CN111283674B - Six-degree-of-freedom wave compensation marine super-long mechanical arm - Google Patents
Six-degree-of-freedom wave compensation marine super-long mechanical arm Download PDFInfo
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- CN111283674B CN111283674B CN202010148535.9A CN202010148535A CN111283674B CN 111283674 B CN111283674 B CN 111283674B CN 202010148535 A CN202010148535 A CN 202010148535A CN 111283674 B CN111283674 B CN 111283674B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Abstract
The invention relates to a six-degree-of-freedom wave compensation marine overlong mechanical arm which comprises a compensatable lifting platform, a parallel compensation mechanical arm and a serial mechanical arm, wherein the compensatable lifting platform comprises a parallel mechanism and a rotating mechanism, the parallel mechanism realizes the movement of a device along a Z axis and the rotation around an X, Y axis, has a compensation function, and the rotating mechanism realizes the rotation of the device around the Z axis; the parallel compensation mechanical arm comprises a first section of mechanical arm, two mechanical arm linear driving branches and an upper platform, and the six-degree-of-freedom wave compensation function of the whole device is realized together with the compensatable lifting platform. The series mechanical arm comprises four mechanical arms with the same structure and a tail end executing device, the second mechanical arm is connected with the first mechanical arm through a connecting rod mechanism, and the rest three mechanical arms and the tail end executing device are sequentially connected through the same structure. The six-degree-of-freedom wave compensation marine super-long mechanical arm has the advantages of large working space and good stability, and can compensate the influence of environmental factors such as waves on the mechanical arm.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a six-degree-of-freedom wave compensation marine super-long mechanical arm.
Background
The marine mechanical arm is important equipment for water shoveling and digging operation, is usually installed on large ships and docks, and is increasingly widely applied along with the increase of the demand of offshore operation. Traditional marine arm, extension length is limited, and working space is limited, and the corner of arm is less, especially when the regional operation of deep sea, often can not satisfy the work demand, and in the operational environment who needs big corner, can not reach required position more.
The existing marine mechanical arm adopts a series structure, can only realize pitching of each section of mechanical arm and rotation of the whole mechanical arm, cannot realize horizontal swinging of the mechanical arm, rarely has a six-degree-of-freedom wave compensation function, and can balance influences of sea waves on the mechanical arm and the like. The tandem mechanism has the advantages of simple structure, low cost, simple control, large movement space and the like, and is successfully applied to a plurality of fields, such as mechanical arms of excavators, various machine tools and the like. Compared with series connection, the parallel mechanism has the advantages of high precision, high rigidity, strong bearing capacity and the like, and has obvious advantages in occasions with large bearing capacity.
In summary, it is very significant to develop a marine mechanical arm based on a parallel mechanism, which has a large working space, good stability, a six-degree-of-freedom wave compensation function, can balance the influence of working conditions such as sea waves and the like, and is suitable for various environments.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a six-degree-of-freedom wave compensation marine overlong mechanical arm which works on a ship or a wharf, can compensate the influence of working conditions such as sea waves and the like, and has large working space and good stability.
The technical scheme of the invention is as follows: a ship ultra-long mechanical arm with six-degree-of-freedom wave compensation comprises a compensatable lifting platform, a parallel compensation mechanical arm and a serial mechanical arm, wherein the compensatable lifting platform comprises a lifting device and a rotating mechanism based on a parallel mechanism, the lifting device comprises three linear driving branches of the lifting platform, a linear follow-up branch and a base, the upper end of the linear driving branch of the lifting platform is connected with an outer cylinder wall through an equivalent spherical pair formed by a Hooke hinge and a rotating hinge, the lower end of the linear driving branch is connected with the base through the Hooke hinge, the Hooke hinge at the lower end of the linear follow-up branch is fixedly connected with the base, the lower end of the rotating mechanism is connected with the upper end of an outer cylinder in the linear follow-up branch, the upper end of the rotating mechanism is connected with an upper platform, and the mechanical arm can rotate; the parallel compensation mechanical arm comprises a first section of mechanical arm, two linear driving branches of the mechanical arm, an upper platform and a universal joint, wherein the linear driving branches of the mechanical arm are symmetrically arranged, the first section of mechanical arm is connected with the upper platform through the universal joint, the first end of the linear driving branch of the mechanical arm is connected with the extending end of the upper platform through a Hooke hinge, the second end of the linear driving branch of the mechanical arm is connected with the first section of mechanical arm through an equivalent spherical pair formed by the Hooke hinge and a rotating hinge, and the two linear driving branches of the mechanical arm realize the pitching degree of freedom and the two rotational degrees of freedom around the first section of mechanical; the series mechanical arm comprises a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and an end execution device, the structures of the mechanical arms are completely the same, the sizes of the mechanical arms are different, the second mechanical arm is connected with the joint of the first mechanical arm through a revolute pair, the second mechanical arm is driven by a hydraulic cylinder, the first end of the hydraulic cylinder is connected with the bottom of the first mechanical arm, the second end of the hydraulic cylinder is connected with a link mechanism which is connected with the first mechanical arm and the second mechanical arm, the rest of the mechanical arms are connected in sequence by the same structures, and the fifth mechanical arm is connected with the end execution device.
