Marine multi-degree-of-freedom hydraulic operation manipulator

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Marine multi-degree-of-freedom hydraulic operation manipulator

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ZHAO FEI / YAO ZHENQIU / LING HONGJIE / GUO HAO / LI YI / GUO GAOLI

The invention discloses an ocean multi-degree-of-freedom hydraulic operation manipulator. The rotating seat is hinged to the base and can swing in the left-right direction, the connecting rod arm hinge assembly is hinged to the rotating seat and can swing in the up-down direction, the supporting swing arm is hinged to the connecting rod arm hinge assembly and can swing in the left-right direction, and a rotating mechanism capable of rotating in the circumferential direction is installed on the supporting swing arm. The rotating mechanism can be used for being connected with clamping mechanisms or operation tools meeting different operation requirements. By the adoption of the structure, operation in different directions can be achieved, the joints of the whole mechanical arm can keep the correct position posture by detecting the joint rotation angle and feeding back the detection angle, motion control and accurate positioning are facilitated, the swing range is accurate and adjustable, the maneuvering performance is greatly improved, and the mechanical arm is suitable for popularization and application. Meanwhile, the structural design is very compact, operation is easy, and good operability can be kept while the weight can be reduced to the maximum extent.

本发明公开了一种海洋多自由度液压作业机械手。它包括基座、与基座铰接并能够在左右方向摆动的旋转座、与旋转座铰接的能够在上下方向摆动的连杆臂铰接组件以及与连杆臂铰接组件铰接的能够在左右方向摆动的支撑摆臂，支撑摆臂上安装有能够在圆周方向旋转的旋转机构，旋转机构上能够用来连接实现不同作业要求的夹持机构或作业工具。采用上述结构后，可以实现各个不同方向的操作并且通过对关节转角进行检测以及检测角度反馈能使整个机械手的关节保持正确的位置姿态，有利于运动控制与精确定位，从而使摆动范围精确可调，大大提高了操纵性能，同时结构设计十分紧凑，操作简单，可以最大限度的降低重量的同时保持良好的易操作性。

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Document information

Title :

Marine multi-degree-of-freedom hydraulic operation manipulator

Additional title:

一种海洋多自由度液压作业机械手

Contributors:

ZHAO FEI (author) / YAO ZHENQIU (author) / LING HONGJIE (author) / GUO HAO (author) / LI YI (author) / GUO GAOLI (author)

Publication date :

2022-04-05

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen