Submarine manipulator wrist joint structure with three degrees of freedom

An underwater manipulator and wrist joint technology, which is applied in manipulators, underwater operation equipment, ships, etc., can solve the problem of not being given, and achieve the effect of simple mechanism, reasonable arrangement and flexible operation.
CN101224582AInactive Publication Date: 2008-07-23HARBIN ENG UNIV
0 Cites 3 Cited by

Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN ENG UNIV
Publication Date
2008-07-23
Estimated Expiration
Not applicable Β· inactive patent

Smart Images

  • Figure 1
    Figure 1
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More