CN110510086A - A kind of neutral buoyancy balancing device for realizing submarine mechanical wrist structure - Google Patents
A kind of neutral buoyancy balancing device for realizing submarine mechanical wrist structure Download PDFInfo
- Publication number
- CN110510086A CN110510086A CN201910800366.XA CN201910800366A CN110510086A CN 110510086 A CN110510086 A CN 110510086A CN 201910800366 A CN201910800366 A CN 201910800366A CN 110510086 A CN110510086 A CN 110510086A
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- chamber
- shell
- silica shell
- neutral buoyancy
- balancing device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The present invention discloses a kind of neutral buoyancy balancing device for realizing submarine mechanical wrist structure, including wrist joint, silica shell, chamber, valve；Chamber is the road N slot (natural numbers of N >=2) to be opened on the shell in wrist joint, and be evenly distributed to form semicircle and round airtight cavity with circumference；Silica shell is wrapped on the shell in wrist joint；Valve is located on silica shell, and is arranged in the surface of each chamber, for inflatable body or non-newtonian fluid into chamber, realizes neutral buoyancy trim with this to adjust volume and density.The device does not change internal structure, and only in the enterprising line density of shell and stereomutation to reach gravity and buoyancy is equal, center of gravity is overlapped with centre of buoyancy.The device silica gel is corrosion-resistant, enhances the corrosion resistance of wrist part structure；Calculate Ways are simple, reduce weight of equipment, reduce design cost；The leakproofness for increasing device, effectively reduces underwater equipment, and progress can be facilitated by making entire simulated weightlessness training process more.
Description
Technical field
The present invention relates to underwater robot technical fields, realize in submarine mechanical wrist structure more particularly to a kind of
Property buoyancy balancing device.
Background technique
Spacefarer's extravehicular activity is the important technology component part of manned space flight, and by extravehicular activity, spacefarer can be complete
At the maintainable technology on-orbit and troubleshooting of spacecraft, the laying of payload, recycle and Large Spacecraft (such as space station)
The tasks such as rail installation building.The completion of these tasks require spacefarer wear extravehicular space suit under the weightlessness of space into
Row.Due to the effect of terrestrial gravitation, prolonged real state of weightlessness cannot achieve on the ground.It is able to carry out spacefarer at present
Trained weightlessness analog machine only has zero gravity airplane and simulated weightlessness training sink.When zero gravity airplane carries out parabolic flight
The weightlessness that 15 to 30 seconds can be generated is only capable of carrying out weightlessness experience and letter to spacefarer within the time short in this way
Single operation training.Therefore, the movement of complicated extravehicular activity and operation can only carry out in simulated weightlessness training sink.Spacefarer
It is general in the world to carry out simulated weightlessness training in an underwater environment before executing extravehicular activity, for example Canadian arm was once used in
Underwater experiment is carried out in the Neutral Buoyancy Laboratory NBL (current maximum neutral buoyancy sink) of NASA.
It is mostly at present to install additional to float on the basis of mechanical arm for the methods that the buoyancy trim of submarine mechanical arm is taken
Power regulating mechanism or gravity center adjusting mechanism realize that centre of buoyancy and center of gravity are overlapped with this, reach neutral buoyancy state, but such
Drawback is that underwater equipment increases, and increases installation weight, and leakproofness is poor, and device housings easily corrode, Calculate Ways complexity etc..
Summary of the invention
The object of the present invention is to provide a kind of neutral buoyancy balancing devices for realizing submarine mechanical wrist structure, to solve
The above-mentioned problems of the prior art makes submarine mechanical wrist joint can be realized the buoyancy being subject to when guaranteeing to be located at underwater
Equal in magnitude with system gravity, center of gravity is overlapped with centre of buoyancy, keeps certain neutral buoyancy state, instructs entire underwater weightlessness simulation
White silk can be gone on smoothly.
To achieve the above object, the present invention provides following schemes: the present invention provides a kind of realization submarine mechanical wrist
The neutral buoyancy balancing device of structure, wrist joint, silica shell and chamber including submarine mechanical portion, the wrist joint it is outer
If offering arterial highway slot on shell, if arterial highway slot forms the closed chamber, the silica shell is wrapped in the wrist joint
On shell, the valve being connected with each chamber is provided on the silica shell.
