CN115781649A - Water-electricity hybrid driven underwater operation mechanical arm and using method thereof - Google Patents
Water-electricity hybrid driven underwater operation mechanical arm and using method thereof Download PDFInfo
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- CN115781649A CN115781649A CN202211499620.5A CN202211499620A CN115781649A CN 115781649 A CN115781649 A CN 115781649A CN 202211499620 A CN202211499620 A CN 202211499620A CN 115781649 A CN115781649 A CN 115781649A
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Abstract
The invention relates to a water-electricity hybrid driven underwater operation mechanical arm and a use method thereof, wherein the mechanical arm comprises more than two arm assemblies which are connected in sequence, and the adjacent arm assemblies are rotatably arranged to adjust the included angle between the adjacent arm assemblies; the hydraulic cylinder is jointly installed between adjacent arm assemblies, the cylinder body of the hydraulic cylinder is installed on one of the arm assemblies, the piston rod of the hydraulic cylinder is installed on the other arm assembly which is matched in a rotating mode, the hydraulic cylinder is driven by the hydraulic cylinder driving assembly to adjust the extending or retracting action of the piston rod, the hydraulic cylinder driving assembly provides hydraulic power by the hydraulic power source, high-load action between the arm assemblies is driven by hydrodynamic power through hydraulic pressure, low-load rotating action of the electric driving arm assembly is combined, the operating precision of the mechanical arm and the feasibility of an efficient control strategy are effectively guaranteed, the overall load capacity of the mechanical arm is greatly improved, and the pollution problem caused by leakage of the hydraulic fluid in underwater operation is effectively avoided by the water-electricity hybrid driving mode.
Description
Technical Field
The invention relates to the technical field of underwater manipulators, in particular to a water-electricity hybrid driven underwater operation mechanical arm and a using method thereof.
Background
The underwater mechanical arm can be configured with various operation tools, has the advantage of universality, and is widely applied to various underwater operation working conditions such as deep sea oil and gas resource development, marine organism fishing, dam detection, emergency repair and the like. In the prior art, an underwater hydraulic mechanical arm taking mineral oil as a working medium basically has full-sea-depth operation capacity, but an executing mechanism of the underwater hydraulic mechanical arm inevitably has the problem of oil leakage, and the problems of water quality pollution, ecological environment damage, influence on ocean resource development and the like are easily caused.
Water is used as a green and environment-friendly transmission medium, is easy to obtain and has the advantages of safety, low cost and the like. The mechanical arm adopting the hydraulic driving mode has the advantage of high power-to-weight ratio, so that the high load capacity of underwater operation can be ensured, and the pollution-free requirement of the underwater operation can be met. However, the existing hydraulic element has the problems of serious leakage, complex friction characteristics and the like, so that the dynamic performance of the existing hydraulic element has high nonlinearity, the control system has low efficiency, and closed-loop control and stability analysis are very challenging. And the electric drive form has a mature and good control scheme, has good controllability, and can meet the requirement of the control precision of the mechanical arm joint.
Disclosure of Invention
The underwater operation mechanical arm driven by the water and electricity in a hybrid mode is reasonable in structure and the using method of the underwater operation mechanical arm, so that the operation accuracy of the mechanical arm and the feasibility of an efficient control strategy are effectively guaranteed, the integral loading capacity of the mechanical arm is greatly improved, and the pollution problem caused by oil leakage in underwater operation is effectively avoided by the aid of the water and electricity hybrid driving mode.
The technical scheme adopted by the invention is as follows:
a water and electricity hybrid driven underwater operation mechanical arm comprises more than two arm assemblies which are connected in sequence, wherein adjacent arm assemblies are rotatably mounted to adjust the included angle between the adjacent arm assemblies; the hydraulic cylinders are jointly arranged between the adjacent arm components, the cylinder bodies of the hydraulic cylinders are arranged on one of the arm components, the piston rods of the hydraulic cylinders are arranged on the other arm component which is matched in a rotating mode, the hydraulic cylinders are driven by the hydraulic cylinder driving component to adjust the extending or retracting actions of the piston rods, and the hydraulic cylinder driving component provides hydraulic power by the hydraulic power source;
the structure of the hydraulic cylinder driving component is as follows: the hydraulic cylinder comprises a one-way valve, wherein a pipeline at the input end of the one-way valve is communicated to a hydraulic power source, a hydraulic servo valve is installed on a pipeline at the output end of the one-way valve in series, two parallel ports of the hydraulic servo valve are respectively communicated to two cavities of a hydraulic cylinder, and the action of a piston rod of the hydraulic cylinder is promoted through the change of the hydraulic pressure in the two cavities.
As a further improvement of the above technical solution:
hydraulic locks are respectively installed on two pipelines between the hydraulic servo valve and the hydraulic cylinder in series; the hydraulic servo valve is a three-position four-way valve and comprises a left position, a middle position and a right position, two parallel ports of four ports of the hydraulic servo valve are respectively communicated with two cavities of the hydraulic cylinder, and the other two parallel ports are respectively communicated with the one-way valve and external seawater.
The arm assembly comprises a shoulder part, a large arm, a small arm and a hand part which are sequentially connected in a rotating manner, wherein the shoulder part, the large arm and the small arm and the hand part are respectively installed in a rotating manner and are respectively adjusted by a hydraulic cylinder in a rotating manner; each hydraulic cylinder is driven by a corresponding hydraulic cylinder driving component to work independently, and the multiple groups of hydraulic cylinder driving components are driven by the same hydraulic power source to work together.
A plurality of branch pipes are arranged on a main pipe output by the hydraulic pressure power source in a parallel and dispersed mode and communicated with the corresponding hydraulic cylinder driving assembly, and hydrodynamic force transmission is carried out through the single branch pipe.
The hydraulic power source has the structure that: the hydraulic pump comprises a hydraulic pump with pumping water power, the hydraulic pump is connected by a motor to drive the hydraulic pump to work, a filter is installed on a water pipe at the input end of the hydraulic pump in a series connection mode, and a safety valve is installed on a water pipe at the output end of the hydraulic pump in a parallel connection mode.
The motor is a constant rotating speed motor, and the hydraulic pump is a constant displacement pump.
The joint of the big arm and the small arm forms an elbow, the joint of the small arm and the hand forms a wrist, and the elbow and the wrist respectively realize the self-rotation of the small arm and the hand through the rotary driving component.
The elbow has the specific structure that: include and rotate the support of installation with the forearm tip, the support extends to form and rotates the seat, rotates the interior installation rotation driving subassembly of seat, and rotation driving subassembly's output links up with the forearm, and the work via rotation driving subassembly makes the forearm use self axial to rotate as the axis.
The structure of the rotary driving component is as follows: the direct current brushless motor is electrically connected with an external power supply, the rotation angle is controlled by the direct current brushless motor, and the direct current brushless motor is accommodated in an oil tank; the pressure compensator is used for balancing the pressure inside and outside the oil tank.
A use method of the underwater operation mechanical arm driven by water and electricity in a hybrid mode comprises the following steps:
when the included angle between the adjacent arm components needs to be adjusted, the hydraulic power source works, the one-way valve is closed and communicated, the hydraulic servo valve adjusts the position to the left position or the right position, hydraulic power flows into one corresponding cavity of the hydraulic cylinder through the hydraulic servo valve, water in the other cavity of the hydraulic cylinder is forced to be discharged outwards through the hydraulic servo valve, and the hydraulic change of the two cavities promotes the piston rod of the hydraulic cylinder to move, so that the included angle between the adjacent arm components is driven to change;
if the included angle is changed reversely, the position of the water pressure servo valve is adjusted, the water inlet and the water outlet of the two cavities in the hydraulic cylinder are reversed, and the piston rod moves reversely.
The invention has the following beneficial effects:
the hydraulic-electric hybrid driving type underwater manipulator is compact and reasonable in structure and convenient to operate, high-load actions among the arm components are driven by hydrodynamic force through hydraulic pressure, and low-load rotating actions of self-rotation of the arm components are driven by electricity, so that the respective advantages of water and electricity are combined, the operation precision of the manipulator and the feasibility of an efficient control strategy are effectively guaranteed, the integral load capacity of the manipulator is greatly improved, the pollution problem caused by oil leakage in underwater operation is effectively avoided by a water-electricity hybrid driving mode, and the hydraulic-electric hybrid driving type underwater manipulator is green, pollution-free, high in reliability and applicable to various underwater operation environments;
the water pressure driving mode is adopted, so that the problem of pressure compensation of the external environment is effectively avoided, the use function is realized, and meanwhile, the integral structure is simple, and the maintenance and the use are convenient and reliable; in the electrically driven rotary driving component, pressure balance with the outside is realized through a pressure compensator, and a static sealing structural form can be adopted to ensure zero leakage of mineral oil;
in a driving assembly of the hydraulic power source, the hydraulic pump is a constant delivery pump, the structure is simple and reliable, the hydraulic cylinder is adopted as an execution element, the rotary hydraulic servo valve is adopted as a control element, the hydraulic pump has good pressure self-adaption and flow control performance, and the reliability of a valve control cylinder system is high; in the electrically driven rotary driving component, a direct current brushless motor is adopted as a driving unit, so that various control strategies can be matched, and the control performance is reliable; the water-electricity hybrid driving mode can meet the high control precision of the mechanical arm and the feasibility of an efficient control strategy.
According to the invention, the loads of shoulder swinging, large arm pitching, elbow pitching and wrist pitching actions of the mechanical arm are large, the load capacity of the mechanical arm can be improved by adopting a water pressure driving mode, and the whole weight of the mechanical arm can be reduced; the loads of elbow rotation and wrist rotation are small, but the requirement on precision is high, and an electric driving mode is adopted; through the hybrid driving mode of water and electricity, on the one hand can avoid the defect that there is not ripe reliable water pressure motor on the existing market, on the other hand has effectively guaranteed the operation precision of the terminal instrument of arm.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the hydraulic cylinder driving assembly of the present invention.
Fig. 3 is a schematic structural view of a hydraulic power source according to the present invention.
FIG. 4 is a schematic structural diagram of a rotary driving assembly according to the present invention.
Wherein: 1. a hydraulic pressure power source; 2. a hydraulic cylinder drive assembly; 3. a rotary drive assembly; 4. a header pipe; 5. pipe distribution;
10. a shoulder portion; 20. a large arm; 30. a small arm; 40. a hand portion; 50. an elbow; 51. a support; 52. rotating the base;
11. a motor; 12. a hydraulic pump; 13. a filter; 14. a safety valve;
21. a one-way valve; 22. a hydraulic servo valve; 23. hydraulic locking; 24. a hydraulic cylinder;
31. an oil tank; 32. a pressure compensator; 33. a brushless DC motor.
Detailed Description
The following description of the embodiments of the present invention refers to the accompanying drawings.
As shown in fig. 1, the underwater operation mechanical arm driven by water and electricity in a hybrid manner in the embodiment comprises more than two arm assemblies which are connected in sequence, and adjacent arm assemblies are rotatably mounted to adjust included angles between the arm assemblies; the adjacent arm assemblies are jointly provided with a hydraulic cylinder 24, the cylinder body of the hydraulic cylinder 24 is arranged on one of the arm assemblies, the piston rod of the hydraulic cylinder 24 is arranged on the other arm assembly which is matched in rotation, the hydraulic cylinder 24 is driven by a hydraulic cylinder driving assembly 2 to adjust the extending or retracting action of the piston rod, and the hydraulic power source 1 provides hydraulic power for the hydraulic cylinder driving assembly 2;
as shown in fig. 2, the structure of the hydraulic cylinder driving assembly 2 is: the hydraulic control system comprises a one-way valve 21, a pipeline at the input end of the one-way valve 21 is communicated with a hydraulic power source 1, a hydraulic servo valve 22 is installed on a pipeline at the output end of the one-way valve 21 in series, two parallel ports of the hydraulic servo valve 22 are respectively communicated into two cavities of a hydraulic cylinder 24, and the action of a piston rod of the hydraulic cylinder 24 is promoted through the change of water pressure in the two cavities.
