Submarine manipulator elbow joint structure

An underwater manipulator and elbow joint technology, which is applied to manipulators, underwater operation equipment, ships, etc., can solve the problem of not retrieving the structure of the elbow joint of the underwater manipulator, and achieve the effects of compact structure, simple mechanism, and reduction of dead zones.

Inactive Publication Date: 2008-07-23
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0005] Underwater manipulators are required to have the characteristics of light weight, small size, compact structure, flexible manipulation, and l

Method used

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  • Submarine manipulator elbow joint structure
  • Submarine manipulator elbow joint structure

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Embodiment Construction

[0018] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0019] In conjunction with Fig. 1-Fig. 3, the elbow joint structure of the underwater manipulator of the present invention is composed of the forearm 1, the upper arm 2, the pitching rotation shaft 3 of the elbow joint, the connecting shaft 4 at the bottom end of the hydraulic cylinder on the upper arm 2, the hydraulic cylinder 5 and the forearm 1 The hydraulic cylinder piston rod connecting shaft 6 is composed of the forearm 1 and the upper arm 2 through the elbow joint pitch rotation shaft 3; the bottom end of the hydraulic cylinder 5 is connected to the hydraulic cylinder bottom connecting shaft 4 on the upper arm 2, and the hydraulic cylinder 5 piston rod The end is connected to the hydraulic cylinder piston rod coupling shaft 6 on the forearm 1.

[0020] The working process and principle of the present invention are as follows: through the linear motion of th...

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Abstract

The invention provides an elbow joint structure for an underwater manipulator, which consists of a forearm 1, an upper arm 2, an elbow joint pitching rotating shaft 3, a hydraulic cylinder bottom coupling shaft 4 arranged on the upper arm 2 and a hydraulic cylinder piston rod coupling shaft 6 arranged on the forearm 1 and the hydraulic cylinder 5. The forearm 1 is connected with the upper arm 2 by the elbow joint pitching rotating shaft 3; the bottom of a hydraulic cylinder 5 is connected with the hydraulic cylinder bottom coupling shaft 4 arranged on the upper arm 2, the end of the piston rod of the hydraulic cylinder 5 is connected with the hydraulic cylinder piston rod coupling shaft 6 arranged on the forearm 1. The invention can be applied to an underwater robot, is characterized by simple mechanism, compact structure and reasonable arrangement, can realize the wide range pitching rotation of the elbow joint and can considerably reduce the dead zone of the operation space of the underwater manipulator.

Description

(1) Technical field [0001] The invention relates to an underwater robot, in particular to an underwater robot elbow joint 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 marine resource develo...

Claims

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Application Information

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IPC IPC(8): B25J17/02B63C11/52
Inventor 王立权姚建均王茁王成军王才东张存良
Owner HARBIN ENG UNIV
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