CN110510086B - Neutral buoyancy balancing device for realizing underwater mechanical arm wrist structure - Google Patents
Neutral buoyancy balancing device for realizing underwater mechanical arm wrist structure Download PDFInfo
- Publication number
- CN110510086B CN110510086B CN201910800366.XA CN201910800366A CN110510086B CN 110510086 B CN110510086 B CN 110510086B CN 201910800366 A CN201910800366 A CN 201910800366A CN 110510086 B CN110510086 B CN 110510086B
- Authority
- CN
- China
- Prior art keywords
- silica gel
- shell
- wrist joint
- gel shell
- wrist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- 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 invention discloses a neutral buoyancy balancing device for realizing a wrist structure of an underwater mechanical arm, which comprises a wrist joint, a silica gel shell, a cavity and a valve, wherein the wrist joint is connected with the silica gel shell; the chamber is formed by opening N grooves (N is a natural number more than or equal to 2) on the shell of the wrist joint and is uniformly distributed along the circumference to form a semi-circle and circular closed cavity; the silica gel shell is wrapped on the shell of the wrist joint; the valves are positioned on the silica gel shell and arranged right above the chambers, and are used for filling gas or non-Newtonian fluid into the chambers so as to adjust the volume and the density to realize neutral buoyancy balancing. The device does not change the internal structure, only changes the density and the volume on the shell, thereby achieving the equal gravity and buoyancy, and the gravity center is coincided with the floating center. The device is corrosion-resistant to silica gel, and the corrosion resistance of the wrist structure is enhanced; the balancing method is simple, the weight of equipment is reduced, and the design cost is reduced; the tightness of the device is improved, underwater equipment is effectively reduced, and the whole simulated weightlessness training process can be carried out more conveniently.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a neutral buoyancy balancing device for realizing a wrist structure of an underwater mechanical arm.
Background
The out-of-cabin activity of the astronaut is an important technical component of manned spaceflight, and through the out-of-cabin activity, the astronaut can complete tasks of on-orbit maintenance and fault removal of the spacecraft, arrangement and recovery of effective loads, on-orbit installation and construction of a large spacecraft (such as a space station) and the like. The completion of these tasks requires the astronaut to wear the extravehicular space suit under the condition of space weightlessness. Due to the action of the gravity of the earth, the real weightlessness state for a long time cannot be realized on the ground. The existing weightless environment simulation equipment capable of carrying out the training of astronauts only comprises a weightless airplane and a simulated weightless training water tank. The weightless aircraft can generate a weightless environment for 15 to 30 seconds when flying by a parabola, and only weightless environment experience and simple operation training can be carried out on astronauts in such a short time. Therefore, complex out-of-cabin activities and tasks can only be performed in simulated weightlessness training flumes. Before the astronauts perform the out-of-the-cabin activities, simulated weightlessness training is generally performed internationally in underwater environments, such as that the canadian arm was used in the neutral buoyancy laboratory NBL (currently the largest neutral buoyancy flume) of NASA for underwater experiments.
At present, buoyancy adjusting mechanisms or gravity center adjusting mechanisms are additionally arranged on the basis of an underwater mechanical arm in a mode of balancing buoyancy of the underwater mechanical arm, so that the superposition of a buoyancy center and a gravity center is realized to reach a neutral buoyancy state, but the defects of the prior art are that the number of underwater equipment is increased, the weight of the device is increased, the sealing property is poor, the shell of the equipment is easy to corrode, the balancing method is complex, and the like.
Disclosure of Invention
The invention aims to provide a neutral buoyancy balancing device for realizing a wrist structure of an underwater mechanical arm, which is used for solving the problems in the prior art, ensuring that the wrist joint of the underwater mechanical arm can realize equal buoyancy and system gravity when the wrist joint is positioned underwater, and the gravity center is superposed with a floating center to keep a certain neutral buoyancy state, so that the whole underwater weightlessness simulation training can be smoothly carried out.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a neutral buoyancy balancing device for realizing a wrist structure of an underwater mechanical arm, which comprises a wrist joint of an underwater mechanical part, a silica gel shell and a cavity, wherein a plurality of grooves are formed in the shell of the wrist joint, the grooves form the closed cavity, the silica gel shell is wrapped on the shell of the wrist joint, and valves communicated with the cavities are arranged on the silica gel shell.
