Submarine manipulator wrist joint structure with three degrees of freedom

Abstract

The invention provides an underwater manipulator three degrees of freedom(DOFs) wrist structure. A connecting frame 12 is respectively connected with a front arm 1 and a wrist 11 through a wrist pitching rotating shaft 2 and a wrist yaw rotating shaft 4; the bottom end of a second hydraulic cylinder 8 in the front arm 1 is arranged on a coupling spindle 9 at the bottom of the hydraulic cylinder in a cavity of the front arm 1; the end of the piston rod of the second hydraulic cylinder 8 is connected with a piston rod coupling spindle 3 of the hydraulic cylinder on the connecting frame 12; one end of a connecting rod 6 is connected with a connecting rod coupling spindle 5 of the wrist 11; the other end of the connecting rod 6 is connected with a piston rod of a first hydraulic cylinder 7; the bottom of the hydraulic cylinder is fixed on the connecting frame 12; a hydraulic motor is arranged inside the wrist 11. The whole wrist has compact structural design, can realize the three DOFs motion of the wrist, and has the advantages of flexible operation, improving the operation space, reducing the operation dead areas of the underwater manipulator, etc.

Description

(1) Technical field [0001] The invention relates to an underwater robot structure, in particular to a three-degree-of-freedom wrist joint structure of an underwater manipulator used by the 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 i...

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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), "Development of 5-DOF Autonomous Underwater Manipulator" (China Mechanical Engineering, 2001, 12 Supplement: 16-18), "Research on Control System of Deep Sea Underwater Manipulator" (Master's Degree Thesis of Zhejiang University, 2006: The wrist structures disclosed in 15~20) are not three-degree-of-freedom; although the underwater manipulator disclosed in "Underwater Robot Manipulator Control System Design" (Rock Drilling Machinery Pneumatic Tools, 2003 (4): 53~58) can The wrist joint can swing up and down, the wrist joint swings back and forth, and the wrist joint rotates, but no specific structural form is given, and from the appearance of the given figure, the structure of the wrist is very different from the structural form of this application

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