CN114393601A - Deep sea self-adaptation adsorbs formula manipulator - Google Patents
Deep sea self-adaptation adsorbs formula manipulator Download PDFInfo
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- CN114393601A CN114393601A CN202111608397.9A CN202111608397A CN114393601A CN 114393601 A CN114393601 A CN 114393601A CN 202111608397 A CN202111608397 A CN 202111608397A CN 114393601 A CN114393601 A CN 114393601A
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- adsorption
- vortex
- sucker
- laser displacement
- deep sea
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 39
- 238000006073 displacement reaction Methods 0.000 claims abstract description 23
- 238000007499 fusion processing Methods 0.000 claims abstract description 3
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 abstract description 3
- 239000000969 carrier Substances 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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Classifications
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- 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
Abstract
The invention discloses a deep sea self-adaptive adsorption type mechanical arm. The device comprises a six-degree-of-freedom hydraulic platform, a waterproof laser displacement sensor, a vortex adsorption sucker and a position compensation system. The vortex adsorption sucker is arranged on a six-degree-of-freedom hydraulic platform. The waterproof laser displacement sensors are at least three and arranged on the vortex adsorption sucker and used for judging the angle deviation between the surface of the vortex adsorption sucker and the adsorbed surface. The position compensation control system performs fusion processing on data of the waterproof laser displacement sensor, and performs position control on the six-degree-of-freedom hydraulic platform to realize angle adjustment of the scroll sucker and generate maximum adsorption force. The invention provides a vortex adsorption mechanism based sucker angle real-time adjustment method, which can adjust the sucker angle in real time through data transmitted by a displacement sensor, thereby realizing the adsorption of the object surface, greatly improving the safety of deep sea adsorption, being suitable for deep sea operation occasions and being arranged on different carriers according to the requirements.
Description
Technical Field
The invention relates to a deep sea self-adaptive adsorption type mechanical arm, and belongs to the technical field of transportation equipment.
Background
In marine geological surveys, resource exploration and mineral evaluations, seafloor haulage techniques and equipment therefor occupy a significant position, with operating areas that can extend from coastal depths of several meters to deep ocean depths of several kilometers. The updating and improvement of the seabed carrying equipment can accelerate the efficiency and accuracy of marine resource exploration and geological survey, save the cost and obtain good social and economic benefits.
The device end executor is a vortex adsorption sucker, the vortex adsorption sucker is underwater adsorption equipment utilizing the Bernoulli principle, a blade is driven by a motor to rotate at a high speed, a high-speed flow field is formed between the sucker and the surface of an adsorbed object, and the flow speed is faster, and the pressure intensity of the flow field is smaller. The difference between the pressure of the high-speed flow field and the pressure of the side of the sucking disc opposite to the high-speed flow field enables an adsorption force to be generated between the sucking disc and the adsorbed object, so that the sucking disc can be tightly adsorbed on the surface of the adsorbed object, and the object can be conveyed. However, in the actual working process, the situation that the suction cup is not parallel to the surface of the adsorbed object may occur due to the disturbance of the waves, so that the maximum adsorption force cannot be generated, and the safety of the adsorbed object is affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a deep sea self-adaptive adsorption type manipulator.
The invention adopts the following technical scheme:
the device comprises a six-degree-of-freedom hydraulic platform, a waterproof laser displacement sensor, a vortex adsorption sucker and a position compensation system.
The vortex adsorption sucker is arranged on a six-degree-of-freedom hydraulic platform.
The waterproof laser displacement sensors are at least three and arranged on the vortex adsorption sucker and used for judging the angle deviation between the surface of the vortex adsorption sucker and the adsorbed surface.
The position compensation control system performs fusion processing on data of the waterproof laser displacement sensor, and performs position control on the six-degree-of-freedom hydraulic platform to realize angle adjustment of the scroll sucker and generate maximum adsorption force.
Furthermore, the six-degree-of-freedom hydraulic platform comprises a fixed base, six hydraulic cylinders, six piston rods, a lower platform and a servo valve group, the upper surface of the fixed base is convenient to mount, the lower surface of the fixed base is hinged with one end of each of the six hydraulic cylinders, the output end of each hydraulic cylinder is hinged to the lower platform, the lower platform is connected with the upper surface of the vortex suction cup, and the servo valve group controls the telescopic motion of the six hydraulic cylinders, so that the vortex suction cup can move in six dimensions in space.
Furthermore, the three waterproof laser displacement sensors are uniformly arranged on the same plane around the vortex suction cup at intervals of 120 degrees.
