CN113001534A - Hydraulic mechanical arm for underwater excavator - Google Patents
Hydraulic mechanical arm for underwater excavator Download PDFInfo
- Publication number
- CN113001534A CN113001534A CN202110464037.XA CN202110464037A CN113001534A CN 113001534 A CN113001534 A CN 113001534A CN 202110464037 A CN202110464037 A CN 202110464037A CN 113001534 A CN113001534 A CN 113001534A
- Authority
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- China
- Prior art keywords
- arm
- rear arm
- pin shaft
- hydraulic cylinder
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007789 sealing Methods 0.000 claims abstract description 24
- 210000000245 forearm Anatomy 0.000 claims description 44
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 238000005728 strengthening Methods 0.000 claims description 3
- 230000007774 longterm Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 8
- 239000010687 lubricating oil Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a hydraulic mechanical arm for an underwater excavator, which comprises a base, a rear arm, a front arm, a rear hydraulic cylinder and a front hydraulic cylinder, wherein the rear arm is connected with the base; the base is connected with the rear arm through a rear arm pin shaft and a rear arm bushing; the rear arm is connected with the front arm through a front arm pin shaft and a front arm lining; the base and the base of the rear hydraulic cylinder are connected through a first pin shaft, the end part of an output shaft of the rear hydraulic cylinder is connected with the rear arm through a second pin shaft, the front hydraulic cylinder is connected with the rear arm through a third pin shaft, and the front hydraulic cylinder is connected with the front arm through a fourth pin shaft. In the invention, the base, the rear arm and the front arm realize the integration of swinging and rotating functions, and the device has the advantages of compact structure, flexible operation, high reliability, convenient assembly and maintenance, few easily-damaged parts, convenient part replacement, and strong applicability and universality. The front arm pin shaft and the rear arm pin shaft are protected in a dustproof and waterproof double-layer sealing ring sealing mode, the whole machine is completely waterproof, and the requirement for long-term underwater work can be met.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a hydraulic mechanical arm for an underwater excavator.
Background
The underwater mechanical arm is used as an actuating mechanism of the underwater robot, and directly influences the quality and level of underwater task completion. At present, most of underwater electric mechanical arms are complex in structure, more parts are arranged, and especially more electric elements are arranged on a motor and a motor, so that great difficulty is brought to processing, assembling and maintaining.
Disclosure of Invention
The invention aims to provide a hydraulic mechanical arm for an underwater excavator, which solves the problems in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a hydraulic mechanical arm for an underwater excavator comprises a base, a rear arm, a front arm, a rear hydraulic cylinder and a front hydraulic cylinder; the base is connected with the rear arm through a rear arm pin shaft and a rear arm bushing and is used for realizing the rotation function between the base and the rear arm; the rear arm and the front arm are connected through a front arm pin shaft and a front arm bushing and are used for realizing the rotation function between the rear arm and the front arm; the base and the base of back pneumatic cylinder pass through first round pin hub connection, the output shaft tip and the postbrachium of back pneumatic cylinder pass through second round pin hub connection, preceding pneumatic cylinder passes through third round pin hub connection with the postbrachium, preceding pneumatic cylinder passes through the fourth round pin hub connection with the forearm, first round pin axle, second round pin axle, third round pin axle, fourth round pin axle have constituted the revolving shaft of the rotation function and the support of quiescent condition between back pneumatic cylinder and preceding pneumatic cylinder, postbrachium, the forearm.
In the scheme, the base is provided with a base pin hole, a first rear hydraulic cylinder pin hole, a bottom plate and a reinforcing rib; the base pin hole is matched and installed with the rear arm pin shaft, the first rear hydraulic cylinder pin hole is matched and installed with the first pin shaft, the bottom plate is installed at the bottom of the base, the reinforcing ribs are installed on two sides of the base, and the bottom plate and the reinforcing ribs are used for fixing and reinforcing the structure of the base.
In the scheme, the rear arm is provided with a first rear arm pin hole, a second rear hydraulic cylinder pin hole, a rear arm body and a second rear arm pin hole; after the first rear arm pin hole is installed in interference fit with the rear arm bushing, the rear arm bushing is installed in fit with the rear arm pin shaft; the second rear hydraulic cylinder pin hole and the second pin shaft are installed in a matched mode; the rear arm body, the second rear arm pin hole and the first rear arm pin hole are welded into a whole to serve as a main body of the rear arm, and the main body bears the circumferential force and the pitching force of the rear arm; the second rear arm pin hole and the second pin shaft are installed in a matched mode; the rear arm body and the third pin shaft are fixedly welded, the front hydraulic cylinder is installed in a matched mode with the third pin shaft, and the third pin shaft serves as a rotating shaft of the front hydraulic cylinder.
In the scheme, a forearm pinhole, a guide tube, a mounting flange and an arm body are arranged on the forearm; after the forearm pin hole is installed in interference fit with the forearm bushing, the forearm pin shaft is installed in fit with the forearm bushing; the forearm pinhole, guide tube, mounting flange, arm body welding are integrative, and the main part as the forearm bears forearm circumference power and every single move power.
In the scheme, the oil hole and the oil nozzle are arranged in the pin shaft of the front arm pin shaft, and the oil ring is arranged on the outer side of the pin shaft and used for providing lubricating oil between the front arm pin shaft and the front arm bushing, so that the friction of the two parts is reduced, and the service life is prolonged.
In the above scheme, first seal groove has been arranged respectively to the outer lane of forearm bush and inner circle, has arranged first sealing washer in the first seal groove respectively, and the first sealing washer of outer lane is sealed with the cooperation of forearm pinhole, and the first sealing washer of inner circle is sealed with the cooperation of forearm round pin axle, prevents lubricating oil and outside water leakage in the forearm round pin axle.
In the scheme, the outer ring and the inner ring of the rear arm bushing are respectively provided with the second sealing groove, the second sealing ring is arranged in the second sealing groove, the second sealing ring of the outer ring is matched and sealed with the rear arm pin hole, and the second sealing ring of the inner ring is matched and sealed with the rear arm pin shaft, so that the leakage of lubricating oil and external water in the rear arm pin shaft is prevented.
In the scheme, the waterproof retainer rings are respectively arranged outside the shaft holes of the rear hydraulic cylinder and the front hydraulic cylinder to prevent water from leaking into the cylinder body; and the rear hydraulic cylinder and the front hydraulic cylinder are respectively provided with a stroke sensor and a pressure sensor for measuring and feeding back the stroke of the hydraulic cylinder and the oil pressure in the hydraulic cylinder.
In the above scheme, the bottom of the base is provided with a rotation center.
Compared with the prior art, the invention has the beneficial effects that: under the drive of rear hydraulic cylinder, can realize relative rotation between base and the back arm, under the drive of pneumatic cylinder in the front, can realize relative rotation between back arm and the forearm, the mounting flange of forearm front end welding set has mounting hole and oilhole, can install hydraulic motor or other drive arrangement on mounting flange and carry out the hank soil or do work such as excavation, the base can be installed and carry out rotary motion on the centre of gyration. The swing and rotation integrated among the base, the rear arm and the front arm is realized, the structure is compact, the operation is flexible, the reliability is high, the assembly and the maintenance are convenient, the number of easily damaged parts is small, the parts can be conveniently replaced, and the device has strong applicability and universality. The front arm pin shaft and the rear arm pin shaft are protected in a dustproof and waterproof double-layer sealing ring sealing mode, the whole machine is completely waterproof, and the requirement for long-term underwater work can be met.
Drawings
The disclosure of the present invention is illustrated with reference to the accompanying drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention. In the drawings, like reference numerals are used to refer to like parts. Wherein:
FIG. 1 is a schematic view of the overall external structure of the present invention;
FIG. 2 is a side view of the structure of FIG. 1;
FIG. 3 is a schematic top view of the structure of FIG. 1;
FIG. 4 is a schematic view of the forearm of the present invention in extended configuration;
FIG. 5 is a schematic cross-sectional view of the rear arm of the present invention;
FIG. 6 is a schematic cross-sectional view of the forearm of the present invention.
