Six-degree-of-freedom wave compensation marine ultra-long mechanical arm

Abstract

The invention relates to a six-degree-of-freedom wave compensation marine ultra-long mechanical arm. The six-degree-of-freedom wave compensation marine ultra-long mechanical arm comprises a compensable lifting platform, a parallel compensation mechanical arm and a series mechanical arm, wherein the compensable lifting platform comprises a parallel mechanism and a rotating mechanism, the parallel mechanism realizes movement of the device along the Z axis and rotation around the X, Y axis and has a compensation function, and the rotating mechanism realizes rotation of the device around the Z axis; the parallel compensation mechanical arm comprises a first section of mechanical arm, two mechanical arm linear driving branches and an upper platform, and the parallel compensation mechanical armand the compensable lifting platform jointly realize the six-degree-of-freedom wave compensation function of the whole device; and the series mechanical arm comprises four sections of mechanical armswith the same structure and a tail end execution device, the second section of mechanical arm is connected with the first section of mechanical arm through a connecting rod mechanism, and the other three sections of mechanical arms are sequentially connected with the tail end execution device by adopting the same structure. The six-degree-of-freedom wave compensation marine ultra-long mechanical arm is large in working space and good in stability, and can compensate the influence of environmental factors such as waves on the mechanical arm.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to an ultra-long marine mechanical arm with six degrees of freedom for wave compensation. Background technique [0002] Marine robotic arms are important equipment for water shoveling and digging operations. They are usually installed on large ships and docks. With the increasing demand for offshore operations, the application of marine robotic arms is becoming more and more extensive. The traditional marine mechanical arm has limited extension length, limited working space, and small rotation angle of the mechanical arm. Especially when working in deep sea areas, it often cannot meet the work requirements, and in the working environment that requires a large rotation angle, it cannot be achieved. desired location. [0003] Most of the existing marine manipulators adopt a series structure, which can only realize the pitch of each manipulator itself and the rotation of the whole manipulator, but ...

AI Technical Summary

Problems solved by technology

The traditional marine mechanical arm has limited extension length, limited working space, and small rotation angle of the mechanical arm. Especially when working in deep sea areas, it often cannot meet the work requirements, and in the working environment that requires a large rotation angle, it cannot be achieved. desired location

[0003] Most of the existing marine manipulators adopt a series structure, which can only realize the pitch of each manipulator itself and the rotation of the whole manipulator, but cannot realize the left and right swing of the manipulator itself, and rarely have the six-degree-of-freedom wave compensation function. Can balance the impact of waves on the robotic arm, etc.

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