Small-sized underwater hydraulic manipulator paw joint structure

A joint structure and manipulator technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., to achieve the effects of avoiding pollution, small volume and weight, and compact structure

Inactive Publication Date: 2015-08-26
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are no relevant reports on domestic manipulator grippers that integrate wrist joint rotation,

Method used

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  • Small-sized underwater hydraulic manipulator paw joint structure
  • Small-sized underwater hydraulic manipulator paw joint structure
  • Small-sized underwater hydraulic manipulator paw joint structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0032] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0033] The claw joint structure of the small underwater hydraulic manipulator of the present invention is composed of three groups of shearing blades and shearing fingers installed with the shearing blades, a group of grabbing fingers, claw driving hydraulic cylinders, driving connecting parts and a fixed base; The claw drive hydraulic cylinder, the drive connecting part and the gripper adopt a chute lever type force transmission mechanism, and the gripper adopts a fulcrum rotary structure and is installed and fixed on the gripper base.

[0034] Three groups of cutting blades, cutting fingers and a group of grasping fingers form the whole fulcrum rotary gripper structure; ) is connected with the driving rod of the gripper hydraulic cylinder and transmits the driving force; the fixed base is connected with the hydraulic cylinder, and the gripper structure of t...

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PUM

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Abstract

The invention provides a small-sized underwater hydraulic manipulator paw joint structure. The small-sized underwater hydraulic manipulator paw joint structure comprises three groups of shear blade blades, three groups of shear fingers on which the shear blades are mounted, a group of catching fingers, a paw driving hydraulic cylinder, a driving connecting part and a paw base, and is an underwater manipulator end actuator for cable clamping, cable shearing and article clamping. The fingers of a manipulator adopt pivot rotary type structures, and transmit driving force through sliding chute levers; the three groups of shear blades are respectively mounted at different positions of a manipulator paw, and are used for providing different shearing force for cables in different types; meanwhile, the group of catching fingers for clamping cables and rods is provided; relative to motor driving, the paw adopts hydraulic drive to provide larger shearing force and catching force. The small-sized underwater hydraulic manipulator paw joint structure provides a manipulator end actuator structure which is used for a small-sized underwater hydraulic manipulator, skilful, compact, and suitable for driving of water and hydraulic oil, and has catching and shearing functions.

Description

technical field [0001] The invention relates to a claw joint structure of a hydraulic manipulator, in particular to a joint structure that provides cable cutting and item grabbing for an underwater hydraulic manipulator. 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 unmanned submersible 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, and most of them are electric. Manipulators are limited by energy constraints and the drive torque is small; therefore, miniaturized hydraulic manipulators with strong drive capabilities mounted on AUVs are especially rare....

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J15/08B21F11/00
Inventor 张铭钧杨超马小委王玉甲刘兵郭冠群姚峰
Owner HARBIN ENG UNIV
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