Driving device for underwater hydraulic mechanical arm joints

Abstract

The invention aims to provide a driving device for underwater hydraulic mechanical arm joints. The driving device is composed of a hydraulic driving portion, a position detection portion and a front joint and rear joint connection portion. The position detection portion and the hydraulic driving portion are achieved through connection of a driving rotor output shaft. The hydraulic driving portion is composed of a driving rotor assembly and a driving stator and located through supporting of a left rolling bearing and a right sliding bearing, and a sealing O-shaped ring and a sealing Glyd ring are adopted for preventing leakage. The driving rotor assembly is composed of a driving rotation shaft, a driving rotor, a rotor sealing Glyd ring, a rotor O-shaped sealing ring and a driving rotor right end cover. The rotor is installed on the driving rotation shaft in a fastening mode. The surface, making contact with the end cover, of the rotor is painted with sealant. The inner hole of the right end cover is painted with sealant and installed on one side of the rotor, the rotation shaft, the rotor and the rotor right end cover are locked through rotor pre-tightening screws, and therefore the whole assembly is formed. The driving device is suitable for driving the joints of an underwater operation mechanical arm.

Description

technical field [0001] The invention relates to a driving device, in particular to an underwater driving device. Background technique [0002] The ocean is rich in biological resources and mineral resources. The development and utilization of the ocean by human beings is inseparable from underwater operation equipment. Underwater manipulator is an operation tool that is often equipped with underwater operation equipment, and underwater hydraulic manipulator, as an important branch of it, has become a research hotspot. The underwater hydraulic manipulator has the advantages of large driving torque and good stability. The hydraulic system has a better weight-to-power ratio, which is conducive to reducing the overall weight and volume of the manipulator; With the increasing requirements for environmental protection, safety and energy saving of hydraulic manipulators, water hydraulic technology based on fresh water or sea water as the driving medium has attracted more and more ...

AI Technical Summary

Problems solved by technology

[0003] At present, the joint drive technology suitable for underwater manipulators is relatively mature, such as Chinese patent application number 200810063943.3, named "Upper Arm of Underwater Manipulator" and Chinese Patent Application No. 200810063942.9, named "Underwater Manipulator Shoulder Joint" Among them, the driving device of the manipulator is a linear hydraulic cylinder, and the driving device of the manipulator joint composed of the linear hydraulic cylinder limits the angle range that the joint can rotate; In the patent document of , the structural form of the manipulator driving device is a helical swing cylinder, which has a relatively complex structure, large volume and weight, and does not involve the feedback of joint operation information.

[0004] Due to the large difference between the viscosity of fresh water or sea water and the common hydraulic oil, the above-mentioned commonly used hydraulic joint drive devices have large internal leakage, external leakage and materials that cannot meet the requirements of use; at the same time, in order to improve the control accuracy of the manipulator , the manipulator joint drive device needs to be designed with closed-loop feedback adjustment

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