Seven-functional underwater mechanical arm system

Abstract

The invention aims to provide a seven-functional underwater mechanical arm system. The seven-functional underwater mechanical arm system comprises a paw, a wrist, a first joint, a second joint, a third joint, a fourth joint and a fifth joint, wherein the first joint comprises a base and a first hydraulic cylinder; the second joint comprises a first connecting rod and a second hydraulic cylinder; the third joint comprises a second connecting rod and a third hydraulic cylinder; the fourth joint comprises a third connecting rod and a fourth hydraulic cylinder; the fifth joint comprises a fourth connecting rod and a fifth hydraulic cylinder; the paw comprises a front wrist end, a first finger end, a second finger end, a first main connecting rod, a second main connecting rod, a first auxiliary connecting rod, a second auxiliary connecting rod and a sixth hydraulic cylinder; the wrist comprises a connecting piece, a rotary motor and a fifth connecting rod. The seven-functional underwater mechanical arm system is simple and compact in structure and high in loading capacity, has seven degrees of freedom, and has higher applicability to deep sea exploration and corresponding seabed operation; the mechanical paw is detachable and replaceable.

Description

technical field [0001] The invention relates to an underwater robot, in particular to an underwater mechanical arm. Background technique [0002] The ocean is a field that has not yet been developed on a large scale, especially the complex environment of the seabed and the rich and diverse natural resources in the deep sea. Deep sea operation research. Although the marine development technology is not yet fully mature, underwater robots have achieved extensive scientific research value, engineering experience and economic benefits in deep-sea operations. The research on underwater robots also provides an important research direction for the marine sector of national defense construction. As an important part of the underwater robot, the underwater manipulator system is its executive mechanism, which directly determines the level and quality of the task completed by the deep-sea operation robot. [0003] The current research progress on underwater robotic arms is listed as ...

AI Technical Summary

Problems solved by technology

"Structure Optimization Design of Underwater Manipulator" designed an underwater three-finger manipulator. Although it has improved the movement accuracy to a certain extent, it is not as mature and stable as the manipulator claw technology in deep sea exploration and deep sea operations.

"Underwater Mechanical Claw Mechanism (200810063944.8)" This patent designs an underwater claw mechanism, but the combination of the claws depends on the connection between the main connecting rod and the piston rod of the hydraulic cylinder through the pin shaft. The load capacity of this connection is small, and the stability of the gripping object is not very high, and the resistance to accidental impact is poor.

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