Reconfigurable underwater robot mechanical arm

Abstract

The invention discloses a reconfigurable underwater robot mechanical arm which is characterized in that the mechanical arm mainly comprises a mechanical arm box body, a joint shaft, a wrist-part sleeve shaft, a tail end actuator quick-change device and a drive system, wherein the mechanical arm box body mainly comprises a lower box body, an upper box body and a large wrist-part end cover; the joint shaft adopts a hollow shaft, and is mounted on the side surface at the rear end of the mechanical arm box body and used for connecting the mechanical arm box body with other mechanical arm box body or base; required wirings are arranged in the hollow shaft; the wrist-part sleeve shaft mainly comprises an outer shaft, a core shaft, a slide bearing, an angular-contact ball bearing, a wrist-part rear end cover and a small wrist-part end cover; the tail end actuator quick-change device mainly comprises a flange plate, the molding surface of the flange plate is matched with the shaft end of the core shaft, and the flange plate is fixedly connected onto the outer shaft through the molding surface; and the drive system mainly comprises a tail end actuator drive motor, a waist-part drive motor, a coupler, a transmission shaft and a groove-type photoelectric limit switch.

Description

technical field [0001] The invention relates to robot technology, in particular to a reconfigurable underwater robot mechanical arm. Background technique [0002] At present, most of the underwater engineering operations in our country are completed by divers. However, in some special environments, it is difficult for divers to reach the operation site. Therefore, underwater robots with operating functions have emerged as the times require and are gradually being widely used. On the one hand, due to the need to solve key technical problems such as sealing and cable layout, the underwater robot usually has a complex structure and a large size, which limits its flexibility in movement. The underwater manipulator involved in the article "Research on Impedance Control Technology of Underwater Manipulator" (Chen Ping, master's degree thesis of Harbin Engineering University, 2009) is sealed with multiple O-rings, and the drive motors of each joint are arranged in the manipulator b...

AI Technical Summary

Problems solved by technology

In the patent documents "Multifunctional Underwater Robot (CN 1876486A)" and "Multifunctional Operation Toolkit for Underwater Robot" (Teng Yuhao et al., Robot, Volume 24, No. 6, November 2002), the underwater robots involved all have A variety of end effectors, but their driving motors are arranged in the end effector, which not only increases the difficulty of sealing, increases the manufacturing cost, but also makes it difficult to quickly replace the end effector

To sum up, at present, the structure of the robotic arm of the underwater robot is relatively complex, the size is large, the range of motion is small, and the process of replacing the end effector is more troublesome.

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