A hydraulically driven integrated manipulator end effector

An end effector, integrated technology, applied in the directions of manipulators, manufacturing tools, chucks, etc., can solve the problems of heavy end effector structure, complicated pipeline layout and easy winding, pipeline winding, etc., and achieves a compact and reliable overall structure. Solve the problem of piping layout and winding, reduce the effect of end load

An end effector, integrated technology, applied in the directions of manipulators, manufacturing tools, chucks, etc., can solve the problems of heavy end effector structure, complicated pipeline layout and easy winding, pipeline winding, etc., and achieves a compact and reliable overall structure. Solve the problem of piping layout and winding, reduce the effect of end load

CN112809717BActive Publication Date: 2022-03-15HUAZHONG UNIV OF SCI & TECH
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  • A hydraulically driven integrated manipulator end effector
  • A hydraulically driven integrated manipulator end effector
  • A hydraulically driven integrated manipulator end effector

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Embodiment Construction

[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0026] see figure 1 , figure 2 and image 3 , The hydraulically driven integrated manipulator end effector provided by the present invention is an integrated structure, which includes an end clamp mechanism, a special-shaped hydraulic cylinder mechanism, a rotary joint mechanism and a rotary drive mechanism connected in sequence. The end clamp mechanism and the special-shaped hydraulic cylin...

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Abstract

The invention belongs to the technical field related to underwater manipulators, and discloses a hydraulically driven integrated manipulator end effector. The end effector has an integrated structure, which includes an end clamp mechanism and a special-shaped hydraulic cylinder mechanism connected in sequence. , a rotary joint mechanism and a rotary drive mechanism; the end clamp mechanism and the special-shaped hydraulic cylinder mechanism share an end effector base; the special-shaped hydraulic cylinder mechanism and the rotary drive mechanism share a special-shaped hydraulic cylinder cylinder and an end effector a housing; the rotary joint mechanism is partially embedded in the rotary drive mechanism. The end effector adopts hydraulic drive and high-strength corrosion-resistant structure to ensure full-sea deep operation without pressure compensator. The improved kinematic pair improves the working life and reliability of the end effector. The integrated The unique design solves the complex connection structure, reduces its own weight, and at the same time solves the problem of complex pipeline layout and easy winding.

Description

technical field [0001] The invention belongs to the technical field related to underwater manipulators, and more specifically relates to a hydraulically driven integrated manipulator end effector. Background technique [0002] As the main equipment for marine resources development and underwater operations, underwater manipulators are required to be able to adapt to various underwater operating conditions. The harsh deep-sea environment and complex operating conditions have brought great challenges to the deep-sea operations of the manipulator. Traditional electric-driven manipulators have low power density, cannot meet heavy load tasks, and have poor reliability; traditional hydraulic manipulators have problems such as oil leakage pollution, poor safety, and the need for additional pressure compensation. The seawater hydraulic system is compatible with the marine environment and can realize the automatic compensation function of deep sea pressure. It has the advantages of ...

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Application Information

Patent Timeline
15 Mar 2022
Publication
CN112809717B
IPC
B25J15/00; B25J19/00
CPC
B25J15/00; B25J19/00
Inventors
吴德发; 马云祥