Small underwater hydraulic mechanical arm two-stage drive joint

A technology of manipulators and small water, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of small driving torque, less operating manipulators, and rare miniaturized hydraulic manipulators, and achieve a small ratio of volume to weight to driving force and a compact structure. Effect
CN104440939AInactive Publication Date: 2015-03-25HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN ENG UNIV
Publication Date
2015-03-25
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention aims at providing a small underwater hydraulic mechanical arm two-stage drive joint. The small underwater hydraulic mechanical arm two-stage drive joint comprises a gripper drive hydraulic cylinder assembly for the first-stage linear movement, a second-stage joint rotation assembly and a position detection assembly, wherein the rear end of the first-stage hydraulic cylinder assembly is connected with the front end of a second-stage wrist joint through screws, an oil way inside the first-stage hydraulic cylinder assembly is sealed through an O-shaped seal ring, and the position detection assembly is in interference fit with the rear end of the second-stage wrist joint through a supporting shaft. The wrist joint is driven by hydraulic oil at the oil inlet / outlet in the middle of a second-stage joint mechanism to rotate, and the first-stage gripper hydraulic cylinder assembly is driven to rotate together with the second-stage joint mechanism, a first-stage gripper hydraulic cylinder is driven by hydraulic oil at the oil inlet / outlet in the tail portion of the second-stage joint through the oil way in the first-stage gripper hydraulic cylinder assembly to do linear movement, and the drive torque is provided for a gripper. By means of the small underwater hydraulic mechanical arm two-stage drive joint, the interference of hydraulic connectors connected with the oil inlets and the oil outlets to an outer cylinder is avoided when a first-stage hydraulic cylinder rotates together with the wrist joint in the traditional hydraulic cylinder front and back oil inlet and outlet form.
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Description

technical field

[0001] The invention relates to 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 good concealment and wide use environment. However, due to the limitations of volume, weight and energy, there are few operating manipulators suitable for AUV; especially for AUV Miniaturized hydraulic manipulators with strong upper drive capabilities are especially rare.

[0003] At present, most of the domestic patents on the secondary drive joints of underwater manipulators or the rotary and rotary joints of manipulators are installed on underwater electric manipulators; Motors, brakes, harmonic reducers and rotary encoders generate r...

Claims

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