Double-helix digital oscillating cylinder applied to deep sea manipulator
By employing a hollow piston rod, angle and pressure sensors, profile connection, and balance valve design in the double helical swing cylinder, the problems of sealing and control accuracy in the deep-sea environment are solved, achieving precise rotation angle and torque control, and featuring self-locking and overload protection, thereby improving production efficiency and service life.
Patent Information
- Application Number
- CN202423082288.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-12
- Publication Date
- 2025-12-05
- Estimated Expiration
- 2034-12-12
AI Technical Summary
Conventional double-helix swing cylinders have insufficient sealing design in deep-sea environments, making it impossible to accurately control the output angle and torque. They also suffer from problems such as seal torsion, thread fatigue seizing, and insufficient overload protection.
It adopts a hollow piston rod design, installs angle and pressure sensors, uses a profile connection to transmit torque and axial force, integrates a balance valve to achieve self-locking and overload protection, and combines a unique sealing structure to meet the requirements of deep-sea applications.
It achieves precise rotation angle and torque control in deep-sea environments, reduces processing difficulty and seal damage, improves production efficiency and service life, and has self-locking and overload protection functions.
Smart Images
Figure CN223635019U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to hydraulic cylinder technical field, concretely relates to a double helix digital swing cylinder for deep sea manipulator. BACKGROUND
[0002] The conventional double helix swing cylinder does not carry out sealing design for deep sea application, generally adopts thread structure to simultaneously transmit torque and axial force, and simultaneously cannot accurately control output angle and torque. This structure has the following problems: 1. no sealing design resistant to external pressure, cannot be applied to deep sea environment; 2. the coaxiality requirement of piston rod thread, guide sleeve thread and cylinder body inner hole is high, otherwise "force is held back", the leakage of oil cylinder is increased and the piston rod can be damaged, which invisibly improves the machining precision and difficulty of parts; 3. the O-shaped ring playing a static sealing role on the guide sleeve is also squeezed into the helix shape during the assembly of the guide sleeve, so that the sealing element can be damaged due to problems such as torsion and deformation. 4. torque and axial force are simultaneously transmitted between the piston rod and the guide sleeve through threads, and the threads have the risk of fatigue engagement under the repeated impact of large torque for a long time. 5. the control of output rotation angle and torque is not accurate enough. 6. the trapezoidal thread in the double helix structure is bidirectional rotation, so the thread cannot be self-locking and has no overload protection function. SUMMARY
[0003] Therefore, the utility model provides a double helix digital swing cylinder for deep sea manipulator, which can solve the problems of accurate output rotation angle and torque, deep sea environment application, overload protection, thread fatigue engagement and sealing element torsion, reduce the machining and assembly difficulty of the hydraulic cylinder, improve the production efficiency, and further expand the use range of the double helix swing cylinder.
[0004] A double helix digital swing cylinder for deep sea manipulator, comprising a cylinder body, a piston rod, a piston, a guide sleeve, a thread gland, an angle sensor, a transmission shaft, a lever and a watertight socket.
[0005] The piston rod has a hollow inner hole for mounting the angle sensor, the transmission shaft and the watertight socket.
[0006] After the piston rod, the piston and the guide sleeve are assembled with the sealing element, the piston rod is assembled into the cylinder body and cooperates with the piston and the guide sleeve, the piston rod, the guide sleeve and the cylinder body are connected together through the thread gland, and the guide sleeve and the piston rod adopt profile connection thread limiting.
[0007] The angle sensor is fixed in the inner hole of the piston rod and connected with the shifting rod through the transmission shaft, the shifting rod is fixed on the cylinder through the nut; when the cylinder rotates, the shifting rod drives the transmission shaft to rotate relative to the angle sensor, so that the angle sensor obtains the rotation angle signal, then the signal is output from the watertight socket at the tail of the piston rod through the cable connected with the angle sensor, then the central processing unit performs logical operation according to the collected values, and the angle value is obtained in real time and the rotation angle is regulated through the output flow; the oil port seat is arranged on the cylinder, the pressure sensor is arranged on the oil port seat, and the pressure sensor collects and transmits the pressure signals of the two cavities for accurately controlling the output torque; after the hydraulic oil is input into the two cavities, the guide sleeve and the piston rod can synchronously swing relative to the cylinder to output the rotation angle and the rotation torque; or the guide sleeve and the piston rod are fixed to make the cylinder swing to output the rotation angle and the rotation torque.
[0008] Further, the plug-in balance valve is arranged on the piston rod and the guide sleeve respectively, the oil inlets of the two cavities are liquid control ports, and when the oil is input into one cavity, the oil is discharged from the other cavity, otherwise the oil is locked to ensure that the rotation angle does not change, and the self-locking function of the swing cylinder in the swing range is realized.
[0009] Further, the rotary sealing element is arranged between the transmission shaft and the end cover of the angle sensor, and the O-shaped ring is arranged between the end cover of the angle sensor and the piston rod for sealing; the O-shaped rings are arranged between the end faces and the radial directions of the watertight socket and the piston rod for sealing; so that the sealing structure of the angle sensor can meet the requirements of deep sea application, and the watertight socket also plays a role of preventing the threaded gland from loosening.
[0010] Further, the cylinder is provided with a shifting block, a mounting flange and an oil port seat, wherein the shifting block is used for connecting the angle sensor; the mounting flange is used for connecting the mechanical hand; and the oil port seat is used for connecting the liquid control port and serving as the mounting base of the pressure sensor.
[0011] Further, the guide sleeve and the piston rod are provided with two sets of rotary sealing elements inside and outside, which meet the application requirements of internal pressure work and external pressure seawater prevention; the convex polygon structure in the profile connection is adopted between the guide sleeve and the piston rod to transmit the torque, and the threaded gland is adopted at the end of the piston rod to limit and transmit the axial force.
[0012] Further, the cylinder and the piston and the piston and the piston rod are all adopted to transmit the torque by the trapezoidal thread which cannot be self-locked.
[0013] Beneficial effects:
[0014] 1. The utility model discloses a hollow structure is designed to piston rod, installs angle sensor, transmission shaft and watertight socket in the inside, utilizes the angle sensor of built -in collection angle signal, accurate control swing cylinder's rotation angle, utilizes the pressure sensor of external collection pressure signal, reaches the purpose of accurate output torque through accurate control swing cylinder two cavity's pressure difference, simultaneously through unique sealing design, make the utility model discloses have good deep sea environmental adaptability and have control precision high, processing difficulty is low, to sealing damage is small, production efficiency is high and long service life etc.
[0015] 2. The utility model discloses the convex polygon structure (such as three, four or six etc.) of type surface connection mode is used between piston rod and guide sleeve and transmits torque, and the screw structure transmits axial force, avoided the risk that the screw thread repeatedly impact after transmitting torque and transmitting axial force with the screw thread structure originally, improved transmission efficiency and reliability, and when assembling, the guide sleeve does not need to rotate and can be directly pressed into the cylinder body, and the sealing piece can slide into the cylinder barrel with the guide sleeve smoothly and will not twist, and the installation is very simple.
[0016] 3. The utility model discloses the left and right ends of double helix digital swing cylinder are integrated balance valve, have certain hydraulic circuit control function, can realize swing cylinder's self -locking and overload protection function, and the inside design cleverly utilizes the lubrication of hydraulic control oil circuit to realize bearing, improves product reliability, prolongs product life. DRAWINGS
[0017] Figure 1 It is the appearance structure diagram of the utility model double helix digital swing cylinder
[0018] Figure 2 It is the structure principle diagram of the utility model double helix digital swing cylinder
[0019] Figure 3 It is the hydraulic principle diagram of the utility model double helix digital swing cylinder
[0020] Among them: 1 - the lever, 2 - oil inlet connector, 3 - plug -in balance valve, 4 - cylinder body, 5 - hydraulic control pipe, 6 - pressure sensor, 7 - watertight socket, 8 - sensor connector, 9 - transmission shaft, 10 - sealing end cover, 11 - sensor mounting seat, 12 - angle sensor, 13 - piston rod, 14 - thrust bearing, 15 - piston, 16 - guide sleeve, 17 - threaded gland, 18 - watertight connector. SPECIFIC IMPLEMENTATION
[0021] The utility model is described in detail below in combination with the drawings and examples.
