Self-adaptive clamping mechanism of underwater hydraulic manipulator

Abstract

The invention belongs to the field of robot engineering, and particularly relates to a self-adaptive clamping mechanism of an underwater hydraulic manipulator. A clamp base is mounted on a clamp piston cylinder, a piston end of a clamp piston rod is accommodated in the clamp piston cylinder, the other end of the clamp piston rod penetrates through the clamp base and is connected with a clamp driving block, one end of a clamp push rod is hinged to the clamp driving block through a clamp connecting rod short pin shaft, the other end of the clamp push rod is hinged to the clamp claw through a push rod long pin shaft, clamp connecting rods are symmetrically arranged on the two sides of the clamp claw, one end of each clamp connecting rod is hinged to the clamp base through a clamp connecting rod long pin shaft, the other end of each clamp connecting rod is hinged to the clamp claw through the clamp connecting rod long pin shaft, a double-torsion spring is installed on the clamp connecting rod long pin shaft, hinged to the clamp connecting rods, of the clamp claw, the two ends of the double-torsion spring are connected with the clamp connecting rods on the two sides of the clamp claw in an inserted mode respectively, and the middle of the double-torsion spring abuts against the clamp claw. The device has the advantages of being compact in structure, capable of achieving contour self-adaptive clamping of a target object, large in clamping force, low in failure rate and the like.

Description

technical field [0001] The invention belongs to the field of robot engineering, in particular to an adaptive clamping mechanism of an underwater hydraulic manipulator. Background technique [0002] At present, hydraulic manipulators are mostly used in underwater operations. The performance of the end effector of the hydraulic manipulator plays a very important role in the overall performance of the manipulator. More and more occasions require the clamping mechanism to have the ability to adapt to the outer contour of the clamped object. , to achieve stable closed clamping. Most of the existing adaptive clamping mechanisms are complex and bulky in structure and poor in practicability. It has become an urgent problem to develop an adaptive clamping mechanism for hydraulic manipulators with stable performance and compact structure. Contents of the invention [0003] The object of the present invention is to provide an adaptive clamping mechanism for an underwater hydraulic ma...

AI Technical Summary

Problems solved by technology

[0002] At present, hydraulic manipulators are mostly used in underwater operations. The performance of the end effector of the hydraulic manipulator plays a very important role in the overall performance of the manipulator. More and more occasions require the clamping mechanism to have the ability to adapt to the outer contour of the clamped object. , to achieve stable closed clamping. Most of the existing adaptive clamping mechanisms are complex and bulky in structure and poor in practicability. It has become an urgent problem to develop an adaptive clamping mechanism for hydraulic manipulators with stable performance and compact structure.

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