Furthermore, a plurality of chambers are uniformly distributed on the circumference of the wrist joint, and each chamber is a semicircular or circular closed cavity.
Further, the innermost layer of the chamber is a titanium alloy material.
Furthermore, a foam type buoyancy material with the thickness of 3mm is coated on the surface of the titanium alloy material.
Furthermore, the silica gel shell comprises a front section silica gel shell, a middle section silica gel shell and a rear section silica gel shell, each section of silica gel shell is separated, but each section of silica gel shell is tightly wrapped on the shell of the wrist joint.
Further, the valves are arranged right above the chambers, and the valves are used for filling the chambers with gas or non-Newtonian fluid.
Further, the density of the non-Newtonian fluid is greater than the density of water.
Compared with the prior art, the invention has the following technical effects:
the invention provides a novel neutral buoyancy balancing device for an underwater mechanical arm wrist structure by adjusting volume and density.
The device has the following technical effects:
1. the silica gel is corrosion resistant, so that the corrosion resistance of the wrist structure is enhanced;
2. the balancing method is simple, the weight of the equipment is reduced, and the design cost is reduced.
3. The tightness of the device is improved, underwater equipment is effectively reduced, and the whole simulated weightlessness training process can be carried out more conveniently.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a cross-sectional view of a wrist joint;
FIG. 2 is a schematic view of a wrist joint shell;
FIG. 3 is an enlarged partial view of the wrist joint chamber;
wherein, 1, wrist joint; 2. a front section silica gel shell; 3. a middle section silica gel shell; 4. a rear section silica gel shell; 5. a valve; 6. a chamber; 7. a titanium alloy; 8. a foam-type buoyant material.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a neutral buoyancy balancing device for realizing a wrist structure of an underwater mechanical arm, which is used for solving the problems in the prior art, ensuring that the wrist joint of the underwater mechanical arm can realize equal buoyancy and system gravity when the wrist joint is positioned underwater, and the gravity center is superposed with a floating center to keep a certain neutral buoyancy state, so that the whole underwater weightlessness simulation training can be smoothly carried out.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-3, the present invention provides a novel wrist structure of an underwater robot arm for realizing neutral buoyancy balancing by adjusting volume and density, which comprises a wrist joint 1, a front section silica gel shell 2, a middle section silica gel shell 3, a rear section silica gel shell 4, a valve 5, a chamber 6, a titanium alloy 7 and a foam type buoyancy material 8. The chamber 6 is formed by opening N grooves (N is more than or equal to 2) on the shell of the wrist joint 1 and is uniformly distributed along the circumference; the silica gel shell (which is divided into a front section, a middle section and a rear section which are mutually separated) is positioned on the shell of the wrist joint 1; the valve 5 is positioned on the silica gel shell and arranged right above each chamber, and is used for filling gas or non-Newtonian fluid into the chamber 6 according to specific requirements, wherein the density of the non-Newtonian fluid is greater than that of water.
As shown in fig. 2, the silica gel shell (totally divided into three sections, front, middle and back, and separated between each section) is tightly wrapped on the shell of the wrist joint 1, so as to ensure good sealing performance, and since the pipeline hole is formed above the left side of fig. 2, the front section silica gel shell 2 adopts a semicircular shape to avoid the pipeline hole above, and the cross sections of the middle section silica gel shell 3 and the back section silica gel shell 4 are complete circular rings. The outer layer of the cavity 6 is encapsulated by a silica gel shell, so that on one hand, the expansion rate of the cavity 6 is increased, and the adjustment range of the wrist joint 1 is enlarged; on the other hand, the use of the silica gel shell increases the corrosion resistance of the wrist joint 1.
The valve 5 is arranged right above the chamber 6 (as shown in fig. 3) and is used for filling gas or non-Newtonian fluid into the chamber 6 according to specific requirements so as to adjust the volume and the density to realize neutral buoyancy balancing. The gas or non-Newtonian fluid is filled into the chamber 6 according to the requirement to change the volume and density of the device to realize neutral buoyancy balancing, the method is novel and simple, the weight of the device is reduced, and the design cost is reduced.