[0022] Such as the drawing Figure 1 And 2As shown, the utility model provides a kind of double helix digital swing cylinder applied to deep sea manipulator, pole 1, oil inlet joint 2, plug-in balance valve 3, cylinder body 4, pressure sensor 6, watertight socket 7, sensor connector 8, transmission shaft 9, sealing end cover 10, sensor mounting seat 11, angle sensor 12, piston rod 13, thrust bearing 14, piston 15, guide sleeve 16, threaded gland 17, watertight joint 18 and sealing element etc. are formed. When assembling, first, piston rod 13, piston 15, guide sleeve 16 are assembled with sealing element, and then, bearing 14 is respectively assembled to piston rod 13 and guide sleeve 16, then, piston rod 13 with the above-mentioned parts is assembled into cylinder body 4, and then, piston 15 is assembled, and then, guide sleeve 16 is assembled, and then, threaded gland 17 is used to connect piston rod 13 and guide sleeve 16, to complete the assembly of swing cylinder. The assembly process of rotary signal acquisition system is as follows: first, transmission shaft 9, sensor mounting seat 11 and angle sensor 12 are connected together to complete partial assembly, then, angle sensor mounting seat 12 is installed in the left end hole of piston rod 13, then, sealing end cover 10 is passed through transmission shaft 9 and installed on the end face of the left end hole of piston rod 13, then, pole 1 is passed through the pole block on cylinder body 4 and connected with transmission shaft 9, then, the cable of angle sensor 12 is led out and connected with the cable in watertight joint 18, then, the excess cable is put into the inner hole of piston rod 13, and finally, watertight joint 18 is assembled with sealing element, and then, bolt is fixed on the right end face of piston rod 13. The assembly process of pressure signal acquisition system is as follows: pressure sensor 6 is assembled on the oil port seat of cylinder body 4, and the cable can be directly led into signal box.
[0023] The angle signal of double helix digital swing cylinder is collected by angle sensor 12, and angle sensor 12 is fixed in the inner hole of piston rod through sensor mounting seat 11, and is connected with cylinder pole 1 through transmission shaft 9, and pole 1 is fixed on cylinder 5 through nut. When cylinder 5 rotates, pole 1 drives transmission shaft 9 to rotate relative to angle sensor 12, so that angle sensor 12 obtains rotary angle signal, and then, the signal is output from watertight socket 7 at the tail of piston rod through the cable connected with angle sensor 12, and then, the central processing unit carries out logical operation according to the collected value, to obtain angle value in real time and carry out regulation and control through output flow.
[0024] The pressure signal of double helix digital swing cylinder is collected by pressure sensor 6 and transmitted to signal box, and the central processing unit carries out logical operation according to the pressure difference of two cavities, to obtain torque value in real time and carry out regulation and control through output pressure to adjust the pressure difference of two cavities.
[0025] Double helix digital swing cylinder piston rod and guide sleeve are integrated with plug-in balance valve, and there are related oil ways inside, two cavity oil inlets are liquid control ports for each other, one cavity oil inlet is oil outlet for the other cavity, otherwise, oil liquid is locked to ensure that rotary angle does not change, so that the self-locking function of swing cylinder in swing range can be realized. Figure 3As shown, taking the movement of the swing cylinder piston from left to right as an example: when the hydraulic oil flows in from the A port, the A1 port of the A port balance valve 3 enters the A port through the A2 port, and at the same time, the external control port B3 port of the B port balance valve 3 also enters, opening the control oil way of the B port balance valve 3; the hydraulic oil coming to the A1 port continues to enter the left cavity of the swing cylinder through the A0 port (at the same time, the pressure sensor 6 of the A0 port collects the pressure signal and transmits it out), pushes the swing cylinder to move from left to right (at the same time, the angle sensor 12 inside the piston rod collects the angle signal and transmits it out), and the hydraulic oil in the right cavity of the swing cylinder is pushed by the piston to come to the B1 port of the B port balance valve 3 through the B0 port (at the same time, the pressure sensor 6 of the B0 port collects the pressure signal and transmits it out), and since the control oil way of the B port balance valve 3 has been opened, the hydraulic oil can flow out through the B2 port of the balance valve 3 and return to the B port. In this process, if the A port hydraulic oil stops inputting, the control oil way of the B port balance valve 3 cannot be opened, the hydraulic oil in the right cavity of the swing cylinder cannot be discharged, and the rotation angle of the swing cylinder will not change, thus realizing the self-locking function. At the same time, the liquid control ports of the two cavities can also provide a lubricating oil way for the thrust bearing to ensure the lubrication of the bearing. In addition, the balance valve can also be pre-set to exceed the overload pressure, and the oil will be discharged when the set value is exceeded, thus realizing the overload protection function and ensuring that the overall device will not be damaged.
