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Multi-finger, multi-joints water drive mechanical arm for underwater operation

An underwater operation and multi-joint technology, which is applied to underwater operation equipment, transportation and packaging, ships, etc., can solve problems such as energy loss, and achieve the effects of light weight, compact structure, and high transmission efficiency

Inactive Publication Date: 2009-01-07
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0019] In order to solve the problem of energy loss caused by leakage of hydraulically driven underwater operation manipulators, the present invention provides a new structure multi-finger, multi-joint underwater operation hydraulically driven manipulator

Method used

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  • Multi-finger, multi-joints water drive mechanical arm for underwater operation
  • Multi-finger, multi-joints water drive mechanical arm for underwater operation
  • Multi-finger, multi-joints water drive mechanical arm for underwater operation

Examples

Experimental program
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Effect test

Embodiment 1

[0047] see figure 1 and figure 2 , the root joint housing 1 of the hydraulically driven manipulator for multi-finger and multi-joint underwater operations includes a cylindrical root joint body 14 and a lower plate screw 15 located in its axial direction;

[0048] The axial end surface on one side of the root joint body 14 is provided with three radial guide grooves 18, see image 3 , the axial section of the lower screw rod 15 is T-shaped, the top surface of the lower screw rod 15 is the lower screw track surface 19, and the lower screw track surface 19 corresponds to the guide groove 18; each guide groove 18 is provided with Knuckle support 12, the knuckle support 12 is L-shaped, see Figure 5 and Figure 6 , one end of which is hinged through the pin shaft hole 23, the pin shaft and the hole 24 at one end of the cylinder body 25 of the diaphragm hydraulic cylinder, and the other end is located in the guide groove, and the corresponding surface matched with the top surfa...

Embodiment 2

[0058] The hydraulic motor 9 used is a hydraulic plunger motor; others are the same as in Embodiment 1.

Embodiment 3

[0060] Made hydraulic motor 9 is hydraulic gear motor; Others are with embodiment 1.

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Abstract

The invention relates to a hydraulic driving manipulator used for multi-finger and multi-joint underwater operation, which comprises three fingers and six joints, wherein the root joints of the three fingers are driven via a hydraulic gerotor motor; the finger joints of the three fingers are respectively driven via diaphragm type hydraulic cylinders, transverse wire coil teeth of root joint components are mutually meshed with the teeth at the root parts of the three fingers, and driven via the gerotor motor, the motion is transmitted to the root parts of the three fingers and the root parts of the three fingers are forced to make radial motion in the respective guide grooves, and the large-travel opening and closing actions of the three fingers can be realized. Since the root joints adopt a transverse wire coil tooth transmission mechanism, and by using the characteristics of the mechanical self-locking mechanism of the transverse wire coil tooth transmission mechanism, the holdup time of the pressure difference between the high and low pressure chambers can be reduced to the utmost extent, and the power loss caused by leakage is also reduced. Since the movable parts (diaphragm) of the diaphragm type hydraulic cylinders are connected with the cylinder bodies through mechanical elastic bearings, the power loss caused by leakage is completely avoided. The hydraulic driving manipulator successfully solves the problems of serious leakage of the hydraulic drive and low transmission efficiency.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to the technical field of driving a working manipulator of an underwater robot. Background technique [0002] The function of the operating manipulator is to maintain the shape and force constraints on the manipulation target, and complete specific tasks, such as grasping and assembly operations. According to different functions, working manipulators are usually divided into two categories: grippers and dexterous hands. Among them, the dexterous hand has the characteristics of using multiple fingers and multiple joints. Under the existing technical conditions, there are generally three power forms for joint drive. One is electromagnetic drive, such as motor, electromagnet, etc., the other is fluid drive, including pneumatic, hydraulic and hydraulic drive, and the third is special drive components, such as piezoelectric ceramic drive, magnetostrictive drive, etc. [0003...

Claims

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Application Information

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IPC IPC(8): B63C11/52
Inventor 许德章杨明葛运建汪步云
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE