CN116619332A - Multifunctional underwater electric manipulator - Google Patents
Multifunctional underwater electric manipulator Download PDFInfo
- Publication number
- CN116619332A CN116619332A CN202310382009.2A CN202310382009A CN116619332A CN 116619332 A CN116619332 A CN 116619332A CN 202310382009 A CN202310382009 A CN 202310382009A CN 116619332 A CN116619332 A CN 116619332A
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- CN
- China
- Prior art keywords
- joint
- assembly
- clamp
- oil
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 80
- 238000007789 sealing Methods 0.000 claims description 49
- 210000000245 forearm Anatomy 0.000 claims description 11
- 230000010354 integration Effects 0.000 abstract description 4
- 239000004098 Tetracycline Substances 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of robot engineering, in particular to a multifunctional underwater electric manipulator which adopts a modularized thought design and comprises a joint assembly, an electric linear cylinder assembly, a large arm bracket, a three-joint assembly, a four-joint assembly, a five-joint assembly and a wrist rotation clamp assembly, wherein the joint assembly and the electric linear cylinder assembly are hinged together through the large arm bracket to form a large arm, the three-joint assembly, the four-joint assembly, the five-joint assembly and the wrist rotation clamp assembly are sequentially connected in series to form a small arm, and the large arm and the small arm are fixedly connected together to form the manipulator, so that seven functions (six degrees of freedom and one clamp function) of large arm swing, large arm pitching, small arm rotation, wrist swing, wrist rotation and clamp can be realized. The invention is an underwater electric manipulator which can be carried on ROV and ARV to realize deep sea operation, and has the advantages of compact structure, high integration level, high control precision, good maintainability, smart operation, full sea depth operation after oil charge compensation and the like.
Description
Technical Field
The invention belongs to the field of robot engineering, in particular to a multifunctional underwater electric manipulator which can be carried on an ROV (remote controlled submersible) or an ARV (autonomous remote controlled submersible) to realize deep sea operation.
Background
The underwater robot is required to have the characteristics of small volume, low weight, low power consumption, high control precision, high integration level, capability of realizing full sea depth operation through a pressure compensator and the like. Therefore, the development of the underwater electric manipulator with reliable performance and compact structure has great significance.
Disclosure of Invention
In order to meet the operation requirement of the deep sea submersible, the invention aims to provide a multifunctional underwater electric manipulator.
The aim of the invention is realized by the following technical scheme:
the invention comprises a big arm and a small arm which are mutually and fixedly connected, wherein the big arm comprises a joint assembly, an electric linear cylinder assembly and a big arm bracket, and the small arm comprises a three-joint assembly, a four-joint assembly, a five-joint assembly and a wrist rotating clamp assembly which are sequentially sealed and connected in series; the head of the electric linear cylinder assembly and the lower part of the large arm support are respectively and rotatably connected with the output end of a joint assembly, and the tail of the electric linear cylinder assembly is rotatably connected with the upper part of the large arm support; the three-joint assembly is connected to the upper part of the large arm support, the four-joint assembly is connected with the output end of the three-joint assembly, the five-joint assembly is connected with the output end of the four-joint assembly, and the wrist rotating clamp assembly is connected with the output end of the five-joint assembly; the output end of the one-joint assembly outputs the swing degree of freedom of the large arm, the electric linear cylinder assembly outputs the pitching degree of freedom of the large arm, the output end of the three-joint assembly outputs the pitching degree of freedom of the small arm, the output end of the four-joint assembly outputs the rotation degree of freedom of the small arm, the output end of the five-joint assembly outputs the swing degree of freedom of the wrist, and the wrist rotating clamp assembly has the rotation degree of freedom of the wrist and the clamp opening and closing function.
