A macro-micro-manipulator arm for an underwater robot

A technology of underwater robots and micro-manipulators, which is applied in the direction of manipulators, underwater operation equipment, claw arms, etc., to achieve the effects of large promotion prospects, large work extension space, and improved work performance

Active Publication Date: 2019-07-02
黑龙江清洁碳科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The macro-micro dual-drive manipulator has now become an important research topic in the field of robotics, but the macro-micro dual-drive manipulator has not yet entered the field of underwater robots

Method used

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  • A macro-micro-manipulator arm for an underwater robot
  • A macro-micro-manipulator arm for an underwater robot
  • A macro-micro-manipulator arm for an underwater robot

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Embodiment Construction

[0049] The present invention will be further described below:

[0050] This macro-micro-manipulator for an underwater robot includes a macro-manipulator 1 , which is unique in that: a wrist hydraulic motor 3 , a micro-manipulator 2 and a gripper 4 are connected to the macro-manipulator 1 . Among them, the macro-manipulator 1 is connected to the wrist hydraulic motor 3 , the wrist hydraulic motor 3 is connected to the micro-manipulator 2 , and the micro-manipulator 2 is connected to the gripper 4 .

[0051] The macro robotic arm 1 includes a mechanical arm base 5 , a boom swing hydraulic cylinder 6 , a boom rotary joint 7 , a boom pitch hydraulic cylinder 8 , a wrist pitch hydraulic cylinder 9 and a wrist connection joint 10 . Wherein, the manipulator base 5 is made up of two horizontal plates 11 and a vertical plate 12, and there are fixing holes 13 on the vertical plate 12, which are used to fix this kind of macro-micro mechanical arm on the body of the robot; The shaft is c...

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Abstract

A macro-micro-manipulator arm for an underwater robot. The main purpose is to optimize the light underwater manipulator, improve its working precision and increase its working space. It is characterized in that: it is formed by connecting a macro-manipulator arm and a micro-manipulator arm in series; the macro-manipulator arm adopts a series manipulator arm with 5 degrees of freedom, and its degrees of freedom are respectively one degree of freedom for left and right swinging of the waist, two degrees of freedom for swinging up and down of the big arm, One degree of freedom of rotation of the wrist and one degree of freedom of opening and closing of the gripper; the micro-mechanical arm adopts a diamond-shaped parallel robot structure, and a large expansion ratio is obtained by replacing the real axis of the transmission chain with the virtual axis of the diamond-shaped mechanism. The arm has 3 degrees of freedom, two rotational and one translational. This kind of macro-micro manipulator can improve the working performance of the underwater robot, and has a compact structure. In the case of occupying the same space, its working space is much larger than that of the conventional manipulator, and its working precision is also higher than that of the conventional manipulator. .

Description

[0001] Technical field: [0002] The invention relates to a macro-micro dual-drive mechanical arm applied in the field of underwater robots. [0003] Background technique: [0004] Although the current underwater robot can complete some basic operations, the working space of the underwater robot is completely determined by the size of the submersible, and often the working space of a small underwater robot is not enough to meet some operating requirements. The macro-micro dual-drive manipulator has now become an important research topic in the field of robotics, but the macro-micro dual-drive manipulator has not yet entered the field of underwater robots. If a micro-manipulator for pose compensation is added to the light-weight underwater manipulator to form a macro-micro-manipulator system, then the light-weight underwater manipulator will inevitably be optimized to improve its working accuracy and increase its working space. [0005] Invention content: [0006] In order to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52B25J17/00B25J18/00
CPCB25J17/00B25J18/00B63C11/52
Inventor 高胜杨明岩赵璇李美杰任福深王妍
Owner 黑龙江清洁碳科技有限公司
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