CN106240764A - Compensation of undulation special purpose robot and compensation of undulation method - Google Patents
Compensation of undulation special purpose robot and compensation of undulation method Download PDFInfo
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- CN106240764A CN106240764A CN201610617770.XA CN201610617770A CN106240764A CN 106240764 A CN106240764 A CN 106240764A CN 201610617770 A CN201610617770 A CN 201610617770A CN 106240764 A CN106240764 A CN 106240764A
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- driver
- belt wheel
- compensation
- bevel gear
- undulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of special purpose robot and the compensation of undulation method in marine ships field of operation with compensation of undulation function; forearm front end connects Wrist mechanism rear end; Wrist mechanism front end is rigidly connected end effector driver; the rear end of Wrist mechanism comprises first, second driver; front end comprises a differential attachment and two support arms; centre is bracing frame; bracing frame is affixed with forearm front end; two support arms of the affixed right layout of the first from left in front side of bracing frame, are differential attachments between two support arms；Differential attachment is made up of four bevel gears, a yawing axis and two pitching driving shafts, yawing axis is arranged vertically up and down, the centrage of first, second pitching driving shaft centerline collineation and yawing axis is perpendicular and the first from left right side is arranged symmetrically in the both sides of yawing axis, Wrist mechanism possesses independent three degree of freedom, make robot obtain more attitude, stormy waves the rolling of the boats and ships caused, pitching and yawing can be carried out real-Time Compensation.
Description
Technical field
The present invention relates to marine ships technical field of operation, particularly relate to the special purpose machinery with compensation of undulation function
People.
Background technology
Boats and ships are different from land in deepwater activity, and naval vessel can cause along with wave does erratic undulatory motion relatively
Position changes, and how to isolate disturbance and i.e. compensates the fluctuating caused by wave, thus ensures the steady safety of ocean operation, right
Mankind's activity in marine context has very important significance.
Compensation of undulation robot application is concentrated mainly on ocean platform drilling operation, sea goods lifting, offshore wind at present
Power generating, latent device reclaim hang, the aspect such as material transfer between naval vessel.Compensation of undulation robot uses the shape of parallel connection platform mostly
Formula, parallel robot has the advantages such as rigidity is big, bearing capacity is strong, precision is high, end inertia is little.Such as on ship Amplemann fortune
Dynamic compensate gangway ladder system, be a kind of based on Steward(history all China) wave compensation system of platform, by hydraulic pressure and pneumatic means
Realizing compensating, but installation footprint and sole mass are big, space is less, and job area is little and former due to size
Cause, it is impossible to put in etch-proof housing or hull.Conventional serial robot is that pedestal is fixed simultaneously, maximum operating range
Restricted.Conventional serial robot wrist structure is complicated, overall weight is big, and mechanism's weight of later degree of freedom becomes previous
The load of individual degree of freedom mechanism, and the axis of rotation that easily causes wrist is non-intersect or produces offset distance, controls to robot wrist
System brings difficulty and integrated level low.
Summary of the invention
It is desirable to provide a kind of series connection multi-freedom robot with compensation of undulation function, this robot ripple
Wave compensate function, it is possible to realize the rolling caused by stormy waves, pitching and yawing are carried out real-Time Compensation, with ensure end not with
Naval vessel is produced rock by marine Lidar Equation.The present invention also provides for the compensation of undulation method of this robot simultaneously.
