CN110238871A - A kind of deep seven function proportional hydraulic manipulator machine systems in full sea of clack box separated set type - Google Patents
A kind of deep seven function proportional hydraulic manipulator machine systems in full sea of clack box separated set type Download PDFInfo
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- CN110238871A CN110238871A CN201910581417.4A CN201910581417A CN110238871A CN 110238871 A CN110238871 A CN 110238871A CN 201910581417 A CN201910581417 A CN 201910581417A CN 110238871 A CN110238871 A CN 110238871A
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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
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The present invention relates to hydraulic efficiency manipulators, it is desirable to provide a kind of deep seven function proportional hydraulic manipulator machine systems in full sea of clack box separated set type.The machine system includes hydraulic control clack box, manipulator from hand, main hand control box, elastic oil sources and compensator；The hydraulic control clack box from the triple duty valve case in the external four functions clack box sum aggregate Cheng Cong hand arm arm body of hand by forming independently of manipulator；Both built-in proportional reversing valve, scaling circuit plate and motherboard.Clack box is split arrangement by the present invention, and wherein triple duty valve case is integrated in arm body, and four function clack boxes are external；It may be implemented to reduce system pressure loss under Quan Haishen operating condition, improve the control performance of manipulator.The proportioning valve installed in clack box is control element, not only facilitates closed-loop control, but also resistance to greasy dirt ability is strong, is both that cost is minimized.Whole system good seal performance, by pressure compensation, it can be achieved that Quan Haishen operating condition operation.
Description
Technical Field
The invention relates to a hydraulic manipulator, in particular to a valve box separated type full-sea-depth seven-function proportional hydraulic manipulator system.
Background
The full-sea-depth heavy-load proportional hydraulic manipulator is applied to a full-sea-depth manned submersible in a matching way and is used for seabed sampling, grabbing and laying. The limit depth of underwater work of the full-sea-depth hydraulic manipulator is 11000m, the external pressure of a working environment is about 110Mpa, the environmental temperature is about 0 ℃, the ultrahigh pressure and the low temperature of the environment have the most direct influence on the hydraulic manipulator, namely, the viscosity of hydraulic oil is increased rapidly, so that the pressure loss is increased, the response is delayed, the action is insensitive, and the performance is seriously reduced. The hydraulic control valve box is used as a key for controlling the flow, direction and pressure of hydraulic oil, and plays the most direct and key role in reducing the influence of the full-sea-depth environment on the manipulator.
The common hydraulic manipulator valve box is mostly positioned outside a slave hand or integrated in a slave hand base, the application problem of shallow water is not great, but for the water depth of 11000m, three joint oil liquid transmission lines at the tail end of the manipulator are long, the pressure loss is large, the response of an actuator is lagged, and the operation of the manipulator is not facilitated.
The development of the valve box separated type full-sea deep seven-function proportional hydraulic manipulator is beneficial to improving the response characteristic of the 11000m underwater manipulator and improving the working performance of the manipulator.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides a valve box separated type full-sea deep seven-function proportional hydraulic manipulator complete machine system.
In order to solve the technical problem, the solution of the invention is as follows:
the complete machine system of the full-sea-depth seven-function proportional hydraulic manipulator with the separately-arranged valve boxes comprises a hydraulic control valve box, a manipulator slave hand, a master hand control box, an elastic oil source and a compensator; the hydraulic control valve box consists of an external four-function valve box independent of a slave hand of the manipulator and a three-function valve box integrated in a slave arm body; both are internally provided with a proportional reversing valve, a proportional amplifying circuit board and a motherboard; wherein,
the four-function valve box is connected with the master hand control box through a master cable, and is respectively connected with the elastic oil source, the compensator, the three-function valve box through different pipelines, as well as an execution linear oil cylinder of a first rotary joint, a second rotary joint and a third rotary joint which are arranged in a slave hand of the manipulator and an execution swing oil cylinder of a fourth rotary joint;
one end of the three-function valve box is connected with the small arm body, the other end of the three-function valve box is connected to the end part of a swing cylinder output shaft of a swing oil cylinder of a fourth rotary joint through a transfer transition block, each connecting plane forms end face sealing, and a flow distribution, power distribution and compensation channel is provided for the swing cylinder output shaft; the transfer transition block is positioned between the output shaft of the tilt cylinder and the three-function valve box, and the three-function valve box and the transfer transition block are sequentially fixed at the end part of the output shaft of the tilt cylinder through screws; rectangular sealing grooves are respectively formed in the front sealing connecting surface and the rear sealing connecting surface of the transfer transition block, and two flow distribution blind holes are respectively formed in the enclosed area of the grooves; the four flow distribution blind holes are communicated one by one through two radial circular holes on the transfer transition block, and the drilling parts of the two radial circular holes are respectively blocked by plugs; the wire through hole is formed in the enclosed area of the sealing groove and communicated between the front sealing connecting surface and the rear sealing connecting surface through a through hole and a waist-shaped sinking groove;
the three-function valve box is connected to the four-function valve box through a threading oil pipe with a built-in cable and is respectively connected with a fifth rotating joint, a sixth rotating joint and a linear oil cylinder for driving fingers to open and close through pipelines; an angle sensor is arranged at the hinged position of each rotary joint, and a cable connected with the angle sensor is collected to a sensor junction box through a threading oil pipe and then connected with the four-function valve box through a watertight cable.
According to the crank rocker mechanism, the first rotating joint, the second rotating joint, the third rotating joint and the fifth rotating joint are all driven by the executing linear oil cylinders to rotate, one end of each linear oil cylinder is hinged to the driven joint, the other end of each linear oil cylinder is hinged to the adjacent arm body of the driven joint, and the hinged parts of the adjacent rotating joints are connected through the pin shafts to form the crank rocker mechanism; an axial blind hole is formed in the center of the hinge pin at the position where the adjacent rotary joints are hinged, and a threaded hole is formed in the tail end of the blind hole in the radial direction and used for fastening an oil pipe joint of a threading oil pipe and is communicated with the axial blind hole; an angle sensor is arranged in the blind hole, and is finally connected to a master control box through a cable via an oil pipe joint, a threading oil pipe, a sensor junction box and a watertight cable, so that joint angle data are transmitted in real time to realize closed-loop control, and meanwhile, a channel of the threading oil pipe is also an oil compensation channel of an external compensator for the joint angle sensor.
According to the invention, the sensor junction box is fixed on a base of a manipulator slave hand and is connected to a four-function valve box through a watertight cable and a compensation oil pipe, and an oil inlet and an oil return port of the four-function valve box are connected with an elastic oil source through the oil pipe; the four-function valve box is connected with the compensator through the compensation oil pipe, so that the compensator can provide oil compensation for the interior of the four-function valve box and the three-function valve box and each angle sensor.
In the invention, the first rotary joint comprises a first joint linear oil cylinder, a base and a shoulder; the base is used for being connected with the manned submersible to fix the slave hand of the manipulator; a cylinder body end pin hole of the first joint linear oil cylinder is hinged to the base through a pin shaft, a piston rod end pin hole is hinged to the shoulder through a pin shaft, and the base is hinged to the shoulder through a pin shaft; the pin shaft is fixedly kept with the base through a set screw, and a blind hole is formed in the axial center of the pin shaft and used for mounting a stator part of the angle sensor; the angle sensor rotating part is fixed in an angle sensor end cover, the angle sensor end cover is fastened on a shoulder through a screw, a counter bore in the center of the sensor end cover is in clearance fit with a pin shaft and is radially sealed through a sealing ring, and a cable of the angle sensor penetrates through a wiring oil pipe connected to the pin shaft and is connected to a sensor junction box.
In the invention, the second rotary joint comprises a second joint linear oil cylinder, a large arm and a shoulder; a cylinder body end pin hole of the second joint linear oil cylinder is hinged to the large arm through a pin shaft, a piston rod end pin hole is hinged to the shoulder through a pin shaft, and the large arm is hinged to the shoulder through a pin shaft; the pin shaft is fixedly kept with the shoulder through a set screw, and a blind hole is formed in the axial center of the pin shaft and used for mounting a stator part of the angle sensor; the angle sensor rotating part is fixed in an angle sensor end cover, the angle sensor end cover is fastened on the large arm through screws, a counter bore in the center of the sensor end cover is in clearance fit with the pin shaft and is radially sealed through a sealing ring, and a cable of the angle sensor penetrates through a wiring oil pipe connected to the pin shaft and is connected to a sensor junction box.
