CN114393601B - Deep sea self-adaptive adsorption type mechanical arm - Google Patents
Deep sea self-adaptive adsorption type mechanical arm Download PDFInfo
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- CN114393601B CN114393601B CN202111608397.9A CN202111608397A CN114393601B CN 114393601 B CN114393601 B CN 114393601B CN 202111608397 A CN202111608397 A CN 202111608397A CN 114393601 B CN114393601 B CN 114393601B
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- sucker
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- adsorption
- laser displacement
- displacement sensor
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 47
- 238000006073 displacement reaction Methods 0.000 claims abstract description 27
- 238000007499 fusion processing Methods 0.000 claims abstract description 5
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 3
- 239000000969 carrier Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 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
- 238000011835 investigation Methods 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
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a deep sea self-adaptive adsorption type manipulator. The invention 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 the six-degree-of-freedom hydraulic platform. The waterproof laser displacement sensors are at least three and are arranged on the vortex adsorption sucker 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 achieves angle adjustment of the vortex sucker by performing position control on the six-degree-of-freedom hydraulic platform to generate maximum adsorption force. The invention provides a vortex adsorption mechanism based device capable of adjusting the angle of a sucker in real time through data transmitted by a displacement sensor, thereby realizing the adsorption of the surface of an object, greatly improving the safety of deep sea adsorption, being applicable to deep sea operation occasions and being capable of being arranged on different carriers according to the needs.
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, subsea handling technologies and equipment thereof take up a significant position, with an operating area that can extend from coastal depths of a few meters to deep seas of a few kilometers. The updating and improvement of the submarine carrying equipment can accelerate the efficiency and accuracy of ocean resource exploration and geological investigation, save the cost and obtain good social and economic benefits.
The device end effector is a vortex adsorption sucker, the vortex adsorption sucker is underwater adsorption equipment utilizing Bernoulli principle, a motor drives a blade 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 field pressure is smaller as the flow speed is faster. The pressure difference between the pressure of the high-speed flow field and the pressure of the side of the sucker opposite to the high-speed flow field enables an adsorption force to be generated between the sucker and an adsorbed object, and the sucker can be tightly adsorbed on the surface of the adsorbed object, so that the object is carried. However, in the actual working process, the situation that the suction disc is not parallel to the surface of the object to be adsorbed may occur due to disturbance of waves, so that the maximum adsorption force cannot be generated, and the safety of the object to be adsorbed is affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a deep sea self-adaptive adsorption manipulator.
The invention adopts the following technical scheme:
the invention 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 the six-degree-of-freedom hydraulic platform.
The waterproof laser displacement sensors are at least three and are arranged on the vortex adsorption sucker 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 achieves angle adjustment of the vortex sucker by performing position control on the six-degree-of-freedom hydraulic platform to generate maximum adsorption force.
Further, 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 convenient to install, unable adjustment base's lower surface articulates the one end that has six pneumatic cylinders, the output of every pneumatic cylinder all articulates to lower platform, lower platform links to each other with vortex chuck's upper surface, through the telescopic movement of servo valves control six pneumatic cylinders for vortex chuck can move in six dimensions in space.
Furthermore, the waterproof laser displacement sensors are three, and are uniformly arranged on the same plane around the vortex adsorption sucker 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 adsorption of the surface of an object, greatly improving the safety of deep sea adsorption, being applicable to deep sea operation occasions and being capable of being arranged on different carriers according to requirements.
Drawings
FIG. 1 is a schematic perspective view of a deep sea adaptive adsorption manipulator according to the present invention; wherein: 1. a fixed base; 2. a universal joint; 3. a hydraulic cylinder block; 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 a vortex suction cup;
FIG. 4 is a schematic view of the suction cup in an operating state when the suction cup is not parallel to the surface to be sucked;
Fig. 5 is a schematic diagram 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.
Detailed Description
As shown in fig. 1 and 3, in this embodiment, the deep sea self-adaptive adsorption manipulator adopts a vortex chuck and six hydraulic cylinders, so that motion control in any direction can be realized, and reliable adsorption can be performed on a target object. It comprises the following steps: the six-degree-of-freedom hydraulic platform, the vortex sucker and the 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 every pneumatic cylinder all is connected to hydraulic platform's lower platform, and lower platform links to each other with vortex sucking disc's upper surface, through servo valves control the concertina movement of six pneumatic cylinders for vortex sucking disc can move in six dimensions in space. Three waterproof laser displacement sensors 7, 11 and 12 are uniformly arranged on the same plane of the vertical vortex sucker 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, performs fusion processing on the data of the laser displacement sensor, and realizes angle adjustment of the vortex sucker by performing position control on the six-degree-of-freedom hydraulic platform so as to generate the maximum adsorption force.