Wherein: the joint assembly comprises a swing support, an oil-filled wiring connector A, an oil-filled wiring connector B, a watertight connector, an oil-filled connector, a fixed base and a joint driving module, wherein the swing support and the fixed base can be in relative rotation sealing connection, the oil-filled wiring connector A and the oil-filled wiring connector B are respectively and hermetically arranged at the top of the swing support, and the fixed base is respectively and hermetically provided with a watertight connector for externally supplying power and controlling the manipulator and an oil-filled connector for externally performing pressure compensation on the oil filling of the manipulator; the fixed base is internally provided with a joint driving module, and the output end of the joint driving module is connected with the swing support to drive the swing support to swing left and right relative to the fixed base.
One side of the swing support is in sealing and rotating connection with the fixed base, and the other side of the swing support is respectively provided with a rotating shaft hole A which is used for being in rotating connection with the electric linear cylinder assembly through a rotating shaft and a rotating shaft B which is used for being in rotating connection with the large arm support through a rotating shaft; the manipulator is fixed to the submersible body by a fixed base.
The electric linear cylinder assembly comprises a linear cylinder push rod, a linear cylinder shell and an oil filling wire connector C, wherein the linear cylinder push rod is in sealing connection with the linear cylinder shell and can move linearly relatively; the linear cylinder push rod is provided with a rotating shaft hole C which is used for being connected with a joint component in a rotating mode through a rotating shaft, the linear cylinder shell is provided with a rotating shaft hole D which is used for being connected with the upper portion of the large arm support in a rotating mode through a rotating shaft, and compensation oil and an electric wire inside the electric linear cylinder component are connected with the joint component through an oil-filled wiring connector C through an oil-filled wiring oil pipe.
The lower part of the big arm support is provided with a rotating shaft hole E which is used for being connected with a joint assembly through rotating shafts, the upper part of the big arm support is provided with a rotating shaft hole F which is used for being connected with an electric linear cylinder assembly through rotating shafts, and the electric linear cylinder assembly drives the whole big arm support to do pitching motion around the rotating shafts in the rotating shaft holes E.
The three-joint assembly comprises a three-joint shell, a three-joint driving output piece, an oil-filled wiring joint D and a three-joint driving module, wherein the three-joint shell is fixedly connected with the large arm support, the three-joint shell and the three-joint driving output piece can be in sealing connection in a relatively rotating manner, and the three-joint driving output piece is in sealing connection with the four-joint assembly; the three-joint shell is provided with an oil-filled wiring joint D in a sealing manner, and the oil-filled wiring joint D is connected with a joint assembly through an oil-filled wiring pipe; the three-joint driving module is arranged in the three-joint shell, the output end of the three-joint driving module is connected with the three-joint driving output piece, and the three-joint driving output piece is driven to rotate relative to the three-joint shell.
The four-joint assembly comprises a four-joint shell, a four-joint driving output piece and a four-joint driving module, wherein the four-joint shell is in sealing connection with the output end of the three-joint assembly, the four-joint shell is in sealing connection with the four-joint driving output piece in a relatively rotatable manner, and the four-joint driving output piece is in sealing connection with the five-joint assembly; the four-joint driving module is arranged in the four-joint shell and connected with the four-joint driving output piece to drive the four-joint driving output piece to rotate relative to the four-joint shell.
The five-joint assembly comprises a five-joint shell, a five-joint driving output piece and a five-joint driving module, wherein the five-joint shell is in sealing connection with the output end of the four-joint assembly, the five-joint shell and the five-joint driving output piece can be in sealing connection with each other in a relative rotation manner, and the five-joint driving output piece is in sealing connection with the wrist rotating clamp assembly; the five-joint driving module is arranged in the five-joint shell and connected with the five-joint driving output piece to drive the five-joint driving output piece to rotate relative to the five-joint shell.
The wrist rotation clamp assembly comprises a wrist rotation clamp shell, a wrist rotation driving output piece, a clamp push rod, clamps, a wrist rotation driving module and a clamp driving module, wherein the wrist rotation clamp shell is in sealing connection with the output end of the five-joint assembly, the wrist rotation clamp shell is in sealing connection with the wrist rotation driving output piece in a relatively rotatable manner, and the clamp push rod is in sealing connection with the wrist rotation driving output piece and can move linearly relatively; the wrist rotation clamp comprises a wrist rotation clamp shell, a wrist rotation driving module and a clamp driving module, wherein the wrist rotation driving module and the clamp driving module are respectively installed in the wrist rotation clamp shell, the wrist rotation driving module is connected with a wrist rotation driving output piece and drives the wrist rotation driving output piece to rotate relative to the wrist rotation clamp shell, the clamp driving module is connected with one end of a clamp push rod and drives the clamp push rod to do linear motion, and the other end of the clamp push rod pushes the clamp to achieve opening or closing motion.
The electric linear cylinder assembly and the small arm are respectively connected with one joint assembly through the oil charging wiring pipe and summarized into the one joint assembly, the external compensation oil enters the one joint assembly through the one joint assembly and is respectively fed into the electric linear cylinder assembly and the small arm through the oil charging wiring pipe, and oil charging compensation of the whole manipulator is achieved.
The invention has the advantages and positive effects that:
1. the performance is stable: the electronic components adopted by the invention are sealed in the oil-filled shell, so that the electronic components are prevented from being influenced by external environment, and the reliability is higher.
2. Compact, high integration and dexterity: the invention integrates six degrees of freedom and one clamp function, has large joint rotation angle range and high rotation speed, and can realize flexible operation.
3. The control precision is high: the invention adopts the encoder for detecting the position and the speed of the manipulator joint, and can realize high-precision double closed-loop control of the speed and the position.
4. The manipulator base (a joint component) is provided with the oil-filled wiring joint, so that compensation oil can be introduced, and full sea depth operation can be realized after pressure compensation is implemented.
5. The debugging and maintenance are convenient: the driving components of the manipulator adopt a modularized design, so that the manipulator is convenient to maintain and debug.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a joint assembly according to the present invention;
FIG. 3 is a schematic view of the structure of the electric linear cylinder assembly of the present invention;
FIG. 4 is a schematic view of the structure of the large arm support of the present invention;
FIG. 5 is a schematic view of the structure of the forearm of the invention;
wherein: 1 is a joint component, 101 is a swing support, 102 is an oil-filled wiring connector A,103 is an oil-filled wiring connector B,104 is a watertight connector, 105 is an oil-filled connector, 106 is a fixed base, 107 is a rotating shaft hole A,108 is a rotating shaft hole B,2 is an electric linear cylinder component, 201 is a linear cylinder push rod, 202 is a linear cylinder shell, 203 is an oil-filled wiring connector C,204 is a rotating shaft hole C,205 is a rotating shaft hole D,3 is a three-joint component, 301 is a three-joint shell, 302 is a three-joint driving output piece, 303 is an oil-filled wiring connector D,4 is a four-joint component, 401 is a four-joint shell, 402 is a four-joint driving output piece, 5 is a five-joint component, 501 is a five-joint driving output piece, 502 is a wrist rotating clamp component, 601 is a rotating clamp shell, 602 is a wrist rotating driving output piece 603 is a clamp push rod, 604 is a large arm support, 7 is a rotating shaft hole E, and 702 is a rotating shaft hole F.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the invention comprises a big arm and a small arm which are fixedly connected with each other, wherein the big arm comprises a joint assembly 1, an electric linear cylinder assembly 2 and a big arm bracket 7, and the small arm comprises a three-joint assembly 3, a four-joint assembly 4, a five-joint assembly 5 and a wrist rotating clamp assembly 6 which are sequentially sealed and connected in series. The head of the electric linear cylinder assembly 2 and the lower part of the big arm bracket 7 are respectively and rotatably connected with the output end of a joint assembly 1, and the tail of the electric linear cylinder assembly 2 is rotatably connected with the upper part of the big arm bracket 7; the three-joint assembly 3 is connected to the upper part of the large arm support 7, the four-joint assembly 4 is connected with the output end of the three-joint assembly 3, the five-joint assembly 5 is connected with the output end of the four-joint assembly 4, and the wrist rotating clamp assembly 6 is connected with the output end of the five-joint assembly 5. The output end of the joint assembly 1 outputs the swing degree of freedom of the large arm, the electric linear cylinder assembly 2 outputs the pitch degree of freedom of the large arm, the output end of the three joint assembly 3 outputs the pitch degree of freedom of the small arm, the output end of the four joint assembly 4 outputs the rotation degree of freedom of the small arm, the output end of the five joint assembly 5 outputs the swing degree of freedom of the wrist, and the wrist rotating clamp assembly 6 has the rotation degree of freedom of the wrist and the clamp opening and closing function
As shown in fig. 1 and 2, a joint assembly 1 of the present embodiment includes a swing support 101, an oil-filled wire connector a102, an oil-filled wire connector B103, a watertight connector 104, an oil-filled connector 105, a fixed base 106, and a joint driving module, wherein a rotary dynamic seal is installed between one side of the swing support 101 and the fixed base 106, so that one side of the swing support 101 and the fixed base 106 can be sealed and rotatably connected in a relative rotation manner, and a rotary shaft hole a107 for rotationally connecting with the electric linear cylinder assembly 2 and a rotary shaft B108 for rotationally connecting with the arm support 7 through a rotary shaft are respectively provided on the other side of the swing support 101. Oil-filled wiring connector A102 and oil-filled wiring connector B103 are respectively and hermetically mounted on the upper end cover of swing support 101, and water-tight connector 104 and oil-filled connector 105 are respectively and hermetically mounted on fixed base 106. The fixed base 106 is internally provided with a joint driving module, and the output end of the joint driving module is connected with the swing support 101 to drive the swing support 101 to swing left and right relative to the fixed base 106. The fixed base 106 of the present embodiment is used to fix the manipulator to the submersible body, the watertight connector 104 is used to externally power and control the manipulator, and the oil-filled connector 105 is used to externally perform pressure compensation on the manipulator oil filling to adapt to the deep sea environment.
As shown in fig. 1 to 3, the electric linear cylinder assembly 2 of the present embodiment includes a linear cylinder push rod 201, a linear cylinder housing 202 and an oil-charging line connector C203, a linear moving seal ring is installed between the linear cylinder push rod 201 and the linear cylinder housing 202, so as to realize that the linear cylinder push rod 201 and the linear cylinder housing 202 are in sealing connection and can move linearly relatively, the oil-charging line connector C203 is mounted on the linear cylinder housing 202 in a sealing manner, a motor and a screw nut assembly are mounted in the linear cylinder housing 202, and the motor drives the linear cylinder push rod 201 to move linearly relatively to the linear cylinder housing 202 through the screw nut assembly. The linear cylinder push rod 201 (i.e. the head of the electric linear cylinder assembly 2) is provided with a rotating shaft hole C204, the rotating shaft hole C204 is rotationally connected with a rotating shaft hole A107 on the swing support 101 in the joint assembly 1 through a rotating shaft, the linear cylinder shell 202 (i.e. the tail of the electric linear cylinder assembly 2) is provided with a rotating shaft hole D205, and the rotating shaft hole D205 is rotationally connected with the upper part of the large arm support 7 through a rotating shaft. The compensation oil and the electric wires inside the electric linear cylinder assembly 2 are connected with a joint assembly 1 through an oil filling wire oil pipe through an oil filling wire connector C203.
As shown in fig. 1 to 4, a pivot hole E701 is provided at the lower part of the large arm support 7 of the present embodiment, the pivot hole E701 is rotatably connected with a pivot hole B108 on the swing support 101 in the joint assembly 1 through a pivot, a pivot hole F702 is provided at the upper part of the large arm support 7, and the pivot hole F702 is rotatably connected with a pivot hole D205 on the linear cylinder housing 202 through a pivot. The motor drives the linear cylinder push rod 201 to do linear motion, and the linear cylinder push rod 201 drives the whole large arm support 7 to do pitching motion around the rotating shaft in the shaft hole E701.