In the invention, the third rotary joint comprises a third joint linear oil cylinder, a large arm and a swing oil cylinder bracket; a pin hole at the end of a cylinder body of the third joint linear oil cylinder is hinged to the large arm through a pin shaft, a pin hole at the end of a piston rod is hinged to the swing oil cylinder support through a pin shaft, and the large arm is hinged to the swing oil cylinder support through a pin shaft; the pin shaft is fixedly kept with the large arm through a set screw, and a blind hole is formed in the center of the pin shaft and used for mounting a stator part of the angle sensor; the rotating part of the angle sensor is fixed in an angle sensor end cover, the angle sensor end cover is fastened on the swing oil cylinder support through a screw, a counter bore in the center of the sensor end cover is in clearance fit with the pin shaft and is radially sealed through a sealing ring, and a cable of the angle sensor penetrates through a wiring oil pipe connected to the pin shaft and is connected to a sensor junction box.
In the invention, the fourth rotary joint comprises a swing oil cylinder, and the end part of an output shaft of the swing oil cylinder is connected with the three-function valve box through a transfer transition block; the swing oil cylinder and the swing oil cylinder fixing seat are matched and positioned through a hole shaft and are connected through a bolt.
In the invention, the fifth rotating joint comprises a fifth joint linear oil cylinder, a small arm body and a wrist joint; a cylinder body end pin hole of the fifth joint linear oil cylinder is hinged to the small arm body through a pin shaft, a piston rod end pin hole is hinged to the wrist joint through a pin shaft, and the small arm body is hinged to the wrist joint through a pin shaft; the pin shaft is fixedly kept with the small arm body through a set screw, and a blind hole is formed in the center of the pin shaft and used for mounting a stator part of the angle sensor; the angle sensor rotating part is fixed in an angle sensor end cover, the angle sensor end cover is fastened on a wrist joint through screws, a counter bore in the center of the angle sensor end cover is in clearance fit with a pin shaft and is radially sealed through a sealing ring, and a cable of the angle sensor penetrates through a wiring oil pipe connected to the pin shaft to be connected to a motherboard of a three-function valve box body of the sensor and finally connected to a sensor junction box.
The working principle of the invention is as follows:
the mechanical slave hand has six rotational degrees of freedom and one paw opening and closing local degree of freedom; the fourth joint rotation is realized through the swing of the swing oil cylinder, the sixth joint rotation is realized through the hydraulic motor, and all the other joints are driven by the linear oil cylinders. Each rotary joint hydraulic actuator is connected with a hydraulic control valve box, each rotary joint is provided with an angle sensor, a sensor cable is connected with the hydraulic control valve box through a threading oil pipe via a sensor junction box and a watertight cable and then connected with a controller in a master hand control box through a master cable, and the master hand controller performs closed-loop control on the motion of a slave hand through a proportional reversing valve according to the feedback angle value of the angle sensor. Each actuator, the hydraulic control valve box and the angle sensor are all connected with the compensator to ensure that the relative pressure change caused by external water pressure is balanced during underwater operation, and meanwhile, the oil filling protection is carried out on electronic components. Compared with a servo valve, the electromagnetic proportional valve has the advantages of low cost and strong oil stain resistance on the basis of ensuring the control performance, and is suitable for the full-sea deep working condition.
Compared with the prior art, the invention has the beneficial effects that:
1. the valve boxes are arranged in a separated mode, wherein the three-function valve box is integrated on the arm body, and the four-function valve box is arranged outside; the pressure loss of the system can be reduced under the working condition of full sea depth, and the control performance of the manipulator is improved.
2. The proportional valve installed in the valve box is a control element, so that not only is closed-loop control convenient, but also the oil stain resistance is strong, and meanwhile, the cost is reduced.
3. The whole system has good sealing performance, and can realize the operation under the working condition of full sea depth through pressure compensation.
Drawings
FIG. 1 is a schematic diagram of the system connection of the present invention;
FIG. 2 is a front view of a robot hand from hand;
FIG. 3 is a top view of the robot from the hand;
FIG. 4 is a schematic cross-sectional view of the tilt cylinder output shaft;
FIG. 5 is a front cross-sectional view of a three function valve housing;
FIG. 6 is a left side view of FIG. 5;
FIG. 7 is a right side view of FIG. 5;
FIG. 8 is a front view of the transition block;
FIG. 9 is a top view of the transition block;
FIG. 10 is a schematic view of the main port of the three-position valve box body.