[0026] The above implementation process first simplifies assembly, and the guide sleeve does not need to be rotated and can be directly pressed in, so that there is no rotation action during the installation of the sealing element, and the sealing element will not be twisted and deformed to generate resistance. At the same time, the convex polygon structure is used to transmit torque and the threaded structure is used to transmit axial force, respectively, avoiding the fatigue and engagement risk that is easily generated when the threaded structure simultaneously transmits torque and axial force. Second, because the angle sensor and the pressure sensor can collect real-time rotation and pressure signals, the rotation angle and output torque of the double-spiral digital swing cylinder applied to the deep sea can be accurately controlled. Third, because there are sealing structures for external seawater and internal hydraulic oil, the double-spiral digital swing cylinder can meet the deep-sea application environment. Fourth, because the balance valve is integrated, the oil way control function is realized, and the self-locking and overload protection requirements of the swing cylinder are met. Finally, because of the above effects, the utility model has good controllability and deep-sea environment adaptability, and has the characteristics of high control precision, low processing difficulty, small damage to the sealing element, convenient assembly, short processing cycle, high production efficiency, and long service life.
[0027] In summary, the above is only a preferred embodiment of the utility model, and is not used to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model.
Claims
1. A double helix digital oscillating cylinder applied to a deep-sea manipulator, characterized in that, It comprises a cylinder, a piston rod, a piston, a guide sleeve, a threaded gland, an angle sensor, a transmission shaft, a lever and a watertight socket. The piston rod has a hollow inner hole in which the angle sensor, the transmission shaft and the watertight socket are installed. After the piston rod, the piston and the guide sleeve are assembled with a seal, the piston rod is assembled into the cylinder and cooperates with the piston and the guide sleeve, the threaded gland is used to connect the piston rod, the guide sleeve and the cylinder together, and the guide sleeve and the piston rod are connected by profile connection and limited by threads. The angle sensor is fixed in the inner hole of the piston rod and connected with the lever through the transmission shaft, the lever is fixed on the cylinder by a nut, the cylinder rotates to drive the lever to rotate relative to the angle sensor, so that the angle sensor obtains a rotation angle signal, then the signal is output from the watertight socket at the tail of the piston rod through the cable connected with the angle sensor, and then the central processing unit performs logical operation according to the collected values to obtain the angle value in real time and control the rotation angle through the output flow. The cylinder has two cavities provided with oil port seats, and a pressure sensor is installed on the oil port seat to collect and transmit the pressure signals of the two cavities for accurately controlling the output torque. After the two cavities are respectively input with hydraulic oil, the guide sleeve and the piston rod can synchronously swing relative to the cylinder to output the rotation angle and the rotation torque. Or the guide sleeve and the piston rod are fixed to make the cylinder swing to output the rotation angle and the rotation torque.
2. The dual helix digital oscillating cylinder for a deep-sea manipulator according to claim 1, wherein, The piston rod and the guide sleeve are respectively provided with plug-in balance valves, the two cavity oil inlets are liquid control ports, and when one cavity is input with oil, the other cavity is output with oil, otherwise the oil is locked to ensure that the rotation angle does not change, thereby realizing the self-locking function of the swing cylinder within the swing range.
3. The dual helix digital oscillating cylinder for a deep-sea manipulator according to claim 2, wherein, The transmission shaft and the angle sensor end cover are provided with rotary seals, and the angle sensor end cover and the piston rod are provided with O-rings for sealing. The watertight socket and the piston rod are provided with O-rings for sealing on the end face and in the radial direction, so that the sealing structure of the angle sensor can meet the requirements of deep sea application, and the watertight socket also plays a role in preventing the threaded gland from loosening.
4. The dual helix digital oscillating cylinder for a deep-sea manipulator according to claim 3, wherein, The cylinder is provided with a lever block, a mounting flange and an oil port seat, wherein the lever block is used to connect the angle sensor, the mounting flange is used to connect a mechanical hand, and the oil port seat is used to connect a liquid control port and as a mounting base of the pressure sensor.
5. The dual helix digital oscillating cylinder for a deep-sea manipulator according to claim 4, wherein, The guide sleeve and the piston rod are provided with two sets of rotary seals for internal and external pressure, which meet the application requirements of internal pressure work and external pressure resistance of seawater. The guide sleeve and the piston rod adopt a convex polygon structure in profile connection to transmit torque, and a threaded gland is used at the end of the piston rod to limit and transmit axial force.
6. The dual helix digital oscillating cylinder for a deep-sea manipulator according to claim 4 or 5, wherein The cylinder and the piston, and the piston and the piston rod adopt trapezoidal threads that cannot be self-locked to transmit torque.