CN206140503U - Many flexibility of joint are arm under water - Google Patents
Many flexibility of joint are arm under water Download PDFInfo
- Publication number
- CN206140503U CN206140503U CN201621192539.2U CN201621192539U CN206140503U CN 206140503 U CN206140503 U CN 206140503U CN 201621192539 U CN201621192539 U CN 201621192539U CN 206140503 U CN206140503 U CN 206140503U
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- Prior art keywords
- joint
- hole
- meniscuss
- arm
- cylinder
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Abstract
The utility model relates to a many flexibility of joint underwater operation machinery arm, the structure of this arm mainly comprise terminal hand claw of several iterative arm joint units, the base that is used for installing the arm, the arm body and terminal sensor etc.. The motor drive flexible rope who installs at the base, through the length that changes flexible rope realize to the arm body deflect, luffing's control, after the arm body reachd the assigned position, incompatible realization snatching the object was opened to the hand claw. Terminal sensor mainly is used for detecting the arm position, realizes closed -loop control's requirement. This kind of arm mainly is used as the terminal tool of deep sea ROV, compares in the structure of 6 degrees of freedom + hand claw of typical case, has the advantage that the structure is light and handy, the quality is little and the redundant degree of freedom is big.
Description
Technical field
This utility model is related to a kind of submarine mechanical arm under water, specifically a kind of Arm Flexible submarine mechanical arm.
Background technology
At present, ROV (Remotely Operated Vechicle) is one of main tool of current ocean exploratory development.
Power tool above ROV is even more the important composition of whole system, and as the power tool above ROV, the main bag of its composition
Include mechanical arm and the end above mechanical arm performs instrument.
Due to the special working environments of deep-sea ROV, traditional rigid industrial mechanical arm is due to its dimensional structure and freedom
The restriction of degree, tends not to fully meet the job requirement of ROV under many operating modes.
Arm Flexible submarine mechanical arm advantage is that its flexible, quality is little, redundant degree of freedom is more, motility and is kept away
Barrier property is much better than traditional industrial machinery arm, therefore more has obvious advantage in deep-sea detecting research.Mechanical arm is mounted in
On ROV reach the assigned work region, cooperative mechanical arm end install sensor, mechanical arm just can contexture by self path complete refer to
Determine action.
The content of the invention
This utility model is primarily directed to the deficiencies in the prior art, there is provided a kind of light weight, small volume, degree of freedom are more, spirit
The good Arm Flexible submarine mechanical arm of activity.
The particular content of technical solutions of the utility model is as follows：
This utility model includes several joints being formed by connecting by universal joint, and end joint and base link together, institute
The joint stated includes meniscuss and joint cylinder.
The upper surface of described meniscuss is plane, and lower surface is milled with round platform, and the round platform is used for meniscuss and joint cylinder
Positioning is installed, joint side surface is uniformly provided with 3n through hole along axis, and through hole is used to install flexible strand, 1≤n≤12.Joint
Through-hole structure is processed as in the middle of disk.Meniscuss side wall is uniformly provided with screwed hole, for the screw installed and joint cylinder connects.Joint
Disk upper surface is symmetrily processed with two otic placodes along neutral surface, and otic placode is used for mounting sleeve, axle sleeve and is axially mounted to inside axle sleeve
Screw can be with relative motion.
Described joint cylinder overall structure is thin cylinder, and end face is uniformly distributed 3n through hole, corresponding joint disk along axis
On hole, for installing flexible strand.Joint cylinder is all provided with equally distributed screwed hole in two ends surface side wall, for installation and joint
The screw of disk connection.
Through hole is provided with the middle of described universal joint.Four side correspondences of universal joint are provided with screwed hole, screwed hole and meniscuss
Axle sleeve inside otic placode is connected by screw together, and screw and universal joint are threaded togather, without relative motion.
The front shroud of described base is processed into boss structure, and through hole, through-hole diameter and joint cylinder are processed in the middle of boss
External diameter is identical, and joint cylinder can just coordinate with the through hole, while the steel wire rope that motor side is drawn can go out to cause respectively from through hole
Joint.Front shroud side is provided with screwed hole, for installing the screw of front shroud and the connection of joint cylinder.
Furtherly, described joint and universal joint adopt buoyant material.
The beneficial effects of the utility model：
1. parts material adopts the buoyant material for being especially suitable for underwater performance, for this special operation condition of underwater performance,
The loss of weight feature of buoyant material is embodied well.
2. underwater operation narrow space so that the highly redundant degree of freedom of the utility model is fully played, motility
By force, the characteristics of avoidance is good causes this structure to have bigger advantage.
3. between adjacent segment can corner it is big, the work space of single joint is big.
4. joint side surface is provided with 36 through holes, and each joint is realized rotating by 3 flexible strands, and joint can up pass
Increase, can at most reach 12 joints.
Description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the structural representation of meniscuss connection；
Fig. 3 a and Fig. 3 b are the structural representations of meniscuss；
Fig. 4 is the structural representation of joint cylinder；
Fig. 5 is the structural representation of universal joint；
Fig. 6 is the structural representation of base front shroud；
In figure：1- meniscuss, 2- joints cylinder, 3- front shrouds, 4- base cylinders, 5- back shrouds, 6- axle sleeves, 7- universal joints, 8-
Screw, 9- meniscuss lateral apertures, 10- meniscuss otic placodes, 11- meniscuss lug plate holes, 12- meniscuss hollow holes, 13- meniscuss lead to
String holes, 14- joints cylinder lateral aperture, 15- joints cylinder threading hole, 16- joints cylinder hollow hole, 17- universal joint screwed holes, 18- is universal
Section hollow hole, 19- protecgulum plate holes, 20- front shroud lateral apertures, 21- front shroud hollow holes, 22- threading hole steps, 23- flexible strands.
Specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Body in this utility model mainly has several identical joints to be formed by connecting, end joint and base through screws
Link together, the upper surface of meniscuss 1 is plane, and bottom surface section physical removal forms concave structure, and this kind of structure is favourable
Positioning is installed in joint cylinder 2 and meniscuss 1, the end face of meniscuss 1 is uniformly provided with the individual meniscuss of 3n (1≤n≤12) and leads to along axis
String holes 13, meniscuss threading hole 13 is used to install flexible strand 23.Meniscuss hollow hole 12 is machined with the middle of meniscuss 1, its is main
For mitigating the quality of mechanical arm.The side wall of meniscuss 1 is uniformly provided with 4 meniscuss lateral apertures 9, connects with joint cylinder 2 for installing
The screw for connecing.The upper surface of meniscuss 1 is symmetrily processed with two meniscuss otic placodes 10 along neutral surface, and meniscuss otic placode 10 is used for installing
Axle sleeve 6, axle sleeve 6 and the screw 8 being axially mounted to inside axle sleeve 6 can be with relative motioies.
The overall structure of joint cylinder 2 is thin cylinder, and middle joint cylinder hollow hole 16 is mainly used for mitigating mechanical arm matter
Amount.End face is uniformly distributed 3n joint cylinder threading hole 15 along axis, and the meniscuss threading hole 13 on corresponding joint disk 1 is also to use
In installation flexible strand 23.Equally, joint cylinder 2 is all provided with 4 equally distributed joint cylinder lateral apertures 14 in two ends surface side wall, is used for
Attachment screw is installed.
Universal joint hollow hole 18 is provided with the middle of universal joint 7, is mainly used for mitigating the quality of mechanical arm.7 four, universal joint
Side correspondence is provided with the axle sleeve 6 of universal joint screwed hole 17, universal joint screwed hole 17 and the inside of meniscuss otic placode 10 and is connected by screw 8
It is connected together, screw 8 and universal joint 7 are fixed together, between the two without relative motion.
Front shroud 3 is processed into boss structure, and front shroud hollow hole 21, the diameter of front shroud hollow hole 21 are processed in the middle of boss
Identical with the external diameter of joint cylinder 2, joint cylinder 2 can just cooperate together with front shroud hollow hole 21, while motor side is drawn
The flexible strand 23 for going out can go out to cause each joint from front shroud hollow hole 21.The side of front shroud 3 is provided with 6 front shroud lateral apertures
20, for installing the screw of front shroud 3 and the connection of joint cylinder 2.Front shroud 3 is provided with protecgulum plate hole 19, and it is used for installing before connection
The screw of cover plate 3 and base cylinder 4.
This utility model be Arm Flexible submarine mechanical arm, several meniscuss 1, joint cylinder 2 mechanical arm in series
Arm body, mechanical arm base is made up of front shroud 3, back shroud 5 and base cylinder 4, due to the parts such as motor this body structures very
It is compact, therefore this split-type understructure installs relatively convenient to parts such as motors.Front shroud 3 and base cylinder 4, back shroud
It is connected by Outer screw between 5 and base cylinder 4.