As shown in fig. 3, a chamber 6 is formed by opening N grooves (N is more than or equal to 2) on the shell of the wrist joint 1 and uniformly distributing the grooves along the circumference, the innermost layer of the chamber is a titanium alloy material 7 to ensure the hardness, a foam type buoyancy material 8 with the thickness of 3mm is coated on the surface of the titanium alloy material 7 to increase the expansion rate when a gas or a non-newtonian fluid is filled into the chamber 6 and increase the adjustment range of the wrist joint 1, and the outermost layer is tightly attached with a silica gel shell, so that the purpose of the chamber is consistent with that of the foam type buoyancy material 8, the expansion rate is improved, and the adjustment range is increased; on the other hand, silica gel is corrosion resistant, which enhances the corrosion resistance of the wrist structure.
In this embodiment, after the design of the wrist joint 1 is completed, mass attribute analysis is performed on the wrist joint by using SolidWorks, a reference coordinate system is selected as a center of mass of the wrist joint, coordinates of the center of gravity are x-54.602, y-56.119 and z-4.723, so that the wrist joint can tilt to the lower right, at this time, in order to achieve a balanced state, a valve 5 on a silica gel shell is opened, a certain amount of non-newtonian fluid is filled in a cavity at the middle and rear sections, a certain amount of gas is filled in a cavity at the front section to adjust the wrist joint 1, when the wrist joint 1 is placed under water by using a method for adjusting volume and density, neutral buoyancy balance of the wrist joint 1 is achieved, and finally, the gravity and buoyancy of the whole joint are equal, and the center of gravity and the buoyancy are coincident.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (2)
1. The utility model provides a realize neutral buoyancy balancing unit of arm wrist structure under water which characterized in that: the underwater mechanical part comprises a wrist joint of the underwater mechanical part, a silica gel shell and a cavity, wherein a plurality of grooves are formed in the shell of the wrist joint, the plurality of grooves form the closed cavity, the silica gel shell is wrapped on the shell of the wrist joint, and valves communicated with the cavities are arranged on the silica gel shell; the valves are arranged right above the chambers and are used for filling gas or non-Newtonian fluid into the chambers; the innermost layer of the chamber is made of a titanium alloy material, and a foam type buoyancy material with the thickness of 3mm is coated on the surface of the titanium alloy material; a plurality of chambers are uniformly distributed on the circumference of the wrist joint, and each chamber is a semicircular or circular closed cavity; the silica gel shell comprises a front section silica gel shell, a middle section silica gel shell and a rear section silica gel shell, each section of silica gel shell is separated, but each section of silica gel shell is tightly wrapped on the shell of the wrist joint.
2. The neutral buoyancy trim apparatus for enabling a wrist structure of an underwater robotic arm of claim 1, wherein: the density of the 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110510086A CN110510086A (en) | 2019-11-29 |
| CN110510086B true CN110510086B (en) | 2021-02-02 |
Family
ID=68627513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910800366.XA Active CN110510086B (en) | 2019-08-28 | 2019-08-28 | Neutral buoyancy balancing device for realizing underwater mechanical arm wrist structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110510086B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301725B (en) * | 2020-03-20 | 2021-09-17 | 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 |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8381672B1 (en) * | 2009-06-02 | 2013-02-26 | University of Washington Center for Commercialization | Systems and methods for compensating for compressibility and thermal expansion coefficient mismatch in buoyancy controlled underwater vehicles |
| JP5457317B2 (en) * | 2010-09-22 | 2014-04-02 | 三井造船株式会社 | Underwater vehicle, in-pipe investigation system, underwater vehicle ascent and descent control method, and in-pipe investigation method. |