As shown in fig. 1 to 5, the three-joint assembly 3 of the present embodiment includes a three-joint housing 301, a three-joint driving output member 302, an oil-filled wiring connector D303, and a three-joint driving module, where the three-joint housing 301 is fixedly connected with the boom support 7, and a rotary seal ring is installed between the three-joint housing 301 and the three-joint driving output member 302, so as to realize a sealing connection between the three-joint housing 301 and the three-joint driving output member 302 in a manner that the three-joint driving output member 302 can rotate relatively, and the three-joint driving output member 302 is connected with the four-joint assembly 4 in a sealing manner. The three-joint shell 301 is provided with an oil-filled wiring connector D303 in a sealing manner, and the oil-filled wiring connector D303 is connected with a joint assembly 1 through an oil-filled wiring pipe. The three-joint housing 301 is internally provided with a three-joint driving module, and an output end of the three-joint driving module is connected with the three-joint driving output piece 302 to drive the three-joint driving output piece 302 to rotate relative to the three-joint housing 301.
The four-joint assembly 4 of the embodiment includes a four-joint housing 401, a four-joint driving output member 402 and a four-joint driving module, the four-joint housing 401 is in sealing connection with the output end (i.e. the three-joint driving output member 303) of the three-joint assembly 3, a rotary seal ring is installed between the four-joint housing 401 and the four-joint driving output member 402, and further the four-joint housing 401 and the four-joint driving output member 402 can be in sealing connection with each other in a relatively rotatable manner, and the four-joint driving output member 402 is in sealing connection with the five-joint assembly 5. The four-joint housing 401 is internally provided with a four-joint driving module, and the four-joint driving module is connected with the four-joint driving output piece 402 and drives the four-joint driving output piece 402 to rotate relative to the four-joint housing 401.
The five-joint assembly 5 of the embodiment includes a five-joint housing 501, a five-joint driving output member 502 and a five-joint driving module, the five-joint housing 501 is in sealing connection with the output end of the four-joint assembly 4 (i.e. the four-joint driving output member 402), a rotary seal ring is installed between the five-joint housing 501 and the five-joint driving output member 502, and further the five-joint housing 501 and the five-joint driving output member 502 can be in sealing connection with each other in a relatively rotatable manner, and the five-joint driving output member 502 is in sealing connection with the wrist rotating clamp assembly 6. The five-joint driving module is installed inside the five-joint housing 501, and is connected with the five-joint driving output piece 502 to drive the five-joint driving output piece 502 to rotate relative to the five-joint housing 501.
The wrist rotation clamp assembly 6 of the embodiment comprises a wrist rotation clamp shell 601, a wrist rotation driving output piece 602, a clamp push rod 603, a clamp 604, a wrist rotation driving module and a clamp driving module, wherein the wrist rotation clamp shell 601 is in sealing connection with the output end (namely, the five-joint driving output piece 502) of the five-joint assembly 5, a rotary sealing ring is arranged between the wrist rotation clamp shell 601 and the wrist rotation driving output piece 602, and further the relative rotary sealing connection between the wrist rotation clamp shell 601 and the wrist rotation driving output piece 602 is realized; a linear motion sealing ring is arranged between the clamp push rod 603 and the wrist rotation driving output piece 602, so that the clamp push rod 603 is in sealing connection with the wrist rotation driving output piece 602 and can move relatively linearly. The inside of the wrist rotation clamp shell 601 is respectively provided with a wrist rotation driving module and a clamp driving module, the wrist rotation driving module is connected with a wrist rotation driving output piece 602, the wrist rotation driving output piece 602 is driven to rotate relative to the wrist rotation clamp shell 601, the clamp driving module is connected with one end of a clamp push rod 603, the clamp push rod 603 is driven to do linear motion, and the other end of the clamp push rod 603 pushes a clamp 604 to achieve opening or closing motion; this is the prior art and will not be described in detail here.
