CN118123877A - Underwater vibration adsorption device based on cylindrical cam driving - Google Patents
Underwater vibration adsorption device based on cylindrical cam driving Download PDFInfo
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- CN118123877A CN118123877A CN202410103540.6A CN202410103540A CN118123877A CN 118123877 A CN118123877 A CN 118123877A CN 202410103540 A CN202410103540 A CN 202410103540A CN 118123877 A CN118123877 A CN 118123877A
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- 238000001179 sorption measurement Methods 0.000 title abstract description 42
- 238000007789 sealing Methods 0.000 claims description 34
- 238000010521 absorption reaction Methods 0.000 claims description 11
- 210000004907 gland Anatomy 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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Abstract
The invention relates to the field of robots and discloses an underwater vibration absorbing device based on cylindrical cam driving. The invention adopts the vibration structure driven by the cylindrical cam, has the advantages that the optimal vibration curve obtained by modeling and calculating according to the theory of the vibration adsorption force can be accurately fitted, the curve contour is freely designed in combination with the actual application scene, the adsorption force and the vibration effect of the device are considered, the utilization rate of the limited volume of the sucker is fully exerted, and the increase of the adsorption force is facilitated; the device has a curved surface self-adaptation function during adsorption by utilizing the multiple degrees of freedom of the spherical hinge; the space utilization is high, the structure is compact, and the device can be used in both underwater environment and air environment.
Description
Technical Field
The invention relates to an automatic mechanical part, in particular to an underwater vibration adsorption device based on cylindrical cam driving.
Background
The vacuum adsorption end effector adopts a negative pressure adsorption mode to realize object grabbing, and is one of the most widely used robot end effectors at present. Negative pressure adsorption includes active adsorption and passive adsorption. Active suction refers to the formation and maintenance of vacuum by means of active suction from the outside, typically by means of a vacuum generating device to create negative pressure in the suction cup. The mode can lead the inside and outside of the sucker to generate larger pressure difference, so that the sucker is firmly adsorbed on a target object, but the vacuum generating device needs to carry the air pipe, so that the volume and the mass of the robot body are increased, and the miniaturization and the light weight of the robot are not facilitated. The passive adsorption is to expand the capacity of the sucker to generate negative pressure through external force, and a vacuum generating device and an air pipe are not needed to be additionally arranged, so that the robot is miniaturized and light.
When the suction cup is in a balanced state when the air pressure in the cavity of the suction cup is equal to the external atmospheric pressure, the skirt edge of the suction cup is in good contact with the wall surface in a natural state, and a closed space is formed, the height of the suction cup is made to be a balanced height, the suction cup vibrates with a certain amplitude and frequency by taking the balanced height as the center under the action of external force, and a negative pressure is generated to be adsorbed on the wall surface, so that the technology is called a vibration adsorption technology. In the prior art, the adsorption device mostly adopts an eccentric wheel to drive a sucker mounting plate to realize a vibration effect, for example, a driving assembly mentioned in an underwater vibration device with a patent number of CN106005322A and a vibration driving mechanism mentioned in a vibration adsorption device with a patent number of CN100554069C adopt eccentric wheels to generate vibration, so that the driving mechanism is complex and has larger abrasion; the suction cup vibration curves of the two are in a sine form, and cannot be attached to the optimal theoretical vibration curve; the curved surface is difficult to adapt to, and the working limitation is large. The vibration mechanism mentioned in the adsorption mechanism adopting square wave vibration with the patent number of CN101439735B can realize approximate square wave output, but has the advantages of complex transmission structure, high processing difficulty, easy reset failure caused by the reset of a plurality of springs and low device robustness.
Disclosure of Invention
In view of the above, the invention provides an underwater vibration adsorption device based on cylindrical cam driving, which has the working principle that a direct-current gear motor drives a cylindrical cam to rotate so as to further drive an adsorption assembly to vibrate along a curve groove of the cylindrical cam, and the cylindrical cam driving has the advantages that an optimal vibration curve obtained by modeling and calculating according to a vibration adsorption force theory can be accurately fitted, and the curve profile is freely designed in combination with an actual application scene, so that the adsorption force and the vibration effect of the device are considered; the device has a curved surface adaptation function, and is beneficial to adsorbing curved surface objects such as ship bodies; the device has the advantages of compact structure, uniform stress, small abrasion, lower power consumption and strong adsorption capacity, can realize modularized assembly and processing, and can realize various underwater adsorption works by being matched with mechanical arms, underwater robots and the like.
