CN110238871B - Valve box split type full sea depth seven-function proportional hydraulic manipulator complete machine system - Google Patents
Valve box split type full sea depth seven-function proportional hydraulic manipulator complete machine system Download PDFInfo
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- CN110238871B CN110238871B CN201910581417.4A CN201910581417A CN110238871B CN 110238871 B CN110238871 B CN 110238871B CN 201910581417 A CN201910581417 A CN 201910581417A CN 110238871 B CN110238871 B CN 110238871B
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- 238000007789 sealing Methods 0.000 claims abstract description 44
- 210000000245 forearm Anatomy 0.000 claims abstract description 15
- 230000007704 transition Effects 0.000 claims description 18
- 210000003857 wrist joint Anatomy 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 239000003921 oil Substances 0.000 description 101
- 210000002310 elbow joint Anatomy 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000011148 porous material Substances 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a hydraulic manipulator, and aims to provide a valve box split type full sea depth seven-function proportional hydraulic manipulator complete machine system. The whole machine system comprises a hydraulic control valve box, a manipulator slave hand, a master hand control box, an elastic oil source and a compensator, wherein the hydraulic control valve box consists of an external four-function valve box independent of the manipulator slave hand and a three-function valve box integrated in a slave hand forearm arm body; both are internally provided with a proportional reversing valve, a proportional amplifying circuit board and a motherboard. The valve boxes are arranged separately, wherein the three-function valve boxes are integrated on the arm body, and the four-function valve boxes are arranged externally; the pressure loss of the system can be reduced under the full sea depth working condition, and the control performance of the manipulator is improved. The proportional valve installed in the valve box is a control element, so that the closed-loop control is convenient, the oil stain resistance is high, and the cost is reduced. The whole system has good sealing performance, and can realize full sea depth working condition operation through pressure compensation.
Description
Technical Field
The invention relates to a hydraulic manipulator, in particular to a valve box split type full sea depth seven-function proportional hydraulic manipulator system.
Background
The hydraulic manipulator with the full-sea deep heavy-load proportion is matched with the full-sea deep manned submersible and is used for seabed sampling, grabbing and laying. The ultimate depth of the underwater work of the hydraulic manipulator at full sea depth is 11000m, the external pressure of the working environment is about 110Mpa, the environment temperature is about 0 ℃, and the most direct influence of the ultra-high pressure and the low temperature of the environment on the hydraulic manipulator is that the viscosity of hydraulic oil is rapidly increased, 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 place for controlling the flow, the direction and the pressure of hydraulic oil, and plays the most direct and key role in reducing the influence of the full sea depth environment on the mechanical arm.
The common hydraulic manipulator valve box is mostly located outside the slave hand or integrated in the slave hand base, so that the problem of shallow water application is not large, but for 11000m water depth, three joint oil liquid transmission routes at the tail end of the manipulator are long, the pressure loss is relatively large, and the response of an actuator is lagged, so that the manipulator is not beneficial to operation.
The development of the valve box split type full sea depth seven-function proportional hydraulic manipulator is very 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 providing a valve box split type full sea depth seven-function proportional hydraulic manipulator complete machine system.
In order to solve the technical problems, the invention adopts the following solutions:
The hydraulic mechanical arm whole machine system comprises a hydraulic control valve box, a mechanical arm slave arm, a master arm 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 arm of the manipulator and a three-function valve box integrated in a small arm body of the slave arm; 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 main hand control box through a main cable and is respectively connected with an elastic oil source, a compensator and a three-function valve box through different pipelines, and an execution linear oil cylinder of a first rotary joint, a second rotary joint and a third rotary joint and an execution swinging oil cylinder of a fourth rotary joint are arranged in the slave hand of the manipulator;
One end of the three-functional valve box is connected with the arm body of the forearm, the other end of the three-functional valve box is connected to the end part of the swing cylinder output shaft of the swing cylinder of the fourth rotary joint through a transit block, each connecting plane forms end face sealing, and a flow distribution, power distribution and compensation channel is provided for the three-functional valve box through the swing cylinder output shaft; the transfer transition block is positioned between the swing cylinder output shaft 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 swing cylinder output shaft through screws; rectangular sealing grooves are respectively formed in the front sealing connecting surface and the rear sealing connecting surface of the transit block, and two flow distribution blind holes are respectively formed in the surrounding area of the grooves; the four flow distribution blind holes are communicated one by one through two radial round holes on the transfer transition block, and the drilled holes of the two radial round holes are respectively stopped by plugs; the sealing groove enclosing area is also provided with an electric wire via hole, and the electric wire via hole is 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; and the hinge joint of each rotary joint is provided with an angle sensor, 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.
In the invention, the first rotary joint, the second rotary joint, the third rotary joint and the fifth rotary joint all rotate by executing a linear oil cylinder driving arm body, one end of a linear oil cylinder is hinged to a driven joint, the other end of the linear oil cylinder is hinged to an adjacent arm body of the driven joint, and the hinged parts of the adjacent rotary joints are connected by pin shafts to form a crank rocker mechanism; an axial blind hole is formed in the center of a pin shaft at the hinge joint of the adjacent rotary joint, and a threaded hole is radially formed in the tail end of the blind hole and used for fastening an oil pipe joint of a threading oil pipe and communicated with the axial blind hole; the blind hole is internally provided with an angle sensor, and the blind hole is finally connected to the main hand control box through a cable by an oil pipe joint, a threading oil pipe, a sensor junction box and a watertight cable, and is used for realizing real-time transmission of joint angle data so as to realize closed-loop control, and meanwhile, the passage of the threading oil pipe is also an oil compensation passage of the external compensator for the joint angle sensor.
According to the invention, the sensor junction box is fixed on a base of a slave manipulator, is connected to the 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 valve box interiors of the four-function valve box and the three-function valve box and all angle sensors.
In the invention, the first rotating joint comprises a first joint linear oil cylinder, a base and a shoulder; wherein the base is used for being connected with the manned submersible to fix the slave manipulator of the manipulator; the cylinder body end pin hole of the first joint linear cylinder is hinged to the base through a pin shaft, the 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 kept fixed with the base through a set screw, and a blind hole is formed in the axial center of the pin shaft and is used for installing the angle sensor stator part; the angle sensor rotating part is fixed in the angle sensor end cover, the angle sensor end cover is fastened on the shoulder through a screw, the center counter bore 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 passes through a wiring oil pipe connected to the pin shaft and is connected to the sensor junction box.
In the invention, the second rotary joint comprises a second joint linear oil cylinder, a large arm and a shoulder; the cylinder body end pin hole of the second joint linear cylinder is hinged to the large arm through a pin shaft, the 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 kept fixed with the shoulder through a set screw, and a blind hole is formed in the axial center of the pin shaft and used for installing the angle sensor stator part; 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 a screw, a center counter bore 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 passes through a wiring oil pipe connected to the pin shaft and is connected to the sensor junction box.
In the invention, the third rotary joint comprises a third joint linear oil cylinder, a large arm and a swinging oil cylinder bracket; the cylinder body end pin hole of the third joint linear cylinder is hinged to the large arm through a pin shaft, the piston rod end pin hole is hinged to the swing cylinder bracket through a pin shaft, and the large arm is hinged to the swing cylinder bracket through a pin shaft; the pin shaft is kept fixed with the large arm through a fastening screw, and a blind hole is formed in the center of the pin shaft and used for installing the angle sensor stator part; the angle sensor rotating part 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 center counter bore 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 passes through a wiring oil pipe connected to the pin shaft and is connected to the sensor junction box.
In the invention, the fourth rotary joint comprises a swing cylinder, and the end part of an output shaft of the swing cylinder is connected with a three-functional valve box through a transfer transition block; the swing oil cylinder is matched with the swing oil cylinder fixing seat through a hole shaft, and is connected through a bolt.
In the invention, the fifth rotating joint comprises a fifth joint linear oil cylinder, a forearm arm body and a wrist joint; the cylinder body end pin hole of the fifth joint linear cylinder is hinged to the forearm arm body through a pin shaft, the piston rod end pin hole is hinged to the wrist joint through a pin shaft, and the forearm arm body is hinged to the wrist joint through a pin shaft; the pin shaft is kept fixed with the arm body of the forearm through a set screw, and a blind hole is formed in the center of the pin shaft and used for installing the 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 wrist joint through a screw, a center counter bore of the angle 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 passes through a wiring oil pipe connected with the pin shaft to be connected to a motherboard of the three-function valve box body of the sensor and finally connected to the sensor junction box.
The working principle of the invention is as follows:
The mechanical slave arm has six rotational degrees of freedom and one partial degree of freedom for opening and closing the paw; the fourth joint rotation is realized through the swing of the swing oil cylinder, the sixth joint rotation is realized through a hydraulic motor, and the rest joints are all realized through the driving of the linear oil cylinder. Each rotary joint hydraulic actuator links to each other with hydraulic control valve box, and each rotary joint all is equipped with angle sensor, and the sensor cable passes through the sensor terminal box through threading oil pipe, and watertight cable links to each other with hydraulic control valve box, and the rethread main cable links to each other with the controller in the main hand control box, and main hand control ware is closed-loop control to the slave hand motion through the proportional reversing valve according to angle sensor feedback angle value. Each actuator, the hydraulic control valve box and the angle sensor are connected with the compensator to ensure that the relative pressure change caused by external water pressure is balanced during underwater operation, and meanwhile, the electronic components are protected from oil filling. Compared with a servo valve, the electromagnetic proportional valve has the advantages of low cost, strong oil stain resistance and suitability for full sea depth working conditions on the basis of ensuring control performance.
Compared with the prior art, the invention has the beneficial effects that:
1. the valve boxes are arranged separately, wherein the three-function valve boxes are integrated on the arm body, and the four-function valve boxes are arranged externally; the pressure loss of the system can be reduced under the full sea depth working condition, and the control performance of the manipulator is improved.
2. The proportional valve installed in the valve box is a control element, so that the closed-loop control is convenient, the oil stain resistance is high, and the cost is reduced.
3. The whole system has good sealing performance, and can realize full sea depth working condition operation through pressure compensation.
Drawings
FIG. 1 is a schematic diagram of a system connection of the present invention;
FIG. 2 is a front view of the manipulator from the hand;
FIG. 3 is a top view of the manipulator from the hand;
FIG. 4 is a schematic cross-sectional view of a tilt cylinder output shaft;
FIG. 5 is a front cross-sectional view of a three-function valve box;
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 a transition block;
FIG. 9 is a top view of a transition block;
FIG. 10 is a schematic diagram of a main port of a three-position valve housing body.
Reference numerals in the figures:
Fig. 1: the mechanical arm slave hand, the mechanical arm main hand II, the four-function valve box III, the IV compensator and the V elastic oil source;
fig. 2:1 base, 2 sensor junction box, 3 first joint cylinder, 4 shoulder, 5 pin, 6 pin, 7 pin, 8 second joint cylinder, 9 big arm, 10 pin, 11 pin, 12 third joint cylinder, 13 pin, 14 pin, 15 swing cylinder bracket, 16 swing cylinder (fourth joint), 17 middle transition block, 18 three-function valve box, 19 small arm body, 20 pin, 21 fifth joint cylinder, 22 pin, 23 pin, 24 wrist joint (sixth joint);
fig. 3:25 pin shafts and 26 pin shafts;
Fig. 4:181 central threaded holes, 182 external threads, 183 front end optical axes, 184 external splines, 185 rear end optical axes, 186 connecting flanges; 187 oil return distribution pore canal, 188 oil inlet distribution pore canal and 189 distribution pore canal;
Fig. 5: the valve box comprises a valve box body with three functions 201, a screw 202, a combined pad 203, a sealing ring 204, an upper cover plate 205, a mother plate 206, a proportional valve module 207, a screw 208, a combined pad 209, a proportional reversing valve 210, a joint 211, a lower cover plate 212, a sealing ring 213 and a sealing ring 214;
fig. 6:215 screws, 216 sealing rings;
Fig. 8:17-1 reaming holes, 17-2 rectangular sealing grooves, 17-3 oil inlets, 17-4 oil return ports, 17-5 line-passing straight grooves, 17-6 oil inlets, 17-7 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 holes and 201-3 oil return port.
Detailed Description
The following examples will provide those skilled in the art with a more complete understanding of the present invention and are not intended to limit the invention in any way.
As shown in fig. 1, the valve box split type full sea depth seven-function proportional hydraulic manipulator complete machine system provided by the invention comprises: the automatic oil supply device 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 local degree of freedom of the opening and closing paw 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 the joints are connected with a control valve box through hydraulic oil pipes. Except that the paw is opened and closed, each rotation joint is internally provided with an angle sensor, the angle sensor is connected with a sensor junction box through a threading oil pipe, the sensor junction box is fixed on a manipulator slave hand base and is connected to a four-function valve box III through a watertight connector, an oil inlet and an oil return port of the four-function valve box III are connected with an elastic oil source V through an oil pipe, the four-function valve box III is provided with two compensating oil ports in total, one part is connected with a compensator IV through a transparent sealing hose, the other part is connected with the sensor junction box through a hose, and thus compensating oil from the compensator not only can enter the four-function valve box but also can enter the three-function valve box and the angle sensors through wire channels of the sensors. The hydraulic control valve box is connected with the main hand control box II through a cable, the main controller of the main hand control box II issues a command and performs closed-loop control on each rotary 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 to control the movement of the slave hand. When the manipulator works at full sea depth, the volume of oil liquid is prevented from being reduced due to the increase of external pressure, so that cavities are generated and crushed by external water pressure, and each sealed cavity is connected to a compensator through a pipeline for compensation; the elastic oil source V is a hydraulic oil source with a compensation function and compensates the hydraulic actuators and pipelines of each joint; 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 components.
As shown in fig. 2, the first rotating joint of the manipulator in the invention comprises a first joint oil cylinder 3, a base 1 and a shoulder 4. The base 1 is used for fixing a 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 fixed with the base 1 through a fastening screw, and a blind hole is axially formed in the pin shaft 5 and is used for installing a stator part of the angle sensor; the rotating part of the angle sensor is fixed in an end cover of the angle sensor, the end cover of the angle sensor is fastened on the shoulder 4 through a screw, is in clearance fit with the pin shaft 5 and is radially sealed through a sealing ring, and a wire of the angle sensor passes through a joint of a radial oil port of the pin shaft 5 and a transparent hose and is connected to the sensor junction box 2.
The second rotating 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 kept fixed with the shoulder 4 through a fastening screw, and a blind hole is formed in the center of the pin shaft 6 and is used for installing the angle sensor stator part; the rotating part of the angle sensor is fixed in an end cover of the angle sensor, the end cover of the angle sensor is fastened on the large arm 9 through a screw, a center counter bore of the end cover of the angle sensor 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 passes through a joint 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 rotating joint of the manipulator comprises a third joint oil cylinder 12, a large arm 9 and a swinging oil cylinder bracket 15. The cylinder body end pin hole of the third joint cylinder 12 is hinged to the large arm 9 through a pin shaft 11, the piston rod end pin hole is hinged to the swing cylinder bracket 15 through a pin shaft 13, and the large arm 9 is hinged to the swing cylinder bracket 15 through a pin shaft 14. The pin 14 is fixed with the large arm 9 through a screw tightening screw, and a blind hole is formed in the center of the pin 13 and is used for installing the angle sensor stator part; the rotating part of the angle sensor is fixed in an end cover of the angle sensor, the end cover of the angle sensor is fastened on the swinging oil cylinder bracket 15 through a screw, a center counter bore of the end cover of the angle sensor is in clearance fit with the pin shaft 14 and is radially sealed through a sealing ring, and an electric wire of the angle sensor passes through a joint and a transparent hose connected to a radial oil port of the pin shaft 14 and is connected to the sensor junction box 2.
The fourth rotating joint of the manipulator comprises an elbow joint swinging hydraulic motor 16, a transit transition block 17 and a three-functional valve box 18, wherein the elbow joint swinging hydraulic motor 16 and the swinging oil cylinder bracket 15 are positioned in a matched mode through a hole shaft and are connected through a long bolt. The specific structure and working principle of the elbow joint swinging hydraulic motor 16 are shown in Chinese patent document CN201810333427 'an elbow joint swinging hydraulic motor for a full sea depth hydraulic manipulator'.
Fig. 4 in the present invention is a schematic diagram of a motor output shaft of a swing hydraulic motor in fig. 5 shown in chinese patent document CN201810333427 (the swing cylinder and the swing cylinder output shaft described in this patent correspond to the swing hydraulic motor and the motor output shaft described in chinese patent document CN201810333427, respectively, and the following description applies). The motor output elbow connecting flange 186 is provided with an oil return distributing channel 187, an oil inlet distributing channel 188, a distributing channel 189 and a connecting threaded hole. The oil return holes 201-3, the oil inlet holes 201-1 and the distribution holes 201-2 on the three-function valve box body 201 shown in fig. 10 are required to be in one-to-one correspondence with the oil return distribution holes 187, the oil inlet distribution holes 188 and the distribution holes 189 on the motor output elbow connecting flange 186 through the transit transition blocks 17. As shown in fig. 8, a rectangular sealing groove 17-2 is formed on a plane of the transit transition block 17 matched with the flange of the motor output shaft shown in fig. 4, and an oil inlet 17-3, an oil return port 17-4 and a line passing straight groove 17-5 are all located in an area surrounded by the rectangular sealing groove 17-2. The matching surface of the transit 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 opening 17-11 and a distribution hole 17-7 in the surrounding area of the rectangular sealing groove 17-10 are correspondingly communicated one by one through an oil inlet connecting hole 17-8, an oil return connecting hole 17-9 and a line passing straight groove 17-5 shown in fig. 9. The drilled positions of the oil inlet connecting hole 17-8 and the oil return connecting hole 17-9 are sealed after being welded and melted by plugs. The oil inlets 17-3, the oil return port 17-4, the oil inlets 17-6 and the oil return port 17-11 of the transit transition block 17 are all provided with a concentric counter bore for installing a sealing ring 216, a rectangular sealing groove 17-2 is internally provided with an O-shaped ring 213, the rectangular sealing groove 17-10 is internally provided with an O-shaped ring 214, and the purposes of connection and sealing are respectively achieved, so that oil liquid distributed by a motor output shaft in the elbow joint swing hydraulic motor 16 and wires passing through can be communicated with the three-functional valve box body 201 in a sealing way through the transit 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, a proportional valve module 207, wherein the motherboard 26 receives control commands and currents transmitted by electric wires connected through a distribution duct and transmits the control commands and currents to the three proportional valve module 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 through the electric wires. The three-function valve box body 201 conveys oil from the transit transition block 17 to the three proportional reversing valves 210 for controlling the fifth rotary joint, the sixth rotary joint and the paw opening and closing oil cylinders through the oil channels in the three-function valve box body, and the proportional valve module 207 controls the electromagnet in the proportional reversing valve 210 to move according to the control command, so that the oil flow and the direction output by the proportional reversing valve 210 are changed, and the fifth joint rotation, the sixth joint rotation and the paw opening and closing are controlled. The screw 202 and the screw 208 are respectively required to seal the fixing holes through the combination pad 203 and the combination pad 209, and the upper cover plate and the three-function valve box body 201 are sealed through the 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 forearm arm body 19 and a wrist joint 24. The cylinder body end pin hole of the fifth joint cylinder 21 is hinged to the forearm arm body 19 through a pin shaft 20, the piston rod end pin hole is hinged to the wrist joint 24 through a pin shaft 23, and the forearm arm body 19 is hinged to the wrist joint 24 through a pin shaft 22. The pin shaft 22 is kept fixed with the forearm arm body 19 through a screw tightening screw, and a blind hole is formed in the center of the pin shaft 22 and is used for installing the angle sensor stator part; the rotating part of the angle sensor is fixed in an end cover of the angle sensor, the end cover of the angle sensor is fastened on the wrist joint 24 through a screw, a central counter bore of the end cover of the angle sensor is in clearance fit with the pin shaft 22 and is radially sealed through a sealing ring, a wire of the angle sensor passes through a joint and a transparent hose 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 finally is converted into the junction box 2.
The specific structure and working principle of the sixth rotating joint and the paw of the manipulator are shown in Chinese patent document CN108555882A, namely a full sea depth hydraulic mechanical wrist joint, and the invention is not repeated.
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 (6)
1. A valve box split type full sea depth seven-function proportional hydraulic manipulator whole 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 comprising an external four-function valve box independent of a slave hand of a manipulator and a three-function valve box integrated in a small arm body of the slave hand; 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 main hand control box through a main cable and is respectively connected with an elastic oil source, a compensator and a three-function valve box through different pipelines, and an execution linear oil cylinder of a first rotary joint, a second rotary joint and a third rotary joint and an execution swinging oil cylinder of a fourth rotary joint are arranged in the slave hand of the manipulator;
One end of the three-functional valve box is connected with the arm body of the forearm, the other end of the three-functional valve box is connected to the end part of the swing cylinder output shaft of the swing cylinder of the fourth rotary joint through a transit block, each connecting plane forms end face sealing, and a flow distribution, power distribution and compensation channel is provided for the three-functional valve box through the swing cylinder output shaft; the transfer transition block is positioned between the swing cylinder output shaft 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 swing cylinder output shaft through screws; rectangular sealing grooves are respectively formed in the front sealing connecting surface and the rear sealing connecting surface of the transit block, and two flow distribution blind holes are respectively formed in the surrounding area of the grooves; the four flow distribution blind holes are communicated one by one through two radial round holes on the transfer transition block, and the drilled holes of the two radial round holes are respectively stopped by plugs; the sealing groove enclosing area is also provided with an electric wire via hole, and the electric wire via hole is 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 hinge joint 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 a four-function valve box through a watertight cable;
The first rotary joint, the second rotary joint, the third rotary joint and the fifth rotary joint all rotate by executing a linear oil cylinder driving arm body, one end of a linear oil cylinder is hinged to a driven joint, the other end of the linear oil cylinder is hinged to an adjacent arm body of the driven joint, and the hinged positions 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 a pin shaft at the hinge joint of the adjacent rotary joint, and a threaded hole is radially formed in the tail end of the blind hole and used for fastening an oil pipe joint of a threading oil pipe and communicated with the axial blind hole; an angle sensor is arranged in the blind hole, and is finally connected to the main hand control box through a cable by an oil pipe joint, a threading oil pipe, a sensor junction box and a watertight cable, and is used for realizing real-time transmission of joint angle data to realize closed-loop control, and meanwhile, a passage of the threading oil pipe is also an oil compensation passage of an external compensator for the angle sensor;
The sensor junction box is fixed on a base of the manipulator slave arm, is connected to the 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 an 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 valve box interiors of the four-function valve box and the three-function valve box and all angle sensors.
2. The valve manifold split full sea depth seven function ratio hydraulic manipulator complete machine system of claim 1, wherein the first rotary joint comprises a first joint linear cylinder, a base and a shoulder; wherein the base is used for being connected with the manned submersible to fix the slave manipulator of the manipulator; the cylinder body end pin hole of the first joint linear cylinder is hinged to the base through a pin shaft A, the piston rod end pin hole is hinged to the shoulder through a pin shaft B, and the base is hinged to the shoulder through a pin shaft C; the pin shaft C is fixed with the base through a set screw, and a blind hole is formed in the axial center of the pin shaft C and used for installing a first angle sensor stator part; the first angle sensor rotating part is fixed in the first angle sensor end cover, the first angle sensor end cover is fastened on the shoulder through a screw, the center counter bore of the first angle sensor end cover is in clearance fit with the pin shaft C and is radially sealed through a sealing ring, and a cable of the first angle sensor passes through a wiring oil pipe connected to the pin shaft C and is connected to the sensor junction box.
3. The valve manifold split full sea depth seven function ratio hydraulic manipulator complete machine system of claim 1, wherein the second revolute joint comprises a second joint linear cylinder, a large arm and a shoulder; the cylinder body end pin hole of the second joint linear cylinder is hinged to the large arm through a pin shaft D, the piston rod end pin hole is hinged to the shoulder through a pin shaft E, and the large arm is hinged to the shoulder through a pin shaft F; the pin shaft F is kept fixed with the shoulder through a set screw, and a blind hole is formed in the axial center of the pin shaft F and used for installing a second angle sensor stator part; the second angle sensor rotating part is fixed in a second angle sensor end cover, the second angle sensor end cover is fastened on the large arm through a screw, a center counter bore of the second sensor end cover is in clearance fit with the pin shaft F and is radially sealed through a sealing ring, and a cable of the second angle sensor penetrates through a wiring oil pipe connected to the pin shaft F and is connected to the sensor junction box.
4. The valve box split full sea depth seven function ratio hydraulic manipulator complete machine system of claim 1, wherein the third rotary joint comprises a third joint linear cylinder, a large arm and a swinging cylinder bracket; the pin hole at the cylinder body end of the third joint linear cylinder is hinged to the large arm through a pin shaft G, the pin hole at the piston rod end is hinged to the swing cylinder bracket through a pin shaft H, and the large arm is hinged to the swing cylinder bracket through a pin shaft I; the pin shaft I is fixed with the large arm through a fastening screw, and a blind hole is formed in the center of the pin shaft H and used for a third installation angle sensor stator part; the rotating part of the third angle sensor is fixed in the end cover of the third angle sensor, the end cover of the third angle sensor is fastened on the support of the swinging oil cylinder through a screw, a center counter bore of the end cover of the third sensor is in clearance fit with the pin shaft I and is radially sealed through a sealing ring, and a cable of the third angle sensor passes through a wiring oil pipe connected to the pin shaft I and is connected to the sensor junction box.
5. The valve box split full sea depth seven-function proportional hydraulic manipulator complete machine system according to claim 1, wherein the fourth rotary joint comprises a swinging oil cylinder, and the end part of an output shaft of the swinging oil cylinder is connected with the three-function valve box through a transit transition block; the swing oil cylinder is matched with the swing oil cylinder fixing seat through a hole shaft, and is connected through a bolt.
6. The valve box split full sea depth seven function ratio hydraulic manipulator complete machine system according to claim 1, wherein the fifth rotary joint comprises a fifth joint linear cylinder, a forearm arm body and a wrist joint; the cylinder body end pin hole of the fifth joint linear cylinder is hinged to the forearm arm body through a pin shaft J, the piston rod end pin hole is hinged to the wrist joint through a pin shaft K, and the forearm arm body is hinged to the wrist joint through a pin shaft L; the pin shaft L is kept fixed with the forearm arm body through a set screw, and a blind hole is formed in the center of the pin shaft L and used for installing a stator part of the fifth angle sensor; the rotating part of the fifth angle sensor is fixed in the end cover of the fifth angle sensor, the end cover of the fifth angle sensor is fastened on the wrist joint through a screw, a center counter bore of the end cover of the fifth angle sensor is in clearance fit with the pin shaft L and is radially sealed through a sealing ring, and a cable of the fifth angle sensor is connected to a motherboard of the three-function valve box body of the sensor through a wiring oil pipe connected with the pin shaft L and finally connected to the sensor junction box.
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| CN210335989U (en) * | 2019-06-29 | 2020-04-17 | 杭州宇控机电工程有限公司 | Valve box separated type full-sea-depth seven-function proportional hydraulic manipulator complete machine system |
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| GB1108873A (en) * | 1965-06-22 | 1968-04-03 | Atomic Energy Authority Uk | Remote-control manipulator |
| JP2001310277A (en) * | 2000-04-27 | 2001-11-06 | Hitachi Constr Mach Co Ltd | Master-slave type operating device |
| JP2008194789A (en) * | 2007-02-14 | 2008-08-28 | Shin Meiwa Ind Co Ltd | Inner force sense presentation device, and power assist arm equipped therewith, and power assist device |
| CN101927493B (en) * | 2009-06-19 | 2012-04-25 | 中国海洋石油总公司 | Valve box structure of underwater manipulator |
| CN202219506U (en) * | 2011-08-15 | 2012-05-16 | 中国科学院沈阳自动化研究所 | Servo valve case used for underwater hydraulic manipulator |
| CN103846904A (en) * | 2012-11-30 | 2014-06-11 | 中国科学院沈阳自动化研究所 | Servo valve box for controlling underwater hydraulic manipulator |
| CN104647365B (en) * | 2015-03-06 | 2016-08-24 | 山东大学 | A kind of hydraulic-driven multi-joint industrial robot |
| CN108115673A (en) * | 2016-11-28 | 2018-06-05 | 杨晓东 | A kind of underwater master-slave servo hydraulic efficiency manipulator control system |
| CN107524653A (en) * | 2017-09-26 | 2017-12-29 | 哈尔滨航士科技发展有限公司 | A kind of hydraulic system of deep ocean work type underwater robot |
| CN107701128B (en) * | 2017-10-27 | 2018-07-24 | 济南芯乐智能设备有限公司 | A kind of full-automatic petroleum well workover rod tube operation industrial robot |
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