For reaching above-mentioned purpose, compensation of undulation special purpose robot of the present invention the technical scheme is that have forearm, wrist
Mechanism, end effector driver and end effector mechanism, forearm front end connects Wrist mechanism rear end, Wrist mechanism front end rigidity
Connecting end effector driver, end effector driver connects end effector mechanism, and Wrist mechanism during initial position is put down
Row in ship deck, Wrist mechanism front end point to fore dead ahead to, the rear end of Wrist mechanism comprises first, second driver,
Front end comprises a differential attachment and two support arms, and centre is bracing frame, and bracing frame is affixed with forearm front end, in bracing frame
Between position connect firmly driver framework, first, second driver is positioned opposite in the arranged on left and right sides of driver framework and common connection drives
Framework, the equal left and right horizontal of central shaft of first, second driver is arranged；The two of the affixed right layout of the first from left in front side of bracing frame
Individual support arm, is differential attachment between two support arms；Differential attachment is by four bevel gears, a yawing axis and two pitching masters
Moving axis forms, and yawing axis is arranged vertically up and down, the centrage phase of first, second pitching driving shaft centerline collineation and yawing axis
Vertical and the first from left right side is arranged symmetrically in the both sides of yawing axis, and one end of first, second pitching driving shaft can connect jointly rotationally
Connecing differential attachment and prop up bracer, the other end is supported on the support arm that homonymy is corresponding, and the interlude concentric gap of yawing axis is through poor
The centre bore of dynamic mechanism supports block, the epimere of yawing axis connects third hand tap gear by coaxial bearing, on the hypomere of yawing axis
It is fixedly and coaxially connected the first bevel gear；On first pitching driving shaft, coaxial fixed cover fills the second bevel gear being solidly connected with each other
With the first belt wheel, on the second pitching driving shaft, coaxial fixed cover fills the 4th bevel gear and the 3rd belt wheel being solidly connected with each other,
First bevel gear is all meshed with the second bevel gear, the 4th bevel gear, and third hand tap gear and the second bevel gear, the 4th bevel gear are also
All it is meshed；The output shaft of the first driver is fixedly and coaxially connected the 4th belt wheel, and the output shaft of the second driver is coaxially fixing to be connected
Connecing the second belt wheel, the first belt wheel connects the second belt wheel by the first odontoid belt, and the 3rd belt wheel is connected by the second odontoid belt
4th belt wheel；Bevel gear passes through connector affixed end effector driver.
The compensation of undulation method of described compensation of undulation special purpose robot employed technical scheme comprise that and comprises the following steps:
A, first, second driver turn to identical with rotating speed, the first belt wheel and the 3rd belt wheel turn to identical with rotating speed, the first cone
Gear rotates around first, second pitching driving shaft, it is achieved elevating movement, and the pitching to boats and ships compensates；
B, first, second driver rotating speed identical and turn to contrary, the first belt wheel and the 3rd band wheel speed are identical and turn to phase
Instead, the first bevel gear rotates around yawing axis, and the rolling to boats and ships compensates；
C, the rotating speed difference of first, second driver, the first belt wheel and the 3rd band wheel speed are different, in pitching and deflection two directions
Resultant motion, the yawing to boats and ships compensates.
Present invention have the advantage that
1, compensation of undulation special purpose robot of the present invention is to have the rolling to the boats and ships caused by stormy waves, pitching and yawing to carry out reality
Time compensate series connection Novel structure, use traditional cascade machine mechanical arm forearm end connect Wrist mechanism, Wrist mechanism end
Connect the structure of the end effector of robot, further increase work space and the flexibility ratio of robot, it is possible to keep machine
Stablizing of device robot end, is not affected by wave motion.
2, when compensation of undulation special purpose robot of the present invention performs to stablize task on naval vessel, Wrist mechanism possesses independent three
Individual degree of freedom, so that robot end flexibly and obtains more attitude, it is achieved angle compensation.
3, the structure structure of compensation of undulation special purpose robot of the present invention is the compactest, and integrated level is high, overall weight is light, can be to ship
The rolling of oceangoing ship, pitching and yawing carry out real-Time Compensation on a large scale,
4, the present invention can realize robot integral position adjustment by regulation guide rail.
Accompanying drawing explanation
Fig. 1 is the front view of compensation of undulation special purpose robot of the present invention；
Fig. 2 is the three dimensional structure enlarged diagram of Wrist mechanism 7 in Fig. 1；
Fig. 3 is Wrist mechanism 7 structure top view in Fig. 2；
Fig. 4 is that the A-A in Fig. 3 is to sectional view；
Fig. 5 is Wrist mechanism 7 axis of no-feathering mapping in Fig. 3；
Fig. 6 is the first driver and the second driver and the front view of connection member thereof in Fig. 3；
Fig. 7 be in Fig. 6 the B-B of the first driver to cutaway view Amplified image.
In figure: 1. longitudinal rail combination；2. cross slide way combination；3. mechanical arm base；4. large arm；5. linking arm；The least
Arm；7. Wrist mechanism；8. end effector driver；9. end effector mechanism；10. the first driver；11. first motors；13.
First steel wheel；14. first flexbile gears；15. first harmonic generators；16. first motor output shafts；17. second belt wheels；18. second
Driver；19. second motors；21. second steel wheels；22. second flexbile gears；23. second harmonic generators；24. second motor outputs
Axle；25. the 4th belt wheels；26. driver frameworks；31. first odontoid belts；32. second odontoid belts；33. bracing frames；34,35.
Brace；37. position sensors；38. first pitching driving shafts；39. second pitching driving shafts；40. first belt wheels；41. the 3rd bands
Wheel；42. differential attachments；43,44,45,46,47,48. pin；49. first bevel gears；50. second bevel gears；51. triconodonts
Wheel；52. the 4th bevel gears；55. yawing axis；56. differential attachments prop up bracer；58. connectors.
Detailed description of the invention
Compensation of undulation special purpose robot shown in Figure 1, bottom is regulation guide rail, and regulation guide rail is combined by longitudinal rail
1 and cross slide way combination 2 composition, lower section be longitudinal rail combination 1, top be cross slide way 2, vertical by lower section of regulation guide rail
Direction guiding rail combination 1 is fixed on ship deck with bolt.Being mechanical arm in the upper end of regulation guide rail, mechanical arm is mainly by mechanical arm
Base 3, large arm 4, linking arm 5, forearm 6 form.Mechanical arm base 3 is bolted on regulation guide rail, makes mechanical arm whole
Body is realized and the connection of regulation guide rail by mechanical arm base 3.Position and attitude sensor, detection are installed in mechanical arm base 3 center
Rolling, pitching and the heave amount that robot is produced by Lidar Equation with naval vessel, the control for robot provides data.Large arm
The lower end of 4 is rotatably connected mechanical arm base 3, and linking arm 5 lower end is rotatably connected the upper end of large arm 4, and the rear end of forearm 6 can be revolved
Turning and connect linking arm 5 upper end, the front end of forearm 6 connects the rear end of Wrist mechanism 7, and the rear end of Wrist mechanism 7 is arranged on forearm 6
In the housing of front end, the rear end of Wrist mechanism 7 is rigidly connected by bolt with forearm 6 front end.Spiral shell is passed through in the front end of Wrist mechanism 7
Following closely the end effector driver 8 that is rigidly connected, end effector driver 8 connects end effector mechanism 9.When initial position,
Wrist mechanism 7 is parallel to ship deck, the fore dead ahead on the sensing naval vessel, front end of Wrist mechanism 7 to.
Setting up rectangular coordinate system in space as shown in Figure 1, during initial position, the front end horizontal center line of Wrist mechanism 7 refers to
Forward dead ahead to, with the horizontal center line of Wrist mechanism 7 as z-axis, z-axis forward point to the dead ahead of fore to, with vertically
Be y-axis direction in the direction of ship deck, y-axis forward perpendicular in deck upwards, spatially, with y-axis, the orthogonal side of z-axis
To for x-axis direction, x-axis direction is the left and right directions on naval vessel.
The structure of Wrist mechanism 7 as shown in Figures 2 and 3, the rear end of Wrist mechanism 7 comprises the first driver 10 and second
Driver 18, centre are that bracing frame 33, front end comprise a differential attachment 42 and two support arms 34,35.Position sensor 37
It is fixed on support arm 35 by bolt, to detect the position of Wrist mechanism 7.Wherein, bracing frame 33 is by bolt and mechanical arm
Forearm 6 front end carries out affixed.There are driver framework the 26, first driver 10 and the second driver 18 in the rear side side of bracing frame 33.Drive
Dynamic framework 26 connects firmly the centre position being fixedly connected on bracing frame 33 by bolt, and the first driver 10 and the second driver 18 exist
The left and right sides of driver framework 26 is positioned opposite, is commonly connected on driver framework 26, and the first driver 10 is at driver framework 26
Right side, the second driver 18 is in the left side of driver framework 26, and the central shaft of the first driver 10 and the second driver 18 is the most left
Right horizontally disposed.First driver the 10, second driver 18 and driver framework 26 are respectively positioned on the enclosure interior of forearm 6 front end.?
The front side of bracing frame 33 has two support arms 34,35, two support arm 34,35 1 the first from left right sides to be fixedly welded on bracing frame 33
On, it is a differential attachment 42 between two support arms 34,35.
As shown in Fig. 3, Fig. 4 and Fig. 5, differential attachment 42 is by four bevel gears, a yawing axis 55 and two pitching actives
Axle forms.Wherein, four bevel gears are first bevel gear the 49, second bevel gear 50, third hand tap gear 51 and the 4th cone respectively
Gear 52, two pitching driving shafts are the first pitching driving shaft 38 and the second pitching driving shaft 39 respectively.On yawing axis 55 sagging
Straight layout, the i.e. centrage of yawing axis 55 are arranged along Y direction, and the first pitching driving shaft 38 and the second pitching driving shaft 39 1 are left
One right side is symmetrically arranged at the left and right sides of yawing axis 55, and in the first pitching driving shaft 38 and the second pitching driving shaft 39
Heart line is perpendicular with the centrage of yawing axis 55, i.e. the centrage of two pitching driving shafts is all arranged along X-direction, and two
The centerline collineation of pitching driving shaft.The right-hand member of the first pitching driving shaft 38 and the left end of the second pitching driving shaft 39 can turn jointly
Being flexibly connected a differential attachment dynamicly and prop up bracer 56, the other end is supported on corresponding support arm 34 or the support arm 35 of homonymy
On.The interlude of yawing axis 55 props up the centre bore of bracer 56 the most with a gap through differential attachment, at the epimere of yawing axis 55
On connect third hand tap gear 51 by coaxial bearing, coaxial fixing suit the first bevel gear 49 on the hypomere of yawing axis 55, and
And yawing axis 55 is fixed together with the first bevel gear 49 by pin 43 and pin 44.On each pitching driving shaft each coaxially
Fixed cover is equipped with a bevel gear and a belt wheel, and specifically on the first pitching driving shaft 38, tooth bored by coaxial fixing suit second
Wheel 50 and the first belt wheel 40, coaxial fixing suit the 4th bevel gear 52 and the 3rd belt wheel 41 on the second pitching driving shaft 39.And
And, the first belt wheel 40 is fixed together with the second bevel gear 50 by pin 45 and pin 46, and the 3rd belt wheel 41 is by pin 47
It is fixed together with the 4th bevel gear 52 with pin 48.First bevel gear 49 and the second bevel gear 50 and the 4th cone tooth of left and right sides
Wheel 52 is meshed, and third hand tap gear 51 is also meshed with the second bevel gear 50 and the 4th bevel gear 52 of left and right sides.
The output shaft of the first driver 10 is fixedly and coaxially connected the 4th belt wheel 25, and the output shaft of the second driver 18 is coaxial
Fixing connection the second belt wheel 17, the first driver 10 and the second driver 18 provide power for wrist mechanism 7.First band in left side
Wheel 40 by first odontoid belts 31 in left side connect on the left of the second belt wheel 17, the second driver 18 through the second belt wheel 17, the
One odontoid belt the 31, first belt wheel 40 drives the first pitching driving shaft 38 to rotate.3rd belt wheel 41 on right side by right side the
The 4th belt wheel 25 on the right side of two odontoid belts 32 connections, the first driver 10 is through the 4th belt wheel the 25, second odontoid belt the 32, the 3rd
Belt wheel 41 drives the second pitching driving shaft 39 to rotate.
Bevel gear 49 is by bolt affixed connector 58 rear end, and end effector driver 8 is fixed in connection by bolt
Part 58 front end, is driven end effector driver 8 to rotate by bevel gear 49, and end effector 9 is fixedly welded on end effector
In driver 8.When end execution driver 8 works, end effector 9 can be made to rotate around z-axis.Thus, Wrist mechanism 7 He
Under the common effect of end effector driver 8, drive end effector mechanism 9 along the rotation of three axles of x, y, z axle.
First belt wheel the 40, second belt wheel the 17, the 3rd belt wheel 41 and the 4th belt wheel 25 are synchronous pulley, when the first belt wheel 40
When turning to identical with rotating speed with the 3rd belt wheel 41, at the second cone tooth that be connected fixing with the 3rd belt wheel 41 with the first belt wheel 40 respectively
Under the effect of wheel 50 and the 4th bevel gear 52, make the first bevel gear 49 being meshed with the second bevel gear 50 and the 4th bevel gear 52
Rotate around the first pitching driving shaft 38 and the second pitching driving shaft 39, i.e. rotate around x-axis, it is achieved the elevating movement of wrist.When
When one belt wheel 40 is identical with the 3rd belt wheel 41 rotating speed and turns to contrary, in the second bevel gear 50 and effect of the 4th bevel gear 52
Under, the first bevel gear 49 rotates around yawing axis 55, i.e. rotates around y-axis, it is achieved the yaw motion of wrist.When the first belt wheel 40 and
During three belt wheel 41 rotating speed differences, form wrist in pitching and the resultant motion in deflection two directions.
The centrage of the first pitching driving shaft 38 and the second pitching driving shaft 39 in the X-axis direction, the center of yawing axis 55
In the Y-axis direction, in the Z-axis direction, three are mutually perpendicular in centrage space the centrage of end effector driver 8 line
And intersect at a point, this joining is also the initial point that X-axis, Y-axis and Z axis intersect.
As indicated in fig. 6 and fig. 3, the first driver 10 is made up of the first motor 11 and first harmonic decelerator, therein
First harmonic decelerator is made up of first steel wheel the 13, first flexbile gear 14 and first harmonic generator 15；In like manner the second driver
18 are made up of the second motor 19 and second harmonic decelerator, and second harmonic decelerator therein is by the second steel wheel 21, second
Flexbile gear 22 and second harmonic generator 23 form；The housing of first motor the 11, second motor 19 and driver framework 26 pass through spiral shell
Bolt is affixed, and the first motor 11 and the second motor 19 use minisize dc brushless disk motor.First steel wheel 13 and the second steel wheel 21
It is each attached on driver framework 26.The output shaft of the first motor output shaft 16 that is first driver 10 of the first motor 11,
Being fixed with first harmonic generator 15 on one motor output shaft 16, the first flexbile gear 14 coaxial package is at first harmonic generator 15
On, the first steel wheel 13 coaxial package is on the first flexbile gear 14；Second motor output shaft 24 that is second driver of the second motor 19
The output shaft of 18, the second motor output shaft 24 is fixed with second harmonic generator 23, and the second flexbile gear 22 coaxial package is second
On harmonic oscillator 23, the second steel wheel 21 coaxial package is on the second flexbile gear 22.It is square that first motor output shaft 16 points to x-axis
To, the second motor output shaft 24 points to x-axis negative direction.
Such as the structure of first driver 10 of Fig. 7, the first motor 11 is fixed on driver framework 26 by bolt, the first electricity
Be fixed with first harmonic generator 15 on machine output shaft 16, the first flexbile gear 14 coaxial package outside first harmonic generator 15,
One steel wheel 13 is sleeved on the first flexbile gear 14, and the first steel wheel 13 is also fixed on driver framework 26 simultaneously.First motor output shaft
16 drive first harmonic generator 15 to rotate, and the first flexbile gear 14 and the second belt wheel 17 together export rotation.
When boats and ships at sea travel, measure the rolling of boats and ships, pitching and yawing kinematic parameter also by Position and attitude sensor
Real-time Transmission calculates rolling, pitching and yawing to motion controller, motion controller according to the anti-resolving Algorithm of compensation of undulation value
Offset, the compensation of undulation value calculated is converted into analogue signal by digital signal through D/A converter, analogue signal is through watching
Being transferred to the motion controller in joint after taking amplifier, motion controller controls each motor according to the analogue signal after processing
Motion, it is achieved the real-Time Compensation to ship rolling, pitching and yawing, it is ensured that terminal stabilization.Owing to the effect of stormy waves can cause ship
The rolling of oceangoing ship, pitching and yawing.Rolling is the rotation around z-axis, and pitching is the rotation around x-axis, and yawing is around x-axis and z
The synthesis of axle is waved.In order to rolling, pitching and the yawing of boats and ships are carried out certain compensation, need motor is carried out different setting
Put.Owing to the second belt wheel 17 is fixed on the first motor output shaft 16, by the first odontoid belt 31 and the first belt wheel 40 transmission
Connecting, the first belt wheel 40 is fixed on the first pitching driving shaft 38, transmits power by the first odontoid belt 31.4th belt wheel 41
It is fixed on the second motor output shaft 24, is in transmission connection with the 3rd belt wheel 41 by the second odontoid belt 32；3rd belt wheel 41 is solid
It is connected on the second pitching driving shaft 39, transmits power by the second odontoid belt 32.When the first motor output shaft 16 and the second electricity
Machine output shaft 24 turns to identical with rotating speed, when the i.e. first belt wheel 40 turns to identical with rotating speed with the 3rd belt wheel 41, and the first bevel gear
49 rotate around the first pitching driving shaft 38 and the second pitching driving shaft 39, it is achieved the elevating movement of wrist, i.e. rotate around x-axis, right
The pitching of boats and ships compensates.When the first motor output shaft 16 is identical with the second motor output shaft 24 rotating speed and turn to contrary, the
One belt wheel 40 is identical with the 3rd belt wheel 41 rotating speed and turns to contrary, the i.e. first odontoid belt 31 and the second odontoid belt 32 rotating speed phase
When turning to contrary together, the first bevel gear 49 rotates around yawing axis 55, it is achieved the yaw motion of wrist i.e. rotates around y-axis.Work as end
When end actuator driver 8 works, end effector 9 is driven to rotate around z-axis together, it is achieved the compensation to ship rolling.When
When one motor output shaft 16 is different with the second motor output shaft 24 rotating speed, the i.e. first belt wheel 40 is different from the 3rd belt wheel 41 rotating speed
Time, forming the wrist resultant motion in pitching with deflection two directions, i.e. the yawing to boats and ships compensates.In order to make machine of the present invention
Tool people has bigger work space above deck, it is possible to use the longitudinal rail combination 1 of regulation guide rail is horizontal with regulation guide rail
Track combination 2 makes mechanical hand move above deck.
Claims (5)
1. a compensation of undulation special purpose robot, has forearm (6), Wrist mechanism (7), end effector driver (8) and end
End actuator (9), forearm (6) front end connect Wrist mechanism (7) rear end, Wrist mechanism (7) front end be rigidly connected end perform
Device driver (8), end effector driver (8) connects end effector mechanism (9), and the Wrist mechanism (7) during initial position is put down
Row in ship deck, Wrist mechanism (7) front end point to fore dead ahead to, it is characterized in that: the rear end of Wrist mechanism (7) comprises the
One, the second driver (10,18), front end comprises a differential attachment (42) and two support arms (34,35), and centre is bracing frame
(33), bracing frame (33) is affixed with forearm (6) front end, and the centre position of bracing frame (33) connects firmly driver framework (26), and first,
Two drivers (10,18) are positioned opposite in the arranged on left and right sides of driver framework (26) and jointly connect driver framework (26), first,
The equal left and right horizontal of central shaft of the second driver (10,18) is arranged；The affixed right layout of the first from left in front side of bracing frame (33)
Two support arms (34,35), are differential attachment (42) between two support arms (34,35)；Differential attachment (42) is by four cone teeth
Wheel, a yawing axis (55) and two pitching driving shaft compositions, yawing axis (55) is arranged vertically up and down, first, second pitching master
The centrage of moving axis (38,39) centerline collineation and yawing axis (55) is perpendicular and the first from left right side is arranged symmetrically in yawing axis
(55) both sides, one end of first, second pitching driving shaft (38,39) jointly can connect differential attachment rotationally and prop up bracer
(56), the other end is supported on support arm corresponding to homonymy (34,35), and the interlude concentric gap of yawing axis (55) is through differential
The centre bore of mechanism supports block (56), the epimere of yawing axis (55) connects third hand tap gear (51) by coaxial bearing, deflection
The first bevel gear (49) it is fixedly and coaxially connected on the hypomere of axle (55)；The upper coaxial fixed cover of first pitching driving shaft (38) is pretended mutually
The second bevel gear (50) being fixed together and the first belt wheel (40), the upper coaxial fixed cover of the second pitching driving shaft (39) is pretended mutually
The 4th bevel gear (52) being fixed together and the 3rd belt wheel (41), the first bevel gear (49) and the second bevel gear (50), the 4th
Bevel gear (52) is all meshed, and third hand tap gear (51) is the most all meshed with the second bevel gear (50), the 4th bevel gear (52)；The
The output shaft of one driver (10) is fixedly and coaxially connected the 4th belt wheel (25), and the output shaft of the second driver (18) is coaxially fixed
Connecting the second belt wheel (17), the first belt wheel (40) connects the second belt wheel (17), the 3rd belt wheel by the first odontoid belt (31)
(41) the 4th belt wheel (25) is connected by the second odontoid belt (32)；Bevel gear (49) is performed by connector (58) affixed end
Device driver (8).
The most according to claim 1, compensation of undulation special purpose robot, is characterized in that: first, second driver (10,18) is respectively
Respectively being made up of motor, steel wheel, flexbile gear and harmonic oscillator, two steel wheels are each attached on driver framework (26), the first motor
The output shaft of output shaft (16) the i.e. first driver (10), it is fixed with first harmonic generator (15), the first flexbile gear (14)
Coaxial package is on first harmonic generator (15), and the first steel wheel (13) coaxial package is on the first flexbile gear (14)；Second motor
The output shaft of output shaft (24) the i.e. second driver (18), it is fixed with second harmonic generator (23), the second flexbile gear (22)
Coaxial package is on second harmonic generator (23), and the second steel wheel (21) coaxial package is on the second flexbile gear (22).
The most according to claim 1, compensation of undulation special purpose robot, is characterized in that: the rear end of forearm (6) is rotatably connected even
Connecing arm (5) upper end, linking arm (5) lower end is rotatably connected the upper end of large arm (4), and the lower end of large arm (4) is rotatably connected machinery
Arm base (3), mechanical arm base (3) is fixing connects the regulation guide rail being fixed on ship deck.
The most according to claim 1, compensation of undulation special purpose robot, is characterized in that: the first belt wheel (40), the second belt wheel (17),
3rd belt wheel (41) and the 4th belt wheel (25) are synchronous pulley.
5. the compensation of undulation method of compensation of undulation special purpose robot described in claim 1, its feature comprises the following steps:
A, first, second driver (10,18) turn to identical with rotating speed, the first belt wheel (40) and the 3rd belt wheel (41) turn to
Rotating speed is identical, and the first bevel gear (49) rotates around first, second pitching driving shaft (38,39), it is achieved elevating movement, to boats and ships
Pitching compensates；
B, first, second driver (10,18) rotating speed identical and turn to contrary, the first belt wheel (40) turns with the 3rd belt wheel (41)
Speed is identical and turns to contrary, and the first bevel gear (49) rotates around yawing axis (55), and the rolling to boats and ships compensates；
C, the rotating speed difference of first, second driver (10,18), the first belt wheel (40) is different from the 3rd belt wheel (41) rotating speed,
Pitching and deflection two direction composition motion, the yawing to boats and ships compensates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617770.XA CN106240764A (en) | 2016-08-01 | 2016-08-01 | Compensation of undulation special purpose robot and compensation of undulation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617770.XA CN106240764A (en) | 2016-08-01 | 2016-08-01 | Compensation of undulation special purpose robot and compensation of undulation method |
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| Publication Number | Publication Date |
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| CN106240764A true CN106240764A (en) | 2016-12-21 |
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| CN201610617770.XA Pending CN106240764A (en) | 2016-08-01 | 2016-08-01 | Compensation of undulation special purpose robot and compensation of undulation method |
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| CN107160400A (en) * | 2017-03-28 | 2017-09-15 | 江苏科技大学 | A kind of robot system with active compensation of undulation function |
| CN107186752A (en) * | 2017-03-28 | 2017-09-22 | 江苏科技大学 | A kind of compensation of undulation fishing robot system |
| CN107472388A (en) * | 2017-08-15 | 2017-12-15 | 任国斌 | One kind building town road robot |
| CN108189000A (en) * | 2017-12-28 | 2018-06-22 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving crawl robot |
| CN108516462A (en) * | 2018-03-15 | 2018-09-11 | 江苏科技大学 | A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel |
| CN109623878A (en) * | 2019-01-22 | 2019-04-16 | 天津大学 | A kind of self-calibrating method of the sensor-based system for humanoid dextrous hand wrist joint |
| CN109702730A (en) * | 2019-01-19 | 2019-05-03 | 天津大学 | A kind of apery wrist portion structure that two-freedom axis of movement is orthogonal |
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| CN112338893A (en) * | 2020-11-15 | 2021-02-09 | 浙江微通智能科技有限公司 | Full-automatic loading and unloading goods robot |
| CN113358418A (en) * | 2021-07-23 | 2021-09-07 | 广东中晟勘测科学研究有限公司 | Detection apparatus for detect quality of water in river |
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| CN106768850A (en) * | 2017-02-17 | 2017-05-31 | 国家海洋技术中心 | A kind of suspending arm rotary gimbaling |
| CN106768850B (en) * | 2017-02-17 | 2023-05-05 | 国家海洋技术中心 | Cantilever rotation normal-leveling device |
| CN107160400A (en) * | 2017-03-28 | 2017-09-15 | 江苏科技大学 | A kind of robot system with active compensation of undulation function |
| CN107186752A (en) * | 2017-03-28 | 2017-09-22 | 江苏科技大学 | A kind of compensation of undulation fishing robot system |
| CN107472388A (en) * | 2017-08-15 | 2017-12-15 | 任国斌 | One kind building town road robot |
| CN108189000A (en) * | 2017-12-28 | 2018-06-22 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving crawl robot |
| CN108516462A (en) * | 2018-03-15 | 2018-09-11 | 江苏科技大学 | A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel |
| CN109702730A (en) * | 2019-01-19 | 2019-05-03 | 天津大学 | A kind of apery wrist portion structure that two-freedom axis of movement is orthogonal |
| CN109623878A (en) * | 2019-01-22 | 2019-04-16 | 天津大学 | A kind of self-calibrating method of the sensor-based system for humanoid dextrous hand wrist joint |
| US11541555B2 (en) | 2019-03-01 | 2023-01-03 | Cloudminds (Beijing) Technologies Co., Ltd. | Robot wrist structure and robot |
| EP3715061A1 (en) * | 2019-03-01 | 2020-09-30 | Cloudminds (Beijing) Technologies Co., Ltd. | Robot wrist structure and robot |
| CN110397254A (en) * | 2019-08-19 | 2019-11-01 | 广东博智林机器人有限公司 | A kind of four-degree-of-freedom movement mechanism and paving robot |
| CN111618861A (en) * | 2020-06-12 | 2020-09-04 | 重庆科技学院 | Double-follow-up intelligent arm control method based on four-axis structure |
| CN112338893A (en) * | 2020-11-15 | 2021-02-09 | 浙江微通智能科技有限公司 | Full-automatic loading and unloading goods robot |
| CN113358418A (en) * | 2021-07-23 | 2021-09-07 | 广东中晟勘测科学研究有限公司 | Detection apparatus for detect quality of water in river |
| CN113401300A (en) * | 2021-08-23 | 2021-09-17 | 南通中舟联合船务工程有限公司 | Wave-proof device and ship thereof |
| CN113401300B (en) * | 2021-08-23 | 2021-12-31 | 南通中舟联合船务工程有限公司 | Wave-proof device and ship thereof |
| CN114770591A (en) * | 2022-05-13 | 2022-07-22 | 深圳精智机器有限公司 | Multi-degree-of-freedom light mechanical joint and transmission method thereof |
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