The patent ZL201610874142.X discloses a vortex sucker which provides adsorption force for an aircraft based on a vortex adsorption mechanism, and utilizes the rotation of an internal impeller to generate pressure difference inside and outside a semi-open cup-shaped shell to obtain an adsorption effect relative to an adsorption surface, so that the aircraft can be firmly adsorbed 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 sucker consists of a semi-open cup-shaped shell 10, an impeller 8 and a deep sea waterproof motor 5, and further, the impeller adopts S-shaped blades, and the width of the S-shaped blades is gradually reduced from outside to inside to the axis. The semi-open cup-shaped shell is provided with a flow path matched with the blade so as to improve the flow field control capability of the impeller.
The embodiment is further optimized based on the vortex sucker, and a metal protective cover 9 is arranged on the lower surface of the sucker and used for protecting the blade from damage in the working process; and three waterproof laser displacement sensors are added, the waterproof laser displacement sensors are uniformly arranged on the same horizontal plane around the sucker shell at intervals of 120 degrees, the horizontal plane is perpendicular to the shell and is respectively used for measuring the distance between the position and the adsorbed surface and determining the plane of the vortex sucker, so that the relative position and the angle of the sucker and the surface of the adsorbed object are further judged.
The position compensation control system consists of a power supply module, a control module and a sensing detection module, and is shown in figure 2. The power module is responsible for providing required electric energy for electronic elements of the system and has monitoring and protecting functions; the control module is responsible for carrying out fusion processing on 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 the vortex sucker and an adsorbed object, and realizing communication with the control module, and is specific: the compensation control system firstly controls the vortex sucker to approach the target position according to the position deviation between the target position and the current position; and then, after the vortex sucker reaches the target position, obtaining a measured value d i of each displacement sensor, wherein i represents the number of the displacement sensor, taking the sensor value closest to the sucked surface as a reference value, respectively calculating the ratio of the measured values of the other two sensors to the reference value, and conveniently judging the angle deviation between the sucking disc suction surface and the sucked surface through the ratio, so that the telescopic movement of the six hydraulic cylinders is controlled according to the angle deviation, and the sucker can be always parallel to the surface of the sucked object.
FIG. 4 is a schematic view of the suction cup in an operating state when the suction cup is not parallel to the surface to be sucked; at this time, distances from the adsorbed surface measured by the three laser displacement sensors are d1, d2 and d3, respectively.
Fig. 5 is a schematic diagram of a working state of the suction cup when the suction cup is attached to a surface to be sucked after being adjusted by the position compensation control system, and distances between the suction cup and the surface to be sucked, which are measured by the three laser displacement sensors, are d4.
Claims (3)
1. Deep sea self-adaptation adsorbs formula manipulator, including six degrees of freedom hydraulic platform, waterproof laser displacement sensor, vortex absorption sucking disc and position compensation system, its characterized in that:
the vortex adsorption sucker is arranged on the six-degree-of-freedom hydraulic platform;
the waterproof laser displacement sensors are at least three and 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 realizes angle adjustment of the vortex sucker by performing position control on the six-degree-of-freedom hydraulic platform to generate maximum adsorption force; specifically:
Firstly, controlling the vortex adsorption sucker to approach the target position according to the position deviation between the target position and the current position;
Then, after the vortex adsorption sucker reaches a target position, obtaining a measured value d i of each waterproof laser displacement sensor, wherein i represents the number of the waterproof laser displacement sensor;
And respectively calculating the ratio of the measured value of the waterproof laser displacement sensor to the reference value by taking the waterproof laser displacement sensor closest to the adsorbed surface as the reference value, and judging the angle deviation of the adsorbed surface of the sucker and the adsorbed surface by the ratio, so that the telescopic movement of the hydraulic cylinder in the six-degree-of-freedom hydraulic platform is controlled according to the angle deviation, and the sucker can be always parallel to the surface of the adsorbed object.
2. The deep sea adaptive adsorption manipulator of claim 1, wherein:
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, wherein the upper surface of the fixed base is convenient to install, the lower surface of the fixed base is hinged with one ends 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 sucker, and the telescopic movement of the six hydraulic cylinders is controlled through the servo valve group, so that the vortex sucker can move in six dimensions in space.
3. The deep sea adaptive adsorption manipulator of claim 1, wherein: the waterproof laser displacement sensors are three, and are uniformly arranged on the same plane around the vortex adsorption sucker at intervals of 120 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111608397.9A CN114393601B (en) | 2021-12-27 | 2021-12-27 | Deep sea self-adaptive adsorption type mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111608397.9A CN114393601B (en) | 2021-12-27 | 2021-12-27 | Deep sea self-adaptive adsorption type mechanical arm |
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| CN114393601A CN114393601A (en) | 2022-04-26 |
| CN114393601B true CN114393601B (en) | 2024-05-17 |
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Citations (4)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150059636A1 (en) * | 2013-09-05 | 2015-03-05 | Muthu Chezhian | Tsunami Pod |
-
2021
- 2021-12-27 CN CN202111608397.9A patent/CN114393601B/en active Active
Patent Citations (4)
| 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 |
| 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 |
|---|
| 海洋信息获取、传输、处理及融合前沿研究评述;徐文，等;《中国科学：信息科学》;第46卷(第8期);1053-1085 * |
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| CN114393601A (en) | 2022-04-26 |
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