Reference numbers in the figures:
FIG. 1: a slave manipulator, a master manipulator of a II manipulator, a III four-function valve box, an IV compensator and a V elastic oil source;
FIG. 2: 1, a base, 2, a sensor junction box, 3, a first joint oil cylinder, 4 shoulders, 5 pin shafts, 6 pin shafts, 7 pin shafts, 8 second joint oil cylinders, 9 large arms, 10 pin shafts, 11 pin shafts, 12 third joint oil cylinders, 13 pin shafts, 14 pin shafts, 15 swing oil cylinder supports, 16 swing oil cylinders (fourth joints), 17 transfer transition blocks, 18 three-function valve boxes, 19 small arm bodies, 20 pin shafts, 21 fifth joint oil cylinders, 22 pin shafts, 23 pin shafts and 24 wrist joints (sixth joints);
FIG. 3: 25 pin shafts and 26 pin shafts;
FIG. 4: 181 central threaded hole, 182 external thread, 183 front end optical axis, 184 external spline, 185 rear end optical axis, 186 connecting flange; 187 oil return flow distribution duct, 188 oil inlet flow distribution duct, 189 power distribution duct;
FIG. 5: 201 three-function valve box body, 202 screw, 203 combination pad, 204 sealing ring, 205 upper cover plate, 206 mother plate, 207 proportion valve module, 208 screw, 209 combination pad, 210 proportion reversing valve, 211 joint, 212 lower cover plate, 213 sealing ring, 214 sealing ring;
FIG. 6: 215 screw, 216 sealing ring;
FIG. 8: 17-1 reamed holes, 17-2 rectangular sealing grooves, 17-3 oil inlets, 17-4 oil return ports, 17-5 wire-passing straight grooves, 17-6 oil inlets, 17-7 power distribution holes, 17-8 oil inlet connecting holes, 17-9 oil return connecting holes, 17-10 sealing grooves and 17-11 oil return ports;
FIG. 10: 201-1 oil inlet, 201-2 distribution hole, 201-3 oil return port.
Detailed Description
The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the invention in any way.
As shown in fig. 1, the complete hydraulic manipulator system with valve box separated type full-sea deep seven-function proportion provided by the invention comprises: the system comprises a slave hand I, a master hand control box II, a four-function valve box III, a compensator IV, an elastic oil source V and a connecting accessory. The manipulator has six degrees of freedom and one opening-closing paw local degree of freedom from the hand I, and is used for realizing yaw of a first joint, pitch of a second joint, pitch of a third joint, rotation of a fourth joint, pitch of a fifth joint, rotation of a sixth joint and opening and closing of the paw, and hydraulic actuators of all joints are connected with a control valve box through hydraulic oil pipes. Except that the hand claw opens and shuts, the built-in angle sensor of every rotation joint, link to each other with the sensor terminal box through threading oil pipe, the sensor terminal box is fixed in the manipulator from the hand base, and be connected to four function valve case III through the watertight connector, four function valve case III oil inlets and oil return opening pass through oil pipe with elastic oil source V and link to each other, four function valve case III have two total compensation hydraulic fluid ports, one department links to each other with compensator IV through transparent sealing hose, another department passes through the hose and links to each other with the sensor terminal box, the compensation oil that comes from the compensator like this not only can get into in the four function valve case also can get into three function valve cases and each angle sensor department through each sensor wire channel. The hydraulic control valve box is connected with the master hand control box II through a cable, a master controller of the master hand control box II issues commands and carries out closed-loop control on each rotating joint of the slave hand through a proportional reversing valve of the hydraulic valve box according to an angle value fed back by an angle sensor in the manipulator, and motion of the slave hand is controlled. In order to prevent the volume of oil from being reduced due to the rise of external pressure when the manipulator works in full sea depth, so that a cavity is generated and is crushed by external water pressure, and all sealed cavities are connected to a compensator through pipelines for compensation; the elastic oil source V is a hydraulic oil source with a compensation function and is used for compensating hydraulic actuators and pipelines of all joints; the compensator is used for carrying out static compensation on the inner cavity of the hydraulic control valve box, the angle sensor and the electronic component.
As shown in fig. 2, the first rotary joint of the manipulator of the present invention includes a first joint cylinder 3, a base 1, and a shoulder 4. The base 1 is used for fixing the manipulator on the manned submersible, a cylinder body end pin hole of the first joint oil cylinder 3 is hinged to the base 1 through a pin shaft 25, a piston rod end pin hole is hinged to the shoulder 4 through a pin shaft 26, and the base 1 is hinged to the shoulder 4 through a pin shaft 5. The pin shaft 5 is fixedly kept with the base 1 through a set screw, and a blind hole is axially formed in the pin shaft 5 and used for mounting a stator part of the angle sensor; the angle sensor rotating part is fixed in the angle sensor end cover, the angle sensor end cover is fastened on the shoulder 4 through screws, is in clearance fit with the pin shaft 5 and is radially sealed through a sealing ring, and an electric wire of the angle sensor penetrates through a connector connected to a radial oil port of the pin shaft 5 and a transparent hose and is connected to the sensor junction box 2.
The second rotary joint of the manipulator comprises a second joint oil cylinder 8, a large arm 9 and a shoulder 4. The pin hole at the cylinder body end of the second joint oil cylinder 8 is hinged to the large arm 9 through a pin shaft 10, the pin hole at the piston rod end is hinged to the shoulder 4 through a pin shaft 7, and the large arm 9 is hinged to the shoulder 4 through a pin shaft 6. The pin shaft 6 is fixed with the shoulder 4 through a fastening screw, and a blind hole is formed in the center of the pin shaft 6 and used for mounting a stator part of the angle sensor; the rotating part of the angle sensor is fixed in an angle sensor end cover, the angle sensor end cover is fastened on the large arm 9 through screws, a central counter bore of the angle sensor end cover is in clearance fit with the pin shaft 6 and is radially sealed through a sealing ring, and an electric wire of the angle sensor penetrates through a connector and a transparent hose which are connected to a radial oil port of the pin shaft 6 and is connected to the sensor junction box 2.
The third rotary joint of the manipulator comprises a third joint oil cylinder 12, a large arm 9 and a swing oil cylinder support 15. The pin hole at the cylinder body end of the third joint oil cylinder 12 is hinged to the large arm 9 through a pin shaft 11, the pin hole at the piston rod end is hinged to the swing oil cylinder support 15 through a pin shaft 13, and the large arm 9 is hinged to the swing oil cylinder support 15 through a pin shaft 14. The pin shaft 14 is fixedly kept with the large arm 9 through a set screw, and a blind hole is formed in the center of the pin shaft 13 and used for mounting a stator part of the angle sensor; the rotating part of the angle sensor is fixed in an angle sensor end cover, the angle sensor end cover is fastened on a swing oil cylinder support 15 through screws, a central counter bore of the angle sensor end cover is in clearance fit with a pin shaft 14 and is radially sealed through a sealing ring, and an electric wire of the angle sensor penetrates through a connector and a transparent hose which are connected to a radial oil port of the pin shaft 14 and is connected to a sensor junction box 2.
The fourth rotary joint of the manipulator comprises an elbow joint swinging hydraulic motor 16, a transfer transition block 17 and a three-function valve box 18, wherein the elbow joint swinging hydraulic motor 16 is matched and positioned with the swinging oil cylinder support 15 through a hole shaft and is connected through a long bolt. The concrete structure and working principle of the elbow joint swing hydraulic motor 16 are disclosed in chinese patent document CN201810333427, "an elbow joint swing hydraulic motor for full-sea deep hydraulic manipulators".
Fig. 4 in the present invention is fig. 5 shown in chinese patent document CN201810333427, and is a schematic cross-sectional view of a motor output shaft of a swing hydraulic motor (a swing cylinder and a swing cylinder output shaft described in this patent respectively correspond to a swing hydraulic motor and a motor output shaft described in chinese patent document CN201810333427, the same applies below). An oil return flow distribution hole 187, an oil inlet flow distribution hole 188, a power distribution hole 189 and a connecting threaded hole are formed in the motor output elbow connecting flange 186. The oil return hole 201-3, the oil inlet hole 201-1 and the power distribution hole 201-2 on the three-function valve box body 201 shown in fig. 10 need to be in one-to-one correspondence with the oil return flow distribution duct 187, the oil inlet flow distribution duct 188 and the power distribution duct 189 on the motor output elbow connecting flange 186 through the transfer transition block 17. As shown in FIG. 8, a rectangular sealing groove 17-2 is formed on a plane where the transfer transition block 17 is matched with the motor output shaft flange shown in FIG. 4, and the oil inlet 17-3, the oil return port 17-4 and the wire passing straight groove 17-5 are all located in an area enclosed by the rectangular sealing groove 17-2. The matching surface of the transfer transition block 17 and the three-function valve box body 201 in fig. 10 is also provided with a rectangular sealing groove 17-10, and an oil inlet 17-6, an oil return port 17-11 and a power distribution hole 17-7 in the area enclosed by the rectangular sealing groove 17-10 are respectively communicated with an oil inlet connecting hole 17-8, an oil return connecting hole 17-9 and a line passing straight groove 17-5 in a one-to-one correspondence manner as shown in fig. 9. And the drilling positions of the oil inlet connecting hole 17-8 and the oil return connecting hole 17-9 are sealed after welded and melted by plugs. The oil inlet 17-3, the oil return port 17-4, the oil inlet 17-6 and the oil return port 17-11 of the transfer transition block 17 are provided with concentric counter bores for installing a sealing ring 216, a rectangular sealing groove 17-2, an O-shaped ring 213 is arranged in the groove, a rectangular sealing groove 17-10 is arranged in the groove, and an O-shaped ring 214 is arranged in the groove, so that the connection and sealing purposes are achieved respectively, and oil liquid distributed from a motor output shaft in the elbow joint swing hydraulic motor 16 and a passing electric wire can be communicated with the three-function valve box body 201 in a sealing mode through the transfer transition block 17.
As shown in fig. 5, the three-function valve box is composed of a three-function valve box body 201, a proportional reversing valve 210, a motherboard 206, and a proportional valve module 207, wherein the motherboard 26 receives control commands and current transmitted by wires connected through a power distribution channel, and transmits the control commands and current to the three proportional valve modules 207, and meanwhile, the angle sensors of the fifth joint and the sixth joint transmit angle data back to the sensor junction box 2 through the motherboard via the wires. The three-function valve box body 201 conveys oil from the transfer transition block 17 to three proportional directional valves 210 for controlling a fifth rotating joint, a sixth rotating joint and a paw opening and closing oil cylinder through an oil passage inside the three-function valve box body, and the proportional valve module 207 controls an electromagnet in the proportional directional valve 210 to move according to a control command, so that the flow and the direction of the oil output by the proportional directional valve 210 are changed, and the fifth and sixth joint rotation and the paw opening and closing are controlled. The screws 202 and 208 are required to seal the fixing holes through a combination gasket 203 and a combination gasket 209 respectively, and the upper cover plate and the three-function valve box body 201 are sealed through an O-shaped ring 204. Thus, a complete sealed cavity is formed, and the distribution channel where the distribution duct 201-2 is located is also a compensation channel for oil, so that compensation can be realized.
The fifth rotating joint of the manipulator comprises a fifth joint oil cylinder 21, a small arm body 19 and a wrist joint 24. The pin hole at the cylinder body end of the fifth joint oil cylinder 21 is hinged to the small arm body 19 through a pin shaft 20, the pin hole at the piston rod end is hinged to the wrist joint 24 through a pin shaft 23, and the small arm body 19 is hinged to the wrist joint 24 through a pin shaft 22. The pin shaft 22 is fixed with the small arm body 19 through a set screw, and a blind hole is formed in the center of the pin shaft 22 and used for mounting a stator part of the angle sensor; the rotating part of the angle sensor is fixed in an angle sensor end cover, the angle sensor end cover is fastened on the wrist joint 24 through screws, a central counter bore of the angle sensor end cover is in clearance fit with the pin shaft 22 and is radially sealed through a sealing ring, and an electric wire of the angle sensor penetrates through a connector and a transparent hose which are connected to a radial oil port of the pin shaft 22, is connected to a motherboard 206 of the three-function valve box body 201 of the sensor, and is finally connected into the junction box 2.
The specific structure and working principle of the sixth rotary joint and the paw of the manipulator are disclosed in Chinese patent document CN108555882A, "a full-sea deep hydraulic mechanical wrist joint", which is not described in detail herein.
The actual scope of the invention encompasses not only the disclosed embodiments, but also all equivalent ways of practicing or implementing the invention under the claims.
Claims (8)
1. A valve box separated type full-sea-depth seven-function proportional hydraulic manipulator complete machine system comprises a hydraulic control valve box, a manipulator slave hand, a master hand control box, an elastic oil source and a compensator; the hydraulic control valve box is characterized by consisting of an external four-function valve box independent of a slave hand of a manipulator and a three-function valve box integrated in a slave arm body; both are internally provided with a proportional reversing valve, a proportional amplifying circuit board and a motherboard; wherein,
the four-function valve box is connected with the master hand control box through a master cable, and is respectively connected with the elastic oil source, the compensator, the three-function valve box through different pipelines, as well as an execution linear oil cylinder of a first rotary joint, a second rotary joint and a third rotary joint which are arranged in a slave hand of the manipulator and an execution swing oil cylinder of a fourth rotary joint;
one end of the three-function valve box is connected with the small arm body, the other end of the three-function valve box is connected to the end part of a swing cylinder output shaft of a swing oil cylinder of a fourth rotary joint through a transfer transition block, each connecting plane forms end face sealing, and a flow distribution, power distribution and compensation channel is provided for the swing cylinder output shaft; the transfer transition block is positioned between the output shaft of the tilt cylinder and the three-function valve box, and the three-function valve box and the transfer transition block are sequentially fixed at the end part of the output shaft of the tilt cylinder through screws; rectangular sealing grooves are respectively formed in the front sealing connecting surface and the rear sealing connecting surface of the transfer transition block, and two flow distribution blind holes are respectively formed in the enclosed area of the grooves; the four flow distribution blind holes are communicated one by one through two radial circular holes on the transfer transition block, and the drilling parts of the two radial circular holes are respectively blocked by plugs; the wire through hole is formed in the enclosed area of the sealing groove and communicated between the front sealing connecting surface and the rear sealing connecting surface through a through hole and a waist-shaped sinking groove;
the three-function valve box is connected to the four-function valve box through a threading oil pipe with a built-in cable and is respectively connected with a fifth rotating joint, a sixth rotating joint and a linear oil cylinder for driving fingers to open and close through pipelines; an angle sensor is arranged at the hinged position of each rotary joint, and a cable connected with the angle sensor is collected to a sensor junction box through a threading oil pipe and then connected with the four-function valve box through a watertight cable.
2. The valve box separated type full-sea-depth seven-function proportional hydraulic manipulator complete machine system according to claim 1, wherein the first rotary joint, the second rotary joint, the third rotary joint and the fifth rotary joint drive arm bodies to rotate through executing linear oil cylinders, one end of each linear oil cylinder is hinged to a driven joint, the other end of each linear oil cylinder is hinged to an adjacent arm body of the driven joint, and hinged parts of the adjacent rotary joints are connected through pin shafts to form a crank rocker mechanism; an axial blind hole is formed in the center of the hinge pin at the position where the adjacent rotary joints are hinged, and a threaded hole is formed in the tail end of the blind hole in the radial direction and used for fastening an oil pipe joint of a threading oil pipe and is communicated with the axial blind hole; an angle sensor is arranged in the blind hole, and is finally connected to a master control box through a cable via an oil pipe joint, a threading oil pipe, a sensor junction box and a watertight cable, so that joint angle data are transmitted in real time to realize closed-loop control, and meanwhile, a channel of the threading oil pipe is also an oil compensation channel of an external compensator for the joint angle sensor.
3. The valve box separated type full-sea-depth seven-function proportional hydraulic manipulator complete machine system according to claim 1, wherein the sensor junction box is fixed on a base of a manipulator slave hand and is connected to a four-function valve box through a watertight cable and a compensation oil pipe, and an oil inlet and an oil return port of the four-function valve box are connected with an elastic oil source through the oil pipe; the four-function valve box is connected with the compensator through the compensation oil pipe, so that the compensator can provide oil compensation for the interior of the four-function valve box and the three-function valve box and each angle sensor.
4. The valve box split type full-sea-depth seven-function proportional hydraulic manipulator complete system as claimed in claim 1, wherein the first rotary joint comprises a first joint linear cylinder, a base and a shoulder; the base is used for being connected with the manned submersible to fix the slave hand of the manipulator; a cylinder body end pin hole of the first joint linear oil cylinder is hinged to the base through a pin shaft, a piston rod end pin hole is hinged to the shoulder through a pin shaft, and the base is hinged to the shoulder through a pin shaft; the pin shaft is fixedly kept with the base through a set screw, and a blind hole is formed in the axial center of the pin shaft and used for mounting a stator part of the angle sensor; the angle sensor rotating part is fixed in an angle sensor end cover, the angle sensor end cover is fastened on a shoulder through a screw, a counter bore in the center of the sensor end cover is in clearance fit with a pin shaft and is radially sealed through a sealing ring, and a cable of the angle sensor penetrates through a wiring oil pipe connected to the pin shaft and is connected to a sensor junction box.
5. The valve box split type full-sea-depth seven-function proportional hydraulic manipulator complete system as claimed in claim 1, wherein the second rotary joint comprises a second joint linear oil cylinder, a large arm and a shoulder; a cylinder body end pin hole of the second joint linear oil cylinder is hinged to the large arm through a pin shaft, a piston rod end pin hole is hinged to the shoulder through a pin shaft, and the large arm is hinged to the shoulder through a pin shaft; the pin shaft is fixedly kept with the shoulder through a set screw, and a blind hole is formed in the axial center of the pin shaft and used for mounting a stator part of the angle sensor; the angle sensor rotating part is fixed in an angle sensor end cover, the angle sensor end cover is fastened on the large arm through screws, a counter bore in the center of the sensor end cover is in clearance fit with the pin shaft and is radially sealed through a sealing ring, and a cable of the angle sensor penetrates through a wiring oil pipe connected to the pin shaft and is connected to a sensor junction box.
6. The valve box split type full-sea-depth seven-function proportional hydraulic manipulator complete system as claimed in claim 1, wherein the third rotary joint comprises a third joint linear oil cylinder, a large arm and a swing oil cylinder bracket; a pin hole at the end of a cylinder body of the third joint linear oil cylinder is hinged to the large arm through a pin shaft, a pin hole at the end of a piston rod is hinged to the swing oil cylinder support through a pin shaft, and the large arm is hinged to the swing oil cylinder support through a pin shaft; the pin shaft is fixedly kept with the large arm through a set screw, and a blind hole is formed in the center of the pin shaft and used for mounting a stator part of the angle sensor; the rotating part of the angle sensor is fixed in an angle sensor end cover, the angle sensor end cover is fastened on the swing oil cylinder support through a screw, a counter bore in the center of the sensor end cover is in clearance fit with the pin shaft and is radially sealed through a sealing ring, and a cable of the angle sensor penetrates through a wiring oil pipe connected to the pin shaft and is connected to a sensor junction box.
7. The valve box split type full-sea-depth seven-function proportional hydraulic manipulator complete system as claimed in claim 1, wherein the fourth rotary joint comprises a swing oil cylinder, and the end part of an output shaft of the swing oil cylinder is connected with the three-function valve box through a transfer transition block; the swing oil cylinder and the swing oil cylinder fixing seat are matched and positioned through a hole shaft and are connected through a bolt.
8. The valve box split type full-sea deep seven-function proportional hydraulic manipulator complete system according to claim 1, wherein the fifth rotary joint comprises a fifth joint linear oil cylinder, a small arm body and a wrist joint; a cylinder body end pin hole of the fifth joint linear oil cylinder is hinged to the small arm body through a pin shaft, a piston rod end pin hole is hinged to the wrist joint through a pin shaft, and the small arm body is hinged to the wrist joint through a pin shaft; the pin shaft is fixedly kept with the small arm body through a set screw, and a blind hole is formed in the center of the pin shaft and used for mounting a stator part of the angle sensor; the angle sensor rotating part is fixed in an angle sensor end cover, the angle sensor end cover is fastened on a wrist joint through screws, a counter bore in the center of the angle sensor end cover is in clearance fit with a pin shaft and is radially sealed through a sealing ring, and a cable of the angle sensor penetrates through a wiring oil pipe connected to the pin shaft to be connected to a motherboard of a three-function valve box body of the sensor and finally connected to a sensor junction box.
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| CN201910581417.4A CN110238871B (en) | 2019-06-29 | 2019-06-29 | Valve box split type full sea depth seven-function proportional hydraulic manipulator complete machine system |
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| CN110238871B (en) | 2024-09-06 |
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