CN110238871A - A kind of deep seven function proportional hydraulic manipulator machine systems in full sea of clack box separated set type - Google Patents
A kind of deep seven function proportional hydraulic manipulator machine systems in full sea of clack box separated set type Download PDFInfo
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- CN110238871A CN110238871A CN201910581417.4A CN201910581417A CN110238871A CN 110238871 A CN110238871 A CN 110238871A CN 201910581417 A CN201910581417 A CN 201910581417A CN 110238871 A CN110238871 A CN 110238871A
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- angular transducer
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- cradle head
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- 230000007704 transition Effects 0.000 claims description 21
- 238000007789 sealing Methods 0.000 claims description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 210000000245 forearm Anatomy 0.000 claims description 14
- 210000003857 wrist joint Anatomy 0.000 claims description 13
- 239000007788 liquid Substances 0.000 claims description 10
- 239000012530 fluid Substances 0.000 claims description 8
- 230000008901 benefit Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 239000003921 oil Substances 0.000 description 109
- 210000002310 elbow joint Anatomy 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000565675 Oncomelania Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to hydraulic efficiency manipulators, it is desirable to provide a kind of deep seven function proportional hydraulic manipulator machine systems in full sea of clack box separated set type.The machine system includes hydraulic control clack box, manipulator from hand, main hand control box, elastic oil sources and compensator；The hydraulic control clack box from the triple duty valve case in the external four functions clack box sum aggregate Cheng Cong hand arm arm body of hand by forming independently of manipulator；Both built-in proportional reversing valve, scaling circuit plate and motherboard.Clack box is split arrangement by the present invention, and wherein triple duty valve case is integrated in arm body, and four function clack boxes are external；It may be implemented to reduce system pressure loss under Quan Haishen operating condition, improve the control performance of manipulator.The proportioning valve installed in clack box is control element, not only facilitates closed-loop control, but also resistance to greasy dirt ability is strong, is both that cost is minimized.Whole system good seal performance, by pressure compensation, it can be achieved that Quan Haishen operating condition operation.
Description
Technical field
The present invention relates to hydraulic efficiency manipulator, in particular to the deep seven function proportional hydraulic manipulators in the full sea of a kind of clack box separated set type
System.
Background technique
The complete very grave load proportional hydraulic manipulator in sea is mating to be applied on Quan Haishen manned underwater vehicle, for submarine sampling, is grabbed
It takes, lay.The limit depth of Quan Haishen hydraulic efficiency manipulator underwater operation is 11000m, and the external pressure of working environment is about
110Mpa, environment temperature are 0 degree or so, and the super-pressure and low temperature of environment most directly affect exactly hydraulic oil to hydraulic efficiency manipulator
Viscosity sharply increases, and causes the pressure loss to increase, response is sluggish, acts insensitive, performance degradation.Hydraulic control clack box is made
For control hydraulic fluid flow rate, direction, pressure key point, played most directly to influence of the Quan Haishen environment to manipulator is reduced
With crucial effect.
Common hydraulic efficiency manipulator clack box is located at outside hand mostly or is integrated in out of hand pedestal, for shallow water application
It is less problematic, but for the 11000m depth of water, three joint oil liquid transfer routes of arm end are long, and the pressure loss compares
Greatly, actuator response lags, and is unfavorable for mechanical manual task.
A kind of deep seven function proportional hydraulic manipulators in full sea of clack box separated set type are developed for improving 11000m underwater manipulator
Response characteristic, to improve its working performance all be of great advantage.
Summary of the invention
The technical problem to be solved by the present invention is to overcome deficiency in the prior art, it is entirely extra large to provide a kind of clack box separated set type
Deep seven function proportional hydraulic manipulator machine systems.
