CN108381542B - Hybrid transmission-based underwater mechanical arm - Google Patents
Hybrid transmission-based underwater mechanical arm Download PDFInfo
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- CN108381542B CN108381542B CN201810298501.0A CN201810298501A CN108381542B CN 108381542 B CN108381542 B CN 108381542B CN 201810298501 A CN201810298501 A CN 201810298501A CN 108381542 B CN108381542 B CN 108381542B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 136
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000005484 gravity Effects 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 33
- 230000002829 reductive effect Effects 0.000 abstract description 20
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000009825 accumulation Methods 0.000 abstract 1
- 210000000245 forearm Anatomy 0.000 description 41
- 210000000707 wrist Anatomy 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000036961 partial effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004078 waterproofing Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000003466 welding Methods 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of underwater mechanical arms, and particularly relates to an underwater mechanical arm. In order to reduce the influence of underwater environmental factors on the action precision and flexibility of the underwater mechanical arm, the underwater mechanical arm comprises a driving unit and an arm assembly, the arm assembly comprises a front arm and a rear arm, the output end of the front arm is connected with an operation unit, the mechanical arm further comprises a first transmission unit and a second transmission unit, the driving unit is connected with the front arm and the operation unit through the first transmission unit with smaller dead weight, the driving unit is connected with the rear arm through the second transmission unit with larger dead weight and higher transmission precision, the integral mass of the mechanical arm is reduced through the combination of the first transmission unit and the second transmission unit, the influence of inertia on the precision and flexibility of the mechanical arm is reduced, the rear end of the mechanical arm uses the second transmission unit with high precision, the accumulation of motion errors is reduced, and the motion precision of the operation unit at the front end of the mechanical arm is ensured.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to an underwater mechanical arm based on hybrid transmission.
Background
In the ocean exploration and research, an underwater robot is one of the indispensable tools, and an underwater mechanical arm configured by the underwater robot is used as an execution unit and is mainly used for completing the work of underwater resource collection, sample collection and the like. In order to reliably and efficiently complete underwater work, the underwater mechanical arm has high requirements on action precision and flexibility in consideration of environmental factors of underwater work. At present, most of all joints of the underwater mechanical arm adopt a design of a single transmission structure, and consideration of underwater environmental factors on the action precision and flexibility of the mechanical arm is not comprehensive enough.
The patent application with the publication number 106393172A discloses a multi-joint flexible underwater operation mechanical arm, and the structure of the mechanical arm mainly comprises a plurality of repeated arm joint units, a base for installing the arm, a paw at the tail end of an arm body, a tail end sensor and the like. The motor arranged on the base drives the flexible rope, the length of the flexible rope is changed to control the deflection and pitching movement of the arm body of the mechanical arm, and after the arm body reaches a designated position, the claws are stretched to grasp a target object. It can be seen that in this patent application, all arm joint units are controlled by driving flexible cords. The flexible rope transmission structure is light and small in weight, can improve the action flexibility of the mechanical arm, but is lower in transmission precision.
As another example, patent application publication number 104084947a discloses a seven-function underwater mechanical arm system, which comprises a paw, a wrist, and first-fifth joints, wherein the first joint comprises a base and a first hydraulic cylinder, the second joint comprises a first connecting rod and a second hydraulic cylinder, the third joint comprises a second connecting rod and a third hydraulic cylinder, the fourth joint comprises a third connecting rod and a fourth hydraulic cylinder, and the fifth joint comprises a fourth connecting rod and a fifth hydraulic cylinder; the hand claw comprises a wrist front end, a first finger end, a second finger end, a first main connecting rod, a second main connecting rod, a first auxiliary connecting rod, a second auxiliary connecting rod and a sixth hydraulic cylinder, and the wrist comprises a connecting piece, a rotary motor and a fifth connecting rod. It can be seen that in this patent application, all joints are hydraulically driven, a hydraulic pump is additionally required to supply power oil, and a hydraulic cylinder is required to convert pressure energy into mechanical energy at the end of the transmission unit, so that the mass of each joint of the mechanical arm, particularly the mass of the end of the mechanical arm, is increased, and the movement flexibility of the mechanical arm is reduced.
Accordingly, there is a need in the art for a new solution to the above-mentioned problems.
Disclosure of Invention
In order to solve the above problems in the prior art, namely, in order to reduce the influence of the underwater environmental factors on the action precision and flexibility of the underwater mechanical arm, the invention provides a hybrid transmission-based underwater mechanical arm, which comprises a driving unit and an arm assembly, wherein the arm assembly comprises a front arm and a rear arm, the output end of the front arm is connected with an operation unit, the underwater mechanical arm further comprises a first transmission unit and a second transmission unit, the driving unit is connected with the front arm and the operation unit through the first transmission unit, and the driving unit is connected with the rear arm through the second transmission unit, wherein the dead weight of the first transmission unit is smaller than that of the second transmission unit.
In the preferable technical scheme of the underwater mechanical arm, the arm assembly further comprises a middle arm, the middle arm is connected between the front arm and the rear arm, the underwater mechanical arm further comprises a third transmission unit, and the driving unit is connected with the middle arm through the third transmission unit, wherein the dead weight of the first transmission unit is smaller than that of the third transmission unit.
In a preferable embodiment of the above-described underwater mechanical arm, one or more of the front arm, the middle arm, and the rear arm is provided in a hollow structure.
In the preferable technical scheme of the underwater mechanical arm, the front arm, the middle arm and the rear arm are all arranged to be hollow structures and meet the requirement that the respective gravity is equal to the buoyancy of the front arm, the middle arm and the rear arm in water.
In the preferable technical scheme of the underwater mechanical arm, the first transmission unit comprises a plurality of wire transmission mechanisms; the second transmission unit is a worm and gear transmission mechanism; the third transmission unit comprises two groups of bevel gear pairs, and the two groups of bevel gear pairs are connected through a transmission rod penetrating through the rear arm.
In the preferable technical scheme of the underwater mechanical arm, the underwater mechanical arm comprises a waterproof unit, the waterproof unit comprises a waterproof vessel, the driving unit is fixed in the waterproof vessel, and the waterproof vessel is connected with the main body of the underwater robot in a rotatable mode.
In a preferred technical solution of the above-mentioned underwater mechanical arm, the underwater mechanical arm includes a base fixed to the main body of the underwater robot, and the waterproof vessel is rotatably connected with the base.
In the preferable technical scheme of the underwater mechanical arm, the waterproof vessel is connected with the base through a rotating shaft, a waterproof vessel driven gear coaxial with the rotating shaft is fixed on the base, a waterproof vessel driving gear meshed with the waterproof vessel driven gear is arranged on the waterproof vessel, and the waterproof vessel driving gear is connected with the waterproof vessel in a rotatable mode.
In the preferable technical scheme of the underwater mechanical arm, the underwater mechanical arm further comprises a control unit, wherein the control unit is used for communicating with an upper computer to control the driving unit to drive the waterproof vessel, the arm assembly and the operation unit to control the movement posture of the waterproof vessel, and the control unit is arranged in the waterproof vessel.
In the preferable technical scheme of the underwater mechanical arm, the underwater mechanical arm further comprises a power supply unit, wherein the power supply unit is used for providing electric energy for the control unit and the driving unit, and the power supply unit is arranged in the waterproof vessel.
It will be appreciated by those skilled in the art that in the technical solution of the present invention, the underwater mechanical arm includes a driving unit and an arm assembly, the arm assembly includes a front arm and a rear arm, an output end of the front arm is connected with an operation unit, the underwater mechanical arm further includes a first transmission unit and a second transmission unit, the driving unit is connected with the front arm and the operation unit through the first transmission unit, and the driving unit is connected with the rear arm through the second transmission unit, wherein the dead weight of the first transmission unit is smaller than that of the second transmission unit. According to the invention, the first driving unit with smaller weight is used for driving the front arm and the operation unit in a hybrid transmission mode, so that the weight of the front end of the underwater mechanical arm is reduced, and the influence of the inertia of the first driving unit on the action precision and the flexibility of the underwater mechanical arm in the movement process of the underwater mechanical arm is reduced. Preferably, the transmission accuracy of the second transmission unit may be set higher than that of the first transmission unit. Therefore, the second driving unit with larger weight and higher precision is used for rear arm transmission, so that the transmission precision of the rear arm is ensured, the influence of the motion accumulated error on the action precision of the operation unit is reduced, and the action precision and flexibility of the underwater mechanical arm are improved.
In a preferred embodiment of the invention, the arm assembly further comprises a middle arm connected between the front arm and the rear arm, the front arm, the middle arm and the rear arm being arranged in a hollow structure and satisfying that the respective gravity forces are equal to their buoyancy in water. By the arrangement, the influence of gravity and buoyancy on the action flexibility of the underwater mechanical arm during underwater operation is basically eliminated, so that the action precision and flexibility of the mechanical arm during underwater operation are further improved.
In addition, the driving unit, the control unit and the power supply unit of the underwater mechanical arm are all arranged in a waterproof vessel, and the waterproof vessel is pivotally arranged on the main body of the underwater robot. By concentrating the components in the waterproof vessel, the modularized design of the underwater mechanical arm is realized, so that the underwater mechanical arm can be installed on the main body of various underwater machines to perform corresponding underwater operation.
Drawings
The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in conjunction with a five degree of freedom underwater robotic arm, wherein:
FIG. 1 is a schematic view of an underwater robotic arm in a first orientation according to one embodiment of the present invention;
FIG. 2 is a schematic view, partly in section, of an underwater robotic arm according to one embodiment of the invention;
FIG. 3 is a schematic view of the underwater robot arm in the second orientation according to an embodiment of the present invention;
FIG. 4 is a schematic view of a partial internal structure of an underwater mechanical arm in a second orientation according to an embodiment of the present invention;
FIG. 5 is an enlarged view of portion A of FIG. 4;
FIG. 6 is a schematic view of a partial structure of an underwater robotic arm according to an embodiment of the present invention;
FIG. 7 is an enlarged view of part B of FIG. 6;
FIG. 8 is a partial schematic view of the joint between the arm and the forearm of an underwater robotic arm in accordance with an embodiment of the invention;
FIG. 9 is a schematic view of a first configuration of an underwater robot manipulator according to an embodiment of the present invention;
FIG. 10 is a schematic diagram II of a manipulator of an underwater robot according to an embodiment of the present invention;
fig. 11 is a schematic structural view of an underwater robot manipulator according to an embodiment of the present invention.
