The invention is applicable to the field of underwater mechanical arms, and provides a human-like electro-hydraulic underwater manipulator. The human-like electro-hydraulic underwater manipulator comprises a submersible forming a mounting body, and mechanical arms oppositely connected to the submersible and used for forming a driving bending structure. Each mechanical arm comprises an electric driver which is installed on the submersible and provides rotation driving force, a large mechanical arm rotationally connected to the electric driver, a first-stage model hydraulic cylinder with two ends rotationally connected to the electric driver and the large mechanical arm respectively, a small mechanical arm rotationally connected to the large mechanical arm, a second-stage model hydraulic cylinder with two ends rotationally connected to the small mechanical arm and the large mechanical arm respectively, a clamping device rotationally connected to the small mechanical arm, and a tail end sealing motor mounted on the small mechanical arm and connected with the clamping device. The human-like electro-hydraulic underwater manipulator has the advantages that the structure is simple, simple and compact, the motion precision is high, a hybrid driving mode integrating the advantages of a motor and hydraulic driving is adopted, the mode of arranging the human-like electro-hydraulic underwater manipulator on the submersible is similar to that of two arms of a person, and operation is convenient.
本发明适用于水下机械臂领域,提供了一种类人电液水下机械手,所述包括:潜水器,形成安装主体;机械臂,对置的连接在潜水器上,用于形成驱动弯折结构;机械臂包括:电动驱动器,安装在潜水器上,提供转动驱动力;机械大臂,转动连接在电动驱动器上;一级模型液压缸,两端分别转动连接在电动驱动器和机械大臂上;机械小臂,转动连接在机械大臂上;二级模型液压缸,两端分别转动连接在机械小臂和机械大臂上;夹持器,转动连接在机械小臂上;末端密封电机,安装在机械小臂上,并与夹持器连接;本发明优点:结构简单、简单紧凑、运动精度高、集成了电机和液压驱动优点的混合驱动方式、布置在潜水器上的方式类似人双臂,操作方便。
Human-like electro-hydraulic underwater manipulator
一种类人电液水下机械手
2021-06-25
Patent
Electronic Resource
Chinese
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