CN105715608A - Underwater hydraulic linear cylinder mechanism with position feedback function - Google Patents
Underwater hydraulic linear cylinder mechanism with position feedback function Download PDFInfo
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Abstract
本发明属于机器人工程领域，具体地说是一种带位置反馈的水下液压直线缸机构，缸体的两端分别与密封盖及端盖密封连接，密封堵安装在缸体内靠近密封盖的一端；传感器内置于缸体内；活塞可相对移动地与端盖密封连接，一端位于缸体内，并安装有滑环，活塞的另一端由端盖穿出；传感器检测器密封安装在密封堵上，一端位于密封堵与密封盖之间，另一端经滑环插入活塞内；在缸体内，密封盖与传感器检测器一端之间的密闭空间为补偿油腔，密封堵与活塞一端之间的密闭空间为无杆腔，活塞一端与端盖之间的密闭空间为有杆腔，缸体上分别设有与补偿油腔、无杆腔及有杆腔相连通的管接头。本发明具有结构紧凑、功能齐全、故障率低、可全海深作业等优点。
The invention belongs to the field of robot engineering, and specifically relates to an underwater hydraulic linear cylinder mechanism with position feedback. One end; the sensor is built in the cylinder; the piston is relatively movable and sealed with the end cover, one end is located in the cylinder, and a slip ring is installed, and the other end of the piston passes through the end cover; the sensor detector is sealed and installed in the sealing plug One end is located between the sealing plug and the sealing cover, and the other end is inserted into the piston through the slip ring; in the cylinder body, the closed space between the sealing cover and the end of the sensor detector is the compensation oil chamber, and the sealing space between the sealing plug and the end of the piston is The closed space in the piston is the rodless chamber, the closed space between one end of the piston and the end cover is the rod chamber, and the cylinder block is respectively provided with pipe joints communicating with the compensation oil chamber, the rodless chamber and the rod chamber. The invention has the advantages of compact structure, complete functions, low failure rate, full-sea deep operation and the like.
Description
技术领域technical field
本发明属于机器人工程领域，具体地说是一种带位置反馈的水下液压直线缸机构。The invention belongs to the field of robot engineering, in particular to an underwater hydraulic linear cylinder mechanism with position feedback.
背景技术Background technique
液压驱动具有负载能力强，负载/自重比高，通过压力补偿器可实现全海深作业等优点，故液压驱动的水下装备具有广阔的应用前景。而在液压驱动装置中，带有位置反馈的直线缸被广泛应用。Hydraulic drive has the advantages of strong load capacity, high load/weight ratio, and full-sea deep operation can be realized through pressure compensator, so hydraulically driven underwater equipment has broad application prospects. In hydraulic drive devices, linear cylinders with position feedback are widely used.
由于作业环境的特殊性，与陆地上的应用有很大区别，对水下液压机械手要求具有耐高压、耐腐蚀、结构紧凑、密封可靠等要求。研制出性能稳定，结构紧凑的带位置反馈的水下液压直线缸具有重大意义。Due to the particularity of the working environment, it is very different from the application on land. The underwater hydraulic manipulator is required to have high pressure resistance, corrosion resistance, compact structure, and reliable sealing. It is of great significance to develop an underwater hydraulic linear cylinder with stable performance and compact structure with position feedback.
发明内容Contents of the invention
本发明的目的在于提供一种带位置反馈的水下液压直线缸机构。The purpose of the present invention is to provide an underwater hydraulic linear cylinder mechanism with position feedback.
本发明的目的是通过以下技术方案来实现的：The purpose of the present invention is achieved through the following technical solutions:
本发明包括密封盖、管接头、传感器、密封堵、缸体、活塞及端盖，其中缸体的两端分别与密封盖及端盖密封连接，所述密封堵安装在缸体内靠近密封盖的一端；所述传感器内置于缸体内，包括传感器检测器及滑环；所述活塞可相对移动地与端盖密封连接，一端位于所述缸体内，并安装有所述滑环，所述活塞的另一端由所述端盖穿出、位于所述缸体的外部；所述传感器检测器密封安装在密封堵上，一端位于所述密封堵与密封盖之间，另一端经所述滑环插入所述活塞内；在所述缸体内，所述密封盖与传感器检测器一端之间的密闭空间为补偿油腔，所述密封堵与活塞一端之间的密闭空间为无杆腔，所述活塞一端与端盖之间的密闭空间为有杆腔，所述缸体上分别设有与补偿油腔、无杆腔及有杆腔相连通的管接头。The invention includes a sealing cover, a pipe joint, a sensor, a sealing plug, a cylinder body, a piston and an end cover, wherein the two ends of the cylinder body are respectively connected to the sealing cover and the end cover, and the sealing plug is installed in the cylinder body close to the sealing cover One end of the cylinder; the sensor is built in the cylinder, including a sensor detector and a slip ring; the piston is relatively movable and sealed with the end cover, and one end is located in the cylinder, and the slip ring is installed, so The other end of the piston passes through the end cover and is located outside the cylinder body; the sensor detector is sealed and installed on the sealing plug, one end is located between the sealing plug and the sealing cover, and the other end passes through the sealing plug. The slip ring is inserted into the piston; in the cylinder, the closed space between the sealing cover and one end of the sensor detector is a compensation oil chamber, and the closed space between the sealing plug and one end of the piston is a rodless chamber , the airtight space between one end of the piston and the end cover is a rod chamber, and the cylinder body is respectively provided with pipe joints communicating with the compensation oil chamber, the rodless chamber and the rod chamber.