The invention relates to an underwater vibration absorbing device based on cylindrical cam driving, which comprises a cover body, a base and a vibration absorbing assembly, wherein the cover body is provided with a plurality of vibration absorbing grooves; the vibration absorbing assembly comprises an absorbing assembly and a vibration driving mechanism, the absorbing assembly comprises at least one absorbing unit and at least one track guide wheel, the vibration driving mechanism comprises a power device, an upper plate fixedly connected with a base and used for installing the power device, and a driving assembly for driving the track guide wheel to move up and down so that the absorbing unit can produce vibration absorption, the upper plate and the base are arranged from top to bottom, and the absorbing unit sequentially penetrates through the upper plate and the base from top to bottom in a relatively sliding mode.
Further, the cover body is connected with the base, and a sealing ring for sealing is arranged at the joint; all screws used for connection are provided with sealing rings.
Further, the track leading wheel includes roller bearing and roller guide post, and the absorption unit includes sucking disc subassembly, spherical hinge and the vibratory rod that links to each other with spherical hinge and roller guide post respectively, the spherical hinge includes the bulb seat that links to each other with sucking disc subassembly and the bulb that links to each other with the vibratory rod, sucking disc subassembly includes sucking disc body, sucking disc connecting plate and can dismantle with the sucking disc body and be connected and be used for the switching head that the sucking disc connecting plate is connected.
Further, the driving assembly comprises a cylindrical cam driven by the power device to rotate, an upper angular contact ball bearing and a lower angular contact ball bearing, wherein the upper angular contact ball bearing and the lower angular contact ball bearing are identical in structure and used in pairs and are used for limiting axial and radial movement of the cylindrical cam.
Further, the power device is a direct-current gear motor, the upper plate is provided with a motor fixing column for fixing the direct-current gear motor, and a D-shaped driving shaft of the direct-current gear motor is fixedly matched with a D-shaped hole of the cylindrical cam.
Further, the upper plate is provided with a linear bearing for guiding the vibrating rod and a bearing limit cover for limiting the upper angular contact ball bearing.
Further, be provided with the plate fixed column that links to each other with the upper plate and be used for restricting the rotatory gag bit of vibrating rod on the base, be provided with the via hole that is used for vibrating rod up-and-down vibration and the sealing washer gland that is used for fixed vibrating rod sealing washer on the base, the vibrating rod sealing washer is used for realizing the dynamic seal of vibrating rod.
The invention has the beneficial effects that: according to the underwater vibration adsorption device, through the adoption of the vibration structure driven by the cylindrical cam, the advantages are that an optimal vibration curve obtained through modeling calculation according to the vibration adsorption force theory can be accurately fitted, and the curve contour is freely designed in combination with an actual application scene, so that the adsorption force and the vibration effect of the device are considered, the utilization rate of the limited volume of the sucker is fully exerted, and the adsorption force is increased; the device has a curved surface self-adaptation function during adsorption by utilizing the multiple degrees of freedom of the spherical hinge; the space utilization is high, the structure is compact, and the device can be used in both underwater environment and air environment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of 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 that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a cover structure according to the present invention;
FIG. 3 is a schematic view of a base structure according to the present invention;
FIG. 4 is a schematic diagram of a vibration-adsorbing assembly according to the present invention;
FIG. 5 is a schematic view of an adsorption module according to the present invention;
FIG. 6 is a schematic diagram of a vibration driving mechanism according to the present invention;
FIG. 7 is a schematic diagram of a driving assembly of a vibration driving mechanism according to the present invention;
FIG. 8 is a schematic view of a sucker assembly of the suction unit of the present invention;
FIG. 9 is a schematic view of the structure of the spherical hinge of the present invention;
fig. 10 is a schematic view of a cylindrical cam structure according to the present invention.
The marks in the figure: 1-a cover body; 2-a base; 2-1-plate fixing columns; 2-2-a vibration rod limiting seat; 2-3-vibrating rod sealing rings; 2-4-sealing ring gland; a 3-adsorption unit; 4-track guide wheels; 4-1-roller bearings; 4-2-roller guide posts; 5-power means; a 5-1-D drive shaft; 6-upper plate; 6-1-motor fixing columns; 6-2-linear bearings; 6-3-bearing limit covers; 7-a sealing ring; 8-an adsorption module; 8-1-sucking disc body; 8-2-sucking disc connecting plates; 8-3-switching head; 9-ball hinges; 9-1 of a ball seat; 9-2-ball head; 9-3-springs; 9-4-tension springs; 10-vibrating bar; 11-a cylindrical cam; 12-1-upper angular contact ball bearings; 12-2-lower angular contact ball bearing.
