CN202934574U - Underwater hydraulic mechanical arm short type wrist turning clamp driving structure - Google Patents

Abstract

The utility model belongs to the field of robot engineering, in particular to a short-type wrist-rotating clamp driving structure of an underwater hydraulic manipulator, which can be applied to ocean development or underwater operations, and includes a joint shell, a wrist-rotating joint end cover, and a cycloidal motor Components, pipe joints, sensor components, clamp piston cylinders, piston rods, fixed end caps with rotating sleeves, end caps for wrist swivel joints at one end, cycloidal motor components, and sections A and B of joint housings are connected by sealing bolts, and the other end is fixed with rotating sleeves The end cover, the clamp piston cylinder, the piston rod and the joint housing are connected, and the reciprocating movement of the piston rod drives the opening and closing of the clamp. The hydraulic oil is transmitted to the gerotor motor assembly and the linear cylinder through the pipe joint and the internal oil outlet hole to realize the rotary drive of the joint and the reciprocating linear motion of the piston rod; the joint is equipped with a built-in full-sea depth contact angle sensor to meet the needs of deep-sea operations. The utility model has the advantages of compact structure, convenient disassembly, complete functions, low failure rate, and operation in full sea depth.

Description

Drive Structure of Short Wrist Rotary Gripper for Underwater Hydraulic Manipulator

technical field

The utility model belongs to the field of robot engineering, in particular to a short-type wrist-rotating clamp driving structure of an underwater hydraulic manipulator, which can be applied to ocean development or underwater operations.

Background technique

At present, in the field of offshore oil and gas exploration and development, most underwater operations have the characteristics of high pressure and heavy load, and hydraulic drive has the advantages of strong load capacity, high load/self-weight ratio, and full-sea deep operation can be realized through pressure compensators; therefore, Hydraulically driven underwater manipulators have broad application prospects.

Due to the particularity of the operating environment, the underwater hydraulic manipulator is very different from the application on land. The underwater hydraulic manipulator is required to have high pressure resistance, corrosion resistance, compact structure, and reliable sealing. It has become an urgent problem to develop an underwater hydraulic manipulator with stable performance and compact structure.

Utility model content

The purpose of the utility model is to provide an underwater hydraulic manipulator with a short-type wrist-turning clamp drive structure that meets the requirements of the underwater hydraulic manipulator.

The purpose of this utility model is achieved through the following technical solutions:

The utility model comprises a wrist-rotating joint end cover, a joint housing section A, a joint housing section B, a clamp piston cylinder, a rotary sleeve fixed end cover, a piston rod, a cycloid motor assembly and a contact angle sensor, wherein the wrist-rotating joint end cover , section A of the joint shell, section B of the joint shell, and the fixed end cover of the rotating sleeve are connected in sequence, and a contact angle sensor is provided between the section A of the joint shell and the section B of the joint shell; the cycloidal motor assembly is accommodated in the wrist swivel joint In the cavity between the end cover and section A of the joint housing, the clamp piston cylinder is rotatably installed in section B of the joint housing. One end of the clamp piston cylinder is connected to the cycloid motor assembly, and the other end is connected to the axial direction of the clamp piston cylinder. The limited rotating sleeve fixes the end cover; one end of the piston rod is sealed and connected to the inside of the clamp piston cylinder, and the other end is connected to the clamp base; a plurality of straight pipe joints are installed on the wrist joint end cover, wherein One straight pipe joint is connected with the wrist swivel joint end cover and the wiring hole of the contact angle sensor opened on section A of the joint housing, and the remaining straight pipe joints are respectively connected with the wrist swivel joint end cover, section A of the joint housing and section B of the joint housing The oil drain holes opened inside are connected.

