Underwater redundant hydraulic mechanical arm and work method thereof

Abstract

The invention relates to an underwater redundant hydraulic mechanical arm and a work method of the underwater redundant hydraulic mechanical arm and belongs to the technical field of underwater mechanical robots. The underwater redundant hydraulic mechanical arm adopts a chain type series structure and comprises a rotating arm, a big arm, a middle arm, a forearm A, a forearm B, a wrist arm, a gripper, a hydraulic system and an STM32 control panel. The rotating arm, the big arm, the middle arm, the forearm A, the forearm B, the wrist arm and the gripper are sequentially connected. The hydraulicsystem provides power for the whole mechanical arm. The STM 32 control panel is used for controlling the mechanical arm to act. The rotating arm is installed on an underwater moving platform to support the whole hydraulic mechanical arm and achieves fixation and rotation of the whole mechanical arm. The big arm and the middle arm achieve pitching within a large range of the mechanical arm. The forearm A achieves transverse swinging of the mechanical arm. The forearm B achieves pitching within a small range of the mechanical arm. The wrist arm achieves transverse swinging and rotation of the gripper. The gripper achieves the clamping function. The underwater redundant hydraulic mechanical arm is compact and reasonable in structure, large in effective operation space, capable of expanding the freedom degree and suitable for different water depths.

Description

technical field [0001] The invention relates to an underwater redundant hydraulic mechanical arm and a working method thereof, belonging to the technical field of underwater mechanical robots. Background technique [0002] With the development of ocean engineering equipment technology, the development of ocean has also entered a new stage. From pure marine fishing to artificial marine aquaculture, comprehensive utilization of marine energy, development of marine oil, gas and mineral resources, and expansion of marine space (such as submarine tunnels, sea airports, etc.), it has developed in many aspects. Subsequently, a large number of more complex and diverse operational tasks need to be handled, such as precise docking of pipelines, sampling under complex terrain, and maintenance of devices. These all require better kinematics and dynamics performance of the operating manipulator. It also makes the development of multi-degree-of-freedom manipulators a new trend. At pres...

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Problems solved by technology

[0003] In addition, the existing underwater manipulators often use the push-pull of the hydraulic cylinder to realize the swing, the structural size is large, and the rotation angle is limited; and the installation of the asymmetrical hydraulic cylinder can only realize the bending of the manipulator in one direction, and the working space is small; Furthermore, when faced with complex tasks, non-redundant robotic arms often have no effective solution. At this time, it is necessary to repeatedly adjust the carrier pose to perform the corresponding task, and the operation is complicated.

In addition, the hydraulic control system attached to the existing robotic arm is often a custom-made system for certain water depth conditions, which cannot adapt to operations under different water depth conditions, and the interchangeability of different articulated arms is poor, so it cannot be easily and effectively expanded to more degrees of freedom robotic arm

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