A Portable Ball Joint Underwater Manual Gripper

Abstract

A portable spherical joint underwater manual gripper, comprising a submersible arm end shell, the submersible arm end shell is a spherical hollow structure, an opening is provided at the bottom of the submersible arm end shell, the The opening is equipped with a ball joint assembly, and the inside of the ball joint assembly is equipped with a hinged ball head, which runs through the entire ball joint assembly, and the hinged ball head is installed in the hydraulic self-balancing assembly. One end of the hydraulic self-balancing component is equipped with an operating handle through a locking mechanism, and the operating handle includes a swing handle and a gripper handle. The operating handle is located inside the shell at the end of the arm of the submersible. A jaw assembly located on the exterior of the submersible arm end housing. It has the characteristics of deep working depth, compact structure, light and flexible, and the driver's working ability is not limited by the depth of the water.

Description

technical field [0001] The invention relates to the technical field of underwater working tools for manned submersibles, in particular to a portable spherical hinge underwater manual clamper. Background technique [0002] The humanoid manned submersible is a manned submersible that looks like a human being driven by a single person. The maximum diving depth of this submersible can reach 600 meters underwater, which is much greater than conventional diving or saturation diving, and the driver does not need to carry out Pressurization, decompression and other isolation measures can replace divers to realize functions such as underwater observation and underwater operations. [0003] When the humanoid manned submersible performs underwater tasks, it will be equipped with a gripper at the end of the arm of the humanoid submersible. When it is necessary to perform tasks such as underwater gripping and underwater fixing, the driver manually drives the gripper in the cabin, and th...

AI Technical Summary

Problems solved by technology

[0005] 1. The moving parts adopt the form of dynamic sealing, and the working depth is relatively shallow, which cannot meet the sealing requirements of large depths of water;

[0006] 2. Mainly adopt the single-rod structure or transform the single-rod structure into some transmission forms. When realizing the clamping and rotating functions, the grip of the submersible driver needs to resist the external water in addition to overcoming the friction between the kinematic pairs. Pressure, the deeper the water depth, the greater the grip that the driver needs to provide, thus limiting the driver's working ability;

[0007] 3. The gripper generally only has one degree of freedom to rotate around its axis, and the flexibility is poor, which is very inconvenient for divers to work

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