Wrist joint structure of underwater mechanical arm

Abstract

The invention discloses a wrist joint structure of an underwater mechanical arm. The wrist joint structure comprises an outer cylinder, a tail cover, a cam cylinder, a pin disk, a first hydraulic cylinder and a second hydraulic cylinder, wherein a cylindrical wrist joint casing is formed between the outer cylinder and the tail cover, the first hydraulic cylinder and the cam cylinder are installed inside the cylindrical wrist joint casing, and the second hydraulic cylinder is installed inside the cam cylinder. The pin disk is sleeved on a piston rod of the first hydraulic cylinder, and pins are connected above and under the pin disk and arranged inside a spiral cam groove which is formed in the cam cylinder and a guiding groove which is formed axially in the outer cylinder respectively, thus, under the guidance of the guiding groove, the first hydraulic cylinder drives the pin disk and the pins to move linearly, the linear movement is converted into the rotation movement of the cam cylinder through the cam groove, and an end actuator and the second hydraulic cylinder which are installed on the cam cylinder are driven to rotate. The wrist joint structure has the advantages of being capable of achieving limited-angle rotation within 360 degrees and providing a linear driving force outwards, simple and compact in structure, small in size, light in weight and low in manufacturing and production cost.

Description

Technical field [0001] The invention relates to the technical field of underwater robots, in particular to a wrist joint structure used for underwater manipulators. Background technique [0002] There are abundant resources in the ocean. The speed of human development and utilization of the ocean is gradually accelerating, and the number of marine projects involved is increasing. Underwater robots with operational capabilities have been widely used in the field of marine engineering. The operating capability of the underwater robot is mainly accomplished by the underwater manipulator mounted on it. In order to effectively perform various underwater operations, the underwater manipulator should generally have 5 or 6 degrees of freedom and an additional end effector. Among these 5 or 6 degrees of freedom, the degree of freedom of rotation of the wrist joint is generally essential . [0003] The wrist joint is mainly used to adjust the posture of the end effector so that the end ef...

AI Technical Summary

Problems solved by technology

It can maintain the stability of the corner for a long time, and the manufacturing and maintenance costs are very low. However, due to the horizontal arrangement of hydraulic cylinders, the size of the swing cylinder in the lateral direction is large, which will affect the movement of the underwater manipulator.

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