CN112977766B - Novel modularization electrically-driven underwater mechanical arm and underwater robot - Google Patents
Novel modularization electrically-driven underwater mechanical arm and underwater robot Download PDFInfo
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- CN112977766B CN112977766B CN202110151301.4A CN202110151301A CN112977766B CN 112977766 B CN112977766 B CN 112977766B CN 202110151301 A CN202110151301 A CN 202110151301A CN 112977766 B CN112977766 B CN 112977766B
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- speed reducer
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- 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
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Abstract
A novel electrically driven underwater robot arm of modularization and underwater robot, the novel electrically driven underwater robot arm of modularization includes: the mechanical arm assembly is used for connecting the underwater robot; a holder assembly for connecting the manipulator assembly and the actuator; the holder assembly is coupled to the robotic arm assembly at a first end and to the actuator at a second end. The application provides a pair of novel electrically driven underwater mechanical arm of modularization and underwater robot has following beneficial effect: (1) by adopting the improved dynamic sealing structure, the underwater mechanical arm can resist higher water pressure, and the operating water depth is increased; (2) the maintenance difficulty of the underwater mechanical arm is reduced by adopting a modular structure; (3) the front end actuator can be replaced underwater, so that the underwater mechanical arm can meet the requirements of multiple working conditions.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a novel modular electrically-driven underwater mechanical arm and an underwater robot.
Background
In recent years, land resources are increasingly scarce, oceans contain abundant resources and energy, and the exploitation activity of oceans by human beings is gradually increased. The underwater mechanical arm plays an important role as main equipment for underwater mining operation, but the current underwater mechanical arm has many problems: the underwater operation depth of the mechanical arm in an electrically driven mode is generally 300-400 m, the high-water-depth operation requirement cannot be met, and the mechanical arm is mainly passively sealed due to the incomplete sealing structure, so that the water seepage phenomenon is easy to occur at the limit water depth; although the underwater mechanical arm driven by hydraulic pressure has large operation water depth, the hydraulic component with larger volume and the complex hydraulic pipeline are required to be arranged, so the energy consumption is large and the operation time is short.
The existing underwater mechanical arm mostly adopts an integrated structure, key components (such as a motor and a circuit board) are encapsulated by resin, and once the key components are sealed, the key components are difficult to disassemble, so that the maintenance difficulty is extremely high; the existing mechanical arm front end actuator has single function, and the front end actuator cannot be replaced underwater so as to meet the requirements of multiple working conditions.
Disclosure of Invention
In view of the above, the present invention provides a new modular electrically driven underwater robotic arm and underwater robot that overcomes or at least partially solves the above mentioned problems.
In order to solve the technical problem, the invention provides a novel modularized electrically-driven underwater mechanical arm, which comprises:
the mechanical arm assembly is used for connecting the underwater robot;
a holder assembly for connecting the manipulator assembly and the actuator; the holder assembly is coupled to the robotic arm assembly at a first end and to the actuator at a second end.
Preferably, the robot arm assembly comprises: the first joint driver, the second joint driver, the third joint driver, the fourth joint driver, the first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece, wherein the first end of the first joint driver is connected with the first end of the fixer assembly, the second end of the first joint driver is installed at the first end of the first connecting piece, the first end of the second joint driver is installed at the second end of the first connecting piece, the second end of the second joint driver is installed at the first end of the second connecting piece, the first end of the third joint driver is installed at the second end of the second connecting piece, the second end of the third joint driver is installed at the first end of the third connecting piece, and the first end of the fourth joint driver is installed at the second end of the third connecting piece, and the second end of the fourth joint driver is installed at the first end of the fourth connecting piece.