Detailed Description
In order to make the technical means, the creation features, the achievement of the purposes and the effects achieved by the present invention easy to understand, 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 apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present invention and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a specific azimuth, and are configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected via an intermediary, or connected by communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 10, the underwater adsorption device of the present embodiment includes a cover 1, a base 2, and a vibration adsorption assembly; the vibration absorption assembly comprises an absorption assembly and a vibration driving mechanism, wherein the absorption assembly comprises at least one absorption unit 3 and at least one track guide wheel 4, the vibration driving mechanism comprises a power device 5, an upper plate 6 fixedly connected with a base 1 and used for installing the power device 5, and a driving assembly for driving the track guide wheel 4 to move up and down so as to enable the absorption unit 3 to generate vibration absorption, the upper plate 6 and the base 2 are arranged in sequence from top to bottom, and the absorption unit 3 sequentially passes through a linear bearing 6-2, a vibration rod limiting seat 2-2 and the base 2 from top to bottom in a relatively sliding mode; as shown in the figure, 6 adsorption units 3 are arranged, the vibration driving mechanism can drive 6 adsorption units 3 simultaneously, and two adjacent adsorption units 3 respectively and alternately move up and down, so that vibration adsorption is realized, and the specific movement principle is existing and is not described in detail herein; the adsorption units 3 are in sliding fit with the base 2, and the tail ends of the adsorption units extend out of the base 2; in addition, the cover body 1 and the base 2 are connected for protecting the vibration absorbing assembly.
In this embodiment, the cover 1 is connected to the base 2, and a sealing ring 7 for sealing is disposed at the connection position; the cover body 1 and the base 2 are matched to form a sealing ring mounting groove, the sealing ring 4 can be an O-shaped sealing ring and is arranged in the sealing ring mounting groove and used for sealing when the cover body 1 and the base 2 are connected; all screws used for connection are provided with sealing rings; the screw sealing ring can be an O-shaped sealing ring, and the sealing ring is tightly pressed by screwing the screw, so that the sealing ring is kept sealed, and the waterproof effect is achieved.
In this embodiment, the track guide wheel 4 includes a roller bearing 4-1 and a roller guide post 4-2, the adsorption unit 3 includes a sucker assembly 8, a spherical hinge 9, and a vibration rod 10 connected to the spherical hinge 9 and the roller guide post 4-2, respectively, the spherical hinge 9 includes a spherical head seat 9-1 connected to the sucker assembly 8, and a spherical head 9-2 connected to the vibration rod, and the sucker assembly 8 includes a sucker body 8-1, a sucker connecting plate 8-2, and a conversion head 8-3 detachably connected to the sucker body and used for connecting the sucker connecting plate; when vibration adsorption is carried out, negative pressure is generated in the sucker for adsorption; in a certain angle range, the ball seat 9-1 can rotate around the ball head 9-2, and the ball hinge 9 is reset and restrained by the spring 9-3 and the tension spring 9-4, so that the device has a curved surface adaptation function in a certain angle range.
In this embodiment, the driving assembly includes a cylindrical cam 11 driven by the power device 5 to rotate, an upper angular contact ball bearing 12-1 and a lower angular contact ball bearing 12-2, where the upper angular contact ball bearing 12-1 and the lower angular contact ball bearing 12-2 have the same structure and are used in pairs, so as to limit axial and radial play of the cylindrical cam; the upper end of the cylindrical cam 11 is matched with the inner ring of the upper angular contact ball bearing 12-1, and the lower end of the cylindrical cam is matched with the inner ring of the lower angular contact ball bearing 12-2; when the power device 5 works, the roller bearing 4-1 vibrates up and down along with the rotation of the cylindrical cam 11 in the groove on the surface of the cylindrical cam 11, so that the internal volume of the sucker changes, and pressure changes are generated, so that vibration absorption is realized.
In this embodiment, the power device 5 is a dc gear motor, the upper plate 6 is provided with a motor fixing column 6-1 for fixing the dc gear motor, and the D-shaped driving shaft 5-1 of the dc gear motor is fixedly matched with the D-shaped hole of the cylindrical cam 10, so that the use of a key slot or a set screw is reduced, and the matching is simpler and more convenient; when the direct current gear motor works, the D-type driving shaft 5-1 drives the cylindrical cam 10 to rotate.
