Flexible underwater operation mechanical arm with adjustable buoyancy force

An underwater operation and adjustable technology, applied to underwater operation equipment, manipulators, program-controlled manipulators, etc., can solve the problems of poor flexibility, bulky structure, and inapplicability, and achieve flexible posture, good flexibility, and simple structure. Effect

Active Publication Date: 2016-12-07
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing underwater manipulators usually have a multi-link structure, driven by hydraulic cylinders, with bulky structures and complicated systems; moreover, this kind of manipulator has poor flexibility and cannot be used in narrow and complicated situations.

Method used

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  • Flexible underwater operation mechanical arm with adjustable buoyancy force
  • Flexible underwater operation mechanical arm with adjustable buoyancy force
  • Flexible underwater operation mechanical arm with adjustable buoyancy force

Examples

Experimental program
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Embodiment Construction

[0017] like figure 1 As shown, the present invention is composed of a manipulator body and a power unit: the manipulator body is composed of many sections, and two adjacent sections are connected by joints formed by universal joints or spherical joints, and the movement of each section is driven by a control rope; The knuckle is connected with the power unit, and the nth segment (the last segment) is fixedly connected with the final actuator. The control rope is driven by a motor, and when the control rope is pulled, the angle of each segment changes, thereby controlling the overall posture. The motor, its control system, power supply, etc. are all installed in the power unit.

[0018] Each section of the manipulator is composed of a front end cover 1, a rear end cover 2, an outer shell 3, an inner shell 4, a floating bag 5 and an inner cylinder 6. The front end cover 1 and the rear end cover 2 are installed on both ends of the outer shell 3 respectively to form a hollow cavi...

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PUM

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Abstract

The invention discloses a flexible underwater operation mechanical arm with adjustable buoyancy force. A mechanical arm body in the flexible underwater operation mechanical arm is composed of a plurality of sections. Every two adjacent sections are connected through a joint composed of universal joints or spherical hinges. The motion of each section is driven through a control rope. Each section of the mechanical arm is provided with a floating bag with the adjustable size. Compared with a traditional underwater operation mechanical arm, the flexible underwater operation mechanical arm has the beneficial effects of being small in weight, simple in structure, flexible in posture, good in flexibility and the like and is suitable for operation on complex occasions with narrow space; and meanwhile, the net buoyancy force of each section can be controlled by adjusting the size of the floating bag of each section, and therefore the function of the buoyancy force of environment water can be fully utilized for improving the load operation capability of the mechanical arm.

Description

technical field [0001] The invention relates to an underwater operation manipulator, in particular to a flexible underwater operation manipulator with adjustable self-buoyancy. Background technique [0002] The underwater operation manipulator is an important equipment for manned submersibles and remote-controlled submersibles to complete underwater operations such as sampling, exploration, salvage, and maintenance. Existing underwater manipulators usually have a multi-link structure and are driven by hydraulic cylinders. The structure is bulky and the system is complex; moreover, this kind of manipulator has poor flexibility and cannot be used in narrow and complicated places. Contents of the invention [0003] The object of the present invention is to provide a flexible underwater operation manipulator with adjustable self-buoyancy. [0004] The technical solution adopted by the present invention to solve the technical problem is: a flexible underwater manipulator with ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/10B25J9/12B25J9/08B25J11/00B63G8/00
CPCB25J9/06B25J9/08B25J9/104B25J9/12B25J11/00B63G8/001
Inventor 宋伟陈正朱世强冀大雄姜红建王彬
Owner ZHEJIANG UNIV
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