Reference numbers in the figures: 1. a base; 2. a rear arm; 3. a forearm; 4. a rear hydraulic cylinder; 5. a front hydraulic cylinder; 11. a base pin hole; 12. a first rear hydraulic cylinder pin hole; 13. a base plate; 14. reinforcing ribs; 15. a rear arm pin shaft; 16. a rear arm bushing; 17. a first rear arm pin hole; 18. a second rear hydraulic cylinder pin hole; 19. a rear arm body; 20. a second rear arm pin hole; 21. a forearm pin shaft; 22. a forearm bushing; 23. a forearm pin hole; 24. a guide tube; 25. installing a flange; 26. an arm body; 27. a first pin shaft; 28. a second pin shaft; 29. a third pin shaft; 30. and a fourth pin shaft.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further described in detail with reference to the attached drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution to which the present invention relates.
According to the technical scheme of the invention, a plurality of alternative structural modes and implementation modes can be provided by a person with ordinary skill in the art without changing the essential spirit of the invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
The technical solution of the present invention is further described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1 to 6, particularly fig. 4 to 6, which illustrate a hydraulic manipulator for an underwater excavator, the hydraulic manipulator comprises a base 1, a rear arm 2, a front arm 3, a rear hydraulic cylinder 4 and a front hydraulic cylinder 5. The base 1 is connected with the rear arm 2 through a rear arm pin shaft 15 and a rear arm bushing 16, and is used for realizing the rotating function between the base 1 and the rear arm 2. The bottom of the base 1 is provided with a rotation center, and the rotation center is composed of a turntable, so that the whole machine can rotate left and right or rotate conveniently. The base 1 is connected with the rear arm 2 through a rear arm pin shaft 15, hinge point holes are further formed in the base 1 and the rear arm 2 and used for installing the rear hydraulic cylinder 4, and the rear hydraulic cylinder 4 is driven to stretch or compress to achieve the rotating function and the swinging function of the rear arm 2. The rear arm pin 15 restricts the axial displacement of the rear arm pin 15 by a rear arm bush 16.
The base 1 is provided with a base pin hole 11, a first rear hydraulic cylinder pin hole 12, a bottom plate 13 and a reinforcing rib 14. Base pinhole 11 and back arm round pin axle 15 cooperation installation, first back pneumatic cylinder pinhole 12 and first round pin axle 27 cooperation installation, bottom plate 13 are installed the bottom of base 1, strengthening rib 14 is installed the both sides of base 1, bottom plate 13 and strengthening rib 14 are used for fixing and strengthen the structure of base 1.
The rear arm 2 and the front arm 3 are connected through a front arm pin shaft 21 and a front arm bush 22, and the rotation function between the rear arm 2 and the front arm 3 is realized. The rear arm 2 is provided with a first rear arm pin hole 17, a second rear hydraulic cylinder pin hole 18, a rear arm body 19 and a second rear arm pin hole 20; after the first rear arm pin hole 17 is installed in interference fit with the rear arm bushing 16, the rear arm bushing 16 is installed in fit with the rear arm pin shaft 15; the second rear hydraulic cylinder pin hole 18 and the second pin shaft 28 are installed in a matched mode; the rear arm body 19, the second rear arm pin hole 20 and the first rear arm pin hole 17 are welded into a whole to be used as a main body of the rear arm 2, and bear the circumferential force and the pitching force of the rear arm 2; the second rear arm pin hole 18 and the second pin shaft 28 are installed in a matched mode; the rear arm body 19 and the third pin 29 are welded and fixed, the front hydraulic cylinder 5 is installed in cooperation with the third pin 29, and the third pin 29 is used as a rotating shaft of the front hydraulic cylinder 5.