In order to solve the technical problem, solution of the invention is:
There is provided a kind of full sea of clack box separated set type deep seven function proportional hydraulic manipulator machine systems, including hydraulic control valve
Case, manipulator control box, elastic oil sources and compensator from hand, main hand；The hydraulic control clack box be by independently of manipulator from
What the triple duty valve case in the external four functions clack box sum aggregate Cheng Cong hand arm arm body of hand formed；Both built-in ratio commutations
Valve, scaling circuit plate and motherboard；Wherein,
The four functions clack box connects main hand by leader cable and controls box, and is separately connected elastic oil by different pipelines
Source, compensator, triple duty valve case, and rotated set on manipulator from the first cradle head in hand, the second cradle head, third
The execution linear oil cylinder in joint, the execution oscillating oil cylinder with the 4th cradle head；
Triple duty valve case one end is connected with forearm arm body, and the other end is connected to the 4th rotation by transfer transition block and closes
Save the tilt cylinder output shaft end of oscillating oil cylinder, each plane that connects forms end face seal, by tilt cylinder output shaft for its provide flow,
Distribution, compensation channel；The transfer transition block is between tilt cylinder output shaft and triple duty valve case, by screw successively by three functions
Clack box, transfer transition block are fixed on the end of tilt cylinder output shaft；It is had on sealed connection face before and after the transfer transition block
Rectangular seal groove, groove enclose that each in region there are two flow blind holes；By in transfer transition block between four flow blind holes
Two radial circular holes carry out one-to-one connections, the drill hole of two radial circular holes uses plug fluid stopping respectively；It is enclosed in sealed groove
Electric wire via hole is additionally provided in region, electric wire via hole is real between two sealed connection face of front and back by a through-hole and a waist type deep gouge
Now it is connected to；
Triple duty valve case is connected to four function clack boxes by the threading oil pipe of built-in cable, and passes through piping connection the respectively
Five cradle heads, the 6th cradle head and the linear oil cylinder for driving fingers opening-closing；It is passed in each cradle head hinged place equipped with angle
Sensor after coupled cable is collected to sensor wire box by threading oil pipe, then passes through watertight cable and four function clack boxes
Connection.
In the present invention, first cradle head, the second cradle head, third cradle head, the 5th cradle head are logical
The rotation of execution linear oil cylinder actuating arm body is crossed, linear oil cylinder one end is articulated with by driving joint, and the other end is articulated with to be saved by driving
On alternate arm body, the hinged place pin shaft in adjacent rotated joint is connected to form crank rocker mechanism；In adjacent rotated hinge joints
The place of connecing pin shaft center sets axial blind hole, and blind hole end is radially provided with threaded hole for fastening the oil connection and and axis of threading oil pipe
It is communicated to blind hole；Be provided with angular transducer in blind hole, by cable by oil connection, threading oil pipe, sensor wire box,
Watertight cable is finally connected to main hand control box, and for realizing joint angles real-time data transmission to realize closed-loop control, while this is worn
The channel of line oil pipe is also that external compensator compensates channel to the oil liquid of the joint angles sensor.
In the present invention, the sensor wire box is fixed on manipulator from the pedestal of hand, and passes through watertight cable and compensation
Oil pipe is connected to four function clack boxes, and the oil inlet and oil return opening of four function clack boxes are connected with elastic oil sources by oil pipe；Four functions
Clack box is connected by compensating oil pipe with compensator, enables compensator for inside the clack box of four function clack boxes and triple duty valve case
Oil liquid compensation is provided with each angular transducer.
In the present invention, first cradle head includes the first joint linear oil cylinder, pedestal and shoulder；Wherein, pedestal is used for
It is connected with manned underwater vehicle with solid mechanical hand from hand；The cylinder body end pin hole of first joint linear oil cylinder is articulated with base by pin shaft
Seat, tailpiece of the piston rod pin hole are articulated with shoulder by pin shaft, hinged by pin shaft between pedestal and shoulder；Pin shaft passes through holding screw and base
Seat is kept fixed, and a blind hole is set in the axial centre of pin shaft, is used to setting angle sensor stator part；Angular transducer rotation
Part is fixed in angular transducer end cap, and angular transducer end cap is fastened piggyback by screw, and sensor end cap center is heavy
Hole and pin shaft clearance fit simultaneously pass through sealing ring radial seal, and the cable of angular transducer passes through the wiring oil for being connected to pin shaft
Pipe, is connected to sensor wire box.
In the present invention, second cradle head includes second joint linear oil cylinder, large arm and shoulder；Second joint straight line oil
The cylinder body end pin hole of cylinder is articulated with large arm by pin shaft, and tailpiece of the piston rod pin hole is articulated with shoulder by pin shaft, leads between large arm and shoulder
It is hinged to cross pin shaft；Pin shaft is kept fixed by holding screw and shoulder, and a blind hole is set in pin shaft axial centre, is passed for setting angle
Sensor stationary part；Angular transducer rotating part is fixed in angular transducer end cap, and angular transducer end cap passes through screw
It is fastened in large arm, sensor end cap center counterbore and pin shaft clearance fit simultaneously pass through sealing ring radial seal, angular transducer
Cable pass through and be connected to the wiring oil pipe of pin shaft, be connected to sensor wire box.