The invention has the beneficial effects that: the invention provides a novel device which is based on a vortex adsorption mechanism and can adjust the angle of a sucker in real time through data transmitted by a displacement sensor, thereby realizing the surface adsorption of an object, greatly improving the safety of deep sea adsorption, being suitable for deep sea operation occasions and being arranged on different carriers according to requirements.
Drawings
Fig. 1 is a schematic perspective view of a deep-sea adaptive adsorption type manipulator according to the present invention; wherein: 1. a fixed base; 2. a universal joint; 3. a hydraulic cylinder body; 4. a piston rod; 5. a deep sea waterproof motor; 6. a lower platform; 7. a waterproof displacement sensor; 8. an impeller; 9. a metal shield; 10. a semi-open cup-shaped housing.
FIG. 2 is a block diagram of a compensation system of the present invention;
FIG. 3 is a front view of the scroll suction cup;
FIG. 4 is a schematic view of the operation state when the suction cup is not parallel to the surface to be sucked;
fig. 5 is a schematic view of the working state of the suction cup after being adjusted by the position compensation control system and being attached to the surface to be sucked.
Detailed Description
As shown in fig. 1 and 3, in this embodiment, the deep sea adaptive adsorption type manipulator employs one scroll chuck and six hydraulic cylinders, so that motion control in any direction can be realized, and a target object can be reliably adsorbed. It includes: the device comprises a six-degree-of-freedom hydraulic platform, a vortex sucker and a position compensation control system, wherein the hydraulic platform consists of a fixed base 1, a lower platform 6 and six hydraulic cylinders (comprising a cylinder body 3 part and a piston rod 4 part). The lower surface of unable adjustment base is connected through universal joint 2 with the one end of six pneumatic cylinders, and the output of each pneumatic cylinder all is connected to hydraulic platform's lower platform, and lower platform links to each other with the upper surface of vortex sucking disc, through the concertina movement of six pneumatic cylinders of servo valves control for the vortex sucking disc can move in six dimensions in the space. Three waterproof laser displacement sensors 7, 11 and 12 are uniformly arranged on the same plane vertical to the vortex suction cup shell at intervals of 120 degrees. And the position compensation control system is responsible for interacting with data of all peripheral equipment of the system, fusing the data of the laser displacement sensor, and controlling the position of the six-freedom-degree hydraulic platform to realize the angle adjustment of the vortex suction cup and generate the maximum adsorption force.
The invention patent ZL201610874142.X discloses a vortex suction cup for providing suction force for a vehicle based on a vortex suction mechanism, wherein an internal impeller rotates to generate pressure difference inside and outside a semi-open cup-shaped shell, so that a suction effect relative to a suction surface is obtained, and the vehicle can be firmly sucked on the surface of an object. Compared with electromagnetic adsorption and vacuum adsorption, the vortex adsorption capacity is stronger under the same power consumption. The sucking disc comprises semi-open cup shell 10, impeller 8, deep sea waterproof motor 5, and further, S-shaped blade is adopted to the impeller, and S-shaped blade width reduces to the axle center from outside-in gradually. The semi-open type cup-shaped shell is provided with a flow path matched with the blades so as to improve the flow field control capability of the impeller.
The embodiment is further optimized based on the vortex suction cup, and the metal protective cover 9 is arranged on the lower surface of the suction cup and used for protecting the blade and preventing the blade from being damaged in the working process; and increased three waterproof laser displacement sensor, the interval 120 equipartition is installed at sucking disc shell same horizontal plane around, and this horizontal plane is perpendicular with the shell, is used for measuring the distance between position and the adsorbed surface in place respectively, determines vortex sucking disc place plane to further judge the relative position and the angle on sucking disc and adsorbed object surface.
The position compensation control system is composed of a power supply module, a control module and a sensing detection module, and is shown in figure 2. The power supply module is responsible for providing required electric energy for system electronic elements and has monitoring and protecting functions; the control module is responsible for fusing data transmitted by the displacement sensor, realizing the motion control of the hydraulic cylinder, storing the received data and monitoring the motion state of the system; the sensing detection module is used for acquiring information such as the position, the angle and the distance between an adsorbed object of the vortex suction cup, and realizing communication with the control module, and is specific: the compensation control system firstly controls the vortex suction cup to approach the target position according to the position deviation between the target position and the current position; then, when the vortex suction disc reaches the target position, the measured value d of each displacement sensor is obtainediWherein i represents displacement sensor's serial number to the nearest sensor numerical value of being adsorbed the surface is regarded as the benchmark value, calculates the ratio of the measured value of two other sensors and this benchmark value respectively, through the angular deviation of the judgement sucking disc adsorbed surface that this ratio can be convenient and adsorbed the surface to according to the concertina movement of this angular deviation control six pneumatic cylinders, make the sucking disc can be parallel with adsorbed object surface all the time.