In this embodiment, adopt water pressure drive mode, effectively avoided external environment's pressure compensation problem, when realizing the service function, overall structure is simple, and it is reliable to maintain convenient to use.
As shown in fig. 1, the arm assembly comprises a shoulder part 10, a big arm 20, a small arm 30 and a hand part 40 which are connected in turn in a rotating way, wherein the shoulder part 10 and the big arm 20, the big arm 20 and the small arm 30 and the hand part 40 are respectively installed in a rotating way and are respectively adjusted by a hydraulic cylinder 24 in a rotating way; each hydraulic cylinder 24 is driven by the corresponding hydraulic cylinder driving component 2 to work independently, and the multiple groups of hydraulic cylinder driving components 2 are driven by the same hydraulic power source 1 to work together, so that the integral structure is simplified, and one-to-many driving use is realized, namely, the hydraulic power source 1 provides pressure water for each hydraulic driving component to drive each hydraulic cylinder 24 to control the action of each joint of the mechanical arm.
In this embodiment, the hydraulic cylinder 24 may be combined with the shoulder 10 and its corresponding mounting base to implement the hydraulic shoulder swing motion.
In the embodiment, as shown in fig. 1, two hydraulic cylinders 24 are rotatably mounted on the upper back of the large arm 20, the end of the piston rod of one hydraulic cylinder 24 faces the shoulder 10 and is rotatably mounted, and the pitching motion of the large arm is realized through the action of the hydraulic cylinder 24, the end of the piston rod of the other hydraulic cylinder 24 faces the small arm 30, specifically, is rotatably mounted with a support 51 at the end of the small arm 30, and the pitching motion of the elbow 50 at the small arm 30 is realized through the action of the hydraulic cylinder 24; the arm 30 is also rotatably attached with a hydraulic cylinder 24, and a rod end of the hydraulic cylinder 24 is rotatably attached toward the hand 40, and the tilt operation of the wrist portion of the hand 40 is realized by the operation of the hydraulic cylinder 24.
A plurality of branch pipes 5 are arranged on a main pipe 4 output by the hydraulic power source 1 in a parallel and dispersed mode, and the single branch pipe 5 is communicated with the corresponding hydraulic cylinder driving assembly 2 to conduct hydrodynamic force transmission.
As shown in fig. 3, the hydraulic power source 1 has the structure: the water pump comprises a water pressure pump 12 for pumping water power, wherein the water pressure pump 12 is connected and driven by a motor 11 to work, a filter 13 is installed on a water pipe at the input end of the water pressure pump 12 in series, and a safety valve 14 is installed on a water pipe at the output end of the water pressure pump 12 in parallel.
The motor 11 is a fixed-speed motor, the hydraulic pump 12 is a constant delivery pump, the fixed-speed motor and the hydraulic pump are matched with each other and used as a power source of the whole hydraulic drive assembly, and the filter 13 selects a high-precision seawater filter to ensure the normal work of the whole hydraulic system.
In this embodiment, in the driving assembly of the hydraulic power source 1, the hydraulic pump 12 is a fixed displacement pump, the structure is simple and reliable, the hydraulic cylinder 24 is used as an executing element, the rotary hydraulic servo valve 22 is used as a control element, the pressure self-adaption and flow control performance is good, and the reliability of the valve control cylinder system is high.
The joint of the large arm 20 and the small arm 30 forms an elbow 50, the joint of the small arm 30 and the hand 40 forms a wrist, and the elbow 50 and the wrist respectively realize the self-rotation of the small arm 30 and the hand 40 through the rotary driving component 3.
