Manipulating devices for underwater operations
The manipulating devices are designed for equipment of deep-submergence vehicles, manned and unmanned ones; the devices provide hoisting, transporting and assembling works under water.
The manipulating device consists of the actuating mechanism-manipulator, the control device, the control desk and tools.
The manipulating device is supplied as:
- one manipulator of right or left version, with the control device and the control desk;
- two manipulators of right and left version, with the control devices and the control desk.
The manipulator can be provided with additional degree of freedom which extends a working area. The control device is made in the form of a handle or a replica master. Tools are housed in magazines. The manipulator is actuated by the throttle-controlled electrohydraulic servo drive. The manipulator construction is relieved of underwater hydrostatic pressure. Tools are operated by the drive arbor of the manipulator gripper.
Basic technical data | |||
---|---|---|---|
Parameter | Standard range | ||
Mod. 1 | Mod. 2 | Mod. 3 | |
Gripping force, kgf | 150 | ||
Gripping speed, m/s | 0,2 | 0,1 | |
Pressure of working fluid, kg/cm² | 10 (100) | ||
Consumption of working fluid, l/min | 20 | 15 | 10 |
Power supply of control device, W: | |||
- d.c., 27V | 70 | 100 | 100 |
- a.c., 220 V | 520 | - | - |
Number of manipulators, pcs | 2 | 1 | |
Degrees of freedom | 8 | 7 | |
Type of control device | Master replica | Handle | |
Changeable tools number, pcs | 6 | 2 | 5 |
Mass, kg: | |||
- total | 690 | 357 | 210 |
- manipulator | 205 | 160 | 148 |
- control device | 15 | 4 | 4 |
- control desk | - | 10 | |
- control unit | 60 | - | |
- tools | 130 | 9 | 48 |