The invention discloses a two-degree-of-freedom underwater manipulator. The two-degree-of-freedom underwater manipulator comprises a clamping joint and a rotating joint. The clamping joint comprises aclaw, a claw bracket, a lead screw and a first motor cover. The claw is fastened on the claw bracket by screws, and the claw and a sliding nut are connected by the screws, the sliding nut is installed on the lead screw, a first brushless direct-current motor and a first driving plate are arranged in the first motor cover, the output end of the first brushless direct-current motor is fixed to thelead screw, a sealing movable sleeve is connected to the lead screw through a set screw, a first sealing static sleeve seat is installed on the inner wall of the claw bracket, and a connection flangeis installed at the end, away from the claw, of the first motor cover. According to the two-degree-of-freedom underwater manipulator, the functions of clamping and rotating two-degree-of-freedom of the underwater manipulator are achieved, the structure is compact, the operation is flexible, and the reliability is high; and a complete waterproof design is adopted in the whole machine, and the requirements of long-term underwater work can be met.
本发明公开了一种二自由度水下机械手,包括夹取关节和旋转关节,所述夹取关节包括手爪、手爪支架、丝杠、第一电机罩,所述手爪通过螺钉紧固在手爪支架上,且手爪与滑动螺母通过螺钉相连接,所述滑动螺母安装在丝杠上,所述第一电机罩内设置有第一无刷直流电机和第一驱动板,所述第一无刷直流电机的输出端固定有丝杠上,所述密封动套筒通过紧定螺钉与丝杠连接,所述手爪支架的内壁安装有第一密封静套座,所述第一电机罩远离手爪一端安装有连接法兰。本发明,实现了水下机械手夹取和旋转两个自由度的功能,结构紧凑,且操作灵活,可靠性高;整机完全防水设计,能够满足长期在水下工作的需求。
Two-degree-of-freedom underwater manipulator
一种二自由度水下机械手
2020-04-10
Patent
Elektronische Ressource
Chinesisch
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