Secondary drive joint of small underwater hydraulic manipulator

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.

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...

AI Technical Summary

Problems solved by technology

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 capability 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 rotary motion and feedback position signals, but they are large in size and belong to single-stage rotary joints. Compared with hydraulic drives, motor drives have relatively small drive torque; such as application number 201110127095 .X. The name is "small electric manipulator two-stage rotary mechanism". The two-stage rotary mechanism is integrated and the structure is relatively compact, but it is also driven by a motor. Compared with hydraulic drive, the driving torque is relatively small, and it is an integrated position detection device.

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