The three-joint assembly 3, the four-joint assembly 4, the five-joint assembly 5 and the wrist rotating clamp assembly 6 of the embodiment are sequentially sealed, connected in series and fastened to form a forearm, the three-joint assembly 3 drives the forearm to do pitching motion up and down, the four-joint assembly 4 drives the forearm to do left-right rotation motion, the five-joint assembly 5 drives the wrist rotating clamp assembly 6 to do pitching motion up and down, the wrist rotating clamp assembly 6 achieves wrist rotation and clamp opening and closing, wiring and oil filling are integrated in the forearm, and an oil circuit and an electric wire are connected with the joint assembly 1 through an oil filling wiring oil pipe through an oil filling wiring joint D303.
The oil-filled wire connector D303 on the forearm of the embodiment is connected with the oil-filled wire connector B103 on the joint assembly 1 through an oil-filled wire pipe, the oil-filled wire connector D203 on the electric linear cylinder assembly 2 is connected with the oil-filled wire connector A102 on the joint assembly 1 through the oil-filled wire pipe, the forearm and the electric linear cylinder assembly 2 are summarized into the joint assembly 1, the watertight connector 104 on the joint assembly 1 is connected with the outside, and the outside compensation oil enters the joint assembly 1 through the oil-filled connector 105 on the joint assembly 1 and then enters the electric linear cylinder assembly 2 and the forearm through the two oil-filled wire pipes respectively, so that the oil-filled compensation of the manipulator whole machine is realized.
The first joint driving module, the third joint driving module, the fourth joint driving module, the fifth joint driving module, the wrist rotation driving module and the clamp driving module are all in the prior art, and are not described herein.
The working principle of the invention is as follows:
the invention has six degrees of freedom and a clamp function, wherein the six degrees of freedom are respectively driven by a joint component 1, an electric linear cylinder component 2 (two joints), a three-joint component 3, a four-joint component 4, a five-joint component 5 and a wrist rotating clamp component 6, and the six components are configured in series to realize shoulder swinging, shoulder pitching, forearm rotation, wrist swinging and wrist rotating movement of the manipulator, and the clamp function is driven by the wrist rotating clamp component 6 to realize clamping jaw opening and closing. The static connection between the shells of the manipulator is provided with a static sealing ring, the dynamic connection part is provided with a dynamic sealing ring, the driving module containing electronic components in the shells is separated from the outside, the underwater operation of the manipulator is realized, and the full sea depth operation can be realized after oil charge compensation.
The invention has the advantages of compact structure, stable performance, high control precision, convenient debugging and maintenance, and the like. The invention integrates six degrees of freedom and one clamp function, has compact structure and high integration level; the six joints of the invention have wide rotation angle range and high rotation speed, and can realize flexible operation; the electronic components adopted by the invention are sealed in the shell, so that the electronic components are prevented from being influenced by external environment; the joint position and the joint speed are detected by adopting the encoder, so that the control precision is high; the invention adopts modularized design for each joint, and is convenient to maintain and debug; the full sea depth operation can be realized after the oil charge compensation.
Claims (10)
1. A multifunctional underwater electric manipulator is characterized in that: the device comprises a large arm and a small arm which are fixedly connected with each other, wherein the large arm comprises a joint assembly (1), an electric linear cylinder assembly (2) and a large arm bracket (7), and the small arm comprises a three-joint assembly (3), a four-joint assembly (4), a five-joint assembly (5) and a wrist rotating clamp assembly (6) which are sequentially sealed and connected in series; the head of the electric linear cylinder assembly (2) and the lower part of the big arm support (7) are respectively and rotatably connected with the output end of a joint assembly (1), and the tail of the electric linear cylinder assembly (2) is rotatably connected with the upper part of the big arm support (7); the three-joint assembly (3) is connected to the upper part of the large arm support (7), the four-joint assembly (4) is connected with the output end of the three-joint assembly (3), the five-joint assembly (5) is connected with the output end of the four-joint assembly (4), and the wrist rotating clamp assembly (6) is connected with the output end of the five-joint assembly (5); the output end of the joint assembly (1) outputs the swing degree of freedom of the large arm, the electric linear cylinder assembly (2) outputs the pitch degree of freedom of the large arm, the output end of the three joint assembly (3) outputs the pitch degree of freedom of the small arm, the output end of the four joint assembly (4) outputs the rotation degree of freedom of the small arm, the output end of the five joint assembly (5) outputs the swing degree of freedom of the wrist, and the wrist rotating clamp assembly (6) has the rotation degree of freedom of the wrist and the clamp opening and closing function.