其中：所述管接头包括传感器管接头、无杆腔管接头及有杆腔管接头，该传感器管接头与所述补偿油腔直连，所述无杆腔管接头及有杆腔管接头分别通过缸体上开设的工艺孔与无杆腔、有杆腔相连通；所述传感器检测器上的数据线通过该传感器管接头穿出，且所述补偿油腔中的补偿油通过该传感器管接头引入；所述补偿油腔和外界之间及补偿油腔和无杆腔之间分别采用静密封圈分割，所述无杆腔和有杆腔之间及有杆腔和外界之间均采用动密封圈分割；所述活塞的另一端端部安装有便于所述直线缸动力传递的轴头；所述缸体上安装有便于补偿油腔放气的放气孔螺栓；所述缸体上安装有防止所述直线缸在海水中腐蚀的牺牲阳极；所述密封盖密封固接在缸体的一端，隔断外界与补偿油腔；所述密封堵、传感器检测器、滑环、活塞及端盖的轴向中心线共线。Wherein: the pipe joint includes a sensor pipe joint, a rodless chamber pipe joint and a rod chamber pipe joint, the sensor pipe joint is directly connected to the compensation oil chamber, and the rodless chamber pipe joint and the rod chamber pipe joint are respectively Through the process hole opened on the cylinder block, it communicates with the rodless chamber and the rod chamber; the data line on the sensor detector passes through the sensor pipe joint, and the compensation oil in the compensation oil chamber passes through the sensor pipe The joint is introduced; between the compensation oil chamber and the outside world and between the compensation oil chamber and the rodless chamber are divided by static seal rings, and between the rodless chamber and the rod chamber and between the rod chamber and the outside world The dynamic sealing ring is divided; the other end of the piston is installed with a shaft head for the power transmission of the linear cylinder; There is a sacrificial anode to prevent the linear cylinder from corroding in seawater; the sealing cover is sealed and fixed at one end of the cylinder body to isolate the outside world from the compensation oil chamber; the sealing plug, sensor detector, slip ring, piston and end cover Axial centerlines are collinear.
本发明的优点与积极效果为：Advantage of the present invention and positive effect are:
1.性能稳定：本发明采用内置传感器，避免了传感器收外界环境的影响，具有更高的可靠性。1. Stable performance: The present invention adopts built-in sensors, which avoids the influence of the external environment on the sensors and has higher reliability.
2.结构紧凑：本发明中传感器置于直线缸内部，结构更加紧凑。2. Compact structure: In the present invention, the sensor is placed inside the linear cylinder, and the structure is more compact.
3.本发明功能齐全，故障率低，可全海深进行作业。3. The present invention has complete functions, low failure rate, and can operate at full sea depths.
附图说明Description of drawings
图1为本发明的立体结构示意图；Fig. 1 is the three-dimensional structure schematic diagram of the present invention;
图2为本发明的内部剖视图；Figure 2 is an internal sectional view of the present invention;
图3为图2为左视图；Fig. 3 is that Fig. 2 is a left side view;
其中：1为封盖，201为传感器管接头，202为无杆腔管接头，203为有杆腔管接头，301为传感器检测器，302为滑环，4为密封堵，5为缸体，6为活塞，7为端盖，8为轴头，9为放气孔螺栓，10为牺牲阳极，11为静密封圈，12为动密封圈。Among them: 1 is the cover, 201 is the sensor pipe joint, 202 is the rodless cavity tube joint, 203 is the rod cavity tube joint, 301 is the sensor detector, 302 is the slip ring, 4 is the sealing plug, 5 is the cylinder, 6 is a piston, 7 is an end cover, 8 is a shaft head, 9 is an air vent bolt, 10 is a sacrificial anode, 11 is a static sealing ring, and 12 is a dynamic sealing ring.