The rear arm 2 and the front arm 3 are connected through a front arm pin shaft 21, hinge point holes are further formed in the rear arm 2 and the front arm 3 and used for installing the front hydraulic cylinder 5, and the rotary function and the swing function are achieved by driving the front hydraulic cylinder 5 to stretch or compress.
The front arm 3 is provided with a front arm pin hole 23, a guide pipe 24, a mounting flange 25 and an arm body 26. After the forearm pin hole 23 is installed in interference fit with the forearm bushing 22, the forearm pin shaft 21 is installed in fit with the forearm bushing 22. The guide tube 24 is mounted within the arm 26 and serves to provide enhanced support. The mounting flange 25 arranged at the front end of the front arm 3 is provided with a mounting hole and an oil hole for mounting working devices such as a hydraulic motor, a bucket and the like. The forearm pin hole 23, the guide pipe 24, the mounting flange 25 and the arm body 26 are welded into a whole to serve as a main body of the forearm 3, and bear the circumferential force and the pitching force of the forearm 3.
Wherein, the interior oil hole and the glib talker of arranging of round pin axle of forearm round pin axle 21, its round pin axle outside has arranged the oil ring for provide lubricating oil between forearm round pin axle 21 and forearm bush 22, reduce the friction of two parts, improve life. First seal grooves are respectively arranged on the outer ring and the inner ring of the forearm lining 22, first seal rings are respectively arranged in the first seal grooves, the first seal rings on the outer ring are matched and sealed with the forearm pin holes 23, the first seal rings on the inner ring are matched and sealed with the forearm pin shaft 21, and the leakage of lubricating oil and external water in the forearm pin shaft 21 is prevented. And the outer ring and the inner ring of the rear arm bush 16 are respectively provided with a second sealing groove, a second sealing ring is arranged in the second sealing groove, the second sealing ring of the outer ring is matched and sealed with the rear arm pin hole 17, and the second sealing ring of the inner ring is matched and sealed with the rear arm pin shaft 15, so that lubricating oil in the rear arm pin shaft 15 and external water are prevented from being leaked.
The base of the rear hydraulic cylinder 4 is connected with the base 1 through a first pin shaft 27, the end part of an output shaft of the rear hydraulic cylinder 4 is connected with the rear arm 2 through a second pin shaft 28, the front hydraulic cylinder 5 is connected with the rear arm 2 through a third pin shaft 29, the front hydraulic cylinder 5 is connected with the front arm 3 through a fourth pin shaft 30, and the first pin shaft 27, the second pin shaft 28, the third pin shaft 29 and the fourth pin shaft 30 form a rotating shaft with a rotating function and a support in a static state between the rear hydraulic cylinder 4 and the front hydraulic cylinder 5, between the rear arm 2 and between the front arm 3.
And waterproof check rings are respectively arranged outside the shaft holes of the rear hydraulic cylinder 4 and the front hydraulic cylinder 5, so that water is prevented from being leaked into the cylinder body. And the rear hydraulic cylinder 4 and the front hydraulic cylinder 5 are respectively provided with a stroke sensor and a pressure sensor for measuring and feeding back the stroke of the hydraulic cylinders and the oil pressure in the hydraulic cylinders.
In this scheme, under the drive of rear hydraulic cylinder 4, can realize the relative rotation between base 1 and the postbrachium 2, under the drive of pneumatic cylinder 5 in the front, can realize the relative rotation between postbrachium 2 and the forearm 3, the mounting flange 25 that 3 front ends of forearm welding put has mounting hole and oilhole, can install hydraulic motor or other drive arrangement on mounting flange 25 and carry out the hank soil or do work such as excavation, base 1 can install and carry out rotary motion on the centre of gyration.