2. The multi-functional underwater electric manipulator of claim 1, wherein: the joint assembly (1) comprises a swing support (101), an oil-filled wiring connector A (102), an oil-filled wiring connector B (103), a watertight connector (104), an oil-filled connector (105), a fixed base (106) and a joint driving module, wherein the swing support (101) and the fixed base (106) can be in relative-rotation sealing connection, the oil-filled wiring connector A (102) and the oil-filled wiring connector B (103) are respectively and hermetically arranged at the top of the swing support (101), and the watertight connector (104) for externally supplying and controlling power to a manipulator and the oil-filled connector (105) for externally compensating the pressure of the oil filled into the manipulator are respectively and hermetically arranged on the fixed base (106); the fixed base (106) is internally provided with a joint driving module, and the output end of the joint driving module is connected with the swing support (101) to drive the swing support (101) to swing left and right relative to the fixed base (106).
3. The multi-functional underwater electric manipulator of claim 2, wherein: one side of the swing support (101) is in sealing and rotating connection with the fixed base (106), and a rotating shaft hole A (107) used for being in rotating connection with the electric linear cylinder assembly (2) through a rotating shaft and a rotating shaft B (108) used for being in rotating connection with the large arm support (7) through a rotating shaft are respectively arranged on the other side of the swing support (101); the manipulator is secured to the submersible body by a stationary base (106).
4. The multi-functional underwater electric manipulator of claim 1, wherein: the electric linear cylinder assembly (2) comprises a linear cylinder push rod (201), a linear cylinder shell (202) and an oil filling wire connector C (203), wherein the linear cylinder push rod (201) is in sealing connection with the linear cylinder shell (202) and can move linearly relatively, the oil filling wire connector C (203) is arranged on the linear cylinder shell (202) in a sealing mode, a motor and a screw nut assembly are arranged in the linear cylinder shell (202), and the motor drives the linear cylinder push rod (201) to move linearly relatively to the linear cylinder shell (202) through the screw nut assembly; be equipped with on the straight line jar push rod (201) be used for with a joint subassembly (1) through pivot pivoted connection's pivot hole C (204), be equipped with on the straight line jar casing (202) be used for with big arm support (7) upper portion through pivot pivoted connection's pivot hole D (205), the inside compensation oil of electronic straight line jar subassembly (2) and electric wire are walked line through filling oil and are connected with a joint subassembly (1) through filling oil line oil pipe through filling oil line joint C (203).
5. The multi-functional underwater electric manipulator of claim 1, wherein: the lower part of the big arm support (7) is provided with a rotating shaft hole E (701) which is used for being connected with a joint assembly (1) through rotating shafts, the upper part of the big arm support (7) is provided with a rotating shaft hole F (702) which is used for being connected with an electric linear cylinder assembly (2) through rotating shafts, and the electric linear cylinder assembly (2) drives the rotating shafts in the whole revolving shaft holes E (701) of the big arm support (7) to do pitching motion.