Wherein: the cycloidal motor assembly includes a cycloidal motor chassis, a cycloidal motor cycloidal cylinder and a cycloidal motor oil distribution plate, wherein the two end faces of the cycloidal motor cycloidal cylinder are respectively matched with the cycloidal motor chassis and the cycloidal motor The oil pan abuts, and one end of the clamp piston cylinder is connected to the cycloid motor cycloid cylinder through a spline, and is driven to rotate by the cycloid motor cycloid cylinder; the spline, cycloid motor cycloid cylinder, clamp piston The cylinder and the piston rod form the rotating part of the joint; the wrist swivel joint end cover, section A of the joint housing, cycloidal motor assembly and section B of the joint housing are connected by sealing screws, and section B of the joint housing and the fixed end cover of the rotary sleeve are fixed by screws. connected together to form the static part of the joint; one end of the clamp piston cylinder has a spline groove, and the other end is a linear cylinder body, and there is a gap between the end of the clamp piston cylinder with a spline groove and the A section of the joint shell A needle roller bearing is installed, a tapered roller bearing is installed between the clamp piston cylinder and the B section of the joint housing, and a tapered roller bearing is installed between the other end of the linear cylinder body of the clamp piston cylinder and the fixed end cover of the rotary sleeve. Thrust bearing; the contact angle sensor includes a sensor substrate and a sensor brush, wherein the sensor substrate is fixed on section A of the joint shell, and the sensor brush is fixed on the clamp piston cylinder and rotates with the clamp piston cylinder; The end cover of the wrist joint joint and the section A of the joint housing are respectively provided with connected wiring holes, and the lead wires of the sensor brushes are drawn out through the wiring holes on the section A of the joint housing and the joint end cover of the wrist joint; There is one line routing hole and four oil routing holes on the joint end cover, and one routing hole, four oil routing holes and oil distribution grooves corresponding to two of the oil routing holes are opened on the section A of the joint shell. The one-way wiring hole and the four-way oil hole on the section A of the shell are respectively connected with the one-way wiring hole and the four-way oil hole on the end cover of the wrist swivel joint; hole and the oil distribution groove corresponding to the two-way oil hole, the two-way oil hole on the B section of the joint shell communicates with the two-way oil hole on the A section of the joint shell; There are five straight pipe joints, which are the first straight pipe joint, the second straight pipe joint, the third straight pipe joint, the fourth straight pipe joint and the fifth straight pipe joint, and the fifth straight pipe joint is connected with the wrist swivel joint end The cover is connected with the wiring hole on section A of the joint shell, and the first straight pipe joint and the second straight pipe joint are respectively connected with the first oil hole and the second oil hole on the end cover of the wrist swivel joint and the A section of the joint shell connected to each other to supply oil to the cycloid cylinder of the cycloid motor and realize the forward or reverse rotation of the cycloid cylinder of the cycloid motor; Section A of the shell is connected with the third oil hole and the fourth oil hole on the section B of the joint shell to provide power for the expansion and contraction of the piston rod and the base of the clamp to realize the opening and closing of the clamp; the wrist joint Between the end cover and the section A of the joint housing, between the end cover of the wrist rotation joint and the cycloidal motor assembly, between the section A of the joint housing and the section B of the joint housing, and between the section B of the joint housing and the fixed end cover of the rotary sleeve, respectively through combination The static sealing ring is sealed and connected, between the clamp piston cylinder and the section A of the joint shell, between the clamp piston cylinder and the section B of the joint shell, and between the piston rod and the base of the clamp through rotating and combining sealing The sealing ring is sealed.

Advantage and positive effect of the present utility model are:

1. Stable performance: the utility model adopts the internal oil passage and wiring of the joint, which avoids the occurrence of failures such as pipeline bending and winding caused by external oil passage and wiring, and the joint is equipped with a full-sea deep contact angle sensor, which has a higher Reliability to meet the needs of deep sea operations.

2. Compact structure: the rotary drive in the utility model adopts hydraulic cycloid motor assembly, which can generate very high torque in a small space; the two ends of the clamp piston cylinder are respectively spline groove and linear cylinder The body occupies a small space and completes the rotary drive of the wrist and the opening and closing drive of the clamp; the internal oil shaft realizes the internal communication of the hydraulic pipeline, and the wiring hole can pass through multiple sensor data lines; the sensor is located at the joint Internally, these designs make the entire joint mechanism very compact.

3. Complete functions: the utility model can realize many functions, such as large torque drive, linear drive, hydraulic pipeline connection, internal connection of data lines, detection of joint position information, unified arrangement of hydraulic pipe joints, and pressure compensation.

4. Convenient debugging and maintenance: the joint shell in the utility model is divided into two sections A and B, and the fixed end cover of the rotary sleeve is fixedly connected with the joint shell B section to complete the axial positioning of the free end of the clamp piston cylinder, which is convenient for the joint. Commissioning and maintenance.

Description of drawings

Fig. 1 is the content structural representation of the utility model;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is a schematic diagram of internal oil flow of the utility model;

Fig. 4 is the left view of Fig. 3;

Among them: 1 is the end cover of the wrist joint, 2 is the chassis of the cycloid motor, 3 is the cycloid cylinder of the cycloid motor, 4 is the oil distribution plate of the cycloid motor, 5 is the sealing screw, 6 is the A section of the joint shell, and 7 is the joint Section B of the shell, 8 is the clamp piston cylinder, 9 is the fixed end cover of the rotary sleeve, 10 is the piston rod, 11 is the straight pipe joint, 601 is the first straight pipe joint, 602 is the second straight pipe joint, 701 is the third straight pipe joint Straight pipe joint, 702 is the fourth straight pipe joint, 1401 is the fifth straight pipe joint, 12 is the cycloidal motor assembly, 13 is the spline, 14 is the needle bearing, 15 is the contact angle sensor, 16 is the sensor substrate , 17 is the sensor brush, 18 is the combined static sealing ring, 19 is the rotating combined sealing ring, 20 is the tapered roller bearing, 21 is the thrust bearing, 22 is the clamp base, 23 is the first oil hole, 24 is the second Two oil holes, 25 are the third oil holes, 26 are the fourth oil holes, and 27 are wiring holes.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail.

As shown in Fig. 1 and Fig. 2, the utility model includes a wrist swivel joint end cap 1, a sealing screw 5, a section A of the joint shell 6, a section B of the joint shell 7, a clamp piston cylinder 8, a rotary sleeve fixed end cap 9, a piston Rod 10, straight pipe joint 11, cycloidal motor assembly 12, spline 13, and contact angle sensor 15, wherein the cycloidal motor assembly 12 is housed in the cavity between the end cover 1 of the wrist joint joint and the section A 6 of the joint housing , the end cover 1 of the wrist rotation joint is connected with the joint shell A section 6, the cycloid motor assembly 12, and one end of the joint shell B section 7 through the sealing screw 5, and the other end of the joint shell B section 7 is connected with the rotary sleeve fixed end cover 9 Fixed connection, between wrist swivel joint end cover 1 and joint casing A section 6, between wrist swivel joint end cover 1 and cycloidal motor assembly 12, between joint casing A section 6 and joint casing B section 7, and joint casing B The segment 7 is sealed and connected with the fixed end cap 9 of the rotary sleeve through combined static sealing rings 18 respectively.

The cycloidal motor assembly 12 includes a cycloidal motor chassis 2, a cycloidal motor cycloidal cylinder 3 and a cycloidal motor oil distribution plate 4, wherein the cycloidal motor cycloidal cylinder 3 is connected to one end of the spline 13, and the other end of the spline 13 It is connected with one end of the clamp piston cylinder 8 having a spline groove, and the clamp piston cylinder 8 is driven to rotate by the cycloid motor cycloid cylinder 3 . A contact angle sensor 15 is arranged between the joint shell A section 6 and the joint shell B section 7, and the contact angle sensor 15 includes a sensor substrate 16 and a sensor brush 17, wherein the sensor substrate 16 is fixed on the joint shell A section 6, the sensor brush 17 is fixed on the clamp piston cylinder 8.