List of reference numerals:
1.1, a waterproof vessel; 1.2, a waterproof vessel rotating shaft; 1.3, a base ring; 1.4, a base cover; 1.5, a motor base; 1.6, top cover; 1.7, a waterproof vessel motor; 1.8, a driving gear of the waterproof vessel; 1.9, a driven gear of the waterproof vessel; 2.1, a rear arm; 2.2, a first connecting end of the rear arm; 2.3, a second connecting end of the rear arm; 2.4, a rear arm rotating shaft; 2.5, a rear arm rotating shaft support; 2.6, a rear arm motor; 2.7, a rear arm driving worm; 2.8, trailing arm driven turbines; 2.9, gear protecting cover; 2.10, a rear arm joint waterproof curtain; 2.11, a turbine worm protective cover; 3.1, middle arm; 3.2, a first connecting end of the middle arm; 3.3, a second connecting end of the middle arm; 3.4, a middle arm rotating shaft; 3.5, a middle arm motor; 3.6, a middle arm motor driving bevel gear; 3.7, middle arm middle drive bevel gear; 3.8, a middle arm transmission rod; 3.9, a first bevel gear of the middle arm transmission rod; 3.10, a second bevel gear of the middle arm transmission rod; 3.11, a middle arm driven gear; 3.12, a middle arm joint waterproof cover; 4.1, forearm; 4.2, a first connecting end of the forearm; 4.3, a second connecting end of the forearm; 4.4, forearm rotation shaft; 4.5, a forearm motor; 4.6, a forearm driving reel; 4.7, a forearm driven wire wheel; 4.8, a first forearm pull wire catheter; 4.9, a second forearm stay wire catheter; 4.10, forearm stay wire; 4.11, a first pull wire catheter stent; 5.0, a manipulator; 5.1, a mechanical wrist part; 5.2, a manipulator core frame; 5.3, a first side cover of the manipulator; 5.4, a second side cover of the manipulator; 5.5, a first finger assembly; 5.6, a second finger assembly; 5.7, a manipulator motor; 5.8, driving a wire wheel by the manipulator; 5.9, pulling the wire by a manipulator; 5.10, a first manipulator pulling wire guide tube; 5.11, a second manipulator pulls the wire guide tube; 5.12, a mechanical arm driven wire wheel; 5.13, a second pull wire catheter stent; 5.14, a finger motor; 5.15, a finger driving line wheel; 5.16, finger pull wire; 5.17, a first pull wire catheter of the finger; 5.18, a finger second pull wire catheter; 5.19, a finger driven line wheel; 5.20, a finger driving gear; 5.21, a first finger driven gear; 5.22, a second finger intermediate transmission gear; 5.23, a second finger driven gear; 6.1, a wire harness ring; 7.1, a control unit; 7.2, a power supply unit; 7.3, a general interface.
Detailed Description
It should be understood by those skilled in the art that the present embodiment is only for explaining the technical principle of the present invention, and is not intended to limit the scope of the present invention. For example, although the invention is described with respect to a five-degree-of-freedom underwater mechanical arm, the five-degree-of-freedom underwater mechanical arm is only described as an example, and therefore, a person skilled in the art can adjust the five-degree-of-freedom underwater mechanical arm as required to adapt to a specific application, for example, the four-degree-of-freedom underwater mechanical arm can be used as the underwater mechanical arm of the invention, and accordingly, the power source and the transmission mechanism can be increased or decreased along with the increase or decrease of the degree of freedom of the mechanical arm, and the adjusted technical scheme still falls into the protection scope of the invention.
It should be noted that, in the description of the present invention, terms such as "upper", "lower", "inner", "outer", and the like, which indicate directions or positional relationships are based on directions or positional relationships shown in the drawings, are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Also, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "disposed," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1 to 11, fig. 1 is a schematic view of a structure of an underwater robot arm in the first direction, fig. 2 is a schematic view of a structure of an underwater robot arm in the second direction, fig. 3 is a schematic view of a structure of an underwater robot arm in the second direction, fig. 4 is a schematic view of a structure of an underwater robot arm in the second direction, fig. 5 is an enlarged view of a portion a in fig. 4, fig. 6 is a schematic view of a portion B in fig. 6, fig. 7 is a schematic view of a portion B in the first direction, fig. 8 is a schematic view of a portion of a joint between an arm and a forearm in the underwater robot arm in the first direction, fig. 9 is a schematic view of a structure of an underwater robot arm in the first direction, fig. 10 is a schematic view of a structure of an underwater robot arm in the second direction, and fig. 11 is a schematic view of a structure of an underwater robot arm in the third direction.
As shown in fig. 1 to 8, in an embodiment of the present invention, the underwater robot arm includes a base, a driving unit, an arm assembly, an operating unit, a first transmission unit, a second transmission unit, a third transmission unit, and a waterproof unit. The waterproof unit comprises a waterproof vessel 1.1, the waterproof vessel 1.1 is rotatably connected to the base, the arm assembly comprises a front arm 4.1, a middle arm 3.1 and a rear arm 2.1, and the operation unit is a manipulator 5.0 connected to the output end of the front arm 4.1. The driving unit is connected with the front arm 4.1 and the manipulator 5.0 through a first transmission unit to drive the front arm 4.1 and the manipulator 5.0 to execute specific actions, is connected with the rear arm 2.1 through a second transmission unit to drive the rear arm 2.1 to execute specific actions, and is connected with the middle arm 3.1 through a third transmission unit to drive the middle arm 3.1 to execute specific actions; wherein the dead weight of the first transmission unit is smaller than that of the second transmission unit and the third transmission unit. Preferably, the transmission accuracy of both the second transmission unit and the third transmission unit is higher than that of the first transmission unit. The front end of the mechanical arm is provided with the transmission unit with smaller dead weight and relatively lower transmission precision, the rear end of the mechanical arm is provided with the transmission unit with larger dead weight and higher precision, and through the arrangement, the weight of the front end of the underwater mechanical arm is reduced, so that the influence of self inertia on the action precision and flexibility of the underwater mechanical arm in the movement process of the underwater mechanical arm is reduced, and the action precision and flexibility of the underwater mechanical arm are improved. In addition, by improving the transmission precision of the rear arm 2.1, the influence of the motion accumulated error on the action precision of the operation unit is reduced, so that the action precision of the manipulator 5.0 is improved. It will be appreciated by those skilled in the art that the manipulator 5.0 is shown as an exemplary operating unit and is merely illustrative of the principles of the present invention and is not intended to limit the scope of the invention, as any reasonable modification would fall within the scope of the invention without departing from the principles of the present invention, such as an operating unit could be a welding gun, an excavating mechanism, a drilling mechanism, etc. or any other suitable operating mechanism.
Specifically, the base comprises a base ring 1.3 arranged below the waterproof vessel 1.1 and a base cover 1.4 arranged above the waterproof vessel 1.1, and the whole underwater mechanical arm is fixed to the main body of the underwater robot through the base ring 1.3 and the base cover 1.4. The waterproof vessel 1.1 is journalled with the base cover 1.4 so that the waterproof vessel 1.1 can be moved rotationally relative to the base cover 1.4 about the waterproof vessel swivel axis 1.2. The upper part of the waterproof vessel 1.1 is provided with a motor seat 1.5, a top cover 1.6 is arranged above the motor seat 1.5, a rear arm 2.1 is pivotally connected to a rear arm rotating shaft support 2.5 arranged on the top cover 1.6 through a rear arm first connecting end 2.2, a middle arm 3.1 is pivotally connected to a rear arm second connecting end 2.3 of the rear arm 2.1 through a middle arm first connecting end 3.2, a front arm 4.1 is pivotally connected to a middle arm second connecting end 3.3 of the middle arm 3.1 through a front arm first connecting end 4.2, and a mechanical arm 5.0 is rotatably connected to a front arm second connecting end 4.3 of the front arm 4.1 through a mechanical arm wrist 5.1. The driving unit comprises a rear arm motor 2.6, a middle arm motor 3.8, a front arm motor 4.5, a manipulator motor 5.7, a finger motor 5.14 and a waterproof vessel motor 1.7. Wherein, rear arm motor 2.6, well arm motor 3.8, forearm motor 4.5, manipulator motor 5.7, finger motor 5.14 set up in waterproof household utensils 1.1 and are fixed in motor cabinet 1.5, waterproof household utensils motor 1.7 set up in waterproof household utensils 1.1 and are fixed in the bottom of waterproof household utensils 1.1. The waterproof vessel driving gear 1.8 is fixed on the output shaft of the waterproof vessel motor 1.7, the waterproof vessel driving gear 1.8 is meshed with the waterproof vessel driven gear 1.9, and the waterproof vessel motor 1.7 can make the waterproof vessel 1.1 perform rotary motion around the waterproof vessel rotating shaft 1.2 through the transmission action of the waterproof vessel driving gear 1.8 and the waterproof vessel driven gear 1.9, so that the motion range of the mechanical arm is enlarged, the motion gesture of the mechanical arm is enriched, and the operation range and the operation capability of the mechanical arm are improved. The rotation of the waterproof vessel 1.1 is realized in a gear transmission mode, and the rotation precision of the waterproof vessel 1.1 can be ensured, so that the action precision of the arm assembly and the manipulator 5.0 is ensured to a certain extent. As will be appreciated by those skilled in the art, the waterproof vessel driving gear 1.8 and the waterproof vessel driven gear 1.9 may be spur gears, helical gears, involute gears, etc.; the underwater operation body may be the body of an underwater robot such as an AUV or a submarine, or may be the body of any other suitable underwater robot.
The second transmission unit comprises a rear arm driving worm 2.7 fixed on the output shaft of the rear arm motor 2.6 and a rear arm driven turbine 2.8 fixed on the rotating shaft of the rear arm 2.1 and meshed with the rear arm driving worm 2.7. The rear arm motor 2.6 can enable the rear arm 2.1 to perform pivoting motion around the rear arm rotating shaft 2.4 through the transmission action of the rear arm driving worm 2.7 and the rear arm driven turbine 2.8. The waterproofing unit further comprises a rear arm joint waterproofing curtain 2.10 provided at the pivoting portion of the rear arm 2.1. The rear arm joint waterproof curtain 2.10 is arranged at the pivoting part of the rear arm 2.1, so that the waterproof effect can be achieved in the pivoting movement process of the rear arm 2.1, and the water inflow of the internal structure is avoided. The transmission between the rear arm motor 2.6 and the rear arm 2.1 is realized through the worm and gear transmission mechanism, and the precision of the pivoting motion of the rear arm 2.1 around the rear arm rotating shaft 2.4 can be ensured, so that the influence of the motion accumulated error on the motion position of the manipulator 5.0 is reduced, and the motion precision of the manipulator 5.0 is further ensured.
The third transmission unit comprises a middle arm motor driving bevel gear 3.6, a middle arm middle transmission bevel gear 3.7, a middle arm transmission rod first bevel gear 3.9, a middle arm transmission rod 3.8, a middle arm transmission rod second bevel gear 3.10 and a middle arm driven gear 3.11 which are connected in sequence. The middle arm motor driving bevel gear 3.6 is fixed on an output shaft of the middle arm motor 3.8, the middle arm middle transmission bevel gear 3.7 is sleeved on a rear arm rotating shaft 2.4 of the rear arm 2.1 and is respectively meshed with the middle arm motor driving bevel gear 3.6 and the middle arm transmission rod first bevel gear 3.9, the middle arm transmission rod first bevel gear 3.9 is fixed on the end part of the middle arm transmission rod 3.8, which is close to the waterproof vessel 1.1, the middle arm transmission rod second bevel gear 3.10 is fixed on the end part of the middle arm transmission rod 3.8, which is close to the manipulator 5.0, the middle arm driven gear 3.11 is fixed on the middle arm rotating shaft 3.4 of the middle arm 3.1, the middle arm transmission rod 3.8 penetrates through the rear arm 2.1, and the middle arm transmission rod second bevel gear 3.10 is meshed with the middle arm driven gear 3.11. The middle arm motor 3.8 can enable the middle arm 3.1 to pivotally rotate around the middle arm rotating shaft 3.4 through the transmission action of the middle arm motor driving bevel gear 3.6, the middle arm middle transmission bevel gear 3.7, the middle arm transmission rod first bevel gear 3.9, the middle arm transmission rod 3.8, the middle arm transmission rod second bevel gear 3.10 and the middle arm driven gear 3.11. The waterproof unit further comprises a middle arm joint waterproof cover 3.12 arranged at the pivoting part of the middle arm 3.1, and the pivoting part of the middle arm 3.1 is waterproof through the middle arm joint waterproof cover 3.12. The precision of the pivoting motion of the middle arm 3.1 around the middle arm rotating shaft 3.4 is guaranteed through the transmission of the bevel gear pair, the transmission distance of gear transmission is prolonged through the combination of the middle arm transmission rod 3.8, the middle arm transmission rod second bevel gear 3.10 and the middle arm driven gear 3.11, the adverse effect of the weight of the mechanical arm on the motion flexibility of the mechanical arm caused by the fact that multiple gears are sequentially meshed to realize long-distance transmission is avoided, and the motion flexibility of the mechanical arm is indirectly improved.
As shown in fig. 1, 6, 7, 8 and 9, the first transmission unit includes three sets of wire transmission mechanisms, specifically, includes a forearm wire transmission mechanism, a manipulator wire transmission mechanism and a manipulator finger transmission mechanism.
The forearm wire transmission mechanism comprises a forearm driving wire wheel 4.6, a forearm driven wire wheel 4.7, a first forearm stay wire catheter 4.8, a second forearm stay wire catheter 4.9 and a forearm stay wire 4.10. The forearm driving wire wheel 4.6 is fixed on an output shaft of the forearm motor 4.5, the forearm driven wire wheel 4.7 is rotatably arranged at a middle arm second connecting end 3.3 of the middle arm 3.1, and wire binding rings 6.1 are respectively arranged at two ends of a middle arm rotating shaft 3.4 of the middle arm 3.1. The first forearm stay wire duct 4.8 and the second forearm stay wire duct 4.9 pass through the wire harness ring 6.1 and are respectively fixed on the motor base 1.5 and the first stay wire duct bracket 4.11 at two ends. The forearm pull wire 4.10 is wound around the forearm drive wire wheel 4.6 and the forearm driven wire wheel 4.7 and is passed through the first forearm pull wire catheter 4.8 and the second forearm pull wire catheter 4.9. The forearm motor 4.5 drives the forearm driving wire wheel 4.6, and can rotate the forearm 4.1 around the forearm rotating shaft 4.4 under the transmission action of the forearm wire 4.10 and the forearm driven wire wheel 4.7.
The manipulator wire transmission mechanism comprises a manipulator driving wire wheel 5.8, a manipulator wire 5.9, a first manipulator wire pulling guide pipe 5.10, a second manipulator wire pulling guide pipe 5.11 and a manipulator driven wire wheel 5.12. The manipulator driving wire wheel 5.8 is fixed on an output shaft of the manipulator motor 5.7, the manipulator driven wire wheel 5.12 is rotatably connected to the forearm second connecting end 4.3 of the forearm 4.1 and coaxial with the forearm 4.1, and the manipulator 5.0 is fixedly connected with the manipulator driven wire wheel 5.12. A second pull wire catheter holder 5.13 is fixed to the manipulator 5.0. The first mechanical arm wire guide 5.10 and the second mechanical arm wire guide 5.11 pass through the wire harness ring 6.1 and are respectively fixed on the motor base 1.5 and the second wire guide bracket 5.13 at two ends. The robot wire 5.9 is wound around the robot drive wire wheel 5.8 and the robot driven wire wheel 5.12 and passes through the first robot wire guide 5.10 and the second robot wire guide 5.11. The robot motor 5.7 can rotate the robot 5.0 around the central axis of the forearm 4.1 by driving the robot driving reel 5.8 and acting in the transmission of the robot pull wire 5.9 and the robot driven reel 5.12.
The mechanical finger transmission mechanism comprises a finger driving line wheel 5.15, a finger pulling line 5.16, a finger first pulling line guide pipe 5.17, a finger second pulling line guide pipe 5.18 and a finger driven line wheel 5.19. The mechanical arm 5.1 of the mechanical arm 5.0 is fixedly connected with the mechanical arm driven wheel 5.12, the mechanical arm core frame 5.2 is fixedly connected with the mechanical arm 5.1, the mechanical arm core frame 5.2 is symmetrically and pivotally connected with a first finger assembly 5.5 and a second finger assembly 5.6, the first finger assembly 5.5 is connected with the finger driving gear 5.20 through a first finger driven gear 5.23, and the second finger assembly 5.6 is connected with the finger driving gear 5.20 sequentially through a second finger intermediate transmission gear 5.22 and a second finger driven gear 5.23, and the finger driven wheel 5.19 is fixedly connected with the central shaft of the finger driving gear 5.20. The two sides of the manipulator core frame 5.2 are respectively provided with a manipulator first side cover 5.3 and a manipulator second side cover 5.4. The finger actuation wire wheel 5.15 is fixed to the output shaft of the finger motor 5.14 and the finger slave wire wheel 5.19 is rotatably connected to the manipulator 5.0. The first finger pull wire guide 5.17 and the second finger pull wire guide 5.18 pass through the wire harness ring 6.1 and are respectively fixed on the motor base 1.5 and the second pull wire guide bracket 5.13 at two ends. The finger pull wire 5.16 is wound around the finger actuation wire wheel 5.15 and the finger slave wire wheel 5.19 and passes through the finger first pull wire guide 5.17 and the finger second pull wire guide 5.18. The finger motor 5.14 drives the finger driving wire wheel 5.15 and rotates the finger driving gear 5.20 under the transmission action of the finger pull wire 5.16 and the finger driven wire wheel 5.19, and the finger driving gear 5.20 enables the first finger assembly 5.5 and the second finger assembly 5.6 to perform reverse pivoting movement under the action of the first finger driven gear 5.21, the second finger intermediate transmission gear 5.22 and the second finger driven gear 5.23 so as to grasp or put down an object.
As can be seen from the above description, the waterproof vessel motor 1.7 drives the waterproof vessel 1.1 to rotate so that the whole mechanical arm can rotate, the rear arm motor 2.6 can drive the rear arm 2.1 to pivot relative to the waterproof vessel 1.1, the middle arm motor 3.8 can drive the middle arm 3.1 to pivot relative to the rear arm 2.1, the front arm motor 4.5 can drive the front arm 4.1 to pivot relative to the middle arm 3.1, the mechanical arm motor 5.7 can drive the mechanical arm 5.0 to rotate relative to the front arm 4.1, and after the respective movements are combined, the mechanical arm with five degrees of freedom can perform various complex actions so that the mechanical arm can flexibly perform various tasks. The rear arm 2.1 and the middle arm 3.1 are close to the base, the front arm 4.1 and the manipulator 5.0 are far away from the base, the movement position of the manipulator 5.0 is influenced by the movement position of the rear arm 2.1 and the middle arm 3.1, the movement amplitude of the manipulator 5.0 is large, and the movement flexibility is influenced by inertia to the greatest extent, so that the rear arm 2.1 and the middle arm 3.1 are driven by adopting a gear drive mechanism with relatively large dead weight and relatively high transmission precision, the action precision of the rear arm 2.1 and the middle arm 3.1 is ensured, the influence of the movement position error of the rear arm 2.1 and the middle arm 3.1 on the position precision of the front arm 4.1 and the manipulator 5.0 is reduced, and the action precision of the front arm 4.1 and the manipulator 5.0 is indirectly improved. The front arm 4.1 and the mechanical arm 5.0 are driven by a linear driving mechanism with relatively smaller dead weight, so that the mass of the front part of the mechanical arm is reduced, the influence of inertia on the movement flexibility of the mechanical arm is reduced, the movement flexibility of the mechanical arm is improved, the action precision of the mechanical arm is correspondingly improved, and the performance requirement of the mechanical arm in underwater operation is met.
It will be appreciated by those skilled in the art that the transmission mechanism of the front arm 4.1 and the manipulator 5.0 is not limited to a linear transmission mechanism, the transmission mechanism of the rear arm 2.1 is not limited to a worm and gear transmission mechanism, the front arm 4.1 and the manipulator 5.0 can be transmitted through a belt transmission mechanism, the rear arm 2.1 can be transmitted through a bevel gear transmission mechanism, and the combination of the transmission mechanisms capable of reducing the front end quality of the manipulator and guaranteeing the rear end transmission precision of the manipulator can improve the action precision and flexibility of the manipulator to a certain extent. Furthermore, the combination of the middle arm motor drive bevel gear 3.6, the middle arm intermediate drive bevel gear 3.7 and the middle arm drive rod first bevel gear 3.9 in the third transmission unit may be replaced by a coupling to achieve a connection drive of the output shaft of the middle arm motor 3.8 with the middle arm drive rod 3.8. It will also be appreciated by those skilled in the art that the waterproof vessel 1.1 may also be directly rotatably connected to the main body of the underwater robot, in which case the output shaft of the waterproof vessel motor 1.7 is fixedly connected to the main body of the underwater robot, the waterproof vessel motor 1.7 is fixedly connected to the waterproof vessel 1.1, and the rotation of the output shaft of the waterproof vessel motor 1.7 causes the waterproof vessel 1.1 to perform a rotational movement with respect to the main body of the underwater robot.
Preferably, the front arm 4.1, the middle arm 3.1 and the rear arm 2.1 are all provided as hollow structures and satisfy a gravity equal to their buoyancy in water. The front arm 4.1, the middle arm 3.1 and the rear arm 2.1 are hollow tubes each subject to buoyancy in water equal to the weight to which they are subjected. Through the arrangement of the hollow structure, the mass and inertia of the mechanical arm are further reduced, so that the influence of the inertia of the mechanical arm on the flexibility and the action precision of the mechanical arm is reduced, and the movement flexibility and the movement precision of the mechanical arm are improved. In addition, through the design that gravity equals buoyancy, when making the arm under water operation, make buoyancy and gravity to the influence degree of its action precision and flexibility minimum, further improved action precision and the flexibility of arm. It will be appreciated by those skilled in the art that only part of the structures in the front arm 4.1, the middle arm 3.1 and the rear arm 2.1 may be provided as hollow structures according to actual needs.
With continued reference to fig. 4, the mechanical arm further includes a control unit 7.1 disposed inside the waterproof vessel 1.1, where the control unit 7.1 communicates with an upper computer (not shown in the figure) to control the start and stop of the waterproof vessel motor 1.7, the rear arm motor 2.6, the middle arm motor 3.8, the front arm motor 4.5, the mechanical arm motor 5.7 and the finger motor 5.14, and further control the movement posture of the mechanical arm 5.0. Through the arrangement of the control unit, the mechanical arm does not need to be externally connected with the control unit to execute various operations, and the trouble caused by continuous debugging after being externally connected with the control unit is eliminated. It will be appreciated by those skilled in the art that the control unit may be controlled manually or automatically by a built-in program.
With continued reference to fig. 2, the robotic arm further comprises a power supply unit 7.2 arranged inside the waterproof vessel 1.1, the power supply unit 7.2 being adapted to provide electrical energy to the control unit 7.1 and the drive unit. The waterproof vessel 1.1 is further provided with a universal interface 7.3, the universal interface 7.3 being able to be used for connecting a charging line for charging the power supply unit 7.2, the universal interface 7.3 being able to be connected with a communication line for introducing a preset control program to the control unit 7.1. Through setting up power unit 7.2, make the arm need not external power supply and can drive waterproof household utensils 1.1, rear arm 2.1, well arm 3.1, forearm 4.1 and manipulator 5.0 through the drive unit under the control of control unit 7.1 and carry out corresponding action. The control unit 7.1 and the power supply unit 7.2 are integrated in the waterproof vessel 1.1, so that the modularization of the mechanical arm is realized, the mechanical arm can be installed on the main body of various underwater operation machines to carry out underwater operation, and the trouble caused by external power supply and control equipment is eliminated. In addition, the power supply unit 7.2 is integrated inside the waterproof vessel 1.1, so that the possible leakage risk of an external power supply is eliminated, and the operation safety is improved.
As can be seen from the above description, the arm assembly of the underwater mechanical arm of the present invention includes the front arm 4.1, the middle arm 3.1 and the rear arm 2.1, the output end of the front arm 1 is connected with the mechanical arm 5.0, the rear arm 2.1 is pivotally connected to the waterproof vessel 1.1, the waterproof vessel 1.1 is rotatably connected to the base, the waterproof vessel 1.1, the rear arm 2.1 and the middle arm 3.1 are respectively driven by the engagement driving mechanism, the front arm 4.1 and the mechanical arm 5.0 are respectively driven by the wire driving mechanism, the wire driving mechanism with relatively large dead weight and relatively high driving precision is respectively used for driving the rear arm 2.1 and the middle arm 3.1, the wire driving mechanism with relatively small dead weight is used for driving the front arm 4.1 and the mechanical arm 5.0, the mass of the front end of the mechanical arm is reduced, thereby reducing the influence of inertia on the movement precision and the movement flexibility of the mechanical arm, and the engagement driving precision is relatively high, the driving is stable, the influence of the movement errors of the rear arm 2.1 and the middle arm 3.1 on the movement precision of the front arm 4.1 and the mechanical arm 5.0 is further improved. Preferably, the front arm 4.1, the middle arm 3.1 and the rear arm 2.1 are provided in a hollow structure and the respective gravity forces are equal to the buoyancy forces they are subjected to in the water. Through the arrangement of the hollow structure, the mass of the mechanical arm is reduced, and the influence of inertia on the motion precision and the motion flexibility of the mechanical arm is further reduced. In addition, the gravity is equal to the design of the buoyancy, so that the influence degree of the buoyancy and the gravity on the action precision and the flexibility of the mechanical arm is reduced to the minimum, and the motion precision and the motion flexibility of the mechanical arm are further improved. Further preferably, the control unit 7.1 and the power supply unit 7.2 are integrated in the waterproof vessel 1.1, so that the modularization of the mechanical arm is realized, the mechanical arm can independently perform underwater work, and the trouble caused by external power supply and control equipment is avoided.
The foregoing examples merely illustrate embodiments of the invention and are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be determined by the following claims.
Claims (7)
1. The underwater mechanical arm based on the hybrid transmission is characterized by comprising a driving unit and an arm assembly, wherein the arm assembly comprises a front arm and a rear arm, the output end of the front arm is connected with an operation unit,
The underwater mechanical arm also comprises a first transmission unit and a second transmission unit, the driving unit is connected with the front arm and the operation unit through the first transmission unit, the driving unit is connected with the rear arm through the second transmission unit,
Wherein the dead weight of the first transmission unit is smaller than that of the second transmission unit;
The arm assembly further comprises a middle arm connected between the front arm and the rear arm, the underwater mechanical arm further comprises a third transmission unit, the driving unit is connected with the middle arm through the third transmission unit,
Wherein the dead weight of the first transmission unit is smaller than that of the third transmission unit;
The front arm, the middle arm and the rear arm are all arranged in a hollow structure and satisfy that the respective gravity is equal to the buoyancy of the rear arm in water.
2. The underwater robotic arm of claim 1, wherein the first transmission unit comprises a plurality of wire transmission mechanisms;
The second transmission unit is a worm and gear transmission mechanism;
The third transmission unit comprises two groups of bevel gear pairs, and the two groups of bevel gear pairs are connected through a transmission rod penetrating through the rear arm.
3. The underwater robot arm as claimed in any one of claims 1 to 2, wherein the underwater robot arm comprises a waterproof unit,
The waterproof unit comprises a waterproof vessel, the driving unit is fixed in the waterproof vessel, and the waterproof vessel is rotatably connected with the main body of the underwater robot.
4. A submersible robot according to claim 3, comprising a base secured to the body of the submersible robot, the waterproof vessel being rotatably connected to the base.
5. The underwater robot arm of claim 4, wherein the waterproof vessel is connected to the base through a rotation shaft, a waterproof vessel driven gear coaxial with the rotation shaft is fixed to the base, a waterproof vessel driving gear engaged with the waterproof vessel driven gear is provided on the waterproof vessel, and the waterproof vessel driving gear is rotatably connected to the waterproof vessel.
6. The underwater robot arm as claimed in claim 5, further comprising a control unit for communicating with an upper computer to control the driving unit to drive the waterproof vessel, the arm assembly and the operation unit to control a movement posture thereof,
Wherein, the control unit sets up in waterproof household utensils.
7. The underwater robot arm as claimed in claim 6, wherein the underwater robot arm further comprises a power supply unit for supplying electric power to the control unit and the driving unit,
Wherein, the power supply unit is arranged in the waterproof vessel.
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| CN112296992A (en) * | 2019-08-01 | 2021-02-02 | 梁梓恒 | Rope-driven multi-joint robot unit mechanism |
| CN110641660B (en) * | 2019-10-21 | 2021-03-12 | 中国科学院自动化研究所 | Underwater operation robot for marine product fishing |
| DE102020105671B4 (en) * | 2020-03-03 | 2021-10-21 | Helmholtz-Zentrum Dresden - Rossendorf E. V. | Two-axis rotator |
| CN111376279B (en) * | 2020-05-08 | 2023-04-25 | 重庆工商大学 | Micro-operation mechanical arm for underwater biological printing |
| CN114271946B (en) * | 2022-01-19 | 2023-06-23 | 首都医科大学附属北京安贞医院 | Automatic positioning mechanical arm of interventional robot |
| CN114852290B (en) * | 2022-03-31 | 2023-06-27 | 广州大学 | Modularized underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
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