosening actions;

a cylindrical piston channel (22) is coaxially arranged at the axis position inside the wrist structure (2), a water isolation piston (24) is arranged in the piston channel (22), the water isolation piston (24) comprises a hard disc body (18) made of non-magnetic materials, a waterproof rubber ring (20) is integrally arranged at the outline edge of the hard disc body (18), and the outer ring of the waterproof rubber ring (20) is in sealed sliding connection with the inner wall of the piston channel (22); an electromagnet (25) is arranged on one side, far away from the execution claw unit (1), of the water isolation piston (24), an electromagnetic iron core (21) of the electromagnet (25) and the piston channel (22) are coaxially arranged, a linear push rod motor (29) is fixedly arranged on one side, far away from the water isolation piston (24), of the electromagnet (25), the tail end of a linear push rod (28) of the linear push rod motor (29) is fixedly connected with the electromagnet (25), and the linear push rod motor (29) can drive the electromagnet (25) to wholly move back and forth along the axis of the piston channel (22) through the linear push rod (28); an actuating claw power shaft (27) is coaxially arranged on one side of the water isolation piston (24) far away from the electromagnetic iron core (21), a permanent magnet rod (16) is fixedly arranged on one end of the actuating claw power shaft (27) close to the water isolation piston (24) in a coaxial mode, and the N-terminal (16.1) of the permanent magnet rod (16) corresponds to one end of the electromagnetic iron core (21) in a coaxial mode; the water isolation piston (24) is positioned between the permanent magnet rod (16) and the electromagnetic iron core (21);

one end of the actuating claw power shaft (27) far away from the water isolation piston (24) coaxially moves through a power shaft penetrating hole (17) at the tail end of the wrist structure (2); one end of the actuating claw power shaft (27) far away from the water isolation piston (24) is coaxially and fixedly connected with a linkage disc (14), and three first hinging pieces (10) are arranged on the contour edge of the linkage disc (14) in a circumferential array; three second hinging pieces (8) are distributed on the tail end outline of the wrist structure (2) in a circumferential array, the three groups of finger mechanisms respectively comprise three claws (11), and the root parts of the three claws (11) are respectively hinged on the three second hinging pieces (8); the tail ends of the three claws (11) are respectively provided with claw tips (12) which are bent inwards; the middle parts of the three hand claws (11) are respectively provided with a third hinging piece (9), and the three hand claws also comprise three linkage rods (13), and two ends of each linkage rod (13) are respectively hinged with a corresponding first hinging piece (10) and a corresponding third hinging piece (9);

the method is characterized in that:

the actuating claw unit (1) is in an open state in the initial state, the electromagnet (25) is in a non-energized state, the actuating claw unit (1) of the mechanical arm is completely immersed under water, and at the moment, the water isolation piston (24) plays a role in isolating water, so that the environments of the electromagnet (25) and the linear push rod motor (29) are always in a dry environment;

the execution method of the rapid grabbing and capturing action comprises the following steps: the electromagnet (25) is electrified, so that the electromagnet core (21) rapidly obtains magnetism, the permanent magnet rod (16) of the actuating claw power shaft (27) and the electromagnet core (21) are mutually and strongly repelled, the actuating claw power shaft (27) is rapidly ejected outwards by electromagnetic force, the electromagnet (25) is rapidly powered off after the actuating claw power shaft (27) is ejected, the electromagnet core (21) is demagnetized, the linear push rod motor (29) is started while the electromagnet (25) is electrified, the linear push rod (28) is further stretched, the electromagnet (25) integrally moves to chase the actuating claw power shaft (27), the end part of the electromagnet core (21) starts to push the water isolation piston (24) leftwards, and the water isolation piston (24) moves to chase the actuating claw power shaft (27) together with the electromagnet (25); at the moment, the linkage disc (14) synchronously pops up along with the power shaft (27) of the executing claw, and then the linkage disc (14) drives the three claws (11) to perform inward grabbing action through the three linkage rods (13), so that the claw tips (12) at the tail ends of the three claws (11) grab and puncture the grabbed objects rapidly inwards, and the purpose of grabbing rapidly is achieved; after three hand claws (11) do grabbing actions, the linkage disc (14) and the executing claw power shaft (27) can stop moving, the whole electromagnet (25) and the water isolation piston (24) catch up the executing claw power shaft (27), the operation of the linear push rod motor (29) is suspended after the whole electromagnet (25) and the water isolation piston (24) catch up the executing claw power shaft (27), at the moment, the left end of the electromagnetic iron core (21) is coaxially contacted with the right side of the water isolation piston (24), and the right end of the executing claw power shaft (27) is contacted with the left side of the water isolation piston (24); at this time, stable grabbing of the execution claw unit (1) is realized;

the release and return execution method of the execution claw unit (1) comprises the following steps:

the electromagnet (25) is electrified again, and the permanent magnet rod (16) of the actuating claw power shaft (27) and the electromagnetic iron core (21) are attracted to each other, so that the electromagnet (25) and the actuating claw power shaft (27) form a synchronous state; simultaneously, a linear push rod motor (29) is started, so that the linear push rod (28) performs shortening movement, and then the electromagnet (25), the actuating claw power shaft (27) and the linkage disc (14) synchronously move rightward until the linkage disc (14) drives the three claws (11) to perform outward loosening movement through the three linkage rods (13).

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