Small-scale underwater electric manipulator

Abstract

The invention relates to the field of operation of a microminiature ROV (remote operated vehicle), in particular to a small-scale underwater electric manipulator which is arranged on an ROV and is used for realizing the functions of salvaging foreign matter underwater and the like. The manipulator comprises a motor installing sleeve, a connecting sleeve, a driven shaft installing sleeve and a clamping jaw support, wherein a direct-current motor and a planetary reducer are arranged on the motor installing sleeve; a driving shaft and a rolling bearing are arranged on the connecting sleeve; the driven shaft installing sleeve is used for installing a driven shaft; and the clamping jaw support is used for installing clamping jaw fingers. After the speed of the motor is reduced by the planetary reducer, the torque of an output shaft of the motor is increased, and the output shaft is connected onto the driving shaft by a key; the driving shaft is connected onto the driven shaft through a torque limiter, and the driven shaft is linked with a pull rod through a lead screw nut; and the pull rod pulls the clamping jaw fingers through a pin roll to perform capturing action. The small-scale underwater electric manipulator has the characteristics of high safety, miniaturization, low failure rate, wide application range and the like.

Description

Technical field [0001] The invention relates to the field of micro-miniature underwater robot operations, in particular to a small electric underwater manipulator that can be installed on an underwater robot to realize functions such as underwater foreign matter salvage. Background technique [0002] ROV (Remote Operated Vehicle) is an underwater robot. It is a tool robot that can detect and operate in shallow water areas. It is mainly used for the development and utilization of seawater resources in rivers and lakes, as well as the detection and utilization of offshore resources. At present, there are dozens or even hundreds of ROV types in the world, with various functions. Among them, the large ones are mainly used for the development of offshore oil and gas fields, mineral resource investigation and sampling, salvage and military affairs; the medium and small ones are mainly used for fishing in rivers and lakes. Facing so many application fields, the operating mechanisms...

AI Technical Summary

Problems solved by technology

At present, most manipulators are driven by hydraulic pressure, which has the advantages of high load / weight ratio, strong load capacity, and easy realization of deep-sea sealing; however, hydraulic underwater manipulators are bulky, have low energy conversion efficiency, are not easy to replace components, and are difficult to realize modularization and miniaturization, and in many cases due to limited conditions, it is impossible to configure the hydraulic system. Therefore, the electric underwater manipulator has become a good choice

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