| EP2634083B1 (en) * | 2012-03-02 | 2015-07-08 | Sea-Bird Electronics, Inc | Fluid-based buoyancy compensation |
| MX2019002759A (en) * | 2016-09-26 | 2019-05-09 | Solarisfloat Lda | Floating module for modular solar panel platforms. |
| CN108216538B (en) * | 2016-12-22 | 2019-09-24 | 中国科学院沈阳自动化研究所 | A kind of buoyancy compensation method and system of the underwater robot based on compressible liquid |
| CN106828835B (en) * | 2017-04-01 | 2018-09-11 | 中国海洋大学 | A kind of deep-sea underwater robot micro- calibration distributing system of adaptive buoyancy |
| CN207208415U (en) * | 2017-04-21 | 2018-04-10 | 上海交通大学 | Underwater glider |
| CN207256281U (en) * | 2017-08-23 | 2018-04-20 | 北京臻迪科技股份有限公司 | With floating component and robot |
| CN207328793U (en) * | 2017-08-23 | 2018-05-08 | 北京臻迪科技股份有限公司 | With floating component and robot |
| CN207328791U (en) * | 2017-08-23 | 2018-05-08 | 北京臻迪科技股份有限公司 | Balance weight assembly and robot |
| CN207328790U (en) * | 2017-10-10 | 2018-05-08 | 国家海洋局第二海洋研究所 | A kind of apparatus for automatically lifting of detecting deep Hydrothermal plumes |
| CN208325586U (en) * | 2018-04-11 | 2019-01-04 | 广州市柯乐名迪电子科技有限公司 | A kind of breathing reservoir device |
| CN109131803B (en) * | 2018-08-31 | 2022-01-25 | 中国海洋大学 | High-pressure-resistant buoyancy self-calibration device for deep sea operation equipment |
| CN109823497A (en) * | 2019-01-12 | 2019-05-31 | 天津大学 | A kind of software filling liquid underwater glider of weakly acidic pH buoyancy |
-
2019
- 2019-08-28 CN CN201910800366.XA patent/CN110510086B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110510086A (en) | 2019-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110510086B (en) | Neutral buoyancy balancing device for realizing underwater mechanical arm wrist structure | |
| Menon et al. | Issues and solutions for testing free-flying robots | |
| Zhao et al. | Modified Kepler’s law, escape speed, and two-body problem in modified<? format?> Newtonian dynamics-like theories | |
| CN106601065A (en) | Underwater suspended cabin for simulating space weightless state special for teenager science popularization education | |
| CN113361156A (en) | Aircraft water tank water-drawing numerical simulation method based on SPH method | |
| Davis et al. | Lunar impact probability for spacecraft in near rectilinear halo orbits | |
| Sumini et al. | SpaceHuman: A soft robotic prosthetic for space exploration | |
| Williamson et al. | Free oscillations of the NCAR global circulation model | |
| Al-khafaji et al. | Finite element method for dynamic modelling of an underwater flexible single-link manipulator | |
| Calabrese et al. | A method for evaluating the ship equilibrium point using 3D meshes developed for embedded device | |
| Moss et al. | Blunt body aerodynamics for hypersonic low density flows | |
| CN109408899B (en) | Deepwater suspension cable nonlinear motion response calculation method | |
| Rao | Simulation based engineering in fluid flow design | |
| Dec et al. | A thermal analysis approach for the MARS odyssey spacecraft's solar array | |
| Zhang et al. | Motion law and density influence of a submersible aerial vehicle in the water-exit process | |
| Tang et al. | Numerical simulation of the domino effect of mooring system failure for an aquaculture net cage under waves and currents | |
| Liu et al. | Review of Marine Satellite Launch Platform and Related Study at JUST | |
| Akin et al. | Experimental Investigation of Minimum Required Cabin Sizing in Varying Gravity Levels | |
| Čorić et al. | Technology of subsea pipeline laying in the coastal area | |
| Cianfarra et al. | Faulting in Mars Polar Layered deposits modeled by HCA method | |
| Venditti et al. | Trajectory control around non-spherical bodies modelled by parallelepipeds | |
| Demars et al. | Shocks in the polar wind | |
| Shanglong et al. | Research on Dynamics Characteristic of The Filling Liquid Tank | |
| Sotin et al. | Titan's interior structure from the combined analysis of Cassini gravity and topographic data | |
| Marchetta et al. | A three-dimensional computational simulation of magnetic positive positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |