CN109649610A - Adaptive parallel connection folding finger and submarine pipeline robot - Google Patents
Adaptive parallel connection folding finger and submarine pipeline robot Download PDFInfo
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- CN109649610A CN109649610A CN201811477243.9A CN201811477243A CN109649610A CN 109649610 A CN109649610 A CN 109649610A CN 201811477243 A CN201811477243 A CN 201811477243A CN 109649610 A CN109649610 A CN 109649610A
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- level
- snap ring
- telescopic rod
- parallel
- adaptive
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adaptive folding finger in parallel and submarine pipeline robots, belong to underwater robot field, the parallel institution that the adaptive folding finger in parallel includes two grippers and two grippers link together, the parallel institution includes two racks and at least three telescopic rods, the both ends of every telescopic rod pass through shaft respectively and connect with two racks, shaft in the same rack is not distributed in all on same straight line, and the telescopic rod can rotate at shaft by axis of the direction vertical with telescopic rod；Described two grippers pass through rotating electric machine respectively and connect with described two racks；Each gripper includes two symmetrical folding claws and controls two groups of clamping cylinders that described two folding claws are unclamped and clamped respectively, and the folding claw includes the multistage snap ring that can be folded and unfolded.The present invention is adapted in space the cylindrical body being interspersed and diameter is different, crawls on the cylindrical body or class cylindrical body that can be interspersed in space.
Description
Technical field
The present invention relates to underwater robot field, a kind of adaptive folding finger in parallel and submarine pipeline machine are particularly related to
People.
Background technique
At sea mesa base has a large amount of cylindrical pipe and support column, they are often after building up a period of time
Adhered to by various marine organisms and their excreta, causes the weight of pipeline to change to influence the safety of entire platform
Performance needs to clean pipeline.
Submarine pipeline robot (underwater cleaning robot, Pa Zhu robot) is that one kind can be along pipeline automatically walk, carrying
One or more sensors and operation are mechanical, carry out a series of pipes under the remote control operation or computer controlled automatic of staff
Mechanical, electrical, the instrument integral system of road operation.
Most of current underwater cleaning robot just for single direction cylindrical body or determine the cylindrical body of diameter, but
It is that the cylindrical column of offshore platform is interspersed in space, and pipe diameter size is different, it is therefore desirable to which clearing up machine can
The variation of caliber is adapted to, and can be moved on the pipeline that spatial intersecting is distributed.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of adaptive folding finger in parallel and submarine pipeline robot,
The present invention is adapted in space the cylindrical body being interspersed and diameter is different, the cylindrical body that can be interspersed in space or
It is crawled on person's class cylindrical body.
It is as follows that the present invention provides technical solution:
A kind of adaptive folding finger in parallel, including two grippers and the parallel institution that two grippers link together,
Wherein:
The parallel institution includes two racks and at least three telescopic rods, the both ends of every telescopic rod pass through shaft respectively
It is connect with two racks, the shaft in the same rack is not distributed in all on same straight line, and the telescopic rod is at shaft
It can be rotated by axis of the direction vertical with telescopic rod；
Described two grippers pass through rotating electric machine respectively and connect with described two racks；
Each gripper includes two symmetrical folding claws and controls described two folding claws releases and folder respectively
Two groups of tight clamping cylinders, the folding claw includes the multistage snap ring that can be folded and unfolded.
Further, the multistage snap ring includes first order snap ring and second level snap ring, and the first order snap ring quantity is 2
It is a, it is symmetrically distributed in the outside of the second level snap ring, the first order snap ring is connect with the clamping cylinder, the second level
Snap ring is connect by second level connecting rod and second level telescopic rod with the first order snap ring, and the is provided on the first order snap ring
Second level rotating electric machine, the second level rotating electric machine are connect with the second level connecting rod.
Further, the multistage snap ring further includes third level snap ring, and the second level snap ring quantity is 2, and symmetrical point
Cloth passes through third level connecting rod and third level telescopic rod and described second in the outside of the third level snap ring, the third level snap ring
Grade snap ring connects, and third level rotating electric machine, the third level rotating electric machine and the third are provided on the second level snap ring
Grade connecting rod connection.
Further, the second level telescopic rod includes second level telescopic cylinder and second level cylinder rod, the third level
Telescopic rod includes third level telescopic cylinder and third level cylinder rod.
Further, the telescopic rod includes cylinder and cylinder rod.
Further, torque spring is installed at the shaft.
Further, the telescopic rod quantity is 3, and three shafts in the same rack are in triangular distribution.
Further, the rotating electric machine is able to drive the gripper and rotates 360 °.
Further, the mounting hole for installing actuator is provided on the gripper.
A kind of submarine pipeline robot, including actuator and adaptive folding finger in parallel above-mentioned, the actuator peace
On the gripper.
The invention has the following advantages:
Steering and traveling of the invention uses rotating electric machine and the concatenated structure type of two-freedom-degree parallel mechanism, turns to
Mode is flexible and changeable, is moved on the cylindrical body that can be interspersed in space.And gripper use of the invention can roll over
Folded mechanism, can adaptive body diameter variation and meanwhile also reduce the volume of gripper.
Detailed description of the invention
Fig. 1 is the overall structure diagram of adaptive folding finger in parallel of the invention；
Fig. 2 is the schematic diagram of parallel institution；
Fig. 3 is the schematic diagram of gripper folded state；
Fig. 4 is the schematic diagram of gripper unfolded state；
The adaptive state of folding finger in parallel when Fig. 5 is pipeline antarafacial；
Fig. 6 is the adaptive state of folding finger in parallel when pipeline is parallel；
Fig. 7 is the adaptive state of folding finger in parallel when pipeline is vertical.
Wherein, the number of each component are as follows: gripper 1, parallel institution 2, rack 3, telescopic rod 4, shaft 5, rotating electric machine 6, folding
Stacking pawl 7, clamping cylinder 8, first order snap ring 9, second level snap ring 10, third level snap ring 11, second level connecting rod 12, the second level are stretched
Contracting bar 13, second level rotating electric machine 14, third level connecting rod 15, third level telescopic rod 16, third level rotating electric machine 17, the second level are stretched
Contracting cylinder 18, second level cylinder rod 19, third level telescopic cylinder 20, third level cylinder rod 21, cylinder 22, cylinder rod 23, torsion
Spring 24.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
On the one hand, the embodiment of the present invention provides a kind of adaptive folding finger in parallel, as shown in Figure 1-3, include two hands
Pawl 1 and the parallel institution 2 that two grippers 1 link together, in which:
Parallel institution 2 includes two racks 3 and at least three telescopic rods 4, the both ends of every telescopic rod 4 pass through shaft respectively
5 connect with two racks 3, and telescopic rod and rack form revolute pair, and telescopic rod 4 can be with vertical with telescopic rod 4 at shaft 5
Direction is axis rotation, and the shaft 5 in the same rack 3 is not distributed in all on same straight line；Parallel institution has one
The freedom degree of Forward and around the freedom degree rotated with telescopic rod vertical direction, when every bar collapsing length is identical, this mechanism is
Plane mechanism, when plurality of rods stretch extension elongation difference, mechanism becomes space parallel mechanism, and a gripper is relative to another
A gripper is moved in solid space.
Two grippers 1 are connect by rotating electric machine 6 with two racks 3 respectively, and rotating electric machine controls gripper rotation；
Each gripper 1 includes two symmetrical folding claws 7 and controls two folding claws 7 releases respectively and clamp
Two groups of clamping cylinders 8, folding claw 7 includes the multistage snap ring that can fold and unfold, when multistage snap ring is unfolded, is adapted to big straight
The cylindrical body of diameter adapts to the cylindrical body of minor diameter when multistage snap ring folds, and the exhibition of multistage snap ring is selected according to the size of cylindrical body
Open or fold series.
Adaptive folding finger in parallel of the invention is adapted in space the cylindrical body being interspersed and diameter is different, energy
It is crawled on enough cylindrical bodies or class cylindrical body being interspersed in space.It is of the invention use process is as follows:
The adaptive folding finger in parallel integrally clamps on the cylinder first, if desired moves forward, then front end gripper
Clamping cylinder control the releases of two foldings claws, more telescopic rods of parallel institution stretch out simultaneously, then the folder of front end gripper
Two scored card claw clips of tight cylinder control are tight, and the clamping cylinder of rear end gripper controls two folding claws and unclamps, parallel institution
More telescopic rods retract at the same time, and complete the Forward of adaptive folding finger in parallel.
If adaptive parallel connection folding finger needs to crawl into an other cylindrical body in space, a gripper pine is first allowed
It opens, then more telescopic rods of parallel institution do not stretch out simultaneously or retract (specifically which root telescopic rod is stretched out or retracted according in addition
The position of a piece cylindrical body and determine), lift the gripper, parallel institution is converted into space parallel mechanism, two rotating electric machines
Gripper rotation is controlled, gripper is moved to suitable position with parallel institution cooperation and is then clamped；Another gripper unclamps at this time, leads to
It crosses parallel institution and is moved to position identical with previous gripper with the cooperation of rotating electric machine, complete creeping between column and column.Such as
Shown in Fig. 5, the adaptive state of folding finger in parallel when being pipeline antarafacial；As shown in fig. 6, adaptively in parallel when parallel for pipeline
The state of folding finger；As shown in fig. 7, for pipeline adaptive state of folding finger in parallel when vertical.
If caliber changes, multistage snap ring expansion or folding select expansion or folded state according to the size of caliber.
In conclusion steering of the invention and traveling use rotating electric machine and the concatenated structure of two-freedom-degree parallel mechanism
Form, steering mode is flexible and changeable, is moved on the cylindrical body that can be interspersed in space.And gripper of the invention
Using folding mechanism, can adaptive body diameter variation and meanwhile also reduce the volume of gripper.
As an improvement of the present invention, as shown in figure 4, multistage snap ring includes first order snap ring 9 and second level snap ring 10,
9 quantity of first order snap ring is 2, is symmetrically distributed in the outside of second level snap ring 10, and first order snap ring 9 is connect with clamping cylinder 8,
Clamping cylinder and folding claw composition four-bar mechanism are controlled by the flexible drive scored card pawl mass motion of clamping cylinder
Fold the release and clamping of claw entirety.
Second level snap ring 10 is connect by second level connecting rod 12 and second level telescopic rod 13 with first order snap ring 9, connecting rod with
Telescopic rod is parallel to each other, and collectively constitutes five-rod with first order snap ring, second level snap ring, and is provided on first order snap ring 9
Second level rotating electric machine 14, second level rotating electric machine 14 are connect with the shaft of second level connecting rod 12, and second level rotating electric machine drives the
Second level even the rod controls the expansion and folding of second level snap ring together with the telescopic rod of the second level.
Further, as shown in figure 4, multistage snap ring further includes third level snap ring 11, snap ring 10 quantity in the second level is 2,
It is symmetrically distributed in the outside of third level snap ring 11, third level snap ring 11 passes through third level connecting rod 15 and third level telescopic rod 16 and the
Second level snap ring 10 connects, and is provided with third level rotating electric machine 17, third level rotating electric machine 17 and the third level on second level snap ring 10
Connecting rod 15 connects, and the control mode of third level snap ring is identical as second level snap ring.
Full folded state is selected according to the size of caliber, second level snap ring state or three-level snap ring all stretch out state.Fig. 4
In, the folding claw (multistage snap ring) in left side is deployed into second level snap ring, and the folding claw (multistage snap ring) on right side is deployed into
Three-level snap ring.
It similarly, can also include the snap ring of more stages, structure and control mode and second level snap ring, third level snap ring phase
Together.
Second level telescopic rod and third level telescopic rod are realized preferably by way of cylinder, specific: second level telescopic rod
13 include second level telescopic cylinder 18 and second level cylinder rod 19, and third level telescopic rod 16 includes third level telescopic cylinder 20 and the
Three-stage cylinder bar 21.
The telescopic rod of parallel institution is realized preferably by way of cylinder, specific: telescopic rod 4 includes cylinder 22 and cylinder
Bar 23.
For the dead point for overcoming parallel institution, torque spring 24 is installed at shaft 5.
The quantity of telescopic rod is at least three, as long as can be realized two freedom degrees of parallel institution.The number of telescopic rod 4
When amount is 3, three shafts 5 in the same rack 1 are in triangular distribution.When three bar collapsing lengths are identical, this is in parallel
Mechanism is plane mechanism, and when the telescopic rod extension elongation difference of intermediate telescopic rod and two sides, this parallel institution becomes space
Parallel institution.
Rotating electric machine 6 is preferably able to that gripper 1 is driven to rotate 360 °.
The mounting hole for installing actuator can be set on gripper 1, actuator is cleaning mechanism etc..
On the other hand, the present invention provides a kind of submarine pipeline robot, including actuator and adaptive parallel connection above-mentioned
Folding finger, actuator are mounted on gripper 1, and actuator is wiper mechanism etc..
The steering of submarine pipeline robot of the present invention uses rotating electric machine with traveling and connects with two-freedom-degree parallel mechanism
Structure type, steering mode is flexible and changeable, is moved on the cylindrical body that can be interspersed in space.And the present invention
Gripper use folding mechanism, be adapted to body diameter variation and meanwhile also reduce the volume of gripper.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of adaptive folding finger in parallel, which is characterized in that link together including two grippers and by two grippers
Parallel institution, in which:
The parallel institution includes two racks and at least three telescopic rods, the both ends of every telescopic rod pass through shaft and two respectively
A rack connects, and the shaft in the same rack is not distributed in all on same straight line, and the telescopic rod can at shaft
It is rotated by axis of the direction vertical with telescopic rod；
Described two grippers pass through rotating electric machine respectively and connect with described two racks；
Each gripper includes two symmetrical folding claws and controls described two folding claws releases respectively and clamp
Two groups of clamping cylinders, the folding claw includes the multistage snap ring that can be folded and unfolded.
2. adaptive folding finger in parallel according to claim 1, which is characterized in that the multistage snap ring includes the first order
Snap ring and second level snap ring, the first order snap ring quantity are 2, are symmetrically distributed in the outside of the second level snap ring, described
First order snap ring is connect with the clamping cylinder, the second level snap ring by second level connecting rod and second level telescopic rod with it is described
The connection of first order snap ring, is provided with second level rotating electric machine on the first order snap ring, the second level rotating electric machine with it is described
The connection of second level connecting rod.
3. adaptive folding finger in parallel according to claim 2, which is characterized in that the multistage snap ring further includes third
Grade snap ring, the second level snap ring quantity are 2, are symmetrically distributed in the outside of the third level snap ring, the third level snap ring
It is connect by third level connecting rod and third level telescopic rod with the second level snap ring, is provided with the third level on the second level snap ring
Rotating electric machine, the third level rotating electric machine are connect with the third level connecting rod.
4. adaptive folding finger in parallel according to claim 3, which is characterized in that the second level telescopic rod includes the
Second level telescopic cylinder and second level cylinder rod, the third level telescopic rod include third level telescopic cylinder and third level cylinder rod.
5. adaptive folding finger in parallel according to claim 1, which is characterized in that the telescopic rod includes that cylinder is gentle
Cylinder rod.
6. -5 any adaptive folding finger in parallel according to claim 1, which is characterized in that be equipped at the shaft
Torque spring.
7. adaptive folding finger in parallel according to claim 6, which is characterized in that the telescopic rod quantity is 3, together
Three shafts in one rack are in triangular distribution.
8. adaptive folding finger in parallel according to claim 6, which is characterized in that the rotating electric machine is able to drive institute
Gripper is stated to rotate 360 °.
9. adaptive folding finger in parallel according to claim 6, which is characterized in that be provided on the gripper for pacifying
Fill the mounting hole of actuator.
10. a kind of submarine pipeline robot, which is characterized in that any described adaptive including actuator and claim 1-9
Folding finger in parallel, the actuator are mounted on the gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477243.9A CN109649610B (en) | 2018-12-05 | 2018-12-05 | Adaptive parallel folding gripper and underwater pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811477243.9A CN109649610B (en) | 2018-12-05 | 2018-12-05 | Adaptive parallel folding gripper and underwater pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109649610A true CN109649610A (en) | 2019-04-19 |
| CN109649610B CN109649610B (en) | 2020-10-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811477243.9A Expired - Fee Related CN109649610B (en) | 2018-12-05 | 2018-12-05 | Adaptive parallel folding gripper and underwater pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109649610B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422621A (en) * | 2019-08-21 | 2019-11-08 | 中国南方电网有限责任公司超高压输电公司天生桥局 | A kind of material conveying device |
| CN110745221A (en) * | 2019-11-13 | 2020-02-04 | 中国海洋大学 | Shape fully-adaptive undersea grabbing and fixing device |
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| DE102004058450A1 (en) * | 2004-12-03 | 2006-06-08 | Hartmut Friedrich | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
| JP4661402B2 (en) * | 2005-07-01 | 2011-03-30 | 日産自動車株式会社 | Gripping method with robot hand |
| CN106594455A (en) * | 2016-12-20 | 2017-04-26 | 中国石油大学(北京) | Double-claw type obstacle-crossing direction-adaptive pipeline external detection robot |
| CN207273248U (en) * | 2017-09-30 | 2018-04-27 | 长沙矿山研究院有限责任公司 | Pipe holder for Work robot outside pipe |
| CN108748076A (en) * | 2018-06-21 | 2018-11-06 | 泉州摩科索达科技有限公司 | A kind of automatic Jie Duan water robot |
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2018
- 2018-12-05 CN CN201811477243.9A patent/CN109649610B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0929681A (en) * | 1995-04-06 | 1997-02-04 | Spar Aerospace Ltd | Expandable list mechanism |
| DE102004058450A1 (en) * | 2004-12-03 | 2006-06-08 | Hartmut Friedrich | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
| JP4661402B2 (en) * | 2005-07-01 | 2011-03-30 | 日産自動車株式会社 | Gripping method with robot hand |
| CN106594455A (en) * | 2016-12-20 | 2017-04-26 | 中国石油大学(北京) | Double-claw type obstacle-crossing direction-adaptive pipeline external detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422621A (en) * | 2019-08-21 | 2019-11-08 | 中国南方电网有限责任公司超高压输电公司天生桥局 | A kind of material conveying device |
| CN110745221A (en) * | 2019-11-13 | 2020-02-04 | 中国海洋大学 | Shape fully-adaptive undersea grabbing and fixing device |
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| Publication number | Publication date |
|---|---|
| CN109649610B (en) | 2020-10-09 |
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