6. The multi-functional underwater electric manipulator of claim 1, wherein: the three-joint assembly (3) comprises a three-joint shell (301), a three-joint driving output piece (302), an oil-filled wiring joint D (303) and a three-joint driving module, wherein the three-joint shell (301) is fixedly connected with the large arm support (7), the three-joint shell (301) and the three-joint driving output piece (302) can be in sealing connection in a relatively rotating manner, and the three-joint driving output piece (302) and the four-joint assembly (4) are in sealing connection; the three-joint shell (301) is provided with an oil-filled wiring connector D (303) in a sealing manner, and the oil-filled wiring connector D (303) is connected with a joint assembly (1) through an oil-filled wiring pipe; the three-joint driving module is installed inside the three-joint shell (301), and the output end of the three-joint driving module is connected with the three-joint driving output piece (302) to drive the three-joint driving output piece (302) to rotate relative to the three-joint shell (301).
7. The multi-functional underwater electric manipulator of claim 1, wherein: the four-joint assembly (4) comprises a four-joint shell (401), a four-joint driving output piece (402) and a four-joint driving module, wherein the four-joint shell (401) is in sealing connection with the output end of the three-joint assembly (3), the four-joint shell (401) and the four-joint driving output piece (402) can be in sealing connection in a relative rotation manner, and the four-joint driving output piece (402) is in sealing connection with the five-joint assembly (5); the four-joint driving module is arranged in the four-joint shell (401), and is connected with the four-joint driving output piece (402) to drive the four-joint driving output piece (402) to rotate relative to the four-joint shell (401).
8. The multi-functional underwater electric manipulator of claim 1, wherein: the five-joint assembly (5) comprises a five-joint shell (501), a five-joint driving output piece (502) and a five-joint driving module, wherein the five-joint shell (501) is in sealing connection with the output end of the four-joint assembly (4), the five-joint shell (501) and the five-joint driving output piece (502) can be in sealing connection in a relative rotation manner, and the five-joint driving output piece (502) is in sealing connection with the wrist rotating clamp assembly (6); the five-joint driving module is arranged in the five-joint shell (501), and is connected with the five-joint driving output piece (502) to drive the five-joint driving output piece (502) to rotate relative to the five-joint shell (501).
9. The multi-functional underwater electric manipulator of claim 1, wherein: the wrist rotating clamp assembly (6) comprises a wrist rotating clamp shell (601), a wrist rotating drive output piece (602), a clamp push rod (603), a clamp (604), a wrist rotating drive module and a clamp drive module, wherein the wrist rotating clamp shell (601) is in sealing connection with the output end of the five-joint assembly (5), the wrist rotating clamp shell (601) and the wrist rotating drive output piece (602) can be in sealing connection in a relative rotating manner, and the clamp push rod (603) and the wrist rotating drive output piece (602) are in sealing connection and can move in a relative straight line; the inside of wrist changes clamp casing (601) is installed wrist and changes drive module and clamp drive module respectively, wrist changes drive module and wrist and changes drive output piece (602) and link to each other, drive wrist changes drive output piece (602) and rotates clamp casing (601) relatively, clamp drive module links to each other with one end of clamp push rod (603), drive clamp push rod (603) is rectilinear motion, the other end of clamp push rod (603) promotes clamp (604) and realizes opening or closing movement.
10. The multi-functional underwater electric manipulator of claim 1, wherein: the electric linear cylinder assembly (2) and the forearm are respectively connected with one joint assembly (1) through the oil charging and routing tube and summarized into the one joint assembly (1), the electric linear cylinder assembly is connected with the outside through the one joint assembly (1), and external compensation oil enters the one joint assembly (1) and respectively enters the electric linear cylinder assembly (2) and the forearm through the oil charging and routing tube, so that oil charging compensation of the whole manipulator is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310382009.2A CN116619332A (en) | 2023-04-11 | 2023-04-11 | Multifunctional underwater electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310382009.2A CN116619332A (en) | 2023-04-11 | 2023-04-11 | Multifunctional underwater electric manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116619332A true CN116619332A (en) | 2023-08-22 |
Family
ID=87608886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310382009.2A Pending CN116619332A (en) | 2023-04-11 | 2023-04-11 | Multifunctional underwater electric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116619332A (en) |
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2023
- 2023-04-11 CN CN202310382009.2A patent/CN116619332A/en active Pending
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