The course of work：Installed in the Motor drive flexible strand of base, realized to machinery by changing the length of flexible strand
The deflection of arm arm body, the control of elevating movement, arm body is reached after specified location, and paw opening and closing are realizing the crawl to object.End
End sensor is mainly used to detection mechanical arm position, realizes the requirement of closed loop control.
Embodiment：
As shown in figure 1, in mechanical arm installation process, the installation of flexible strand 23 is more complicated, flexible strand 23 is in installation process
In must be tensioned, just can guarantee that will not because of the gap in the installation process of flexible strand 23 cause control precise decreasing.Such as Fig. 3 a
With shown in Fig. 3 b, meniscuss threading hole 13 processes structure shown in threading hole step 22.Advantage is to be not only able to avoid joint cylinder 2
The interference that the end head of flexible strand 23 is caused when installing with meniscuss 1, while threading hole step 22 also can guarantee that flexible strand 23 is last
The fixation of termination, the control error caused so as to avoid flexible strand 23 from not being tensioned.
As shown in Fig. 3 a and Fig. 3 b, 4, side is all provided with meniscuss lateral aperture between two meniscuss 1 of joint cylinder 2 and end face
9th, joint cylinder lateral aperture 14, is screwed into screw and realizes connection during installation by meniscuss lateral aperture 9, joint cylinder lateral aperture 14.
As shown in Figure 3 a and Figure 3 b shows, each upper surface of meniscuss 1 is machined with two symmetrical joints to the structure of meniscuss 1
Disk otic placode 10, can all be provided with meniscuss lug plate holes 11 on meniscuss otic placode 10.Connection between joint is as shown in Fig. 2 axle sleeve 6 and pass
The interference connection of section disk lug plate holes 11, meniscuss lug plate holes 11 are machined with step near the inner surface of meniscuss otic placode 10, for axle sleeve 6
Axially position.After universal joint 7 is put in the middle of meniscuss otic placode 10, the both sides of axle sleeve 6 are screwed into attachment screw 8, screw 8 and universal joint 7
It is connected by screw thread, there is gap and axle sleeve 6 between, beneficial to abrasion between axle sleeve 6 and the polished rod of screw 8 when mitigating.So just may be used
To realize the rotation of two degree of freedom between joint.The existing form that is articulated and connected is compared, the universal joint 7 that this utility model is adopted adds
More simple and flexible in the attachment structure of screw 8, is not in the situation of hinging rotary failure.
The mechanical arm arm body phase is compared with traditional mechanical arm, and major advantage is that parts material adopts buoyant material, right
In deep-sea ROV ends power tool, advantage is fairly obvious, mechanical strength, wearability in material, resistance to impact, hydrolytic resistance
Meet in the case of requiring, the buoyant characteristics of buoyant material reduce well the power attenuation that structural body quality is brought, control
System is more flexible.
The mechanical arm arm body phase compared with existing typical 6DOF+paw deep-sea ROV ends power tool, it is very big
Feature is have very big redundant degree of freedom, and for deep ocean work, the motility of mechanical arm obtains apparent lifting.
Corner α between two neighboring joint is 22.5 °, when composite joint reaches 10, the hard-over α of mechanical armmax
Can be to 225 °.
Each joint of arm body is evenly distributed on meniscuss periphery by three flexible strands in 120 °, wherein a flexible strand
Shrink under motor effect, in addition two flexible strands freely extend in the case where this is with flexible strand effect, so as to realize one side of arm body
To rotation.
Connected by universal joint between arm body joint and joint, one is connected in by screw between universal joint and meniscuss
Rise.
The joint cylinder in each joint is placed on inside two meniscuss boss, then by meniscuss and joint tube wall surface pair
The fixation that attachment screw realizes joint cylinder and meniscuss is screwed in the hole answered.
The screw on the main joint side by base and close base of connection between base and mechanical arm arm body
It is directly connected to.