In the present invention, the third cradle head includes third joint linear oil cylinder, large arm and oscillating oil cylinder bracket；Third
Joint linear oil cylinder cylinder body end pin hole is articulated with large arm by pin shaft, and tailpiece of the piston rod pin hole is articulated with oscillating oil cylinder branch by pin shaft
Frame, it is hinged by pin shaft between large arm and oscillating oil cylinder bracket；Pin shaft is kept fixed by marking closely screw with large arm, pin shaft center
A blind hole is inside set, setting angle sensor stator part is used for；Angular transducer rotating part is fixed on angular transducer end cap
Interior, angular transducer end cap is fastened on oscillating oil cylinder bracket by screw, and sensor end cap center counterbore is matched with pin shaft gap
Merga pass sealing ring radial seal, the cable of angular transducer pass through the wiring oil pipe for being connected to pin shaft, are connected to sensor
Terminal box.
In the present invention, the 4th cradle head includes oscillating oil cylinder, and tilt cylinder output shaft end passes through transfer transition block
It is connect with triple duty valve case；Wherein, cooperated between oscillating oil cylinder and oscillating oil cylinder fixing seat by hole axle and positioned, and connected by bolt
It connects.
In the present invention, the 5th cradle head includes the 5th joint linear oil cylinder, forearm arm body and wrist joint；5th closes
The cylinder body end pin hole for saving linear oil cylinder is articulated with forearm arm body by pin shaft, and tailpiece of the piston rod pin hole is articulated with wrist by pin shaft and closes
Section, it is hinged by pin shaft between forearm arm body and wrist joint；Pin shaft is kept fixed by holding screw and forearm arm body, in pin shaft
It is intracardiac to set a blind hole, it is used for setting angle sensor stator part；Angular transducer rotating part is fixed on angular transducer end
In lid, angular transducer end cap is fastened on wrist joint by screw, and angular transducer end cap central counterbore is matched with pin shaft gap
The cable of merga pass sealing ring radial seal, angular transducer is connected to sensor three across the wiring oil pipe for being connected to pin shaft
On the motherboard of function clack box ontology, and it is ultimately connected to sensor wire box.
The working principle of the invention:
There are six the isolated degree of freedom that rotary freedom and a gripper open and close for mechanical slave-hand tool of the invention；Wherein,
Four articulations are to realize that the 6th articulation is realized by hydraulic motor by the swing of oscillating oil cylinder, remaining is each
Joint is that linear oil cylinder driving is realized.Each cradle head hydraulic actuator is connected with hydraulic control clack box, and each rotation is closed
Section is equipped with angular transducer, and sensor cable is by threading oil pipe through sensor wire box, watertight cable and hydraulic control clack box
It is connected, then the controller in box is controlled with main hand by leader cable and is connected, main hand controls is according to angular transducer feedback angle
Value does closed-loop control to from hands movement by proportional reversing valve.Each actuator, hydraulic control clack box, angular transducer with compensation
Device is connected, and is both to fill to electronic component to balance extraneous hydraulic pressure bring relative pressure variation when guaranteeing underwater operation
Oil guard.Electromagnetic proportional valve with respect on the basis of guaranteeing control performance, cost is not only low for servo valve, oil rub resistance ability but also
By force, it is relatively specific for Quan Haishen operating condition.
Compared with prior art, the beneficial effects of the present invention are:
1, clack box is split arrangement by the present invention, and wherein triple duty valve case is integrated in arm body, and four function clack boxes are external；It can be real
System pressure loss is reduced under existing Quan Haishen operating condition, improves the control performance of manipulator.
2, the proportioning valve installed in clack box is control element, not only facilitates closed-loop control, but also resistance to greasy dirt ability is strong, is both
Cost is minimized.
3, whole system good seal performance, by pressure compensation, it can be achieved that Quan Haishen operating condition operation.
