Underwater mechanical arm wrist portion structure for high strength operation underwater robot

Abstract

The invention discloses a submerged mechanic wrist structure of strong-operation submerged robot, which is characterized by the following: the motor component of cycloid is assembled on one side of cavity, which seals the end surface of wrist through back seat; one end of long-spline connecting cardo is plugged in the motor component of cycloid and the other end is sleeved in the inner-spline groove; the sleeve is set on the exterior of rotary jacket, which lies one end of long-spline connecting cardo; one end of rotary jacket possesses column-shaped cavity, which contains short piston rod; the chuck rotary seat is loaded in the column cavity, which seals short piston rod in the column cavity; the centripetal rolling needle bearing sleeve is set on the exterior of rotary jacket; the push rolling bearing is set between centripetal rolling bearing and chuck rotary seat, which is between rotary jacket and sleeve.

Description

technical field

[0001] The invention relates to an underwater robot technology, in particular to an underwater mechanical wrist structure for a strong operation underwater robot. Background technique

[0002] At present, the development and utilization of the ocean by human beings are developing rapidly, and the number of marine engineering involved is increasing day by day. Underwater robots with working functions have been widely used. The underwater operation task of the underwater robot is mainly completed by the underwater manipulator carried and the working tools mounted on the manipulator. In order to effectively carry out various underwater operations, the underwater manipulator should generally have 5 or 6 degrees of freedom plus a clamping function, in which the wrist rotation degree of freedom is necessary. In the prior art, the rotation of the wrist is realized by the principle of the lead screw and the nut. The linear hydraulic cylinder is used to drive the le...

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