Further, several chambers are evenly distributed on the circumference in the wrist joint, the chamber is semicircle
Or circular airtight cavity.
Further, the innermost layer of the chamber is titanium alloy material.
Further, add on the surface of titanium alloy material and cover the foam type buoyant material of 3mm.
Further, the silica shell includes leading portion silica shell, middle section silica shell and back segment silica shell, every section of silica shell it
Between be separation, but each section of silica shell tight is on the shell in institute's wrist joint.
Further, the valve arrangement is used for the inflatable body into the chamber in the surface of each chamber, the valve
Or non-newtonian fluid.
Further, the density of non-newtonian fluid is greater than the density of water.
The present invention achieves following technical effect compared with the existing technology:
The present invention provides a kind of novel by adjusting volume and the underwater machine of density realization for submarine mechanical wrist structure
The neutral buoyancy balancing device of tool wrist structure, the device do not change internal structure, only in the enterprising line density of shell and volume
Change to reach gravity and buoyancy is equal, center of gravity is overlapped with centre of buoyancy.
The device achieves following technical effect:
1, silica gel is corrosion-resistant, enhances the corrosion resistance of wrist part structure；
2, Calculate Ways are simple, reduce weight of equipment, reduce design cost.
3, the leakproofness for increasing device, effectively reduces underwater equipment, makes entire simulated weightlessness training process more can be square
Just it carries out.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is wrist joint cross-sectional view；
Fig. 2 is wrist articular shell schematic diagram；
Fig. 3 is the partial enlarged view of wrist joint chamber；
Wherein, 1, wrist joint；2, leading portion silica shell；3, middle section silica shell；4, back segment silica shell；5, valve；6, chamber；
7, titanium alloy；8, foam type buoyant material.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of neutral buoyancy balancing devices for realizing submarine mechanical wrist structure, to solve
The above-mentioned problems of the prior art makes submarine mechanical wrist joint can be realized the buoyancy being subject to when guaranteeing to be located at underwater
Equal in magnitude with system gravity, center of gravity is overlapped with centre of buoyancy, keeps certain neutral buoyancy state, instructs entire underwater weightlessness simulation
White silk can be gone on smoothly.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1-3, the present invention provide it is a kind of it is novel by adjust volume and density realize neutral buoyancy with square
The submarine mechanical wrist structure of method, including wrist joint 1, leading portion silica shell 2, middle section silica shell 3, back segment silica shell 4, valve
5, chamber 6, titanium alloy 7, foam type buoyant material 8.The chamber 6 is that the road N slot (N >=2) is opened on the shell in wrist joint 1,
And it is evenly distributed with circumference；The silica shell (section, is separated from each other before, during and after being divided into) is located on the shell in wrist joint 1；
The valve 5 is located on silica shell, and is arranged in the surface of each chamber, for according to specific requirement into chamber 6 inflatable body
Or non-newtonian fluid, wherein non-newtonian flow volume density is greater than water.
As shown in Figure 2, silica shell (one is divided into before, during and after three sections, is separation between every section) tight is in wrist
On 1 shell of joint, guarantee that leakproofness is good, since top is provided with pipe hole on the left of Fig. 2, so leading portion silica shell 2 uses semicircle
Shape avoid top pipe hole, middle section silica shell 3,4 exterior cross-section of back segment silica shell are complete annulus.6 outer layer of chamber
It is encapsulated by silica shell, on the one hand increases the expansion rate of chamber 6, the adjustable range in wrist joint 1 is made to become larger；On the other hand, silica gel
The use of shell increases the corrosion resistance in wrist joint 1.
Valve 5 is arranged in the surface (such as Fig. 3) of chamber 6, for according to specific requirement into chamber 6 inflatable body or non-
Newtonian fluid realizes neutral buoyancy trim with this to adjust volume and density.Inflatable body or non-ox into chamber 6 according to demand
Fluid realizes neutral buoyancy trim to change volume and the density of device, and method is novel easy, reduce weight of equipment, subtract
Design cost is lacked.
As shown in Figure 3, chamber 6 is the road N slot (N >=2) to be opened on the shell in wrist joint 1, and be evenly distributed with circumference
It forms, innermost layer adds the foam type buoyancy for covering 3mm on the surface of titanium alloy material 7 for titanium alloy material 7 to guarantee hardness
Material 8, expansion rate when increasing to 6 inflatable body of chamber or non-newtonian fluid, increases the adjustable range in wrist joint 1, most
Outer layer closely encloses silica shell, and purposes is on the one hand consistent with foam type buoyant material 8, improves expansion rate, increases adjustable range；
On the other hand, silica gel is corrosion-resistant, enhances the corrosion resistance of wrist part structure.
In the present embodiment, the design of wrist joint 1 with SolidWorks qualitative attribute analysis is carried out to it after completing it is found that
Selection reference frame be wrist joint mass center, and barycentric coodinates be x=-54.602, y=56.119, z=4.723, so
Wrist joint can tilt to the right, at this time to realize equilibrium state, the valve 5 on silica shell be opened, in, the chamber of back segment
A certain amount of non-newtonian fluid is inside filled, a certain amount of gas is filled in leading portion chamber to adjust wrist joint 1, passes through adjusting with this
When the method for volume and density makes wrist joint 1 be put into underwater, the neutral buoyancy trim in wrist joint 1 is reached with this, finally
Realize that gravity and the buoyancy of joint entirety are equal, center of gravity and centre of buoyancy are overlapped.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (7)
1. a kind of neutral buoyancy balancing device for realizing submarine mechanical wrist structure, it is characterised in that: including submarine mechanical portion
Wrist joint, silica shell and chamber, if offering arterial highway slot on the shell in the wrist joint, if arterial highway slot formed it is closed
The chamber, the silica shell are wrapped on the shell in the wrist joint, are provided on the silica shell and each chamber
The valve that room is connected.
2. the neutral buoyancy balancing device according to claim 1 for realizing submarine mechanical wrist structure, it is characterised in that:
Several described chambers are evenly distributed on the circumference in the wrist joint, the chamber is semicircle or circular closed chamber
Body.
3. the neutral buoyancy balancing device according to claim 1 for realizing submarine mechanical wrist structure, it is characterised in that:
The innermost layer of the chamber is titanium alloy material.
4. the neutral buoyancy balancing device according to claim 3 for realizing submarine mechanical wrist structure, it is characterised in that:
Add the foam type buoyant material for covering 3mm on the surface of titanium alloy material.
5. the neutral buoyancy balancing device according to claim 1 for realizing submarine mechanical wrist structure, it is characterised in that:
The silica shell includes leading portion silica shell, middle section silica shell and back segment silica shell, is separation between every section of silica shell, but each
Section silica shell tight is on the shell in institute's wrist joint.
6. the neutral buoyancy balancing device according to claim 1 for realizing submarine mechanical wrist structure, it is characterised in that:
The valve arrangement is used for inflatable body or non-newtonian fluid into the chamber in the surface of each chamber, the valve.
7. the neutral buoyancy balancing device according to claim 6 for realizing submarine mechanical wrist structure, it is characterised in that:
The density of non-newtonian fluid is greater than the density of water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800366.XA CN110510086B (en) | 2019-08-28 | 2019-08-28 | Neutral buoyancy balancing device for realizing underwater mechanical arm wrist structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800366.XA CN110510086B (en) | 2019-08-28 | 2019-08-28 | Neutral buoyancy balancing device for realizing underwater mechanical arm wrist structure |
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| CN110510086A true CN110510086A (en) | 2019-11-29 |
| CN110510086B CN110510086B (en) | 2021-02-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301725A (en) * | 2020-03-20 | 2020-06-19 | 上海大学 | Balancing structure and balancing method of mechanical wrist |
| CN113172612A (en) * | 2021-04-21 | 2021-07-27 | 上海宇航系统工程研究所 | Large mechanical arm for underwater operation training |
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|---|---|
| CN110510086B (en) | 2021-02-02 |
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