Preferably, the linear follow-up branch comprises an outer layer cylinder, an inner layer cylinder and a hook hinge, the outer layer cylinder and the inner layer cylinder are hexagonal in shape, three long sides of three short sides are distributed at intervals, and two linear guide rails are arranged on each short side and used for guiding the outer layer cylinder to move.
Preferably, the linear driving branch structures of the three lifting platforms are completely identical and are distributed in circumferential symmetry.
Preferably, each linear driving branch can be selected as a hydraulic cylinder or an electric cylinder, and the mechanism can be selected as a UPS branch or an SPS branch.
Preferably, the revolute pairs between the first section of mechanical arm and the second section of mechanical arm are arc-shaped, so that the mechanical arms can be folded conveniently, and the revolute pairs between the other adjacent mechanical arms are also arc-shaped structures.
Preferably, the second end of the linear driving unit in the second section of mechanical arm forms a planar four-bar mechanism with the first section of mechanical arm, the second section of mechanical arm and the revolute pair through a link mechanism, so that an included angle between the first section of mechanical arm and the second section of mechanical arm can reach 180 degrees, and the driving units of the other sections of mechanical arms are the same as the included angle.
Preferably, the second section of mechanical arm can also be driven by two linear driving branches, a hooke hinge at a first end of each linear driving branch is connected to the side surface of the first section of mechanical arm, and a ball hinge at a second end of each linear driving branch is fixedly connected to the side surface of the second section of mechanical arm.
Preferably, the end effector can be selected as an excavating bucket or a manned work box.
Compared with the prior art, the invention has the beneficial effects that:
(1) the device has large working space, good stability and high safety, and can be installed in working environments such as ships and docks;
(2) the device not only retains the advantages of the traditional series mechanical arm, but also increases the advantages of high efficiency, flexibility, high stability and high safety of the parallel mechanism;
(3) the compensatable lifting platform and the parallel compensation mechanical arm in the device jointly realize the six-degree-of-freedom wave compensation function of the whole device, can balance the influence of working environments such as sea waves and the like on the mechanical arm, and can adapt to various complex working conditions;
(4) the joint behind the second section of the mechanical arm of the device adopts a four-bar linkage, so that the corresponding mechanical arm can rotate by a large angle which can reach 180 degrees to the maximum.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic structural diagram of a compensable lift platform of the present invention;
FIG. 3 is a schematic structural diagram of a parallel compensating robot arm of the present invention;
FIG. 4 is a schematic diagram of a tandem robot arm according to the present invention;
FIG. 5 is a schematic structural diagram illustrating an operating state of the present invention; and
fig. 6 is a top view of the overall three-dimensional structure of the present invention.
Reference numerals:
1. a compensable lifting platform; 2. parallel compensation mechanical arms; 3. serially connecting mechanical arms;
101. a turntable bearing; 102. a turntable platform; 103. an outer layer cylinder; 104. an inner layer cylinder; 105. a linear driving branch of the lifting platform; 106. a hook hinge; 107. a base; 201. a first section of mechanical arm; 202. the mechanical arm drives the branch linearly; 203. a universal joint; 204. an upper platform; 301. an end effector; 302. a fifth section of mechanical arm; 303. a fourth section of mechanical arm; 304. a third section of mechanical arm; 305. a second section of mechanical arm; 306. a link mechanism; 307. the hydraulic cylinder is driven.