Detailed description of the invention
Fig. 1 is system connection schematic diagram of the invention；
Fig. 2 is manipulator from hand main view；
Fig. 3 manipulator is from hand top view；
Fig. 4 is tilt cylinder output shaft diagrammatic cross-section；
Fig. 5 is triple duty valve case main sectional view；
Fig. 6 is the left view of Fig. 5；
Fig. 7 is the right view of Fig. 5；
Fig. 8 is the main view of transfer transition block；
Fig. 9 is the top view of transfer transition block；
The main hydraulic fluid port schematic diagram of the position Figure 10 triple duty valve case ontology.
Appended drawing reference in each figure:
Fig. 1: manipulator is from hand, the main hand of II manipulator, tetra- function clack box of III, IV compensator, V elasticity oil sources；
Fig. 2: 1 pedestal, 2 sensor wire boxes, 3 first joint oil cylinders, 4 shoulders, 5 pin shafts, 6 pin shafts, 7 pin shafts, 8 second joints
Oil cylinder, 9 large arm, 10 pin shafts, 11 pin shafts, 12 third joint oil cylinders, 13 pin shafts, 14 pin shafts, 15 oscillating oil cylinder brackets, 16 swing oil
Cylinder (the 4th joint), 17 transfer transition blocks, 18 triple duty valve casees, 19 forearm arm bodies, 20 pin shafts, 21 the 5th joint oil cylinders, 22 pins
Axis, 23 pin shafts, 24 wrist joints (the 6th joint)；
Fig. 3: 25 pin shafts, 26 pin shafts；
Fig. 4: 181 screwed hole of centre, 182 external screw threads, 183 front end optical axises, 184 external splines, 185 rear end optical axises, 186 connections
Flange；187 oil return flow ducts, 188 oil inlet flow ducts, 189 distribution ducts；
Fig. 5: 201 triple duty valve case ontologies, 202 screws, 203 combination mats, 204 sealing rings, 205 upper cover plates, 206 motherboards,
207 ratio valve modules, 208 screws, 209 combination mats, 210 proportional reversing valves, 211 connectors, 212 lower cover plates, 213 sealing rings, 214
Sealing ring；
Fig. 6: 215 screws, 216 sealing rings；
Fig. 8: 17-1 articulation hole, 17-2 rectangular seal groove, 17-3 oil inlet, 17-4 oil return opening, 17-5 cross line straight trough,
17-6 oil inlet, 17-7 distribution hole, 17-8 oil inlet connecting hole, 17-9 oil return connecting hole, 17-10 sealed groove, 17-11 oil return
Mouthful；
Figure 10: 201-1 oil inlet, 201-2 distribution hole, 201-3 oil return opening.
Specific embodiment
Embodiment below can make the technical staff of this professional skill field more fully understand the present invention, but not to appoint
Where formula limitation is of the invention.
As shown in Figure 1, the deep seven function proportional hydraulic manipulator machine system packets in the full sea of clack box separated set type provided by the invention
It includes: from hand I, main hand control box II, four function clack box III, compensator IV, elasticity oil sources V and connection attachment.It is mechanical in the present invention
Hand shares six-freedom degree and a folding gripper isolated degree of freedom from hand I, to realize that the first joint sideway, second joint are bowed
Face upward, the pitching of third joint, the 4th articulation, the 5th joint pitching, the 6th articulation, gripper folding, each joint it is hydraulic
Actuator is connected with control clack box by hydraulic oil pipe.In addition to gripper folding, each cradle head built-in angular sensor leads to
It crosses threading oil pipe to be connected with sensor wire box, sensor wire box is fixed on manipulator from hand pedestal, and connects by watertight
Plug-in unit is connected to four function clack box III, four function clack box III oil inlets and oil return opening and is connected with elasticity oil sources V by oil pipe, and four
Function clack box III shares compensation hydraulic fluid port at two, is connected by transparent sealing hose with compensator IV at one, another place passes through hose
It is connected with sensor wire box, the compensation oil from compensator can not only enter in four function clack boxes or by each in this way
Sensor wire channel enters at triple duty valve case and each angular transducer.Hydraulic control clack box controls box by cable and main hand
II is connected, the master controller transmitting order to lower levels of main hand control box II and the angle fed back according to the angular transducer in manipulator
Value is carried out closed-loop control to from each cradle head of hand, is controlled from hands movement by the proportional reversing valve of hydraulic valve box.To adapt to
When the full sea of manipulator works deeply, prevent ambient pressure raising from the volume of oil liquid being caused to reduce, so that cavity is generated, by extraneous hydraulic pressure
It damages by pressure, each sealed volume passes through piping connection to compensator and compensates；Elastic oil sources V is the hydraulic oil of included compensation function
Source compensates for each joint hydraulic actuator and pipeline；Compensator is hydraulic control valve box cavity, angular transducer, electronics
Component carries out static compensation.