One end of the clamp piston cylinder 8 with a spline groove is connected to the spline 13, and the other end of the clamp piston cylinder 8 is a linear cylinder body, which is installed in the joint shell B section 7 in rotation, and the fixed end cover 9 of the rotary sleeve is sleeved on the The end of the other end of the clamp piston cylinder 8 is fixedly connected with the joint casing B section 7 to limit the axial position of the clamp piston cylinder 8; one end of the piston rod 10 is sealed and connected to the inside of the clamp piston cylinder 8, and the other end Connected with the clamp base 22, the middle part of the clamp base 22 is inserted into the clamp piston cylinder 8, and is connected with the clamp piston cylinder 8; between the clamp piston cylinder 8 and the joint shell A section 6, the clamp piston cylinder 8 Between the joint housing section B 7 and between the piston rod 10 and the clamp base 22 are respectively sealed by a rotating combined sealing ring 19 . A needle roller bearing 14 is installed between the end of the clamp piston cylinder 8 with a spline groove and section A 6 of the joint housing, a tapered roller bearing 20 is installed between the clamp piston cylinder 8 and section B 7 of the joint housing, and the clamp piston A thrust bearing 21 is installed between the other end of the linear cylinder block of the cylinder 8 and the fixed end cover 9 of the rotary sleeve. The clamp piston cylinder 8 is sealed axially by the rotating combined sealing ring 19 and radially by the tapered roller bearing 20 and Rotary sleeve fixed end cap 9 limit.

As shown in Fig. 3 and Fig. 4, a plurality of straight pipe joints 11 are fixedly connected to the wrist swivel joint end cover 1, and one of the straight pipe joints is in contact with the contact angle provided on the wrist swivel joint end cover 1 and section A 6 of the joint housing. The wiring hole 27 of the sensor 15 is connected to each other, and the remaining straight pipe joints are connected to the oil drain holes provided inside the wrist swivel joint end cover 1, the joint housing section A 6 and the joint housing section B 7 respectively. Spline 13, cycloidal motor cycloidal cylinder 3, clamp piston cylinder 8 and piston rod 10 form the rotating part of the joint, wrist-rotating joint end cover 1, straight pipe joint 11, joint shell A section 6, joint shell B section 7 , the fixed end cover 9 of the rotary sleeve and the cycloidal motor assembly 12 constitute the static part of the joint.

Five straight pipe joints 11 are fixedly connected to the wrist swivel joint end cover 1 of this embodiment, namely the first straight pipe joint 601, the second straight pipe joint 602, the third straight pipe joint 701, and the fourth straight pipe joint 702. and the fifth straight pipe joint 1401; the wrist joint end cover 1 is provided with one line routing hole 27 and four oil routing holes (the first oil routing hole 23, the second oil routing hole 24, the third oil routing hole 25 and the The fourth oil hole 26), there is one line routing hole 27 and four oil holes (the first oil hole 23, the second oil hole 24, the third oil hole 25 and the Four oil outlet holes 26) and oil distribution grooves corresponding to two oil outlet holes (the first oil outlet hole 23, the second oil outlet hole 24), the wiring hole 27 on the section A 6 of the joint shell and the first The oil hole 23, the second oil hole 24, the third oil hole 25 and the fourth oil hole 26 are respectively connected with the wiring hole 27 on the wrist swivel joint end cover 1, the first oil hole 23, the second oil hole The oil hole 24, the third oil hole 25 and the fourth oil hole 26 are correspondingly connected respectively, and the lead wire of the sensor brush 17 is drawn out through the wiring hole 27 on the joint shell A segment 6 and the wrist joint end cover 1; the joint shell Section B 7 has two oil channels (the third oil channel 25 and the fourth oil channel 26 ) and oil distribution grooves corresponding to the two oil channels. The oil hole 25 and the fourth oil hole 26 communicate with the third oil hole 25 and the fourth oil hole 26 on the joint casing A section 6 and the wrist joint end cover 1 respectively; the two oil holes on the joint casing B section 7 Two oil distribution grooves are respectively located on the left and right sides of one end of the piston rod 10.