Detailed Description
Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
As shown in fig. 1, a six-degree-of-freedom heave compensation marine ultra-long mechanical arm comprises a compensatable lifting platform 1, a parallel compensation mechanical arm 2 and a serial mechanical arm 3, wherein the compensatable lifting platform 1 is a lifting device based on a parallel mechanism, can realize the movement of the whole device along the Z-axis direction and the rotation around the Z-axis, and has a compensation function; the parallel compensation mechanical arm 2 is arranged on the compensatable lifting platform 1 to realize the pitching and the rotation of the first section of mechanical arm 201, and the parallel compensation mechanical arm 2 and the compensatable lifting platform 1 jointly realize the compensatability of the whole device; the serial mechanical arm 3 is connected with the parallel compensation mechanical arm 2.
As shown in fig. 2, the compensable lifting platform 1 comprises a rotating mechanism and a lifting device based on a parallel mechanism, wherein the rotating mechanism comprises a turntable bearing 101 and a turntable platform 102, and the whole rotating mechanism can realize 360-degree rotation of the mechanical arm. The lifting device based on the parallel mechanism comprises an outer barrel 103, an inner barrel 104, linear driving branches 105 of three lifting platforms, a Hooke hinge 106 and a base 107, wherein the outer barrel 103 is fixedly connected with the turntable platform 102, the outer barrel 103 and the inner barrel 104 are hexagonal, three long sides of three short sides are distributed at intervals, and two linear guide rails are arranged on each short side and used for guiding the outer barrel 103 to move. The linear driving branches 105 of the three lifting platforms are completely identical and are uniformly distributed in a circumferential mode, the whole device is good in isotropy, the upper ends of the linear driving branches are connected with the outer barrel 103 through an equivalent spherical pair formed by hook hinge rotating hinges, the lower ends of the linear driving branches are connected with the base 107 through the hook hinges, the outer barrel 103, the inner barrel 104 and the hook hinges of the lifting platforms form a linear follow-up branch, the linear driving branches 105, the outer barrel 103, the inner barrel 104 and the base 107 of the three lifting platforms form a compensable lifting device based on a parallel mechanism, the Z-axis direction movement can be achieved, the rotation along the X axis and the Y axis is achieved, and three degrees of freedom are achieved.
As shown in fig. 3, the parallel compensation mechanical arm 2 includes a first mechanical arm 201, a mechanical arm linear driving branch 202, a universal joint 203 and an upper platform 204, the first mechanical arm 201 is connected with the upper platform 204 through the universal joint 203, the upper platform 204 is connected with the turntable bearing 101, thereby realizing 360-degree rotation, the two mechanical arm linear driving branches 202 are completely the same and symmetrically distributed on two sides of the first mechanical arm 201, the upper end of the first mechanical arm is connected with the first mechanical arm 201 through an equivalent spherical pair formed by a hooke hinge and a revolute pair, and the lower end of the first mechanical arm is connected with the upper platform 204 through a hooke hinge. The two mechanical arms linearly drive the branch 202, so that two degrees of freedom of pitching and rotating of the first section of mechanical arm 201 are realized, and certain compensation is realized.
As shown in fig. 4, the serial robot 3 includes an end effector 301, a fifth robot 302, a fourth robot 303, a third robot 304, a second robot 305, a linkage 306, and a driving hydraulic cylinder 307, and each of the robots in series has different sizes and identical structures. The second mechanical arm 305, the link mechanism 306, the first mechanical arm 201 and the revolute pair form a four-link mechanism, so that the rotation angle of the second mechanical arm 305 can reach 180 degrees at most, the working space of the mechanical arm is increased, one end of the driving hydraulic cylinder 307 is fixedly connected with the first mechanical arm 201, and the other end of the driving hydraulic cylinder 307 is connected with the link mechanism 206 and used for driving the second mechanical arm 305 to rotate. The connection mode of the other four sections of mechanical arms is completely the same as that of the first and second sections of mechanical arms, only the sizes of the parts are different, the connection mode and the driving mode of the end effector 301 and the fifth section of mechanical arm 302 are also the same as those of the first and second sections of mechanical arms, which are not shown in the figure and are not described again, and the fully-unfolded working state of the whole mechanical arm is shown in fig. 5.