As shown in Fig. 2, heretofore described the first cradle head of manipulator, including the first joint oil cylinder 3, pedestal 1, shoulder 4.
Pedestal 1 is used to for manipulator being fixed on manned underwater vehicle, and the cylinder body end pin hole of the first joint oil cylinder 3 is articulated with by pin shaft 25
Pedestal 1, tailpiece of the piston rod pin hole are articulated with shoulder 4 by pin shaft 26, hinged by pin shaft 5 between pedestal 1 and shoulder 4.Pin shaft 5 passes through tight
Oncomelania nail is kept fixed with pedestal 1, and pin shaft 5 is axial, and there are a blind holes, is used to setting angle sensor stator part；Angle sensor
Device rotating part is fixed in angular transducer end cap, and angular transducer end cap is fastened on shoulder 4 by screw, between pin shaft 5
Gap matches the radial seal of merga pass sealing ring, and the electric wire of angular transducer, which passes through, is connected to the radial port connection of pin shaft 5 and transparent
Hose is connected to sensor wire box 2.
Heretofore described the second cradle head of manipulator, including second joint oil cylinder 8, large arm 9, shoulder 4.Second joint oil
8 cylinder body end pin hole of cylinder is articulated with large arm 9 by pin shaft 10, and tailpiece of the piston rod pin hole is articulated with shoulder 4, large arm 9 and shoulder 4 by pin shaft 7
Between it is hinged by pin shaft 6.Pin shaft 6 is kept fixed by fastening screw with shoulder 4, and there are a blind holes in 6 center of pin shaft, for pacifying
Fill angular transducer stationary part；Angular transducer rotating part is fixed in angular transducer end cap, angular transducer end cap
It is fastened in large arm 9 by screw, center counterbore and 6 clearance fit of pin shaft simultaneously pass through sealing ring radial seal, angle sensor
The electric wire of device passes through the connector and transparent hose for being connected to the radial hydraulic fluid port of pin shaft 6, is connected to sensor wire box 2.
Heretofore described manipulator third cradle head, including third joint oil cylinder 12, large arm 9, oscillating oil cylinder bracket
15.Oil cylinder 12 cylinder body end pin hole in third joint is articulated with large arm 9 by pin shaft 11, and tailpiece of the piston rod pin hole is articulated with by pin shaft 13
Oscillating oil cylinder bracket 15, it is hinged by pin shaft 14 between large arm 9 and oscillating oil cylinder bracket 15.Pin shaft 14 is by marking closely screw and big
Arm 9 is kept fixed, and there are a blind holes in 13 center of pin shaft, is used to setting angle sensor stator part；Angular transducer rotation
Part is fixed in angular transducer end cap, and angular transducer end cap is fastened on oscillating oil cylinder bracket 15 by screw, wherein
Heart counterbore and 14 clearance fit of pin shaft simultaneously pass through sealing ring radial seal, and the electric wire of angular transducer, which passes through, is connected to 14 diameter of pin shaft
To the connector and transparent hose of hydraulic fluid port, it is connected to sensor wire box 2.
Heretofore described the 4th cradle head of manipulator, including elbow joint rotary actuator 16, transfer transition block 17,
Triple duty valve case 18 is wherein cooperated by hole axle between elbow joint rotary actuator 16 and oscillating oil cylinder bracket 15 and is positioned, and is led to
It is too long to be bolted.The specific structure and working principle of elbow joint rotary actuator 16 are shown in Chinese patent literature
CN201810333427 " a kind of Quan Haishen hydraulic efficiency manipulator elbow joint rotary actuator ".
Attached drawing 4 is attached drawing 5 shown in Chinese patent literature CN201810333427 in the present invention, to swing hydraulic horse
(oscillating oil cylinder described by this patent and tilt cylinder output shaft respectively correspond Chinese patent literature to the motor output shaft diagrammatic cross-section reached
Rotary actuator described in CN201810333427 and motor output shaft, similarly hereinafter).Elbow connecting flange is exported in motor
186 are equipped with oil return flow duct 187, oil inlet flow duct 188, distribution duct 189 and connection screw thread hole.Three function shown in Figure 10
Oil return hole 201-3, fuel feed hole 201-1, distribution hole 201-2 on energy clack box ontology 201 need to export elbow connecting flange with motor
Oil return flow duct 187, oil inlet flow duct 188, distribution duct 189 on 186 are corresponded by transfer transition block 17.Such as
Shown in Fig. 8, rectangular seal groove 17- is provided in the plane of transfer transition block 17 and motor output shaft flange shown in Fig. 4 cooperation
2, oil inlet 17-3, oil return opening 17-4, line straight trough 17-5 excessively are in the enclosed region rectangular seal groove 17-2.In turn over
Cross that block 17 is same as Figure 10 triple duty valve case 201 mating surfaces of ontology to be provided with rectangular seal groove 17-10, the rectangular seal that exists together groove
17-10 encloses oil inlet 17-6, oil return opening 17-11, distribution hole 17-7 in region and passes through oil inlet connecting hole shown in Fig. 9 respectively
17-8, oil return connecting hole 17-9 are connected to line straight trough 17-5 one-to-one correspondence is crossed.Oil inlet connecting hole 17-8 and oil return connecting hole 17-9
Drill hole is sealed after being melted using plug welding.The oil inlet 17-3 of transfer transition block 17, oil return opening 17-4, oil inlet 17-6,
There is a concentric counterbore in 17-11 mouthfuls of oil return opening, for installing sealing ring 216, rectangular seal groove 17-2, groove is provided with O
Shape circle 213, rectangular seal groove 17-10, groove are provided with O-ring 214, respectively reach the purpose of connection sealing, pass through in this way
Motor output shaft flow comes in elbow joint rotary actuator 16 oil liquid and the electric wire passed through then can be through transfer transition blocks 17
It is sealed and is connected to triple duty valve case ontology 201.
As shown in figure 5, triple duty valve case is by triple duty valve case ontology 201, proportional reversing valve 210, motherboard 206, proportioning valve
Module 207 is constituted, and wherein motherboard 26 receives the control command transmitted by the electric wire that distribution duct is accessed and electric current, defeated
It send to three ratio valve modules 207, while the angular transducer in the five, the six joints equally passes through angle-data via electric wire
Motherboard is back in sensor wire box 2.Triple duty valve case ontology 201 will come from transfer transition block by its internal oil channel
17 oil liquid, be delivered to control the 5th cradle head, the 6th cradle head, gripper opening and closing cylinder three proportional reversing valves 210,
Ratio valve module 207 is according to control command, and the electromagnet controlled in proportional reversing valve 210 is mobile, to change proportional reversing valve
The five, the six articulations of control and gripper folding are realized in the oil liquid flow of 210 outputs and direction.Screw 202 and screw 208 are equal
It needs respectively to be sealed fixation hole by combination mat 203, combination mat 209, upper cover plate passes through with triple duty valve case ontology 201
O-ring 204 seals.Result in formation of a complete seal chamber, busway locating for the 201-2 of distribution duct is also oil simultaneously
The compensation channel of liquid, can be realized compensation.
Heretofore described the 5th cradle head of manipulator, including the 5th joint oil cylinder 21, forearm arm body 19, wrist joint
24.5th joint oil cylinder, 21 cylinder body end pin hole is articulated with forearm arm body 19 by pin shaft 20, and tailpiece of the piston rod pin hole passes through pin shaft 23
It is articulated with wrist joint 24, it is hinged by pin shaft 22 between forearm arm body 19 and wrist joint 24.Pin shaft 22 by mark closely screw with it is small
Arm arm body 19 is kept fixed, and there are a blind holes in 22 center of pin shaft, is used to setting angle sensor stator part；Angular transducer
Rotating part is fixed in angular transducer end cap, and angular transducer end cap is fastened on wrist joint 24 by screw, center
Counterbore and 22 clearance fit of pin shaft simultaneously pass through sealing ring radial seal, and the electric wire of angular transducer, which passes through, is connected to 22 radial direction of pin shaft
The connector and transparent hose of hydraulic fluid port are connected on 201 motherboard 206 of sensor triple duty valve case ontology, are finally transferred to terminal box 2
It is interior.
Heretofore described the 6th cradle head of manipulator and gripper specific structure and working principle are shown in Chinese patent literature
CN108555882A " a kind of Quan Haishen hydraulic machinery wrist joint ", the present invention repeats no more.
The actual scope of the present invention not only includes the disclosed embodiments, further include under claims implement or
Execute all equivalent schemes of the invention.
Claims (8)
1. a kind of deep seven function proportional hydraulic manipulator machine systems in the full sea of clack box separated set type, including hydraulic control clack box, machinery
Hand controls box, elastic oil sources and compensator from hand, main hand；It is characterized in that, the hydraulic control clack box is by independently of machinery
Hand is formed from the triple duty valve case in the external four functions clack box sum aggregate Cheng Cong hand arm arm body of hand；Both built-in ratios
Reversal valve, scaling circuit plate and motherboard；Wherein,
The four functions clack box connects main hand by leader cable and controls box, and is separately connected elastic oil sources, benefit by different pipelines
Repay device, triple duty valve case, and set on manipulator from the first cradle head, the second cradle head, the third cradle head in hand
Execution linear oil cylinder, the execution oscillating oil cylinder with the 4th cradle head；
Triple duty valve case one end is connected with forearm arm body, and the other end is connected to the 4th cradle head by transfer transition block and puts
The tilt cylinder output shaft end of dynamic oil cylinder, each plane that connects form end face seal, provide flow by tilt cylinder output shaft for it, match
Electricity, compensation channel；The transfer transition block is between tilt cylinder output shaft and triple duty valve case, by screw successively by triple duty valve
Case, transfer transition block are fixed on the end of tilt cylinder output shaft；Square is had on sealed connection face before and after the transfer transition block
Shape sealed groove, groove enclose that each in region there are two flow blind holes；By in transfer transition block between four flow blind holes
Two radial circular holes carry out one-to-one connection, and the drill hole of two radial circular holes uses plug fluid stopping respectively；Area is enclosed in sealed groove
Electric wire via hole is additionally provided in domain, electric wire via hole is realized between two sealed connection face of front and back by a through-hole and a waist type deep gouge
Connection；
Triple duty valve case is connected to four function clack boxes by the threading oil pipe of built-in cable, and passes through the 5th turn of piping connection respectively
Movable joint, the 6th cradle head and the linear oil cylinder for driving fingers opening-closing；It is equipped with angular transducer in each cradle head hinged place,
After coupled cable is collected to sensor wire box by threading oil pipe, then passes through watertight cable and connect with four function clack boxes.
2. the deep seven function proportional hydraulic manipulator machine systems in the full sea of clack box separated set type according to claim 1, feature
It is, first cradle head, the second cradle head, third cradle head, the 5th cradle head, which pass through, executes straight line oil
The rotation of cylinder actuating arm body, linear oil cylinder one end are articulated with by driving joint, and the other end is articulated with to be saved on alternate arm body by driving, phase
The hinged place pin shaft of adjacent cradle head is connected to form crank rocker mechanism；It is set at adjacent rotated joint hinged place pin shaft center
Axial blind hole, blind hole end are radially provided with threaded hole for fastening the oil connection of threading oil pipe and communicating with axial blind hole；?
Blind hole is provided with angular transducer, by cable by oil connection, threading oil pipe, sensor wire box, the most terminating of watertight cable
Box is controlled to main hand, for realizing joint angles real-time data transmission to realize closed-loop control, while the channel of the threading oil pipe
It is also that external compensator compensates channel to the oil liquid of the joint angles sensor.
3. the deep seven function proportional hydraulic manipulator machine systems in the full sea of clack box separated set type according to claim 1, feature
It is, the sensor wire box is fixed on manipulator from the pedestal of hand, and is connected to four by watertight cable and compensation oil pipe
Function clack box, the oil inlet and oil return opening of four function clack boxes are connected with elastic oil sources by oil pipe；Four function clack boxes pass through compensation
Oil pipe is connected with compensator, enables compensator for the clack box of four function clack boxes and triple duty valve case inside and each angle sensor
Device provides oil liquid compensation.