具体实施方式detailed description
下面结合附图对本发明作进一步详述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图1～3所示，本发明包括密封盖1、管接头、传感器、密封堵4、缸体5、活塞6、端盖7、轴头8、放气孔螺栓9及牺牲阳极10，其中管接头包括传感器管接头201、无杆腔管接头202及有杆腔管接头203，传感器包括传感器检测器301及滑环302。缸体5、活塞6及端盖7构成直线缸的执行机构，通过检测传感器的输出电压测量直线缸的位移，各个部件之间安装有密封圈，隔断各个空腔。具体结构为：As shown in Figures 1 to 3, the present invention includes a sealing cover 1, a pipe joint, a sensor, a sealing plug 4, a cylinder body 5, a piston 6, an end cover 7, a shaft head 8, a vent hole bolt 9 and a sacrificial anode 10, wherein the tube The joint includes a sensor tube joint 201 , a rodless lumen tube joint 202 and a rod lumen tube joint 203 , and the sensor includes a sensor detector 301 and a slip ring 302 . The cylinder body 5, the piston 6 and the end cover 7 constitute the actuator of the linear cylinder. The displacement of the linear cylinder is measured by the output voltage of the detection sensor. Sealing rings are installed between each component to isolate each cavity. The specific structure is:
密封盖1固接在缸体5的一端，通过密封圈密封。端盖7与缸体5的另一端螺纹连接，并通过密封圈实现密封。密封堵4通过螺栓固连于缸体5内靠近密封盖1的一端。传感器为内置传感器，内置于缸体5内。活塞6可相对移动地与端盖7密封连接，一端位于缸体5内，并安装有滑环302，活塞6的另一端由端盖7穿出、位于缸体5的外部，并在另一端的端部安装有轴头8，便于直线缸动力传递。传感器检测器301密封安装在密封堵4上，一端位于密封堵4与密封盖1之间，另一端经滑环302插入活塞6内。直线缸动作时，通过传感器检测器301的输出电压测量直线缸的位移。The sealing cover 1 is affixed to one end of the cylinder body 5 and sealed by a sealing ring. The end cover 7 is threadedly connected with the other end of the cylinder body 5, and is sealed by a sealing ring. The sealing plug 4 is fixedly connected to an end close to the sealing cover 1 in the cylinder body 5 by bolts. The sensor is a built-in sensor, which is built in the cylinder body 5 . Piston 6 is relatively movable and sealingly connected with end cover 7, one end is located in cylinder body 5, and slip ring 302 is installed, the other end of piston 6 passes through end cover 7, is positioned at the outside of cylinder body 5, and at the other end The end of the shaft head 8 is installed to facilitate the power transmission of the linear cylinder. The sensor detector 301 is sealed and installed on the sealing plug 4 , one end is located between the sealing plug 4 and the sealing cover 1 , and the other end is inserted into the piston 6 through the slip ring 302 . When the linear cylinder operates, the displacement of the linear cylinder is measured by the output voltage of the sensor detector 301 .
缸体5的内部分成三个空腔，分别是补偿油腔A、无杆腔B和有杆腔C。密封盖1与传感器检测器301一端之间的密闭空间为补偿油腔A，密封堵4与活塞6一端之间的密闭空间为无杆腔B，活塞6一端与端盖7之间的密闭空间为有杆腔C。补偿油腔A和外界之间及补偿油腔A和无杆腔B之间分别采用静密封圈11分割，无杆腔B和有杆腔C之间及有杆腔C和外界之间均采用动密封圈12分割。The inside of the cylinder body 5 is divided into three cavities, which are compensation oil chamber A, rodless chamber B and rod chamber C. The closed space between the sealing cover 1 and one end of the sensor detector 301 is the compensation oil chamber A, the closed space between the sealing plug 4 and one end of the piston 6 is the rodless chamber B, and the closed space between the one end of the piston 6 and the end cover 7 For the rod chamber C. Between the compensation oil chamber A and the outside world and between the compensation oil chamber A and the rodless chamber B are divided by static sealing rings 11, respectively, between the rodless chamber B and the rod chamber C and between the rod chamber C and the outside world. The dynamic sealing ring is divided into 12 parts.
在缸体5上分别设有传感器管接头201、无杆腔管接头202及有杆腔管接头203，传感器管接头201与述补偿油腔A直连，传感器检测器301的数据线通过传感器管接头201连接至缸体5的外部，并可通过传感器管接头201引入补偿油，实现压力补偿，确保在水下高压环境中能正常工作。无杆腔管接头202及有杆腔管接头203分别通过缸体5上开设的工艺孔与无杆腔B、有杆腔C相连通。A sensor pipe joint 201, a rodless chamber pipe joint 202 and a rod chamber pipe joint 203 are respectively arranged on the cylinder body 5. The sensor pipe joint 201 is directly connected to the compensation oil chamber A, and the data line of the sensor detector 301 passes through the sensor pipe The joint 201 is connected to the outside of the cylinder body 5, and compensation oil can be introduced through the sensor pipe joint 201 to realize pressure compensation and ensure normal operation in an underwater high-pressure environment. The rodless cavity joint 202 and the rod cavity tube joint 203 communicate with the rodless cavity B and the rod cavity C respectively through the process holes opened on the cylinder body 5 .