In practical application, if there are more working requirements, the second robot arm 305 may be changed to be driven by a parallel mechanism, the second driving scheme of the second robot arm 305 is the same as that of the first robot arm 201, the second robot arm 305 is driven by two UPS linear branches or SPS linear branches (U represents a hooke hinge, P represents a sliding pair, and S represents a ball pair), one end of the robot linear driving branch 202 is connected to the side of the first robot arm 201 through an equivalent ball pair formed by a hooke hinge and a rotating hinge, and the other end of the robot linear driving branch is fixedly connected to the side of the second robot arm 305, but such a structure cannot realize complete overlapping and folding of the first robot arm 201 and the second robot arm 305. The revolute pair between the first section of mechanical arm 201 and the second section of mechanical arm 305 is arc-shaped, which is convenient for folding the mechanical arms, and the revolute pairs between the last four sections of mechanical arms are all of such a structure.
Preferably, the linear driving branch 202 of the mechanical arm and the linear driving branch 105 of the lifting platform are driven by hydraulic cylinders or electric cylinders. In the compensatable lifting platform 1, the linear driving branch 105 of the lifting platform can also be connected with the inner-layer cylinder to realize the fixation of the outer-layer cylinder 103, and the inner-layer cylinder 104 can move along the guide rail. The end effector 301 may be an excavating bucket or a manned work box, etc., depending on the work requirements.
The working principle of the invention is as follows:
as shown in fig. 5, is the fully deployed working state of the entire robot arm. The compensable lifting platform 1 is driven by linear driving branches 105 of three lifting platforms, three degrees of freedom of movement of the whole mechanical arm along a Z axis, rotation around an X direction and rotation around a Y direction are realized by changing the input size of each branch hydraulic cylinder or electric cylinder, and the compensable lifting platform has a compensable function.
The turntable mechanism mainly applies the working principle of the turntable bearing 101, and the motor is used for driving the turntable so as to realize the whole mechanical arm, and the rotation of 360 degrees around the Z-axis direction can be carried out.
The first section of mechanical arm 201 in the parallel compensation mechanical arm 2 is used for pitching and rotating around the first section of mechanical arm through the mechanical arm linear driving branches 202 on the two sides, the parallel compensation mechanical arm 2 and the compensable lifting platform 1 jointly realize compensability of the whole device, the rest four sections of mechanical arms and the tail end execution device 301 drive the link mechanism 305 through the hydraulic cylinder 307 and form a four-link mechanism, rotation of each section of mechanical arm is realized, and the rotation angle can reach 180 degrees to the maximum.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a marine overlength arm of six degrees of freedom wave compensation, its includes compensable lift platform, parallel compensation arm and series connection arm, its characterized in that:
the compensable lifting platform comprises a lifting device and a rotating mechanism based on a parallel mechanism, the lifting device comprises three linear driving branches of the lifting platform, a linear follow-up branch and a base, the upper end of each linear driving branch of the lifting platform is connected with the outer cylinder wall through an equivalent spherical pair formed by a hooke hinge and a rotating hinge, the lower end of each linear driving branch of the lifting platform is connected with the base through the hooke hinge, the hooke hinge at the lower end of each linear follow-up branch is fixedly connected with the base, the lower end of the rotating mechanism is connected with the upper end of the outer cylinder in the linear follow-up branch, the upper end of the rotating mechanism is connected with the upper platform, and the mechanical arm can rotate around a;
the parallel compensation mechanical arm comprises a first section of mechanical arm, two mechanical arm linear driving branches which are symmetrically arranged, an upper platform and a universal joint, wherein the first section of mechanical arm is connected with the upper platform through the universal joint;
the series mechanical arm comprises a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and an end execution device, the structures of the mechanical arms are completely the same, the sizes of the mechanical arms are different, the second mechanical arm is connected with the joint of the first mechanical arm through a revolute pair, the second mechanical arm is driven by a hydraulic cylinder, the first end of the hydraulic cylinder is connected with the bottom of the first mechanical arm, the second end of the hydraulic cylinder is connected with a link mechanism which is connected with the first mechanical arm and the second mechanical arm, the rest of the mechanical arms are connected in sequence by the same structures, and the fifth mechanical arm is connected with the end execution device.
2. The six-degree-of-freedom heave compensated marine ultralong manipulator of claim 1, further comprising: the linear follow-up branch comprises an outer layer cylinder, an inner layer cylinder and a hook hinge, the outer layer cylinder and the inner layer cylinder are hexagonal in shape, three long sides of three short sides are distributed at intervals, and two linear guide rails are arranged on each short side and used for guiding the outer layer cylinder to move.
3. The six-degree-of-freedom heave compensated marine ultralong manipulator of claim 1, further comprising: the linear driving branch structures of the three lifting platforms are completely the same and are circumferentially and symmetrically distributed.
4. The six-degree-of-freedom heave compensated marine ultralong manipulator of claim 1, further comprising: each linear driving branch can be selected as a hydraulic cylinder or an electric cylinder, and the mechanism can be selected as a UPS branch or an SPS branch.
5. The six-degree-of-freedom heave compensated marine ultralong manipulator of claim 4, further comprising: and the revolute pairs between the first section of mechanical arm and the second section of mechanical arm are arc-shaped, so that the mechanical arms can be folded conveniently, and the revolute pairs between the other adjacent mechanical arms are also arc-shaped structures.
6. The six-degree-of-freedom heave compensated marine ultralong manipulator of claim 1, further comprising: the second end of the linear driving unit in the second section of mechanical arm forms a planar four-bar mechanism with the first section of mechanical arm, the second section of mechanical arm and the revolute pair through the link mechanism, so that the included angle between the first section of mechanical arm and the second section of mechanical arm can reach 180 degrees, and the driving units of the other sections of mechanical arms are the same as the included angle.
7. The six-degree-of-freedom heave compensated marine ultralong manipulator of claim 1, further comprising: the second section of mechanical arm can also be driven by two linear driving branches, a Hooke hinge at the first end of each linear driving branch is connected to the side face of the first section of mechanical arm, and a spherical hinge at the second end of each linear driving branch is fixedly connected to the side face of the second section of mechanical arm.
8. The six-degree-of-freedom heave compensated marine ultralong manipulator of claim 6, further comprising: the end effector can be selected as an excavating bucket or a manned work box.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010148535.9A CN111283674B (en) | 2020-03-05 | 2020-03-05 | Six-degree-of-freedom wave compensation marine super-long mechanical arm |
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| CN202010148535.9A CN111283674B (en) | 2020-03-05 | 2020-03-05 | Six-degree-of-freedom wave compensation marine super-long mechanical arm |
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| CN111283674A CN111283674A (en) | 2020-06-16 |
| CN111283674B true CN111283674B (en) | 2021-04-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114516040B (en) * | 2020-11-20 | 2023-06-27 | 沈阳新松机器人自动化股份有限公司 | Long-distance underwater mechanical arm type operation platform |
| CN113001592A (en) * | 2021-02-01 | 2021-06-22 | 章余 | Detection mechanism for investigation robot |
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| FR2126902A1 (en) * | 1970-11-23 | 1972-10-13 | Inst Francais Du Petrole | Tension compensator - eg in a cable from a ship to the sea bed |
| CN1519434A (en) * | 2003-01-26 | 2004-08-11 | 姚实现 | New type versatile sanitation vehicle, versatile cars, excavator, and mechanical arm |
| CN105621275A (en) * | 2016-03-01 | 2016-06-01 | 江苏科技大学 | Crane device with three-degree-of-freedom active heave compensation function and compensation method |
| CN106143841A (en) * | 2015-04-08 | 2016-11-23 | 青岛赶海机器人有限公司 | A kind of multi-function operation type underwater robot |
| CN107351103A (en) * | 2017-07-26 | 2017-11-17 | 汪培杰 | A kind of Multifunctional mechanical arm device |
| CN107494194A (en) * | 2017-07-24 | 2017-12-22 | 中国农业大学 | One kind rubber tapping robot |
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2020
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2126902A1 (en) * | 1970-11-23 | 1972-10-13 | Inst Francais Du Petrole | Tension compensator - eg in a cable from a ship to the sea bed |
| CN1519434A (en) * | 2003-01-26 | 2004-08-11 | 姚实现 | New type versatile sanitation vehicle, versatile cars, excavator, and mechanical arm |
| CN106143841A (en) * | 2015-04-08 | 2016-11-23 | 青岛赶海机器人有限公司 | A kind of multi-function operation type underwater robot |
| CN105621275A (en) * | 2016-03-01 | 2016-06-01 | 江苏科技大学 | Crane device with three-degree-of-freedom active heave compensation function and compensation method |
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