Water drive integrated manipulator end effector

Abstract

The invention belongs to the related technical field of underwater manipulators, and discloses a water drive integrated manipulator end effector. The effector is of an integrated structure and comprises an end clamp mechanism, a special-shaped hydraulic cylinder mechanism, a rotary joint mechanism and a rotary drive mechanism which are connected in sequence. The end clamp mechanism and the special-shaped hydraulic cylinder mechanism share an end effector base. The special-shaped hydraulic cylinder mechanism and the rotary drive mechanism share a special-shaped hydraulic cylinder barrel and an end effector shell; and the rotary joint mechanism is partially embedded in the rotary driving mechanism. The end effector adopts water drive and a high-strength corrosion-resistant structure to ensure that full-sea-depth operation can be realized without a pressure compensator, the service life of the end effector is prolonged and the reliability of the end effector is improved by an improved kinematic pair form, a complicated connecting structure is solved by adopting integrated design, the weight of the end effector is reduced, and meanwhile, the problems of complex pipeline arrangement and easy winding are solved.

Description

technical field [0001] The invention belongs to the technical field related to underwater manipulators, and more specifically relates to a hydraulically driven integrated manipulator end effector. Background technique [0002] As the main equipment for marine resources development and underwater operations, underwater manipulators are required to be able to adapt to various underwater operating conditions. The harsh deep-sea environment and complex operating conditions have brought great challenges to the deep-sea operations of the manipulator. Traditional electric-driven manipulators have low power density, cannot meet heavy load tasks, and have poor reliability; traditional hydraulic manipulators have problems such as oil leakage pollution, poor safety, and the need for additional pressure compensation. The seawater hydraulic system is compatible with the marine environment and can realize the automatic compensation function of deep sea pressure. It has the advantages of ...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above defects or improvement needs of the prior art, the present invention provides a water pressure-driven integrated manipulator end effector, the end effector adopts water pressure drive and high-strength corrosion-resistant structure to ensure that no pressure compensator can be used It realizes full-sea deep operation, and the improved kinematic pair form improves the working life and reliability of the end effector. The integrated design adopted solves the complicated connection structure, reduces its own weight, and solves the problem of complicated and easy-to-wind pipeline layout. The problem of wires, the kinematic pair of the end clamp of the underwater manipulator is easy to wear, the structure weight of the end effector is heavy and the connection is complicated, and the problem of pipe entanglement caused by the rotation of the end effector

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