密封盖1密封固接在缸体5的一端，隔断外界与补偿油腔A。缸体5上安装有放气孔螺栓9，便于补偿油腔A放气。缸体5还上安装有牺牲阳极10，防止所述直线缸在海水中腐蚀。The sealing cover 1 is sealed and fixedly connected to one end of the cylinder body 5 to isolate the outside world from the compensating oil chamber A. An air vent bolt 9 is installed on the cylinder body 5, which is convenient for compensating the oil chamber A for venting. A sacrificial anode 10 is also installed on the cylinder body 5 to prevent the linear cylinder from corroding in seawater.
本发明的密封堵4、传感器检测器301、滑环302、活塞6及端盖7的轴向中心线共线。The axial center lines of the sealing plug 4 , the sensor detector 301 , the slip ring 302 , the piston 6 and the end cover 7 of the present invention are collinear.
本发明的工作原理为：Working principle of the present invention is:
缸体5上的无杆腔接202及有杆腔管接头203分别与液压控制阀的进出油口相连，通过液压控制阀控制缸体5内活塞6的伸缩动作。内置的传感器与控制器数据采集板(本发明的控制器数据采集板为现有技术)相连，通过传感器反馈信息测量直线缸的运动状态，可实现直线缸的闭环控制；同时直线缸具有压力补偿功能并装有牺牲阳极，适合在深海环境中工作。The rodless chamber connection 202 and the rod chamber pipe joint 203 on the cylinder body 5 are respectively connected with the oil inlet and outlet ports of the hydraulic control valve, and the telescopic movement of the piston 6 in the cylinder body 5 is controlled by the hydraulic control valve. The built-in sensor is connected with the controller data acquisition board (the controller data acquisition board of the present invention is the prior art), and the motion state of the linear cylinder is measured through the sensor feedback information, so that the closed-loop control of the linear cylinder can be realized; the linear cylinder has pressure compensation simultaneously. Functional and equipped with sacrificial anodes, it is suitable for working in deep sea environment.
综上所述，本发明具有结构紧凑，性能可靠等优点。本发明采用内置传感器，避免了传感器收外界环境的影响，具有更高的可靠性，结构更加紧凑。In summary, the present invention has the advantages of compact structure, reliable performance and the like. The invention adopts a built-in sensor, avoids the influence of the external environment on the sensor, has higher reliability, and has a more compact structure.
Claims (9)
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| CN108131355A (en) * | 2018-01-12 | 2018-06-08 | 中铁工程机械研究设计院有限公司 | Underwater apparatus pressure release detection and the pressure compensator of the automatic repairing pressurize of energy |
| CN108609146A (en) * | 2016-12-13 | 2018-10-02 | 中国科学院沈阳自动化研究所 | A kind of pressure compensator can be used for underwater environment |
| CN115041741A (en) * | 2022-06-27 | 2022-09-13 | 中国船舶科学研究中心 | Underwater shearer based on deep sea environment pressure and shearing method |
| CN117428815A (en) * | 2023-12-21 | 2024-01-23 | 浙江大学 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
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| CN108609146A (en) * | 2016-12-13 | 2018-10-02 | 中国科学院沈阳自动化研究所 | A kind of pressure compensator can be used for underwater environment |
| CN108131355A (en) * | 2018-01-12 | 2018-06-08 | 中铁工程机械研究设计院有限公司 | Underwater apparatus pressure release detection and the pressure compensator of the automatic repairing pressurize of energy |
| CN108131355B (en) * | 2018-01-12 | 2024-03-08 | 中铁工程机械研究设计院有限公司 | Pressure compensation device for pressure relief detection of underwater appliance and capable of automatically supplementing oil and maintaining pressure |
| CN115041741A (en) * | 2022-06-27 | 2022-09-13 | 中国船舶科学研究中心 | Underwater shearer based on deep sea environment pressure and shearing method |
| CN115041741B (en) * | 2022-06-27 | 2023-05-26 | 中国船舶科学研究中心 | Underwater cutter and shearing method based on deep sea environmental pressure |
| CN117428815A (en) * | 2023-12-21 | 2024-01-23 | 浙江大学 | Two-degree-of-freedom compact hydraulic paw for heavy-duty application |
| CN117428815B (en) * | 2023-12-21 | 2024-04-05 | 浙江大学 | A compact 2-DOF hydraulic gripper for heavy-duty applications |
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