Multi-finger, multi-joints water drive mechanical arm for underwater operation

• Main Authors: XU DEZHANG, YANG MING, WANG BUYUN, GE YUNJIAN
• Format: Patent
• Language: Chinese; English
• Published: 30.12.2009
• Subjects: EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS; PERFORMING OPERATIONS; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; TRANSPORTING

The invention relates to a hydraulic driving manipulator used for multi-finger and multi-joint underwater operation, which comprises three fingers and six joints, wherein the root joints of the three fingers are driven via a hydraulic gerotor motor; the finger joints of the three fingers are respectively driven via diaphragm type hydraulic cylinders, transverse wire coil teeth of root joint components are mutually meshed with the teeth at the root parts of the three fingers, and driven via the gerotor motor, the motion is transmitted to the root parts of the three fingers and the root parts of the three fingers are forced to make radial motion in the respective guide grooves, and the large-travel opening and closing actions of the three fingers can be realized. Since the root joints adopt a transverse wire coil tooth transmission mechanism, and by using the characteristics of the mechanical self-locking mechanism of the transverse wire coil tooth transmission mechanism, the holdup time of the pressure differe