Wrist part two-stage slewing mechanism of small underwater hydraulic manipulator

Abstract

The invention provides a wrist part two-stage slewing mechanism of a small underwater hydraulic manipulator. The wrist part two-stage slewing mechanism of the small underwater hydraulic manipulator mainly comprises a mechanical arm outer shell, a first-stage driving hydraulic cylinder assembly, a linear slewing movement conversion assembly, an angular velocity sensor, a second-stage driving hydraulic cylinder assembly, an outer shell assembly, a sealing assembly and the like. The first-stage driving hydraulic cylinder assembly and the linear slewing movement conversion assembly are connected and installed at the rear end of the mechanism to provide wrist slewing movement. The sensor is installed on a front end movement output shaft of the linear slewing movement conversion assembly, and meanwhile the front end movement output shaft is connected with the tail of the second-stage driving hydraulic cylinder assembly through a coupler. The second-stage driving hydraulic cylinder assembly is installed at the front end of the mechanism to provide linear driving force. A signal cable of the sensor penetrates through the mechanical arm outer shell and is led out from a vulcanized rubber end cover at the tail. The inner space of a mechanical arm can be filled with oil to be sealed, and the depth of the work environment is improved. The wrist part two-stage slewing mechanism of the small underwater hydraulic manipulator can realize continuous slewing within 360 degrees and can detect the slewing angle and angular acceleration.

Description

technical field [0001] The invention relates to an underwater robot, specifically a wrist robot. Background technique [0002] In recent years, robot technology has developed very rapidly, and robots have been widely used in industry, agriculture, service, medical treatment, military and other fields. Manipulator is an important branch of robotics, which can complete various expected tasks. The manipulator can be divided into electric drive, pneumatic drive and hydraulic drive according to its drive mode. The hydraulically driven manipulator has the advantages of smooth movement, large load capacity, good speed, and infinitely variable speed, and is widely used in heavy-duty operations such as underwater operations. The mechanical wrist is the key part of the manipulator, and its flexibility and accuracy determine the flexibility and accuracy of the manipulator to a large extent. Therefore, it is very important to design the mechanical wrist with small volume and good fle...

AI Technical Summary

Problems solved by technology

[0003] There are many types of manipulator wrist structures currently disclosed, and most of the current wrist structures suitable for hydraulic manipulators are directly connected by hydraulic motors and hydraulic cylinders. Yes, they are bulky and affect the flexibility of the manipulator. They are not suitable for small underwater hydraulic manipulators.

For example, the Chinese patent application number is 200910071579.X, a hydraulically driven mechanical wrist structure, using a cycloidal motor and a hydraulic cylinder directly connected to use, can realize 360-degree continuous rotation of the wrist, but its structure is relatively large, not suitable for small Used in underwater hydraulic manipulators; for example, the secondary drive joint of a small underwater hydraulic manipulator with Chinese patent application number 2014106411657 has a compact structure, small size and light weight, and can provide flexible wrist rotation for small hydraulic manipulators. Can only rotate 180 degrees

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