The specific structure of the elbow 50 is: the rotating driving mechanism comprises a support 51 rotatably mounted at the end part of the large arm 20, the support 51 extends to form a rotating seat 52, a rotating driving component 3 is mounted in the rotating seat 52, the output end of the rotating driving component 3 is connected with the small arm 30, and the small arm 30 rotates by taking the axial direction of the small arm 30 as an axis through the work of the rotating driving component 3.
As shown in fig. 4, the structure of the rotary drive assembly 3 is: the underwater power supply comprises a direct current brushless motor 33, wherein the direct current brushless motor 33 is electrically connected with an external power supply, the direct current brushless motor 33 controls the rotation angle, the direct current brushless motor 33 is accommodated in an oil tank 31, and the oil tank 31 is positioned in an underwater environment; the water-cooled oil tank further comprises a pressure compensator 32, one end of the pressure compensator 32 is communicated with external water, the other end of the pressure compensator 32 is communicated with the oil tank 31, and the pressure compensator 32 is used for balancing the internal pressure and the external pressure of the oil tank 31.
In this embodiment, the dc brushless motor 33 of the elbow 50 is controlled to rotate via an external power source and a driver, so as to control the self-rotation angle of the small arm 30 at the elbow 50.
In the electrically driven rotary drive assembly 3 according to the present exemplary embodiment, a pressure compensation with respect to the environment is achieved by means of the pressure compensator 32, which can take the form of a static seal, ensuring a zero leakage of mineral oil in the oil tank 31.
In the electrically driven rotary drive assembly 3 of the present embodiment, the dc brushless motor 33 is used as a drive unit, which can match various control strategies and has reliable control performance.
The structure of the rotation driving assembly 3 at the wrist is the same as that at the elbow 50, and the self-rotation of the hand 40 at the wrist is driven by the electric drive through the operation of the dc brushless motor 33.
By combining with a hydrodynamic driving assembly, the water-electricity hybrid driving mode can meet the high control precision of the mechanical arm and the feasibility of an efficient control strategy.
In the invention, the loads of the shoulder 10 swinging, the large arm 20 pitching, the elbow 50 pitching and the wrist pitching actions of the mechanical arm are large, the hydraulic driving mode can be adopted to improve the load capacity of the mechanical arm, and simultaneously the whole weight of the mechanical arm can be reduced; the rotation of the elbow 50 and the rotation of the wrist have smaller working load but have higher requirement on precision, and an electric driving mode is adopted; through the hybrid driving mode of water and electricity, on the one hand can avoid the defect that there is not ripe reliable water pressure motor on the existing market, on the other hand has effectively guaranteed the operation precision of the terminal instrument of arm.
According to the hydraulic self-rotation mechanical arm, high-load action between the arm assemblies is driven by hydrodynamic force through hydraulic pressure, and low-load rotation action of self-rotation of the arm assemblies is driven by electricity, so that respective advantages of water and electricity are combined, operation precision and feasibility of an efficient control strategy of the mechanical arm are effectively guaranteed, and overall load capacity of the mechanical arm is greatly improved.
The use method of the underwater operation mechanical arm driven by water and electricity in a hybrid mode comprises the following steps:
when the included angle between the adjacent arm assemblies needs to be adjusted, the hydraulic power source 1 works, the one-way valve 21 is closed and communicated, the hydraulic servo valve 22 adjusts the position to the left position or the right position, hydraulic power flows into one corresponding cavity of the hydraulic cylinder 24 through the hydraulic servo valve 22, water in the other cavity of the hydraulic cylinder 24 is forced to be discharged outwards through the hydraulic servo valve 22, and the hydraulic change of the two cavities promotes the piston rod of the hydraulic cylinder 24 to act, so that the included angle between the adjacent arm assemblies is driven to change;
if the included angle changes reversely, the hydraulic servo valve 22 is adjusted to be in a position, the water inlet and the water outlet of the two cavities in the hydraulic cylinder 24 are reversed, and the piston rod moves reversely.
Taking the tilting of the boom 20 between the shoulder 10 and the boom 20 as an example, when the hydraulic servo valve 22 is placed in the left position, the piston rod of the hydraulic cylinder 24 extends out, and the boom 20 of the mechanical arm is driven to swing in one direction relative to the shoulder 10; when the hydraulic servo valve 22 is placed at the right position, the piston rod of the hydraulic cylinder 24 retracts, and the mechanical arm big arm 20 is driven to swing in the other opposite direction relative to the shoulder 10; when the hydraulic servo valve 22 is placed in the neutral position, the hydraulic cylinder 24 has no pressure flow input, and the mechanical arm large arm 20 is ensured to swing to a fixed position relative to the shoulder 10 under the action of the hydraulic lock 23.
When the elbow 50 and the wrist need to rotate, the rotation is driven by the operation of the dc brushless motor 33 in the respective rotation driving assembly 3.
The invention effectively avoids the pollution problem caused by oil leakage in underwater operation in a water-electricity hybrid driving mode, is green and pollution-free, has high reliability and is particularly suitable for various underwater operation environments.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. A water and electricity hybrid driven underwater operation mechanical arm comprises more than two arm assemblies which are connected in sequence, wherein adjacent arm assemblies are rotatably mounted to adjust the included angle between the adjacent arm assemblies; the method is characterized in that: the hydraulic cylinders (24) are jointly installed between the adjacent arm assemblies, the cylinder bodies of the hydraulic cylinders (24) are installed on one of the arm assemblies, the piston rods of the hydraulic cylinders (24) are installed on the other arm assembly which is matched in a rotating mode, the hydraulic cylinders (24) are driven by the hydraulic cylinder driving assembly (2) to adjust the extending or retracting actions of the piston rods, and the hydraulic cylinder driving assembly (2) is provided with hydraulic power by the hydraulic power source (1);
the structure of the hydraulic cylinder driving component (2) is as follows: the hydraulic control system comprises a one-way valve (21), a pipeline at the input end of the one-way valve (21) is communicated to a hydraulic power source (1), a hydraulic servo valve (22) is installed on the pipeline at the output end of the one-way valve (21) in series, two parallel ports of the hydraulic servo valve (22) are communicated to two cavities of a hydraulic cylinder (24) respectively, and the action of a piston rod of the hydraulic cylinder (24) is promoted through the change of the water pressure in the two cavities.
2. A water and electricity hybrid-driven underwater operation mechanical arm as claimed in claim 1, wherein: hydraulic locks (23) are respectively installed in series on two pipelines between the hydraulic servo valve (22) and the hydraulic cylinder (24); the hydraulic servo valve (22) is a three-position four-way valve and comprises a left position, a middle position and a right position, two parallel ports of four ports of the hydraulic servo valve (22) are respectively communicated with two cavities of the hydraulic cylinder (24), and the other two parallel ports are respectively communicated with the one-way valve (21) and external seawater.
3. The underwater operation mechanical arm driven by water and electricity in a hybrid mode as claimed in claim 1, wherein: the arm assembly comprises a shoulder part (10), a large arm (20), a small arm (30) and a hand part (40) which are connected in a rotating mode in sequence, and the shoulder part (10) and the large arm (20), the large arm (20) and the small arm (30) and the hand part (40) are respectively installed in a rotating mode and are respectively adjusted in a rotating mode through a hydraulic cylinder (24); each hydraulic cylinder (24) is driven by a corresponding hydraulic cylinder driving component (2) to work independently, and the multiple groups of hydraulic cylinder driving components (2) are driven by the same hydraulic power source (1) to work together.
4. A water and electricity hybrid driven underwater operation mechanical arm as claimed in claim 3, wherein: a plurality of branch pipes (5) are dispersedly communicated with a main pipe (4) output by the hydraulic pressure power source (1) in parallel, and the single branch pipe (5) is communicated with the corresponding hydraulic cylinder driving assembly (2) to transmit hydrodynamic force.
5. A hydroelectric hybrid driven underwater mechanical arm as claimed in claim 1 or 4 in which: the hydraulic power source (1) is structurally characterized in that: the water pump comprises a water pressure pump (12) with pumping water power, wherein the water pressure pump (12) is connected with a motor (11) to drive the water pump to work, a filter (13) is installed on a water pipe at the input end of the water pressure pump (12) in series, and a safety valve (14) is installed on the water pipe at the output end of the water pressure pump (12) in parallel.
6. A water and electricity hybrid driven underwater operation mechanical arm as claimed in claim 5, wherein: the motor (11) is a constant rotating speed motor, and the hydraulic pump (12) is a constant displacement pump.
7. A water and electricity hybrid driven underwater operation mechanical arm as claimed in claim 3, wherein: the joint of the large arm (20) and the small arm (30) forms an elbow (50), the joint of the small arm (30) and the hand (40) forms a wrist, and the elbow (50) and the wrist respectively realize the self-rotation of the small arm (30) and the hand (40) through the rotation driving component (3).
8. The underwater operation mechanical arm driven by water and electricity in a hybrid way as claimed in claim 7, characterized in that: the elbow (50) has the specific structure that: including rotating support (51) of installation with big arm (20) tip, support (51) extend and form and rotate seat (52), rotate and install rotation driving subassembly (3) in seat (52), the output and the forearm (30) of rotation driving subassembly (3) link up, make forearm (30) use self axial to rotate as the axis through the work of rotation driving subassembly (3).
9. A hydro-electric hybrid driven underwater work manipulator as claimed in claim 7 or 8 in which: the structure of the rotary driving component (3) is as follows: the direct-current brushless motor (33) is electrically connected with an external power supply, the rotation angle is controlled by the direct-current brushless motor (33), and the direct-current brushless motor (33) is accommodated in the oil tank (31); the water-cooled water heater also comprises a pressure compensator (32), one end of the pressure compensator (32) is communicated with external water flow, the other end of the pressure compensator (32) is communicated with the oil tank (31), and the pressure compensator (32) is used for balancing the internal pressure and the external pressure of the oil tank (31).
10. The use method of the underwater operation mechanical arm driven by the water and electricity in a hybrid mode as claimed in claim 1 is characterized in that: the method comprises the following steps:
when the included angle between the adjacent arm components needs to be adjusted, the hydraulic power source (1) works, the one-way valve (21) is communicated in a closed mode, the hydraulic servo valve (22) adjusts the position to the left position or the right position, hydraulic power flows into one corresponding cavity of the hydraulic cylinder (24) through the hydraulic servo valve (22), water in the other cavity of the hydraulic cylinder (24) is stressed and discharged outwards through the hydraulic servo valve (22), and the piston rod of the hydraulic cylinder (24) is driven to move by the change of the water pressure of the two cavities, so that the included angle between the adjacent arm components is driven to change;
if the included angle is changed reversely, the position of the hydraulic servo valve (22) is adjusted, the water inlet and outlet of the two cavities in the hydraulic cylinder (24) are reversed, and the piston rod moves reversely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211499620.5A CN115781649A (en) | 2022-11-28 | 2022-11-28 | Water-electricity hybrid driven underwater operation mechanical arm and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211499620.5A CN115781649A (en) | 2022-11-28 | 2022-11-28 | Water-electricity hybrid driven underwater operation mechanical arm and using method thereof |
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| CN115781649A true CN115781649A (en) | 2023-03-14 |
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| CN202211499620.5A Pending CN115781649A (en) | 2022-11-28 | 2022-11-28 | Water-electricity hybrid driven underwater operation mechanical arm and using method thereof |
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| CN (1) | CN115781649A (en) |
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2022
- 2022-11-28 CN CN202211499620.5A patent/CN115781649A/en active Pending
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