The invention belongs to the field of robot engineering, and particularly relates to a multifunctional underwater electric manipulator which is designed according to a modular idea and comprises a first joint assembly, an electric linear cylinder assembly, a large arm support, a third joint assembly, a fourth joint assembly, a fifth joint assembly and a wrist rotating clamp assembly. The first joint assembly and the electric linear cylinder assembly are hinged together through the large arm support to form a large arm, the third joint assembly, the fourth joint assembly, the fifth joint assembly and the wrist rotating clamp assembly are sequentially connected in series to form a small arm, and the large arm and the small arm are fixedly connected together to form the mechanical arm. And seven functions (six degrees of freedom and one clamp function) of large arm swinging, large arm pitching, small arm pitching, small arm rotating, wrist swinging, wrist rotating and clamping of the manipulator can be realized. The underwater electric manipulator can be carried on an ROV (remote operated vehicle) and an ARV (automatic guided vehicle) to realize deep sea operation, and has the advantages of compact structure, high integration level, high control precision, good maintainability, skillful operation, capability of working in full sea depth after oil filling compensation and the like.
本发明属于机器人工程领域,具体地说是一种多功能水下电动机械手,采用模块化思想设计,包括一关节组件、电动直线缸组件、大臂支架、三关节组件、四关节组件、五关节组件及腕转夹钳组件,一关节组件、电动直线缸组件通过大臂支架铰接连到一起组成大臂,三关节组件、四关节组件、五关节组件和腕转夹钳组件依次串联到一起组成小臂,大臂和小臂固连到一起组成机械手,可以实现机械手大臂摆动、大臂俯仰、小臂俯仰、小臂旋转、腕部摆动、腕转、夹钳七个功能(六个自由度和一个夹钳功能)。本发明是一种用于水下的电动机械手,可搭载于ROV、ARV,实现深海作业,具有结构紧凑、集成度高、控制精度高、可维护性好、灵巧作业,充油补偿后可全海深工作等优点。
Multifunctional underwater electric manipulator
一种多功能水下电动机械手
2023-08-22
Patent
Electronic Resource
Chinese
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