技术领域technical field
本发明涉及一种液压关节，特别涉及一种水下机械手的液压关节。The invention relates to a hydraulic joint, in particular to a hydraulic joint of an underwater manipulator.
背景技术Background technique
海洋中蕴藏着丰富的资源，人类开发和利用海洋的速度正在逐渐加快，所涉及的海洋工程日益增多。目前在海洋油气勘探开发等领域，多数水下作业具有压力高、负载重等特点，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，所以液压驱动的具有作业能力的水下机器人在海洋工程领域得到了广泛的应用。水下机器人的作业能力主要是靠搭载于其上的水下机械手来完成的。水下机械手由于作业环境的特殊性，与陆地上的应用有很大区别，对水下机械手的液压关节要求具有耐高压、耐腐蚀、结构紧凑、密封可靠等要求，研制出性能稳定、结构紧凑的水下机械手的液压关节，已成为函待解决的问题。There are abundant resources in the ocean, and the speed of human development and utilization of the ocean is gradually accelerating, and the number of ocean projects involved is increasing. At present, in the field of offshore oil and gas exploration and development, most underwater operations have the characteristics of high pressure and heavy load. Driven underwater robots with operational capabilities have been widely used in the field of ocean engineering. The operating capability of the underwater robot is mainly completed by the underwater manipulator mounted on it. Due to the particularity of the working environment, the underwater manipulator is very different from the application on land. The hydraulic joints of the underwater manipulator are required to have high pressure resistance, corrosion resistance, compact structure, and reliable sealing. The developed product has stable performance and compact structure. The hydraulic joint of the underwater manipulator has become a problem to be solved.
为了有效地进行多样的水下作业，水下机械手一般应具有多个自由度并外加一个末端执行器，在这多个自由度中，液压关节的转动自由度一般是必不可少的。液压关节主要用于调整末端执行器的位姿，以便末端执行器能以合适的角度来执行任务。在这种情况下，液压关节不需要连续转动，180°或360°等有限角度的摆动范围就能满足调整夹持器位姿的需求；液压关节需要具备良好的低速转动性能，以利于转角的调整；并应能长时间保持转角位置的稳定。水下机械手工作于海水环境下，现有的驱动关节为：叶片式摆动马达和齿轮齿条式摆动缸。In order to effectively carry out various underwater operations, the underwater manipulator should generally have multiple degrees of freedom and an additional end effector. Among these multiple degrees of freedom, the rotational degree of freedom of the hydraulic joint is generally essential. Hydraulic joints are mainly used to adjust the pose of the end effector so that the end effector can perform tasks at an appropriate angle. In this case, the hydraulic joint does not need to rotate continuously, and the swing range of limited angles such as 180° or 360° can meet the needs of adjusting the position and posture of the gripper; the hydraulic joint needs to have good low-speed rotation performance to facilitate the rotation angle. Adjustment; and should be able to maintain the stability of the corner position for a long time. The underwater manipulator works in the seawater environment, and the existing drive joints are: vane-type swing motor and rack-and-pinion swing cylinder.
叶片式摆动马达由于结构上的缺陷，存在较大的内部泄露。它用于液压关节需要通过伺服控制来实时补偿，维持液压关节转角的稳定，否则，在内部泄露的影响下，转角无法长时间保持稳定。这无疑会增加液压系统和控制系统的复杂程度。The vane swing motor has large internal leakage due to structural defects. It is used in hydraulic joints that need to be compensated in real time through servo control to maintain the stability of the hydraulic joint angle, otherwise, under the influence of internal leakage, the angle cannot be kept stable for a long time. This will undoubtedly increase the complexity of the hydraulic system and control system.
齿轮齿条式摆动缸充分利用做直线往复运动的液压缸的密封性较好，内部泄露小的特点，采用齿轮齿条传动，由液压缸来推动齿条运动，进而带动齿轮转动的方式将直线运动转化为转动。它能长时间保持转角的稳定，制造和维护成本很低，但由于要横向布置液压缸，导致摆动缸横向方向上的尺寸很大，会影响水下机械手的运动。The rack and pinion swing cylinder makes full use of the good sealing performance and small internal leakage of the linear reciprocating hydraulic cylinder. It adopts rack and pinion transmission, and the hydraulic cylinder drives the rack to move, and then drives the gear to rotate. Movement is converted into rotation. It can maintain the stability of the corner for a long time, and the manufacturing and maintenance costs are very low. However, due to the horizontal arrangement of hydraulic cylinders, the lateral dimension of the swing cylinder is large, which will affect the movement of the underwater manipulator.
液压关节一方面要保证定位功能和安装方便，另一方面又要尽量地简化液压系统，降低制造成本和维护成本。因此，必须要提供一种简单可靠、便于安装以及具备转角保持功能的液压关节结构。On the one hand, the hydraulic joint must ensure the positioning function and easy installation, and on the other hand, it must simplify the hydraulic system as much as possible to reduce manufacturing and maintenance costs. Therefore, it is necessary to provide a hydraulic joint structure that is simple, reliable, easy to install and has the function of maintaining the rotation angle.
发明内容Contents of the invention
本发明的目的在于克服现有液压关节的不足，而提出了一种水下机械手的液压关节。The purpose of the present invention is to overcome the shortcomings of the existing hydraulic joints, and propose a hydraulic joint of an underwater manipulator.
本发明提出的水下机械手的液压关节，由输出螺杆、缸体、空心螺杆、固定螺母和推力轴承组成，输出螺杆插入缸体内，其两端通过推力轴承与缸体连接，固定螺母通过螺纹紧固或过盈配合，与缸体装配成一个整体；空心螺杆位于缸体内，将缸体分为两个腔体，所述一个腔体设有进油口，另一个腔体设有出油口，输出螺杆插入空心螺杆的中间空心部分，空心螺杆和输出螺杆采用螺纹连接，构成第一级螺旋副，空心螺杆插入缸体内，空心螺杆和固定螺母采用螺纹连接，构成第二级螺旋副；通过这两级螺旋副，将进油口的液压油压力转换成扭矩输出，并通过调整进油口和出油口的油压差，即可实现输出螺杆的正向旋转和反向旋转，从而实现大角度摆动运动。The hydraulic joint of the underwater manipulator proposed by the present invention is composed of an output screw, a cylinder, a hollow screw, a fixed nut and a thrust bearing. The output screw is inserted into the cylinder, and its two ends are connected with the cylinder through the thrust bearing. Fastening or interference fit, assembled with the cylinder body as a whole; the hollow screw is located in the cylinder body, and the cylinder body is divided into two chambers, one chamber is provided with an oil inlet, and the other chamber is provided with an outlet The oil port and the output screw are inserted into the hollow part of the hollow screw. The hollow screw and the output screw are connected by threads to form the first-stage screw pair. The hollow screw is inserted into the cylinder body. The hollow screw and the fixed nut are connected by threads to form the second-stage screw. pair; through the two-stage screw pair, the hydraulic oil pressure at the oil inlet is converted into torque output, and the forward rotation and reverse rotation of the output screw can be realized by adjusting the oil pressure difference between the oil inlet and the oil outlet , so as to achieve large-angle swing motion.
本发明中，所述空心螺杆和缸体连接处一端设有螺杆密封圈，另一端设有缸体密封圈。In the present invention, one end of the connection between the hollow screw and the cylinder is provided with a screw sealing ring, and the other end is provided with a cylinder sealing ring.
本发明中，空心螺杆由于既和输出螺杆形成螺旋副，也和固定螺母形成螺旋副，则在空心螺杆的外圆面加工外螺旋，也在其内圆面加工内螺旋。空心螺杆既做直线运动也做旋转运动，运动频繁，为提高其耐磨性，内螺旋部分可使用青铜材料，外螺旋部分使用高强钢保证其强度，青铜和高强钢可通过螺纹紧固或过盈配合装配成一个整体。In the present invention, since the hollow screw forms a helical pair with the output screw and a fixed nut, the outer helix is processed on the outer surface of the hollow screw, and the inner helix is also processed on the inner surface of the hollow screw. The hollow screw performs both linear motion and rotary motion, and the motion is frequent. In order to improve its wear resistance, the inner screw part can be made of bronze material, and the outer screw part can be made of high-strength steel to ensure its strength. Bronze and high-strength steel can be fastened by thread or over Fitted to form a whole.
本发明具有如下几大优点：The present invention has the following several advantages:
（1）通过独特的螺旋结构和高精密的加工，可以保证内部泄露很小；(1) Through the unique spiral structure and high-precision processing, the internal leakage can be guaranteed to be small;
（2）在不外加控制的前提下，可以长时间保持转角的稳定；(2) On the premise of no external control, the stability of the corner can be maintained for a long time;
（3）液压关节的绝大部分材料由耐海水不锈钢制成，耐腐蚀性好，可以长期在水下进行作业。(3) Most of the materials of hydraulic joints are made of seawater-resistant stainless steel, which has good corrosion resistance and can work underwater for a long time.
附图说明Description of drawings
图1为水下机械手的液压关节的剖视图。Figure 1 is a cross-sectional view of the hydraulic joint of the underwater manipulator.
图中标号：1为输出螺杆、2为推力轴承、3为固定螺母、4为空心螺杆、5为缸体、6为螺杆密封圈、7为缸体密封圈。Numbers in the figure: 1 is an output screw, 2 is a thrust bearing, 3 is a fixed nut, 4 is a hollow screw, 5 is a cylinder body, 6 is a screw seal ring, and 7 is a cylinder body seal ring.
具体实施方式Detailed ways
下面结合附图和具体的实施例来对本发明作进一步的阐述。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
实施例1：如图1所示，所述装置由输出螺杆1、推力轴承2、固定螺母3、空心螺杆4、缸体5、螺杆密封圈6和缸体密封圈7组成。所述材料大部分由耐海水不锈钢材料制成。输出螺杆1的两端通过推力轴承2与缸体5连接。固定螺母3通过螺纹紧固或过盈配合，与缸体5装配成一个整体。空心螺杆4和输出螺杆1构成第一级螺旋副，空心螺杆4和固定螺母3构成第二级螺旋副。通过这两级螺旋副，将进油口的液压油压力转换成扭矩输出，并通过调整进油口和出油口的油压差，即可实现输出螺杆的正向旋转和反向旋转，从而实现大角度摆动运动。本发明的工作过程具体如下：Embodiment 1: As shown in FIG. 1 , the device is composed of an output screw 1 , a thrust bearing 2 , a fixed nut 3 , a hollow screw 4 , a cylinder 5 , a screw sealing ring 6 and a cylinder sealing ring 7 . The materials are mostly made of seawater resistant stainless steel. The two ends of the output screw 1 are connected with the cylinder body 5 through the thrust bearing 2 . The fixing nut 3 is assembled with the cylinder body 5 as a whole through thread fastening or interference fit. The hollow screw 4 and the output screw 1 form the first-stage screw pair, and the hollow screw 4 and the fixed nut 3 form the second-stage screw pair. Through the two-stage screw pair, the hydraulic oil pressure at the oil inlet is converted into torque output, and by adjusting the oil pressure difference between the oil inlet and the oil outlet, the forward rotation and reverse rotation of the output screw can be realized, so that Realize large-angle swing motion. Working process of the present invention is specifically as follows:
在缸体5内部，由空心螺杆4及螺杆密封圈6和缸体密封圈7分成前后独立的两腔。当缸体5的P1为进油口，P2为出油口时，即油缸左腔的压力大于右腔的压力时，空心螺杆4被推动向右运动，由于空心螺杆4与固定螺母3的啮合作用，空心螺杆4既作轴向直线运动，也做逆时针旋转运动。同时空心螺杆4与输出螺杆1也是一级螺旋副啮合（螺旋方向与空心螺杆和固定螺母的螺旋副相反），空心螺杆4的旋转运动传递给了输出螺杆1，同时空心螺杆4的向右轴向运动也带动输出螺杆1作逆时针旋转运动，通过两级螺旋副的放大作用，只要较小的工作行程，就可以得到较大的输出旋转角度。反之，当液压油右腔压力大于左腔压力时，输出螺杆1的运行方向相反。如此，控制液压油进出油口压力差，将可以输出螺杆1的旋转方向，从而满足水下机械手液压关节对转动自由度的要求。Inside the cylinder body 5, the hollow screw rod 4, the screw seal ring 6 and the cylinder body seal ring 7 are divided into two independent chambers. When P1 of the cylinder body 5 is the oil inlet and P2 is the oil outlet, that is, when the pressure in the left chamber of the oil cylinder is greater than the pressure in the right chamber, the hollow screw 4 is pushed to move to the right, due to the engagement between the hollow screw 4 and the fixed nut 3 As a result, the hollow screw 4 not only moves axially in a straight line, but also rotates counterclockwise. At the same time, the hollow screw 4 and the output screw 1 are also meshed with a first-stage helical pair (the helical direction is opposite to the helical pair of the hollow screw and the fixed nut). The direction movement also drives the output screw 1 to rotate counterclockwise. Through the amplification effect of the two-stage screw pair, as long as the working stroke is small, a large output rotation angle can be obtained. Conversely, when the pressure in the right chamber of the hydraulic oil is greater than the pressure in the left chamber, the running direction of the output screw 1 is opposite. In this way, by controlling the pressure difference between the inlet and outlet of the hydraulic oil, the rotation direction of the screw 1 can be output, so as to meet the requirements for the degree of freedom of rotation of the hydraulic joint of the underwater manipulator.
上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明精神实质所作的等效变化或修饰，都应涵盖在本发明的保护范围之内。The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention shall fall within the protection scope of the present invention.
本发明给出的一种水下机械手的液压关节，可以长期在水下作业，具有可靠性高、定位精确、耐腐蚀性好，具有较强的实用性和较高的经济性。The hydraulic joint of an underwater manipulator provided by the invention can work underwater for a long time, has high reliability, precise positioning, good corrosion resistance, strong practicability and high economic efficiency.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410244194.XACN104029211A (en) | 2014-06-05 | 2014-06-05 | Hydraulic joint of underwater manipulator |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410244194.XACN104029211A (en) | 2014-06-05 | 2014-06-05 | Hydraulic joint of underwater manipulator |
| Publication Number | Publication Date |
|---|---|
| CN104029211Atrue CN104029211A (en) | 2014-09-10 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410244194.XAPendingCN104029211A (en) | 2014-06-05 | 2014-06-05 | Hydraulic joint of underwater manipulator |
| Country | Link |
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| CN (1) | CN104029211A (en) |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20140910 |