Preferably, the first joint driver includes: the first rotor end cover is arranged at the first end of the first shell, the first rotor end cover extends into the first rotor end cover, a first inner space is formed between the first end of the first shell and the first rotor end cover, the first end of the first shell extends towards the inside of the first rotor end cover to form a first protruding portion, the first bearing ring is sleeved on the first protruding portion, and tightly abuts against the inner wall of the first rotor end cover, the first piston press ring and the first pressure piston are arranged in the first outer space, a first installation part is arranged on the first convex part and is communicated with the first outer space and the first inner space, the first pressure piston is hermetically arranged in the first installation part, the first piston press ring is sleeved on the first installation part and tightly presses the first pressure piston, the first motor, the first fixing plate, the first primary speed reducer, the first primary planet carrier, the first secondary speed reducer, the first secondary planet carrier and the first bearing sleeve are all arranged in the first inner space, the first motor is arranged on the first fixing plate, the first primary speed reducer is arranged on the first primary planet carrier, and the first secondary speed reducer is arranged on the first secondary planet carrier, the output shaft of the first motor penetrates through the first fixing plate to be connected with the first primary speed reducer, the output shaft of the first primary planet carrier is connected with the first secondary speed reducer, the output shaft of the first secondary planet carrier penetrates through the first bulge to be connected with the first rotor end cover, the first bearing sleeve is arranged on the output shaft of the first secondary planet carrier and tightly abuts against the inner wall of the first shell, the first inner space is filled with non-conductive oil, a through hole is formed in the first rotor end cover, the first surface of the first pressure piston is in contact with the non-conductive oil, the second surface of the first pressure piston is in contact with the outside seawater through the first piston pressing ring and the through hole, the first O-shaped sealing ring is arranged on the first pressure piston in a sleeved mode and is in sealing connection with the inner wall of the first installation part, and the first steckel sealing ring is arranged on the output shaft of the first secondary planet carrier in a sleeved mode, and is connected with the inner wall of the first bulge in a sealing way.
Preferably, the second joint driver includes: a second housing, a second rotor end cover, a second rear end cover, a second bearing ring, a second piston press ring, a second pressure piston, a second motor, a second fixing plate, a second primary speed reducer, a second primary planet carrier, a second secondary speed reducer, a second secondary planet carrier, a second bearing sleeve, a second O-shaped seal ring and a second Stent seal ring, wherein the second rotor end cover is installed at the second end of the second housing, the second end of the second housing extends into the second rotor end cover to form a second outer space therebetween, the second rear end cover is installed at the second end of the second housing and extends into the second end of the second housing to form a second inner space therebetween, the second end of the second housing extends towards the inside of the second rotor end cover to form a second bulge, and the second bearing ring is sleeved on the second bulge, and tightly abuts against the inner wall of the second rotor end cover, the second piston press ring and the second pressure piston are arranged in the second outer space, a second installation part is arranged on the second convex part, the second installation part is communicated with the second outer space and the second inner space, the second pressure piston is arranged in the second installation part in a sealing way, the second piston press ring is sleeved on the second installation part and tightly presses the second pressure piston, the second motor, the second fixing plate, the second primary speed reducer, the second primary planet carrier, the second secondary speed reducer, the second secondary planet carrier and the second bearing sleeve are all arranged in the second inner space, the second motor is arranged on the second fixing plate, the second primary speed reducer is arranged on the second primary planet carrier, the second secondary speed reducer is arranged on the second secondary planet carrier, the output shaft of the second motor passes through the second fixing plate and is connected with the second one-level speed reducer, the output shaft of the second one-level planet carrier is connected with the second two-level speed reducer, the output shaft of the second two-level planet carrier passes through the second bulge and is connected with the second rotor end cover, the second bearing sleeve is sleeved on the output shaft of the second two-level planet carrier and is tightly propped against the inner wall of the second outer shell, the inside of the second inner space is filled with non-conductive oil, a through hole is arranged on the second rotor end cover, the second surface of the second pressure piston is contacted with the non-conductive oil, the second surface is contacted with the external seawater through the second piston press ring and the through hole, the second O-shaped sealing ring is sleeved on the second pressure piston and is hermetically connected with the inner wall of the second mounting part, and the second stett sealing ring is sleeved on the output shaft of the second two-level planet carrier, and is connected with the inner wall of the second bulge in a sealing way.
