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Sucking-type underwater manipulator and sucking method thereof

A technology for underwater manipulators and manipulators, applied in manipulators, underwater operating equipment, chucks, etc., can solve problems such as poor working stability, achieve the effects of ensuring firmness, firm grasping of objects, and simple design principles

Inactive Publication Date: 2014-07-16
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the size, shape and type of the object to be grasped change, the grasping effect of the existing manipulator will also change greatly, and the working stability is poor

Method used

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  • Sucking-type underwater manipulator and sucking method thereof
  • Sucking-type underwater manipulator and sucking method thereof
  • Sucking-type underwater manipulator and sucking method thereof

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Embodiment Construction

[0031] The present invention can be realized through the following technical solutions, which are described as follows in conjunction with the accompanying drawings:

[0032] Such as figure 1Shown: a new type of underwater suction manipulator device consists of a manipulator base 45, a single-stage hydraulic cylinder 33, a mechanical glove shaft 32, a hydraulic motor 28, a sealed bearing 31, hydraulic cylinders at all levels, a manipulator base 8, and machinery at all levels. Wrist, suction cup bar group 20 form. Device connection mode: the universal ball 1 on the top of the base 45 of the mechanical arm is connected to the universal ball seat of the hull; the first-level hydraulic cylinder 3 with the universal ball structure 2 on the three bases is connected to the first-level hydraulic cylinder seat 4 and the universal ball seat of the hull. On the ball seat; the single-stage hydraulic cylinder 33 with positioning slot is connected with the mechanical arm base 45 through th...

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Abstract

The invention relates to a sucking-type underwater manipulator and a sucking method thereof. A main oil pump of a robot hull provides hydraulic oil for hydraulic cylinders and hydraulic motors of the manipulator through multilevel flexible hydraulic oil pipes. A manipulator base is connected with the hull through a universal ball at the top and is connected with three hydraulic cylinders which control the manipulator base. A single-level hydraulic cylinder is fixed on the lower portion of the manipulator base. A telescopic shaft of the single-level hydraulic cylinder is connected with the base through a sleeve shaft. A hydraulic motor is mounted on the sleeve shaft and is used for driving the manipulator base to rotate. Eight manipulator wrists controlled by the hydraulic cylinders are mounted on the base. A certain quantity of sucking disc rod groups are mounted on the bottom surface of each manipulator wrist. The object grabbing and adsorbing method of the sucking-type underwater manipulator is similar to that of an octopus living under the sea, sucking discs are squeezed and liquid in cavities of the sucking discs is drained under the acting force of the manipulator wrists to objects, and the sucking discs are enabled to be adsorbed to the surfaces of the objects. Under the joint action of grabbing force of the manipulator wrists and adsorbing force of the sucking discs, the manipulator has a better object grabbing capability.

Description

Technical field: [0001] The invention relates to a suction underwater manipulator device and a method for absorbing objects. This device with an eight-claw mechanical wrist structure will show good adsorption and grasping capabilities in seabed salvage, seabed detection and other work fields. The design inspiration of this submarine adsorption and grasping object manipulator device comes from the octopus living on the seabed. It is obviously different from the grasping method commonly used by underwater manipulators. It provides a new reference for the research of new underwater manipulators. . technical background: [0002] In the 21st century, human development will move towards the ocean, so the ocean, which accounts for nearly 3 / 4 of the global area, will become a key factor for the survival and development of human beings. With the increasing demand for marine economic development in countries all over the world, the development and utilization of marine resources has...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B63C11/52
Inventor 丛茜邱昆刘入源胡国正贾淼黄振超朱洪国
Owner JILIN UNIV
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