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Underwater mechanical arm telescopic joint for strong operation type underwater robot

A technology for underwater manipulators and underwater robots. It is applied in the direction of manipulators, claw arms, manufacturing tools, etc. It can solve the problems of increased load-bearing capacity, increased telescopic distance, and inability to retract telescopic sleeves, etc., to achieve high load-bearing capacity and flexible expansion. The effect of long distance and light weight

Inactive Publication Date: 2009-10-21
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the underwater manipulator used by the strong operation type underwater robot, due to the increase of the weight capacity, the telescopic distance increases. When the telescopic arm is fully extended, if the above structure is still used, due to the large eccentric force, it will cause telescopic Sleeve does not retract

Method used

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  • Underwater mechanical arm telescopic joint for strong operation type underwater robot
  • Underwater mechanical arm telescopic joint for strong operation type underwater robot
  • Underwater mechanical arm telescopic joint for strong operation type underwater robot

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Embodiment Construction

[0021] The present invention will be further described in detail below in conjunction with embodiments and drawings.

[0022] Such as figure 1 , 2 As shown in 3, 4-1, 4-2, the structure of the telescopic joint of the underwater manipulator of the strong operation type underwater robot of the present invention mainly includes a telescopic arm 1, a guiding square sleeve, and a telescopic cylinder 4. Among them:

[0023] The telescopic arm 1 is a hollow rectangular column with a uniform wall thickness, and its cross section is rectangular (the upper and lower sides are longer than the front and rear sides). Connecting holes are provided on four sides of one end of the telescopic arm 1 cylinder, which are connected with the front joint by screws to drive the front joint for telescopic movement; at the top corners of the four edges on the other end of the telescopic arm 1 column, along the edges A right-angled short slot is machined for placing the back angle support 6; the back angle...

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Abstract

The invention discloses a telescoping joint of an underwater manipulator of a strong operation type underwater robot. It includes a telescopic arm, a guide square sleeve, and a telescopic oil cylinder. The telescopic arm is a hollow rectangular cylinder with the same wall thickness, and its cross-section is rectangular; the cylinder at one end of the telescopic arm is connected to the front joint to drive the front joint to expand and contract. Movement; at the top corners of the four edges of the cylinder at the other end of the telescopic arm, there are right-angled grooves along the edges for placing rear corner supports; the guiding square sleeve is composed of front and rear, upper and lower baffles, and is set outside the telescopic arm Surface; the telescopic oil cylinder is arranged in the cavity of the telescopic arm, and its center is in the same vertical plane as the center of the telescopic arm; the telescopic arm is connected with the rear support shaft and the front support shaft, and is used to support the telescopic oil cylinder. The present invention is a telescopic joint of an underwater manipulator that can be used by a strong operation type underwater robot, has a large weight-holding capacity, a long telescopic distance, light weight and a simple structure.

Description

Technical field [0001] The invention relates to an underwater manipulator, in particular to a telescopic joint of an underwater manipulator of a strong operation type underwater robot. Background technique [0002] At present, the development and utilization of the ocean by mankind has been rapidly developed, and the number of marine engineering involved is increasing. Underwater robots with operational functions have been widely used. The tasks of underwater robots are mainly carried out by the underwater manipulators and special underwater tools they carry. In order to effectively perform various underwater operations, the underwater manipulator should generally have 4 or 6 degrees of freedom and an additional clamping function. Most of the five-function underwater manipulators have telescopic freedom. In the prior art, the expansion and contraction of the manipulator is realized by using a linear hydraulic cylinder to drive a cylindrical telescopic sleeve, but the hydraulic cy...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J18/02
Inventor 张将张竺英孙斌胡克
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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