4. the deep seven function proportional hydraulic manipulator machine systems in the full sea of clack box separated set type according to claim 1, feature
It is, first cradle head includes the first joint linear oil cylinder, pedestal and shoulder；Wherein, pedestal is used for and manned underwater vehicle
It is connected with solid mechanical hand from hand；The cylinder body end pin hole of first joint linear oil cylinder is articulated with pedestal, tailpiece of the piston rod by pin shaft
Pin hole is articulated with shoulder by pin shaft, hinged by pin shaft between pedestal and shoulder；Pin shaft is kept fixed by holding screw and pedestal,
A blind hole is set in the axial centre of pin shaft, is used to setting angle sensor stator part；Angular transducer rotating part is fixed on
In angular transducer end cap, angular transducer end cap is fastened piggyback, between sensor end cap center counterbore and pin shaft by screw
Gap matches the radial seal of merga pass sealing ring, and the cable of angular transducer passes through the wiring oil pipe for being connected to pin shaft, is connected to biography
Sensor terminal box.
5. the deep seven function proportional hydraulic manipulator machine systems in the full sea of clack box separated set type according to claim 1, feature
It is, second cradle head includes second joint linear oil cylinder, large arm and shoulder；The cylinder body end pin of second joint linear oil cylinder
Hole is articulated with large arm by pin shaft, and tailpiece of the piston rod pin hole is articulated with shoulder by pin shaft, hinged by pin shaft between large arm and shoulder；Pin
Axis is kept fixed by holding screw and shoulder, and a blind hole is set in pin shaft axial centre, is used for setting angle sensor stator part；
Angular transducer rotating part is fixed in angular transducer end cap, and angular transducer end cap is fastened in large arm by screw,
Sensor end cap center counterbore and pin shaft clearance fit simultaneously pass through sealing ring radial seal, and the cable of angular transducer passes through connection
In the wiring oil pipe of pin shaft, it is connected to sensor wire box.
6. the deep seven function proportional hydraulic manipulator machine systems in the full sea of clack box separated set type according to claim 1, feature
It is, the third cradle head includes third joint linear oil cylinder, large arm and oscillating oil cylinder bracket；Third joint linear oil cylinder
Cylinder body end pin hole is articulated with large arm by pin shaft, and tailpiece of the piston rod pin hole is articulated with oscillating oil cylinder bracket, large arm and pendulum by pin shaft
It is hinged by pin shaft between dynamic cylinder bracket；Pin shaft is kept fixed by marking closely screw with large arm, and a blind hole is set in pin shaft center,
For setting angle sensor stator part；Angular transducer rotating part is fixed in angular transducer end cap, angle sensor
Device end cap is fastened on oscillating oil cylinder bracket by screw, and sensor end cap center counterbore and pin shaft clearance fit simultaneously pass through sealing
Radial seal is enclosed, the cable of angular transducer passes through the wiring oil pipe for being connected to pin shaft, is connected to sensor wire box.
7. the deep seven function proportional hydraulic manipulator machine systems in the full sea of clack box separated set type according to claim 1, feature
It is, the 4th cradle head includes oscillating oil cylinder, and tilt cylinder output shaft end passes through transfer transition block and triple duty valve case
Connection；Wherein, cooperated between oscillating oil cylinder and oscillating oil cylinder fixing seat by hole axle and positioned, and by being bolted.
8. the deep seven function proportional hydraulic manipulator machine systems in the full sea of clack box separated set type according to claim 1, feature
It is, the 5th cradle head includes the 5th joint linear oil cylinder, forearm arm body and wrist joint；5th joint linear oil cylinder
Cylinder body end pin hole is articulated with forearm arm body by pin shaft, and tailpiece of the piston rod pin hole is articulated with wrist joint by pin shaft, forearm arm body with
It is hinged by pin shaft between wrist joint；Pin shaft is kept fixed by holding screw and forearm arm body, and a blind hole is set in pin shaft center,
For setting angle sensor stator part；Angular transducer rotating part is fixed in angular transducer end cap, angle sensor
Device end cap is fastened on wrist joint by screw, and angular transducer end cap central counterbore and pin shaft clearance fit simultaneously pass through sealing ring
The cable of radial seal, angular transducer is connected to sensor triple duty valve case ontology across the wiring oil pipe for being connected to pin shaft
On motherboard, and it is ultimately connected to sensor wire box.
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