Deep water work zero-gravity linear telescopic manipulator

Abstract

The invention relates to a deep water work zero-gravity linear telescopic manipulator. The deep water work zero-gravity linear telescopic manipulator comprises a fixed cylinder, a supporting cylinderand a gripper; the manipulator is characterized in that an inner thread is arranged on the inner wall of the fixed cylinder, the front end of the fixed cylinder and the supporting cylinder are sleeved, grabhook supporting bases are arranged on the front end of the supporting cylinder, grabhooks are hinged to the grabhook supporting bases, pressure sensors are arranged on the inner sides of the grabhooks, a pressure resisting cylinder is arranged in the fixed cylinder, and is connected with the supporting cylinder through a spring, a first magnetic force transmission disc and a second magneticforce transmission disc are correspondingly arranged inside and outside the pressure resisting cylinder, the second magnetic force transmission disc is matched with the inner thread through an outer tooth wheel, the first magnetic force transmission disc is connected with a motor, a push and pull rod fixed to the pressure resisting cylinder penetrates through the supporting cylinder and is connected with the gripper, a controller is arranged in an inner cavity of the pressure resisting cylinder, a positioning assembly including an electromagnetic clamping plate is arranged in the push and pullrod, and the controller is in signal connection with the pressure sensor, the motor and the electromagnetic clamping plate and is in communication with an upper computer. The manipulator can finish work tasks in the small and narrow space, and the work environment is not polluted.

Description

technical field [0001] The invention relates to a manipulator, in particular to a zero-gravity linear telescopic manipulator for deep water operations. Background technique [0002] The manipulator is one of the core components of the underwater robot. The placement, picking and sampling of the underwater robot in the operation are usually completed by the manipulator. At present, various industries have developed various manipulators according to the needs of practical underwater applications, including humanoid manipulators with multiple degrees of freedom, and multi-manipulators that cooperate and cooperate under complex conditions. In order to realize underwater operations, these manipulators generally have multiple joints, which can realize multi-dimensional motion underwater. However, they show the following problems in practical applications: [0003] 1. It requires a large range of activities and is not suitable for small space operations; [0004] 2. The weight of...

AI Technical Summary

Problems solved by technology

[0003] 1. It requires a large range of activities and is not suitable for operations in narrow spaces;

[0004] 2. The weight of deep-water operation manipulators is generally large, and it also accounts for a relatively large proportion of the total weight of underwater robots, so it restricts the mobility of underwater robots;

[0005] 3. When the deep-water operation manipulator needs to work in a suspended state in the water, the center of gravity of the entire underwater robot will change due to the change of the manipulator’s operating posture. When the underwater weight difference between the underwater robot and the deep-water operation manipulator is not particularly large, it is difficult. Precisely control the movement posture of the entire underwater robot;

[0006] 4. Manipulators for deep-water operations usually use grease as a lubricant, which may pollute the nearby waters during operation, which will adversely affect the scientific investigation or underwater operation environment

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