Preferably, the third joint driver includes: a third housing, a third rotor end cap, a third rear end cap, a third bearing ring, a third piston press ring, a third pressure piston, a third motor, a third fixing plate, a third primary speed reducer, a third primary planet carrier, a third secondary speed reducer, a third secondary planet carrier, a third bearing sleeve, a third O-ring and a third steckel seal ring, wherein the third rotor end cap is installed at the third end of the third housing, the third end of the third housing extends into the third rotor end cap to form a third outer space therebetween, the third rear end cap is installed at the third end of the third housing and extends into the third end of the third housing to form a third inner space therebetween, the third end of the third housing extends towards the inside of the third rotor end cap to form a third bulge, the third bearing ring is sleeved on the third bulge, and tightly abuts against the inner wall of the third rotor end cover, the third piston press ring and the third pressure piston are arranged in the third outer space, a third installation part is arranged on the third convex part and is communicated with the third outer space and the third inner space, the third pressure piston is arranged in the third installation part in a sealing way, the third piston press ring is sleeved on the third installation part and tightly presses the third pressure piston, the third motor, the third fixing plate, the third primary speed reducer, the third primary planet carrier, the third secondary speed reducer, the third secondary planet carrier and the third bearing sleeve are all arranged in the third inner space, the third motor is arranged on the third fixing plate, the third primary speed reducer is arranged on the third primary planet carrier, and the third secondary speed reducer is arranged on the third secondary planet carrier, the output shaft of the third motor passes through the third fixing plate and is connected with the third one-level speed reducer, the output shaft of the third one-level planet carrier is connected with the third two-level speed reducer, the output shaft of the third two-level planet carrier passes through the third bulge and is connected with the third rotor end cover, the third bearing sleeve is arranged on the output shaft of the third two-level planet carrier and is tightly propped against the inner wall of the third shell, the inside of the third inner space is filled with non-conductive oil, the third rotor end cover is provided with a through hole, the third surface of the third pressure piston is contacted with the non-conductive oil, the third surface is contacted with the external seawater through the third piston press ring and the through hole, the third O-shaped seal ring is arranged on the third pressure piston and is hermetically connected with the inner wall of the third installation part, and the third stet seal ring is arranged on the output shaft of the third two-level planet carrier, and is connected with the inner wall of the third bulge in a sealing way.
Preferably, the fourth joint driver includes: a fourth housing, a fourth rotor end cap, a fourth rear end cap, a fourth bearing ring, a fourth piston compression ring, a fourth pressure piston, a fourth motor, a fourth fixing plate, a fourth primary reducer, a fourth primary planet carrier, a fourth secondary reducer, a fourth secondary planet carrier, a fourth bearing sleeve, a fourth O-shaped sealing ring and a fourth ste seal sealing ring, wherein the fourth rotor end cap is installed at the fourth end of the fourth housing, the fourth end of the fourth housing extends into the fourth rotor end cap to form a fourth outer space therebetween, the fourth rear end cap is installed at the fourth end of the fourth housing and extends into the fourth end of the fourth housing to form a fourth inner space therebetween, the fourth end of the fourth housing extends towards the inside of the fourth rotor end cap to form a fourth protruding portion, and the fourth bearing ring is sleeved on the fourth protruding portion, and is abutted against the inner wall of the end cover of the fourth rotor, the fourth piston press ring and the fourth pressure piston are arranged in the fourth outer space, a fourth installation part is arranged on the fourth convex part, the fourth installation part is communicated with the fourth outer space and the fourth inner space, the fourth pressure piston is arranged in the fourth installation part in a sealing way, the fourth piston press ring is sleeved on the fourth installation part and compresses the fourth pressure piston, the fourth motor, the fourth fixing plate, the fourth primary speed reducer, the fourth primary planet carrier, the fourth secondary speed reducer, the fourth secondary planet carrier and the fourth bearing sleeve are all arranged in the fourth inner space, the fourth motor is arranged on the fourth fixing plate, the fourth primary speed reducer is arranged on the fourth primary planet carrier, the fourth secondary speed reducer is arranged on the fourth secondary planet carrier, the output shaft of the fourth motor passes through the fourth fixing plate and is connected with the fourth one-level reducer, the output shaft of the fourth one-level planet carrier is connected with the fourth two-level reducer, the output shaft of the fourth two-level planet carrier passes through the fourth bulge and is connected with the fourth rotor end cover, the fourth bearing sleeve is sleeved on the output shaft of the fourth two-level planet carrier and is tightly propped against the inner wall of the fourth outer shell, the inside of the fourth inner space is filled with non-conductive oil, the fourth rotor end cover is provided with a through hole, the fourth surface of the fourth pressure piston is contacted with the non-conductive oil and is contacted with the outside seawater through the fourth piston press ring and the through hole, the fourth O-shaped seal ring is sleeved on the fourth pressure piston and is connected with the inner wall of the fourth installation part in a sealing way, the fourth stett seal ring is sleeved on the output shaft of the fourth two-level planet carrier, and is connected with the inner wall of the fourth bulge in a sealing way.