In the embodiment, the upper plate 6 is provided with a linear bearing 6-2 for guiding the vibrating rod 10 and a bearing limit cover 6-3 for limiting the upper angular contact ball bearing; the linear bearing 6-2 serves as a guide for the oscillating bar 10.
In this embodiment, a plate fixing column 2-1 connected with an upper plate 6 and a vibration rod limiting seat 2-2 for limiting rotation of a vibration rod 10 are arranged on the base 2, a through hole for vibrating the vibration rod 10 up and down and a sealing ring pressing cover 2-4 for fixing a vibration rod sealing ring 2-3 are arranged on the base 2, the vibration rod sealing ring 2-3 can be a Y-shaped sealing ring, and the vibration rod sealing ring 2-3 is used for realizing dynamic sealing of the vibration rod and playing a waterproof role.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (7)
1. The underwater vibration absorbing device based on the cylindrical cam driving is characterized by comprising a cover body, a base and a vibration absorbing assembly; the vibration absorbing assembly comprises an absorbing assembly and a vibration driving mechanism, the absorbing assembly comprises at least one absorbing unit and at least one track guide wheel, the vibration driving mechanism comprises a power device, an upper plate fixedly connected with a base and used for installing the power device, and a driving assembly for driving the track guide wheel to move up and down so that the absorbing unit can produce vibration absorption, the upper plate and the base are arranged from top to bottom, and the absorbing unit sequentially penetrates through the upper plate and the base from top to bottom in a relatively sliding mode.
2. The underwater vibration absorbing device based on the cylindrical cam driving according to claim 1, wherein the cover body is connected with the base, and a sealing ring for sealing is arranged at the connection part; all screws used for connection are provided with sealing rings.
3. The underwater vibration absorbing device based on the cylindrical cam driving according to claim 1, wherein the track guide wheel comprises a roller bearing and a roller guide post, the absorbing unit comprises a sucker assembly, a spherical hinge and a vibration rod connected with the spherical hinge and the roller guide post respectively, the spherical hinge comprises a ball seat connected with the sucker assembly and a ball head connected with the vibration rod, and the sucker assembly comprises a sucker body, a sucker connecting plate and a conversion head detachably connected with the sucker body and used for connecting the sucker connecting plate.
4. The underwater vibration absorbing device based on the cylindrical cam driving according to claim 1, wherein the driving assembly comprises a cylindrical cam driven to rotate by a power device, an upper angular contact ball bearing and a lower angular contact ball bearing, and the upper angular contact ball bearing and the lower angular contact ball bearing are identical in structure and used in pairs for limiting axial and radial movement of the cylindrical cam.
5. The underwater vibration absorbing device based on the cylindrical cam driving according to claim 1, wherein the power device is a direct-current gear motor, the upper plate is provided with a motor fixing column for fixing the direct-current gear motor, and a D-shaped driving shaft of the direct-current gear motor is fixedly matched with a D-shaped hole of the cylindrical cam.
6. The cylindrical cam-driven underwater vibration-absorbing device as set forth in claim 1, wherein the upper plate is provided with a linear bearing guiding the vibration rod and a bearing limit cover for limiting the upper angular contact ball bearing.
7. The underwater vibration absorbing device based on the cylindrical cam driving is characterized in that a plate fixing column connected with an upper plate and a vibration rod limiting seat used for limiting the rotation of a vibration rod are arranged on the base, a through hole used for vibrating the vibration rod up and down and a sealing ring gland used for fixing a sealing ring of the vibration rod are arranged on the base, and the sealing ring of the vibration rod is used for achieving dynamic sealing of the vibration rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410103540.6A CN118123877A (en) | 2024-01-25 | 2024-01-25 | Underwater vibration adsorption device based on cylindrical cam driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410103540.6A CN118123877A (en) | 2024-01-25 | 2024-01-25 | Underwater vibration adsorption device based on cylindrical cam driving |
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| Publication Number | Publication Date |
|---|---|
| CN118123877A true CN118123877A (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410103540.6A Pending CN118123877A (en) | 2024-01-25 | 2024-01-25 | Underwater vibration adsorption device based on cylindrical cam driving |
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| Country | Link |
|---|---|
| CN (1) | CN118123877A (en) |
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- 2024-01-25 CN CN202410103540.6A patent/CN118123877A/en active Pending
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