In this scheme, realized swing, rotation function integration between base 1, postbrachium 2, the 3 three of forearm, and compact structure, the flexible operation, the reliability is high, and convenient assembly and maintenance, the fragile spare is few, is convenient for change the accessory, has stronger suitability and commonality. The front arm pin shaft 21 and the rear arm pin shaft 15 are protected by a dustproof and waterproof double-layer sealing ring in a sealing mode, and the whole machine is completely waterproof, so that the requirement for long-term underwater work can be met.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides a hydraulic pressure arm for excavator under water which characterized in that: comprises a base (1), a rear arm (2), a front arm (3), a rear hydraulic cylinder (4) and a front hydraulic cylinder (5); the base (1) is connected with the rear arm (2) through a rear arm pin shaft (15) and a rear arm bush (16); the rear arm (2) is connected with the front arm (3) through a front arm pin shaft (21) and a front arm lining (22); the base and the base (1) of back pneumatic cylinder (4) are connected through first round pin axle (27), the output shaft tip and postbrachium (2) of back pneumatic cylinder (4) are connected through second round pin axle (28), preceding pneumatic cylinder (5) are connected through third round pin axle (29) with postbrachium (2), preceding pneumatic cylinder (5) are connected through fourth round pin axle (30) with forearm (3).
2. The hydraulic manipulator for an underwater excavator according to claim 1, wherein: the base (1) is provided with a base pin hole (11), a first rear hydraulic cylinder pin hole (12), a bottom plate (13) and a reinforcing rib (14); base pinhole (11) and trailing arm round pin axle (15) cooperation installation, first back pneumatic cylinder pinhole (12) and first round pin axle (27) cooperation installation, bottom plate (13) are installed the bottom of base (1), install strengthening rib (14) the both sides of base (1).
3. The hydraulic manipulator for an underwater excavator according to claim 1, wherein: a first rear arm pin hole (17), a second rear hydraulic cylinder pin hole (18), a rear arm body (19) and a second rear arm pin hole (20) are formed in the rear arm (2); after the first rear arm pin hole (17) is installed with the rear arm bushing (16) in an interference fit manner, the rear arm bushing (16) is installed with the rear arm pin shaft (15) in a fit manner; the second rear hydraulic cylinder pin hole (18) and the second pin shaft (28) are installed in a matched mode; the rear arm body (19), the second rear arm pin hole (20) and the first rear arm pin hole (17) are welded into a whole to be used as a main body of the rear arm (2); the second rear arm pin hole (18) and the second pin shaft (28) are installed in a matched mode; the rear arm body (19) and the third pin shaft (29) are welded and fixed, the front hydraulic cylinder (5) and the third pin shaft (29) are installed in a matched mode, and the third pin shaft (29) serves as a rotating shaft of the front hydraulic cylinder (5).
4. The hydraulic manipulator for an underwater excavator according to claim 1, wherein: a front arm pin hole (23), a guide pipe (24), a mounting flange (25) and an arm body (26) are arranged on the front arm (3); after the front arm pin hole (23) is installed with the front arm bushing (22) in an interference fit manner, the front arm pin shaft (21) is installed with the front arm bushing (22) in a fit manner; the front arm pin hole (23), the guide pipe (24), the mounting flange (25) and the arm body (26) are welded into a whole.
5. The hydraulic manipulator for an underwater excavator according to claim 1, wherein: an oil hole and an oil nozzle are arranged in the pin shaft of the front arm pin shaft (21), and an oil ring is arranged outside the pin shaft.
6. The hydraulic manipulator for an underwater excavator according to claim 1, wherein: first seal grooves are respectively arranged on the outer ring and the inner ring of the forearm lining (22), first seal rings are respectively arranged in the first seal grooves, the first seal rings on the outer ring are matched and sealed with the forearm pin holes (23), and the first seal rings on the inner ring are matched and sealed with the forearm pin shafts (21).
7. The hydraulic manipulator for an underwater excavator according to claim 1, wherein: and the outer ring and the inner ring of the rear arm bushing (16) are respectively provided with a second sealing groove, a second sealing ring is arranged in the second sealing groove, the second sealing ring of the outer ring is matched and sealed with the rear arm pin hole (17), and the second sealing ring of the inner ring is matched and sealed with the rear arm pin shaft (15).