Preferably, the first connecting member includes: first installation cavity and first fastening chamber, the second connecting piece includes: the second end of the first joint driver is installed in the first installation cavity, the first end of the second joint driver is installed in the first fastening cavity, the second end of the second joint driver is installed in the second installation cavity, and the first end of the third joint driver is installed in the second fastening cavity.
Preferably, the third connecting member includes: third installation cavity and third fastening chamber, the fourth connecting piece includes: the underwater robot comprises a fourth mounting cavity and a fourth fastening cavity, wherein the second end of the third joint driver is mounted in the third mounting cavity, the first end of the fourth joint driver is mounted in the third fastening cavity, the second end of the fourth joint driver is mounted in the fourth mounting cavity, and the fourth fastening cavity is connected with the underwater robot.
Preferably, the holder assembly comprises: the actuator comprises an actuator end cover, a fixed cylinder, a sliding ring, an articulated piece, a coupler, a rotating motor, a fixed cover, a motor rear end cover, a baffle, a screw rod, a screw nut, a connecting rod and a fixer end cover, wherein the motor rear end cover is arranged at the first end of the fixed cylinder, the fixer end cover is arranged at the second end of the fixed cylinder, the fixed cylinder is connected with the fixed cover, the second end of the fixed cylinder extends into the fixed cover, the sliding ring, the articulated piece, the coupler, the rotating motor, the baffle, the screw rod, the screw nut and the connecting rod are all arranged in the fixed cylinder, an output shaft of the rotating motor penetrates through the baffle to be connected with the coupler, the coupler is connected with the screw rod, the sliding ring is sleeved on the screw rod, the screw nut is arranged on the screw rod, the first end of the articulated piece is articulated with the inner wall of the fixed cylinder, and the second end of the articulated piece is articulated with the first end of the connecting rod, the second end of the connecting rod is hinged to the screw rod nut, a through groove is formed in the first end of the fixed cylinder, corresponding to the hinged piece, the actuator end cover is sleeved at the first end of the fixed cylinder, the rotating motor drives the screw rod to rotate, the screw rod drives the screw rod nut to move along the screw rod nut, the screw rod nut drives the connecting rod to move so that the hinged piece extends out of the through groove to lock the actuator end cover or retracts into the through groove to release the actuator end cover, and the fixed cover is connected with the first end of a first joint driver in the mechanical arm assembly.
The invention also provides an underwater robot which comprises the novel modular electrically-driven underwater mechanical arm.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages: the application provides a pair of novel electrically driven underwater mechanical arm of modularization and underwater robot has following beneficial effect:
(1) by adopting the improved dynamic sealing structure, the underwater mechanical arm can resist higher water pressure, and the operating water depth is increased;
(2) the maintenance difficulty of the underwater mechanical arm is reduced by adopting a modular structure;
(3) the front end actuator can be replaced underwater, so that the underwater mechanical arm can meet the requirements of multiple working conditions.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of a novel modular electrically-driven underwater mechanical arm provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a first joint driver in a novel modular electrically-driven underwater mechanical arm provided by an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a first joint driver in a novel modular electrically-driven underwater mechanical arm provided by an embodiment of the invention;
FIG. 4 is a partial structural schematic diagram of a first joint driver in a novel modular electrically-driven underwater mechanical arm provided by an embodiment of the invention;
FIG. 5 is a schematic structural diagram of a first connecting member in a novel modular electrically-driven underwater mechanical arm provided by an embodiment of the invention;
FIG. 6 is a schematic structural diagram of a retainer assembly in a novel modular electrically-driven underwater robotic arm provided by an embodiment of the invention;
FIG. 7 is a schematic diagram of a release state of a retainer assembly in the novel modular electrically-driven underwater robotic arm provided by the embodiment of the invention;
fig. 8 is a schematic diagram of a locking state of a retainer assembly in a novel modular electrically-driven underwater robotic arm provided by an embodiment of the invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments and examples, and the advantages and various effects of the present invention will be more clearly apparent therefrom. It will be understood by those skilled in the art that these specific embodiments and examples are for the purpose of illustrating the invention and are not to be construed as limiting the invention.
Throughout the specification, unless otherwise specifically noted, terms used herein should be understood as having meanings as commonly used in the art. Accordingly, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. If there is a conflict, the present specification will control.
Unless otherwise specifically stated, various raw materials, reagents, instruments, equipment and the like used in the present invention are commercially available or can be prepared by existing methods.
In the embodiments of the present application, as shown in fig. 1-8, the present invention provides a novel modular electrically-driven underwater robotic arm, comprising:
a robot arm assembly 100 for connecting an underwater robot;
a holder assembly 200 for connecting the robot arm assembly 100 and an actuator; the holder assembly 200 is coupled to the robot arm assembly 100 at a first end and to the actuator at a second end.
In the embodiment of the present application, the robot arm assembly 100 is connected to the main body of the underwater robot, and the holder assembly 200 is used to detachably mount the actuator, and is also connected to the robot arm assembly 100, so that different actuators can be selectively mounted and dismounted according to different functional requirements of the underwater robot.
As shown in fig. 1-8, in the present embodiment, the robot arm assembly 100 includes: a first joint driver 110, a second joint driver 120, a third joint driver 130, a fourth joint driver 140, a first connector 150, a second connector 160, a third connector 170, and a fourth connector 180, wherein a first end of the first joint driver 110 is connected to a first end of the fixator assembly 200 and a second end is mounted to a first end of the first connector 150, a first end of the second joint driver 120 is mounted to a second end of the first link 150 and a second end is mounted to a first end of the second link 160, a first end of the third joint driver 130 is mounted to a second end of the second link 160 and a second end is mounted to a first end of the third link 170, a first end of the fourth joint driver 140 is mounted to a second end of the third link 170 and a second end is mounted to a first end of the fourth link 180.
In the present embodiment, the robotic arm assembly 100 has a total of 4 degrees of freedom, which are achieved by the first joint driver 110, the second joint driver 120, the third joint driver 130, and the fourth joint driver 140, respectively.
As shown in fig. 1-8, in the present embodiment, the first joint driver 110 includes: a first housing 1101, a first rotor end cover 1102, a first rear end cover 1103, a first bearing ring 1104, a first piston press ring 1105, a first pressure piston 1106, a first motor 1107, a first fixing plate 1108, a first primary reducer 1109, a first primary planet carrier 1110, a first secondary reducer 1111, a first secondary planet carrier 1112, a first bearing sleeve 1113, a first O-ring 1114 and a first ste seal 1115, wherein the first rotor end cover 1102 is mounted at a first end of the first housing 1101, the first end of the first housing 1101 extends into the first rotor end cover 1102 to form a first outer space therebetween, the first rear end cover 1103 is mounted at a second end of the first housing 1101 and extends into the second end of the first housing 1101 to form a first inner space therebetween, the first end of the first housing 1116 extends toward the inside of the first rotor end cover to form a first protrusion 1102, the first bearing ring 1104 is sleeved on the first protruding portion 1116, and abuts against the inner wall of the first rotor end cover 1102, the first piston press ring 1105 and the first pressure piston 1106 are arranged in the first outer space, a first installation portion is arranged on the first protruding portion 1116, the first installation portion is communicated with the first outer space and the first inner space, the first pressure piston 1106 is arranged in the first installation portion in a sealing manner, the first piston press ring 1105 is sleeved on the first installation portion and compresses the first pressure piston 1106, the first motor 1107, the first fixing plate 1108, the first primary speed reducer 1109, the first primary planet carrier 1110, the first secondary speed reducer 1111, the first secondary planet carrier 1112 and the first bearing sleeve 1113 are arranged in the first installation portion, the first motor 1107 is arranged on the first fixing plate 1108, the first primary reducer 1109 is disposed on the first primary planet carrier 1110, the first secondary reducer 1111 is disposed on the first secondary planet carrier 1112, the output shaft of the first motor 1107 passes through the first fixing plate 1108 to be connected with the first primary reducer 1109, the output shaft of the first primary planet carrier 1110 is connected with the first secondary reducer 1111, the output shaft of the first secondary planet carrier 1112 passes through the first protrusion 1116 to be connected with the first rotor end cover 1102, the first bearing sleeve 1113 is sleeved on the output shaft of the first secondary planet carrier 1112 and abuts against the inner wall of the first housing 1101, the first inner space is filled with non-conductive oil, the first rotor end cover 1102 is provided with a first through hole 1117, a first surface of the first pressure piston 1106 is in contact with the non-conductive oil and a second surface is in contact with external seawater through the first piston clamping ring 1105 and the first through hole 1117, the first O-ring 1114 is disposed on the first pressure piston 1106 and is connected to the inner wall of the first mounting portion in a sealing manner, and the first steckel ring 1115 is disposed on the output shaft of the first secondary planet carrier 1112 and is connected to the inner wall of the first protrusion 1116 in a sealing manner.
In this embodiment, when first motor 1107 during operation, first motor 1107 drives first primary reduction gear 1109 and rotates, and first primary reduction gear 1109 drives first primary planet carrier 1110 and rotates, and first primary planet carrier 1110 drives first secondary reduction gear 1111 and rotates, and first secondary reduction gear 1111 drives first secondary planet carrier 1112 and rotates, and the output shaft of first secondary planet carrier 1112 drives first rotor end cover 1102 and rotates, and first rotor end cover 1102 drives the load and rotates. Non-conductive oil liquid is filled in the first outer space, external seawater acts on the first pressure piston 1106 through the first through hole 1117, three circumferential grooves are formed in the first pressure piston 1106, first O-shaped sealing rings 1114 are arranged in the circumferential grooves to prevent seawater from entering, the first pressure piston 1106 is simultaneously contacted with the non-conductive oil liquid to conduct seawater pressure to the internal oil liquid, the difference between the pressure inside and the pressure outside the first joint driver 110 is reduced, the pressure bearing capacity of the first joint driver 110 can be increased, and the working water depth of the underwater mechanical arm is increased.
In the embodiment of the present application, the second joint driver 120 includes: a second housing, a second rotor end cover, a second rear end cover, a second bearing ring, a second piston press ring, a second pressure piston, a second motor, a second fixing plate, a second primary speed reducer, a second primary planet carrier, a second secondary speed reducer, a second secondary planet carrier, a second bearing sleeve, a second O-shaped seal ring and a second Stent seal ring, wherein the second rotor end cover is installed at the second end of the second housing, the second end of the second housing extends into the second rotor end cover to form a second outer space therebetween, the second rear end cover is installed at the second end of the second housing and extends into the second end of the second housing to form a second inner space therebetween, the second end of the second housing extends towards the inside of the second rotor end cover to form a second bulge, and the second bearing ring is sleeved on the second bulge, and tightly abuts against the inner wall of the second rotor end cover, the second piston press ring and the second pressure piston are arranged in the second outer space, a second installation part is arranged on the second convex part, the second installation part is communicated with the second outer space and the second inner space, the second pressure piston is arranged in the second installation part in a sealing way, the second piston press ring is sleeved on the second installation part and tightly presses the second pressure piston, the second motor, the second fixing plate, the second primary speed reducer, the second primary planet carrier, the second secondary speed reducer, the second secondary planet carrier and the second bearing sleeve are all arranged in the second inner space, the second motor is arranged on the second fixing plate, the second primary speed reducer is arranged on the second primary planet carrier, the second secondary speed reducer is arranged on the second secondary planet carrier, the output shaft of the second motor passes through the second fixing plate to be connected with the second first-stage speed reducer, the output shaft of the second first-stage planet carrier is connected with the second-stage speed reducer, the output shaft of the second-stage planet carrier passes through the second bulge part to be connected with the second rotor end cover, the second bearing sleeve is sleeved on the output shaft of the second-stage planet carrier and tightly abuts against the inner wall of the second outer shell, the second inner space is filled with non-conductive oil, the second rotor end cover is provided with a second through hole, the second surface of the second pressure piston contacts with the non-conductive oil, the second surface of the second pressure piston contacts with the outside seawater through the second piston press ring and the second through hole, the second O-shaped sealing ring is sleeved on the second pressure piston and is hermetically connected with the inner wall of the second installation part, and the second steckel sealing ring is sleeved on the output shaft of the second-stage planet carrier, and is connected with the inner wall of the second bulge in a sealing way.