The fifth straight pipe joint 1401 communicates with the wrist swivel joint end cover 1 and the wiring hole 27 on the A section 6 of the joint housing, and the first straight pipe joint 601 and the second straight pipe joint 602 are respectively connected with the wrist swivel joint end cover 1 and The first oil hole 23 and the second oil hole 24 on the section A of the joint shell are connected to supply oil to the cycloid cylinder 3 of the cycloid motor and realize the forward rotation or reverse rotation of the cycloid cylinder 3 of the cycloid motor; the third The straight pipe joint 701 and the fourth straight pipe joint 702 communicate with the third oil hole 25 and the fourth oil hole 26 on the wrist swivel joint end cover 1, the joint shell section A 6 and the joint shell section B 7 respectively, for The expansion and contraction of the piston rod 10 and the clamp base 22 provide power to realize the opening and closing of the clamp.

The working principle of the utility model is:

The high-pressure oil passes through the first straight pipe joint 601 to the corresponding oil distribution tank through the first oil hole 23 on the end cover 1 of the wrist swivel joint and the first oil hole 23 on the A section 6 of the joint shell, and then passes through the cycloidal motor The oil distribution plate 4 distributes oil to the cycloid cylinder 3 of the cycloid motor, and drives the cycloid cylinder 3 of the cycloid motor to rotate; the low-pressure oil returns to the second through the oil distribution groove corresponding to the second straight pipe joint 602 and the second oil outlet 24 Straight fitting 602. When the hydraulic valve completes the reversing action, the high-pressure oil passes through the second straight pipe joint 602 through the second oil hole 24 on the end cover 1 of the wrist swivel joint and the second oil hole 24 on the A section 6 of the joint shell to reach the corresponding The oil distribution groove of the cycloid motor, and then distribute oil to the cycloid motor cycloid cylinder 3 through the oil distribution plate 4 of the cycloid motor, and drive the cycloid motor cycloid cylinder 3 to rotate in reverse; the low-pressure oil passes through the oil distribution groove corresponding to the first straight pipe joint 601 And the first oil hole 23 returns to the first straight pipe joint 601.

The high-pressure oil passes through the third straight pipe joint 701 in turn through the third oil hole 25 on the end cover 1 of the corresponding wrist swivel joint, the third oil hole 25 on the A section 6 of the joint shell, and the third oil hole 25 on the B section 7 of the joint shell. The three oil holes 25 and an oil distribution groove on the B section 7 of the joint casing reach the linear cylinder body of the clamp piston cylinder 8 to drive the linear motion of the piston rod 10; The oil groove and the fourth oil outlet 26 return to the fourth straight pipe joint 702 . When the hydraulic valve completes the reversing action, the high-pressure oil passes through the fourth straight pipe joint 702 through the fourth oil hole 26 on the corresponding wrist swivel joint end cover 1 and the fourth oil hole 26 on the A section 6 of the joint shell 1. The fourth oil hole 26 on the B section 7 of the joint casing and another oil distribution groove on the B section 7 of the joint casing reach the linear cylinder body of the clamp piston cylinder 8, and drive the reverse linear motion of the piston rod 10; The oil returns to the third straight pipe joint 701 through the oil distribution groove corresponding to the third straight pipe joint 701 and the third oil outlet hole 25 .

When the clamp piston cylinder 8 is driven to rotate by the cycloidal motor cycloidal cylinder 3, the sensor brush 17 and the sensor substrate 16 will produce relative rotation, and then collect the joint voltage signal, and the joint angle information can be obtained through calculation; the sensor brush 17 The connecting line of the joint is passed to the previous joint through the wiring hole 27 and the fifth straight pipe joint 1401.

