PURPOSE

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.

DESIGN

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.

Parameter

Manipulating devices

Mod. 1

Mod. 2

Mod. 3

Gripping force, kgf

150

150

150

Gripping speed, m/s

0.2

0.1

0.1

Pressure of working fluid, kg/cm2

100

100

100

Consumption of working fluid, l/min

20

15

10

Power supply of control device, W:

d.c., 27V

a.c., 220 V

70

520

100

-

100

-

Number of manipulators, pc.

2

2

1

Degrees of freedom

8

7

7

Type of control device

master replica

handle

Changeable tools number, pcs.

6

2

5

Mass, kg:

- total

- manipulator

- control device

- control desk

- control unit

- tools

690

205

15

-

50

130

357

160

4

18

-

9

210

148

4

10

-

48