Claims (1)
1. a kind of Arm Flexible submarine mechanical arm, including several joints being formed by connecting by universal joint, end joint and base
Link together, it is characterised in that：
Described joint includes meniscuss and joint cylinder；
The upper surface of described meniscuss is plane, and lower surface is milled with round platform, and the round platform is used for the installation of meniscuss and joint cylinder
Positioning, joint side surface is uniformly provided with 3n through hole along axis, and through hole is used to install flexible strand, 1≤n≤12；In meniscuss
Between be processed as through-hole structure；Meniscuss side wall is uniformly provided with screwed hole, for the screw installed and joint cylinder connects；On meniscuss
Surface is symmetrily processed with two otic placodes along neutral surface, and otic placode is used for mounting sleeve, axle sleeve and the spiral shell being axially mounted to inside axle sleeve
Nail can be with relative motion；
Described joint cylinder overall structure is thin cylinder, and end face is uniformly distributed 3n through hole along axis, on corresponding joint disk
Hole, for installing flexible strand；Joint cylinder is all provided with equally distributed screwed hole in two ends surface side wall, connects with meniscuss for installing
The screw for connecing；
Through hole is provided with the middle of described universal joint；Four side correspondences of universal joint are provided with screwed hole, screwed hole and meniscuss otic placode
The axle sleeve of the inside is connected by screw together, and screw and universal joint are threaded togather, without relative motion；
The front shroud of described base is processed into boss structure, and through hole, through-hole diameter and joint cylinder external diameter are processed in the middle of boss
Identical, joint cylinder can just coordinate with the through hole, while the steel wire rope that motor side is drawn can go out to cause each joint from through hole；
Front shroud side is provided with screwed hole, for installing the screw of front shroud and the connection of joint cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621192539.2U CN206140503U (en) | 2016-11-06 | 2016-11-06 | Many flexibility of joint are arm under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621192539.2U CN206140503U (en) | 2016-11-06 | 2016-11-06 | Many flexibility of joint are arm under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206140503U true CN206140503U (en) | 2017-05-03 |
Family
ID=58624343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621192539.2U Expired - Fee Related CN206140503U (en) | 2016-11-06 | 2016-11-06 | Many flexibility of joint are arm under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206140503U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393172A (en) * | 2016-11-06 | 2017-02-15 | 浙江大学 | Multi-joint flexible underwater mechanical arm |
| CN108818521A (en) * | 2018-06-11 | 2018-11-16 | 南京航空航天大学 | A kind of flexible robot system towards the detection of underwater narrow space |
| CN108908317A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of flexible joint and flexible mechanical arm of rope driving |
| CN110185973A (en) * | 2019-06-19 | 2019-08-30 | 温州商学院 | It is a kind of to determine corner LED shot-light |
| CN111923082A (en) * | 2020-08-06 | 2020-11-13 | 上海海事大学 | Flexible grabbing device of pseudo-elephant nose structure |
| CN112536789A (en) * | 2020-12-02 | 2021-03-23 | 山东大学 | Rigid-flexible combined type outer limb mechanical arm and auxiliary operation device thereof |
| CN113183175A (en) * | 2021-04-16 | 2021-07-30 | 浙江工业大学 | Variable-rigidity bending joint based on air pressure antagonistic structure |
| CN114102583A (en) * | 2021-11-15 | 2022-03-01 | 核动力运行研究所 | Remote underwater robot system and control method |
-
2016
- 2016-11-06 CN CN201621192539.2U patent/CN206140503U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393172A (en) * | 2016-11-06 | 2017-02-15 | 浙江大学 | Multi-joint flexible underwater mechanical arm |
| CN108818521A (en) * | 2018-06-11 | 2018-11-16 | 南京航空航天大学 | A kind of flexible robot system towards the detection of underwater narrow space |
| CN108818521B (en) * | 2018-06-11 | 2022-02-01 | 南京航空航天大学 | Flexible robot system for underwater narrow space detection |
| CN108908317A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of flexible joint and flexible mechanical arm of rope driving |
| CN110185973A (en) * | 2019-06-19 | 2019-08-30 | 温州商学院 | It is a kind of to determine corner LED shot-light |
| CN110185973B (en) * | 2019-06-19 | 2021-03-26 | 温州商学院 | Fixed-angle LED spotlight |
| CN111923082A (en) * | 2020-08-06 | 2020-11-13 | 上海海事大学 | Flexible grabbing device of pseudo-elephant nose structure |
| CN112536789A (en) * | 2020-12-02 | 2021-03-23 | 山东大学 | Rigid-flexible combined type outer limb mechanical arm and auxiliary operation device thereof |
| CN113183175A (en) * | 2021-04-16 | 2021-07-30 | 浙江工业大学 | Variable-rigidity bending joint based on air pressure antagonistic structure |
| CN114102583A (en) * | 2021-11-15 | 2022-03-01 | 核动力运行研究所 | Remote underwater robot system and control method |
| CN114102583B (en) * | 2021-11-15 | 2024-01-12 | 核动力运行研究所 | Remote underwater robot system and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170503 Termination date: 20201106 |