A miniaturized underwater hydraulic manipulator arm joint structure

Abstract

The invention relates to an arm joint structure of a small underwater hydraulic manipulator, which comprises a first mechanical arm, a second mechanical arm and a drive mechanism, wherein the front end of the first mechanical arm is connected with the rear end of the second mechanical arm via a rotation shaft; the drive mechanism is arranged between the first mechanical arm and the second mechanical arm and comprises a hydraulic cylinder, a C-shaped plate and a straight plate; a cylinder body of the hydraulic cylinder is articulated with the first mechanical arm; a cylinder rod is articulated with the middle of the C-shaped plate; one end of the C-shaped plate is articulated with the first mechanical arm; the other end of the C-shaped plate is articulated with one end of the straight plate; and the other end of the straight plate is articulated with the second mechanical arm. The arm joint structure has the advantages of compact structure, small size, convenience in mounting, flexible joint driving and strong driving power, can achieve 180-degree rotation of a manipulator joint, and is applicable to driving the small underwater hydraulic manipulator joint.

Description

technical field [0001] The invention relates to a manipulator arm joint structure, in particular to a miniaturized underwater hydraulic manipulator arm joint structure mounted on an underwater robot. Background technique [0002] Underwater robot is an important tool for modern marine environment monitoring and resource development; with the continuous improvement of its working scope and operating requirements, higher requirements are also put forward for its operating tools. At present, the autonomous underwater vehicle (AUV) has become a research hotspot due to its advantages such as a wide range of environments. However, due to limitations in size, weight, and energy, there are few operating manipulators suitable for AUVs; Strong miniaturized hydraulic manipulators are especially rare. [0003] At present, most domestic manipulator arm structures adopt "U-shaped plate frame" and "cylindrical" structures, and most of the manipulator drive methods use motor drive and hydr...

AI Technical Summary

Problems solved by technology

At present, the autonomous underwater vehicle (AUV) has become a research hotspot due to its advantages such as a wide range of environments. However, due to limitations in size, weight and energy, there are very few operating manipulators suitable for AUVs; Strong miniaturized hydraulic manipulators are especially rare

[0003] At present, most domestic manipulator arm structures adopt "U-shaped plate frame" and "cylindrical" structures, and most of the manipulator drive methods use motor drive and hydraulic drive; Driven by a motor, the structure is relatively simple and the flexibility is good, but the structure of the manipulator arm is only suitable for land manipulators, which cannot meet the requirements of underwater operations, and cannot meet the requirements of miniaturization of manipulators; for example, the Chinese patent application number is 200620086859.X The name is the manipulator arm, the manipulator adopts several sets of parallel four-bar linkage structure, and the hydraulic cylinder drives the manipulator to realize the movement of the manipulator's approximate vertical lifting and approximate horizontal telescopic movement; but it cannot realize the joint rotation of the manipulator by 180°, and the manipulator structure cannot be miniaturized

Images