FIG. 4 is a schematic view of the operation state when the suction cup is not parallel to the surface to be sucked; the distances measured by the three laser displacement sensors to the adsorbed surface are d1, d2 and d3 respectively.
Fig. 5 is a schematic view of the working state of the suction cup when the suction cup is attached to the surface to be sucked after being adjusted by the position compensation control system, and the distances between the three laser displacement sensors and the surface to be sucked are d 4.
Claims (3)
1. Deep sea self-adaptation adsorbs formula manipulator, includes six degree of freedom hydraulic platform, waterproof laser displacement sensor, vortex adsorption sucking disc and position compensation system, its characterized in that:
the vortex adsorption sucker is arranged on a six-degree-of-freedom hydraulic platform;
the device comprises at least three waterproof laser displacement sensors, a vortex adsorption sucker and a controller, wherein the at least three waterproof laser displacement sensors are arranged on the vortex adsorption sucker and used for judging the angle deviation between the surface of the vortex adsorption sucker and the adsorbed surface;
the position compensation control system performs fusion processing on data of the waterproof laser displacement sensor, and performs position control on the six-degree-of-freedom hydraulic platform to realize angle adjustment of the scroll sucker and generate maximum adsorption force.
2. The deep sea adaptive adsorption robot of claim 1, wherein:
six degree of freedom hydraulic platform include unable adjustment base, six pneumatic cylinders, six piston rods, lower platform and servo valves, unable adjustment base's upper surface is easy to assemble, unable adjustment base's lower surface articulates there is the one end of six pneumatic cylinders, the output of each pneumatic cylinder all articulates to lower platform, lower platform links to each other with the upper surface of vortex sucking disc, through the concertina movement of six pneumatic cylinders of servo valves control for the vortex sucking disc can move in six dimensions on the space.
3. The deep sea adaptive adsorption robot of claim 1, wherein: the three waterproof laser displacement sensors are uniformly arranged on the same plane around the vortex adsorption sucker at an interval of 120 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111608397.9A CN114393601B (en) | 2021-12-27 | Deep sea self-adaptive adsorption type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111608397.9A CN114393601B (en) | 2021-12-27 | Deep sea self-adaptive adsorption type mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114393601A true CN114393601A (en) | 2022-04-26 |
| CN114393601B CN114393601B (en) | 2024-05-17 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259338A (en) * | 2010-05-28 | 2011-11-30 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| US20150059636A1 (en) * | 2013-09-05 | 2015-03-05 | Muthu Chezhian | Tsunami Pod |
| CN106218840A (en) * | 2016-09-30 | 2016-12-14 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
| CN107521623A (en) * | 2017-10-10 | 2017-12-29 | 安徽理工大学 | Five degree of freedom becomes cell type multi-purpose vessel berthing device |
| CN111976891A (en) * | 2020-08-20 | 2020-11-24 | 燕山大学 | Energy feedback type mooring device for rapid mooring of large ship |
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259338A (en) * | 2010-05-28 | 2011-11-30 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| US20150059636A1 (en) * | 2013-09-05 | 2015-03-05 | Muthu Chezhian | Tsunami Pod |
| CN106218840A (en) * | 2016-09-30 | 2016-12-14 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
| CN107521623A (en) * | 2017-10-10 | 2017-12-29 | 安徽理工大学 | Five degree of freedom becomes cell type multi-purpose vessel berthing device |
| CN111976891A (en) * | 2020-08-20 | 2020-11-24 | 燕山大学 | Energy feedback type mooring device for rapid mooring of large ship |
Non-Patent Citations (1)
| Title |
|---|
| 徐文，等: "海洋信息获取、传输、处理及融合前沿研究评述", 《中国科学：信息科学》, vol. 46, no. 8, pages 1053 - 1085 * |
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Country or region after: China Address after: 572025 area C310, third floor, phase II standard plant, yazhouwan science and Technology City, Yazhou District, Sanya City, Hainan Province Applicant after: Hainan Research Institute of Zhejiang University Applicant after: ZHEJIANG University Address before: 572025 area C310, third floor, phase II standard plant, yazhouwan science and Technology City, Yazhou District, Sanya City, Hainan Province Applicant before: Research Institute of Hainan Zhejiang University Country or region before: China Applicant before: ZHEJIANG University |
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