|
Phil, Brilliant, Thank You! To reiterate and insure that I picture this correctly, the QD's support the whole works and transmit all forces. So then, six or 7 of these spaced evenly around the flange diameter with a plate and piston centered and imparting a force in line with the QD long axis. Or, they could all (QD's and piston plate) be clustered in the middle for simplicity, neatness sake. That's it! Thank you Phil, saving this in a file! Joe > Date: Thu, 9 Oct 2008 02:45:04 -0400 > From: pnuytten@compuserve.com > Subject: RE: [PSUBS-MAILIST] Manipulator actuation / design > To: personal_submersibles@psubs.org > > Hullo, Joe: > Just back in town, so. . . manipulator arm jettison design(s): On > hydraulic/pneumatic/water hydraulic actuated arms, first determine number > of functions - 6 function is usual (1. shoulder yaw/ rotate, 2.shoulder > extend 3.elbow extend, 4. upper wrist extend, 5. wrist rotate, 6.jaw open & > close.) 7 and 8 function are not unusual - about the least you can do any > effective work with is 3 (shoulder extend, elbow extend, jaw open& close. > When you know how many functions, then you know how many hydraulic lines > you will require from the pump and back to the reservoir. Then determine > where you want the arm to break (jettison) . Wrist is easiest, but affords > least protection. Entire arm is best but requires most elaborate and > largest jettison section . > Most of you will be familiar with hydraulic or pneumatic QD's > (quick-disconnects). When a female sleeve is pulled back and tension is > placed on the line or the opposed parts, the QD separates - even under full > pressure or zero pressure. So . . . saw your arm off at some point where > you want it to disconnect - weld or bolt a plate to each cut end of ,say, > the 'bicep" section (midway between the elbow and the shoulder. Make the > plates (round or square) bigger than the arm diameter - so that you have > about an inch and a half flange all around the arm 'end'. If you put holes > in the flange portion of the plates, you could bolt the arm back together. > But, instead, drill and tap (thread) the plates with as many holes as you > have hydraulic lines downstream of the plates/flanges. On one side of the > plate flange, screw in pipe- to- hydraulic line (female nut) nipples - > these will join to your hydraulic hoses. On the other side of the same > plate, install the same number of, say, female QD sleeves to pipe thread > fittings. Do the same with the other flange, but on the side facing the > sleeve fittings, thread in the male snout/nozzle of the QD. Then make up a > 3rd plate that is the same diameter as your threaded plates (if your arm is > three inches in diameter, for example - you would have a 7 inch ID by 3 > inch OD plate. Drill out and make this plate so that is attached to the > female sleeves of the QD. (Buy QD's that have a narrower 'waist' in the > middle of the sleeve for this purpose) Put a short hydraulic cylinder > between the threaded sleeve plate and the sleeve actuation plate. run a > hydraulic line to this cylinder and run the other end to a > manually-operated hydraulic hand pump (wobble pump) in side the sub cabin. > If the arm gets stuck, open the bulkhead valve on your hydraulic > through-hull and pump the arm off. > Sounds a bit complicated, but there's nothing to it. > If you use a valveless water-hydraulic suck/blow manipulator actuation > system, the manip detent is even easier. But . . .time for bed - more > later. > Phil > > > > ************************************************************************ > ************************************************************************ > ************************************************************************ > The personal submersibles mailing list complies with the US Federal > CAN-SPAM Act of 2003. Your email address appears in our database > because either you, or someone you know, requested you receive messages > from our organization. > > If you want to be removed from this mailing list simply click on the > link below or send a blank email message to: > removeme-personal_submersibles@psubs.org > > Removal of your email address from this mailing list occurs by an > automated process and should be complete within five minutes of > our server receiving your request. > > PSUBS.ORG > PO Box 53 > Weare, NH 03281 > 603-529-1100 > ************************************************************************ > ************************************************************************ > ************************************************************************ > |