Full sea deep hydraulic mechanical wrist joint

Abstract

The invention relates to a hydraulic mechanical arm and aims at providing a full sea deep hydraulic mechanical wrist joint. A wrist motor in the product comprises multi-acting inner curve radial piston type hydraulic motor housings and motor end face flow distribution plates. The axial section of a motor output shaft is T-shaped, a disc-shaped outer end of the motor output shaft is located betweenmotor rear end covers and gripper bases, and a shaft part penetrates through the motor rear end covers, the motor housings, the motor end face flow distribution plates, motor front end covers and lock nut pressure plates; two flow distribution channels are formed in the inner side of the motor output shaft, and a cavity is formed in an axis of the outer side of the motor output shaft to serve asa cylinder body of a gripper cylinder. A very mature ordinary multi-acting inner curve radial piston type hydraulic semi-motor is subjected to structural modification, so that the structure is complete, the function of angle detection and the function of distributing flow for the gripper cylinder are achieved, the cost is greatly reduced, and the reliability is remarkably improved. The full sea deep hydraulic mechanical wrist joint has the advantages of being small in structural size, light in weight, high in integration degree, low in cost, high in reliability, high in output torque, low in minimum stable rotation speed and wide in application range.

Description

technical field [0001] The invention relates to a hydraulic manipulator, in particular to a full-sea deep hydraulic manipulator wrist joint. Background technique [0002] The full-sea deep hydraulic manipulator is a supporting equipment used in the full-sea deep manned submersible. It requires the wrist joint to integrate the two functions of wrist rotation and hand claw opening and closing. Under the full-sea deep working conditions, the hand claw can be 360 ​​degrees. Anti-continuous rotation can control its rotation angle and speed, and at the same time, it can obtain a variety of gripper types, which can be quickly replaced to meet the requirements of different operating objects. [0003] In the prior art, the limit working depth of existing hydraulic manipulators is generally about 6000 meters. In addition to being limited by the working principle itself, it is also limited by the parts materials, processing, and assembly accuracy. Ordinary mechanical wrist joints have ...

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Problems solved by technology

[0003] In the prior art, the limit working depth of existing hydraulic manipulators is generally about 6000 meters. In addition to being limited by the working principle itself, it is also limited by the parts materials, processing and assembly accuracy. Ordinary mechanical wrist joints have poor reliability and the lowest stable speed. Large, high start-up pressure, low output torque, and a single form of gripper; moreover, it will be difficult to work normally due to the influence of high ambient pressure and high viscosity of oil at a depth of 11,000 meters. It is not suitable for full-sea deep working conditions and cannot meet Specifications and usage requirements of full-sea deep hydraulic manipulators

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