To sum up, the utility model provides a driving structure of a short wrist-turning tong of an underwater hydraulic manipulator, which has many advantages such as compact structure, reliable performance, complete functions, and easy maintenance and debugging. The utility model adopts the internal oil passage and wiring of the joint, which avoids the occurrence of failures such as pipeline bending and winding caused by external oil passage and wiring, and the sensors are all placed inside the joint, which has higher reliability. The driver adopts a hydraulic orbital motor assembly, which can generate very high torque in a small space; the two ends of the clamp piston cylinder are respectively spline grooves and linear cylinder cylinders, which occupy a small space and are completed The rotation drive of the wrist and the opening and closing drive of the clamp are realized; the internal oil shaft realizes the internal communication of the hydraulic pipeline, and the wiring hole can pass through multiple sensor data lines; the sensor is located inside the joint, and these designs make the entire joint mechanism very compact. The joint can realize many functions, such as generating large torque drive, linear drive, hydraulic pipeline connection, internal communication of data line, detection of joint position information, unified layout of hydraulic pipe joints, and pressure compensation. The joint shell is divided into two sections, A and B, and the fixed end cover of the rotating sleeve is fixedly connected with the B section of the joint shell to complete the axial positioning of the clamp piston cylinder, which is convenient for joint debugging and maintenance.

Claims (10)

1. the short type wrist of underwater hydraulic manipulator turns the clamp drives structure, it is characterized in that: comprise wrist joint end cap (1), joint shell A section (6), joint shell B section (7), clamp piston cylinder (8), pivoted housing is end cap (9) fixedly, piston rod (10), gerotor motor assembly (12) and contact type angle sensor (15), wrist joint end cap (1) wherein, joint shell A section (6), joint shell B section (7) and pivoted housing fixedly end cap (9) connect successively, be provided with contact type angle sensor (15) between joint shell A section (6) and joint shell B section (7), described gerotor motor assembly (12) is placed in cavity between wrist joint end cap (1) and joint shell A section (6), clamp piston cylinder (8) is rotatably installed in joint shell B section (7), one end of clamp piston cylinder (8) is connected with gerotor motor assembly (12), and the other end is connected with the fixing end cap (9) of the pivoted housing of clamp piston cylinder (8) axial limiting, one end of described piston rod (10) is sealedly attached to the inside of clamp piston cylinder (8), and the other end is connected with clamp base (22), a plurality of straight connectors (11) are installed on described wrist joint end cap (1), the cable hole (27) of the contact type angle sensor (15) of offering on one of them straight connector and wrist joint end cap (1) and joint shell A section (6) is connected, and remaining straight connector is connected with the oilhole of walking that wrist joint end cap (1), joint shell A section (6) and joint shell B section (7) inside are offered respectively.

2. turn the clamp drives structure by the short type wrist of underwater hydraulic manipulator claimed in claim 1, it is characterized in that: described gerotor motor assembly (12) comprises gerotor motor chassis (2), gerotor motor cycloid cylinder (3) and gerotor motor oil distribution casing (4), wherein the two ends end face of gerotor motor cycloid cylinder (3) respectively with gerotor motor chassis (2) and gerotor motor oil distribution casing (4) butt, one end of described clamp piston cylinder (8) is connected with gerotor motor cycloid cylinder (3) by spline (13), drives by gerotor motor cycloid cylinder (3) and rotates.

3. turn the clamp drives structure by the short type wrist of underwater hydraulic manipulator claimed in claim 2, it is characterized in that: described spline (13), gerotor motor cycloid cylinder (3), clamp piston cylinder (8) and piston rod (10) form the rotating part in joint.

4. turn the clamp drives structure by the short type wrist of the described underwater hydraulic manipulator of claim 1 or 2, it is characterized in that: described wrist joint end cap (1), joint shell A section (6), gerotor motor assembly (12) and joint shell B section (7) are connected by sealing screw (5), fixedly end cap (9) is affixed by screw with pivoted housing for joint shell B section (7), has jointly formed the stationary part in joint.

5. turn the clamp drives structure by the short type wrist of underwater hydraulic manipulator claimed in claim 1, it is characterized in that: an end of described clamp piston cylinder (8) has spline, the other end is the linear cylinder cylinder body, clamp piston cylinder (8) has between an end of spline and described joint shell A section (6) needle bearing (14) is installed, between clamp piston cylinder (8) and described joint shell B section (7), taper roll bearing (20) is installed, the other end of the linear cylinder cylinder body of clamp piston cylinder (8) and described pivoted housing fixedly are equipped with thrust bearing (21) between end cap (9).

6. turn the clamp drives structure by the short type wrist of underwater hydraulic manipulator claimed in claim 1, it is characterized in that: described contact type angle sensor (15) comprises sensor substrate (16) and sensor brush (17), wherein sensor substrate (16) is fixed on joint shell A section (6), and sensor brush (17) is fixed on clamp piston cylinder (8) upward and rotates with clamp piston cylinder (8).

7. turn the clamp drives structure by the short type wrist of underwater hydraulic manipulator claimed in claim 6, it is characterized in that: have the cable hole (27) that is connected on described wrist joint end cap (1) and joint shell A section (6), the lead-in wire of sensor brush (17) is drawn by the cable hole (27) on joint shell A section (6) and wrist joint end cap (1).

8. turn the clamp drives structure by the short type wrist of underwater hydraulic manipulator claimed in claim 1, it is characterized in that: have one road cable hole (27) and four tunnel on described wrist joint end cap (1) and walk oilhole, have one road cable hole (27), four tunnel on joint shell A section (6) and walk oilhole and walk the corresponding distributing groove of oilhole with two-way wherein, the road cable hole (27) and four tunnel on this joint shell A section (6) walk oilhole respectively with wrist joint end cap (1) on road cable hole (27) and four tunnel walk the corresponding connection of oilhole; Have two-way on described joint shell B section (7) and walk oilhole and walk the corresponding distributing groove of oilhole with this two-way, the two-way on joint shell B section (7) is walked oilhole and is walked oilhole with the two-way on joint shell A section (6) and be communicated with.

9. turn the clamp drives structure by the short type wrist of underwater hydraulic manipulator claimed in claim 1, it is characterized in that: be connected with five straight connectors (11) on described wrist joint end cap (1), be respectively the first straight connector (601), the second straight connector (602), the 3rd straight connector (701), the 4th straight connector (702) and the 5th straight connector (1401), wherein the 5th straight connector (1401) is connected with cable hole (27) on wrist joint end cap (1) and joint shell A section (6), the first straight connector (601) and the second straight connector (602) respectively with wrist joint end cap (1) and joint shell A section (6) on first walk oilhole (23) and second and walk oilhole (24) and be connected, be described gerotor motor cycloid cylinder (3) fuel feeding, realize gerotor motor cycloid cylinder (3) forward or reverse, described the 3rd straight connector (701) and the 4th straight connector (702) respectively with wrist joint end cap (1), joint shell A section (6) and joint shell B section (7) on the 3rd walk oilhole (25) and the 4th and walk oilhole (26) and be connected, for the flexible power that provides of described piston rod (10) and clamp base (22), realize the opening and closing of clamp.

10. turn the clamp drives structure by the short type wrist of underwater hydraulic manipulator claimed in claim 1, it is characterized in that: between described wrist joint end cap (1) and joint shell A section (6), between wrist joint end cap (1) and gerotor motor assembly (12), reaching joint shell B section (7) and pivoted housing between joint shell A section (6) and joint shell B section (7) fixedly is tightly connected by making up static sealing ring (18) respectively between end cap (9), between described clamp piston cylinder (8) and joint shell A section (6), between clamp piston cylinder (8) and joint shell B section (7), seal by rotation combined seal ring (19) respectively between piston rod (10) and clamp base (22).

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