In the embodiment of the present application, the structure and the operation principle of the second joint driver 120 and the first joint driver 110 are the same, and are not described herein again.
In the embodiment of the present application, the third joint driver 130 includes: a third housing, a third rotor end cap, a third rear end cap, a third bearing ring, a third piston press ring, a third pressure piston, a third motor, a third fixing plate, a third primary reducer, a third primary planet carrier, a third secondary reducer, a third secondary planet carrier, a third bearing sleeve, a third O-ring and a third steckel seal ring, wherein the third rotor end cap is installed at the third end of the third housing, the third end of the third housing extends into the third rotor end cap to form a third outer space therebetween, the third rear end cap is installed at the third end of the third housing, extends into the third end of the third housing to form a third inner space therebetween, the third end of the third housing extends towards the inside of the third rotor end cap to form a third bulge, and the third bearing ring is sleeved on the third bulge, and tightly abuts against the inner wall of the third rotor end cover, the third piston press ring and the third pressure piston are arranged in the third outer space, a third installation part is arranged on the third convex part and is communicated with the third outer space and the third inner space, the third pressure piston is arranged in the third installation part in a sealing way, the third piston press ring is sleeved on the third installation part and tightly presses the third pressure piston, the third motor, the third fixing plate, the third primary speed reducer, the third primary planet carrier, the third secondary speed reducer, the third secondary planet carrier and the third bearing sleeve are all arranged in the third inner space, the third motor is arranged on the third fixing plate, the third primary speed reducer is arranged on the third primary planet carrier, and the third secondary speed reducer is arranged on the third secondary planet carrier, an output shaft of the third motor penetrates through the third fixing plate to be connected with the third primary speed reducer, an output shaft of the third primary planet carrier is connected with the third secondary speed reducer, an output shaft of the third secondary planet carrier penetrates through the third protruding part to be connected with the third rotor end cover, the third bearing sleeve is sleeved on the output shaft of the third secondary planet carrier and tightly abuts against the inner wall of the third shell, the inside of the third inner space is filled with non-conductive oil, a third through hole is formed in the third rotor end cover, a third surface of the third pressure piston is in contact with the non-conductive oil, the third surface of the third pressure piston is in contact with the outside seawater through the third piston pressing ring and the third through hole, the third O-shaped sealing ring is sleeved on the third pressure piston and is in sealing connection with the inner wall of the third installation part, and the third stett sealing ring is sleeved on the output shaft of the third secondary planet carrier, and is connected with the inner wall of the third bulge in a sealing way.
In the embodiment of the present application, the structure and the operation principle of the third joint driver 130 and the first joint driver 110 are the same, and are not described herein again.