8. The hydraulic manipulator for an underwater excavator according to claim 1, wherein: waterproof check rings are respectively arranged outside the shaft holes of the rear hydraulic cylinder (4) and the front hydraulic cylinder (5); and the rear hydraulic cylinder (4) and the front hydraulic cylinder (5) are respectively provided with a stroke sensor and a pressure sensor.
9. The hydraulic manipulator for an underwater excavator according to claim 1, wherein: the bottom of the base (1) is provided with a rotation center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110464037.XA CN113001534A (en) | 2021-04-27 | 2021-04-27 | Hydraulic mechanical arm for underwater excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110464037.XA CN113001534A (en) | 2021-04-27 | 2021-04-27 | Hydraulic mechanical arm for underwater excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113001534A true CN113001534A (en) | 2021-06-22 |
Family
ID=76380456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110464037.XA Pending CN113001534A (en) | 2021-04-27 | 2021-04-27 | Hydraulic mechanical arm for underwater excavator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113001534A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5316709A (en) * | 1990-07-13 | 1994-05-31 | Samsung Heavy Industries Co., Ltd. | Method of making a dipper stick for an excavator from high strength polymeric composite materials |
| JPH11107305A (en) * | 1997-09-30 | 1999-04-20 | Hitachi Constr Mach Co Ltd | Shaft bearing device |
| CN201433412Y (en) * | 2009-06-25 | 2010-03-31 | 燕山大学 | Shoal seabottom sundries clearing vehicle |
| CN205419057U (en) * | 2016-02-26 | 2016-08-03 | 上海佩纳沙士吉打机械有限公司 | Be used for orange -peel bucket fill lamella hub structure |
| CN206143828U (en) * | 2016-10-10 | 2017-05-03 | 陕西理工学院 | Power shovel connecting piece |
| CN108401579B (en) * | 2014-12-18 | 2017-08-15 | 西北工业大学 | A kind of submarine navigation device motor shaft dynamic sealing device |
| CN210793594U (en) * | 2019-09-30 | 2020-06-19 | 南京航创特种机器人有限公司 | Underwater multifunctional robot |
| CN111561569A (en) * | 2020-06-17 | 2020-08-21 | 四川大学 | Pin shaft sealing structure and excavator |
| CN212670676U (en) * | 2020-05-12 | 2021-03-09 | 中交上海航道局有限公司 | Automatic change reason slope excavating gear |
-
2021
- 2021-04-27 CN CN202110464037.XA patent/CN113001534A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5316709A (en) * | 1990-07-13 | 1994-05-31 | Samsung Heavy Industries Co., Ltd. | Method of making a dipper stick for an excavator from high strength polymeric composite materials |
| JPH11107305A (en) * | 1997-09-30 | 1999-04-20 | Hitachi Constr Mach Co Ltd | Shaft bearing device |
| CN201433412Y (en) * | 2009-06-25 | 2010-03-31 | 燕山大学 | Shoal seabottom sundries clearing vehicle |
| CN108401579B (en) * | 2014-12-18 | 2017-08-15 | 西北工业大学 | A kind of submarine navigation device motor shaft dynamic sealing device |
| CN205419057U (en) * | 2016-02-26 | 2016-08-03 | 上海佩纳沙士吉打机械有限公司 | Be used for orange -peel bucket fill lamella hub structure |
| CN206143828U (en) * | 2016-10-10 | 2017-05-03 | 陕西理工学院 | Power shovel connecting piece |
| CN210793594U (en) * | 2019-09-30 | 2020-06-19 | 南京航创特种机器人有限公司 | Underwater multifunctional robot |
| CN212670676U (en) * | 2020-05-12 | 2021-03-09 | 中交上海航道局有限公司 | Automatic change reason slope excavating gear |
| CN111561569A (en) * | 2020-06-17 | 2020-08-21 | 四川大学 | Pin shaft sealing structure and excavator |
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