Robotic leg-arm joint with full-sea deep self-balancing high-pressure sealing device

Abstract

The invention belongs to the technical field of deep sea sealing, and particularly relates to a mechanical leg and arm joint with a full-sea-depth self-balancing type high-pressure sealing device. The mechanical leg and arm joint comprises a mechanical leg and arm joint body and the full-sea-depth self-balancing type high-pressure sealing device, wherein the mechanical leg and arm joint body is composed of an upper limb and a lower limb which are hinged, and the full-sea-depth self-balancing type high-pressure sealing device is composed of an upper adapter bowl, an elastic leather bag pipe and a lower adapter bowl. The elastic leather bag pipe is connected with the upper adapter bowl and the lower adapter bowl through end face static sealing structures. The upper adapter bowl and the upper limb are connected through an end face static sealing structure, and the lower adapter bowl and the lower limb are connected through an end face static sealing structure. The upper adapter bowl, the elastic leather bag pipe and the lower adapter bowl are combined to form a cavity. Transformer oil is injected into the cavity through an oil charge valve opening, and air inside the cavity is emitted through a vent valve opening. The mechanical leg and arm joint can correspondingly extend or retract according to the joint movement angle change, and it is guaranteed that the mechanical leg and arm joint is not corroded or polluted by seawater.

Description

technical field [0001] The invention belongs to the technical field of deep-sea sealing, in particular to a mechanical leg-arm joint with a full-sea deep high-pressure sealing device. Background technique [0002] The deep sea is rich in seabed resources, and submersibles are important marine engineering equipment to realize the development and utilization of the deep sea. In order to achieve accurate and stable seabed exploration and sampling operations, etc., submersibles are required to be equipped with mechanical legs or manipulators for close-range and accurate acquisition. Since the underwater crawling posture adjustment of the submersible and the underwater operation of the manipulator need to be realized through the movement of the mechanical leg-arm joints, ensuring the reliable sealing performance of the mechanical leg-arm joints in the deep-sea high-pressure environment is the basis for the normal operation of the submersible. [0003] At present, the sealing of ...

AI Technical Summary

Problems solved by technology

The use of pressure-bearing dynamic seals will greatly increase the weight of the substrate, and there is no guarantee that there will be no leakage at all

The pressure-compensated dynamic seal achieves internal and external pressure equalization through pressure compensation. Although it can reduce the weight of the substrate, there must be a gap at the position where the dynamic seal is required to ensure relative movement, and the existence of the gap will definitely reduce the sealing performance. reliability

In addition, these two dynamic sealing methods are also difficult to solve the anti-corrosion and anti-fouling problems of the submersible's mechanical leg joints, resulting in high maintenance costs for the mechanical leg joints, and there are joints "stuck" during the work process and lead to the risk of failure of the underwater operation mission

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