Submarine mechanical claw structure

Abstract

The invention provides an underwater manipulator clamping jaw structure, which consists of a claw I1, a claw II 23, an external connecting rod I 2, an external connecting rod II 3, an internal connecting rod I 4, an internal connecting rod II 5, a rubber layer I 6, a rubber layer II 7, an external connecting rod pin I 8, an external connecting rod pin II 9, an external connecting rod pin III 10, an external connecting rod pin IV 11, an internal connecting rod little pin II 13, an internal connecting rod little pin III 14, an internal connecting rod little pin IV 15, an internal connecting rod large pin II 17, a hydraulic cylinder pin 18, a base 19, a wrist 20, a hydraulic cylinder 21, a connecting rod I 22, and a connecting rod II 24.The invention is used for an underwater robot and has the advantages of simple structure, light weight, and agile movement. By the driving of the hydraulic pressure, the opening / closing movement of the clamping jaw is realized, and the clamping jaw is provided with the capability of clamping lager load; by the small range movement of the hydraulic cylinder piston, the opening / closing movement in large range of the clamping jaw is realized.

Description

(1) Technical field [0001] The invention relates to an underwater robot structure, in particular to an underwater manipulator terminal claw structure for an underwater robot. (2) Background technology [0002] The ocean is rich in biological resources, mineral resources and a large amount of energy such as oil, coal and natural gas. With the continuous shortage of resources on land, it is an inevitable trend for human beings to go to the sea. At the same time, the ocean determines the climate of various regions of the earth, and the ecological environment of the ocean is a barometer of the ecological environment of the earth. Therefore, it is necessary to monitor the environment of all parts of the ocean, including places that people cannot reach. [0003] At present, many countries in the world have realized the importance of using and developing the ocean, and have invested a lot of money, manpower, and material resources in research work in this area. The status of mari...

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Problems solved by technology

[0005] "Research on Variable Structure Control Method and Application of Six-Function Underwater Manipulator" (Master's Thesis of Shenyang Institute of Automation, Chinese Academy of Sciences, 2002), "Research on Monitored Underwater Manipulator and Related Technologies" (Master's Thesis of Shenyang Institute of Automation, Chinese Academy of Sciences, 2001) mentioned the hydraulic jaws, but did not give the specific structure of the hydraulic jaws; "Development of 5-DOF Autonomous Underwater Manipulator" (China Mechanical Engineering, 2001, 12 Supplement: 16-18) The manipulator is controlled by the motor servo, but the specific structure of the jaws is not given; "Design of the Manipulator Control System for Underwater Robots" (Rock Drilling Machinery Pneumatic Tools, 2003 (4): 53-58) introduces a 7 The working principle and the composition and structure of the control system of the underwater robot manipulator with the motion function of the degree of freedom, but the specific structure of the manipulator claws is not given; 2006: 15~20) studied the pressure-adaptive electronic control system of the deep sea underwater operation manipulator and the computer control software with the closed-loop control of the manipulator position as the core. The paper did not give the specific structure of any part of the manipulator

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