A Neutral Buoyancy Trimming Device Realizing the Wrist Structure of an Underwater Manipulator

Abstract

The invention discloses a neutral buoyancy trimming device for realizing a wrist structure of an underwater mechanical arm. The neutral buoyancy trimming device for realizing the wrist structure of the underwater mechanical arm comprises a wrist joint, a silicone shell, chambers and valves; N grooves (N is a natural number which is greater than or equal to 2) are formed in a shell of the wrist joint, the N grooves form the chambers, and the chambers are uniformly distributed along the circumference to form semi-circular and circular closed cavities; and the shell of the wrist joint is coveredwith the silicone shell; the valves are located on the silicone shell and are arranged directly above each chamber for enabling the chambers to be filled with gas or non-Newtonian fluid to adjust volume and density to achieve neutral buoyancy trimming. According to the neutral buoyancy trimming device for realizing the wrist structure of the underwater mechanical arm, the internal structure is notchanged, only the density and volume on the shell are changed to achieve equal gravity and buoyancy, and the center of gravity coincides with the center of buoyancy. The silicone of the device is resistant to corrosion, and the corrosion resistance of the wrist structure is improved; the trimming method is simple, the weight of the device is reduced, and the design cost is reduced; and the tightness of the device is improved, the number of the underwater equipment is effectively reduced, and the entire simulated weightlessness training process is enabled to be more convenient.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a neutral buoyancy trimming device for realizing the wrist structure of an underwater robot arm. Background technique [0002] Astronaut extravehicular activities are an important technical component of manned spaceflight. Through extravehicular activities, astronauts can complete spacecraft on-orbit maintenance and troubleshooting, payload deployment, recovery, and large spacecraft (such as space stations). On-rail installation and construction tasks. The completion of these tasks requires the astronauts to wear extravehicular spacesuits in the weightless environment of space. Due to the effect of the earth's gravity, it is impossible to achieve a long-term true weightless state on the ground. At present, the only weightless environment simulation equipment that can carry out astronaut training is a weightless aircraft and a water tank for simulated weightlessness tr...

AI Technical Summary

Problems solved by technology

[0003] At present, the buoyancy trimming method of underwater manipulator is mostly to install a buoyancy adjustment mechanism or a center of gravity adjustment mechanism on the basis of the manipulator, so as to realize the coincidence of the buoyancy center and the center of gravity and reach the neutral buoyancy state, but such The disadvantages are that the number of underwater equipment increases, the weight of the device is increased, the sealing is poor, the equipment shell is easy to corrode, and the balancing method is complicated, etc.

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