In the embodiment of the present application, the fourth joint driver 140 includes: a fourth housing, a fourth rotor end cap, a fourth rear end cap, a fourth bearing ring, a fourth piston compression ring, a fourth pressure piston, a fourth motor, a fourth fixing plate, a fourth primary reducer, a fourth primary planet carrier, a fourth secondary reducer, a fourth secondary planet carrier, a fourth bearing sleeve, a fourth O-shaped sealing ring and a fourth ste seal sealing ring, wherein the fourth rotor end cap is installed at the fourth end of the fourth housing, the fourth end of the fourth housing extends into the fourth rotor end cap to form a fourth outer space therebetween, the fourth rear end cap is installed at the fourth end of the fourth housing and extends into the fourth end of the fourth housing to form a fourth inner space therebetween, the fourth end of the fourth housing extends towards the inside of the fourth rotor end cap to form a fourth protruding portion, and the fourth bearing ring is sleeved on the fourth protruding portion, and is abutted against the inner wall of the end cover of the fourth rotor, the fourth piston press ring and the fourth pressure piston are arranged in the fourth outer space, a fourth installation part is arranged on the fourth convex part, the fourth installation part is communicated with the fourth outer space and the fourth inner space, the fourth pressure piston is arranged in the fourth installation part in a sealing way, the fourth piston press ring is sleeved on the fourth installation part and compresses the fourth pressure piston, the fourth motor, the fourth fixing plate, the fourth primary speed reducer, the fourth primary planet carrier, the fourth secondary speed reducer, the fourth secondary planet carrier and the fourth bearing sleeve are all arranged in the fourth inner space, the fourth motor is arranged on the fourth fixing plate, the fourth primary speed reducer is arranged on the fourth primary planet carrier, the fourth secondary speed reducer is arranged on the fourth secondary planet carrier, an output shaft of the fourth motor penetrates through the fourth fixing plate to be connected with the fourth one-level speed reducer, an output shaft of the fourth one-level planet carrier is connected with the fourth two-level speed reducer, an output shaft of the fourth two-level planet carrier penetrates through the fourth bulge to be connected with the fourth rotor end cover, a fourth bearing sleeve is arranged on the output shaft of the fourth two-level planet carrier and tightly supported with the inner wall of the fourth outer shell, the fourth inner space is filled with non-conductive oil, a fourth through hole is formed in the fourth rotor end cover, a fourth surface of the fourth pressure piston is in contact with the non-conductive oil, a fourth surface of the fourth pressure piston is in contact with external seawater through the fourth piston press ring and the fourth through hole, a fourth O-shaped sealing ring is arranged on the fourth pressure piston in a sleeved mode and is in sealing connection with the inner wall of the fourth rotor end cover, and the fourth stet sealing ring is arranged on the output shaft of the fourth two-level planet carrier, and is connected with the inner wall of the fourth bulge in a sealing way.
In the embodiment of the present application, the structure and the operation principle of the fourth joint driver 140 and the first joint driver 110 are the same, and are not described herein again.
As shown in fig. 5, in the embodiment of the present application, the first connecting member 150 includes: a first mounting cavity 151 and a first fastening cavity 152, and the second link 160 includes: a second mounting cavity and a second fastening cavity, wherein the second end of the first joint driver 110 is mounted in the first mounting cavity 151, the first end of the second joint driver 120 is mounted in the first fastening cavity 152, the second end of the second joint driver 120 is mounted in the second mounting cavity, and the first end of the third joint driver 130 is mounted in the second fastening cavity.
In the embodiment of the present application, the third connector 170 includes: a third mounting cavity and a third fastening cavity, and the fourth connection member 180 includes: a fourth mounting cavity and a fourth fastening cavity, wherein the second end of the third joint driver 130 is mounted in the third mounting cavity, the first end of the fourth joint driver 140 is mounted in the third fastening cavity, the second end of the fourth joint driver 140 is mounted in the fourth mounting cavity, and the fourth fastening cavity is connected with the underwater robot.
In the present embodiment, the first mounting cavity 151 and the first fastening cavity 152 are disposed at an angle therebetween for mounting the first joint driver 110 and the second joint driver 120. The structures and operating principles of the second, third and fourth connectors 160, 170 and 180 are similar to those of the first connector 150, and thus are not described in detail herein.
As shown in fig. 6-8, in the present embodiment, the holder assembly 200 includes: the actuator comprises an actuator end cover 201, a fixed cylinder 202, a sliding ring 203, a hinge 204, a coupler 205, a rotating motor 206, a fixed cover 207, a motor rear end cover 208, a baffle 209, a screw rod 210, a screw nut 211, a connecting rod 212 and a fixer end cover 213, wherein the motor rear end cover 208 is arranged at a first end of the fixed cylinder 202, the fixer end cover 213 is arranged at a second end of the fixed cylinder 202, the fixed cylinder 202 is connected with the fixed cover 207, the second end of the fixed cylinder extends into the fixed cover 207, the sliding ring 203, the hinge 204, the coupler 205, the rotating motor 206, the baffle 209, the screw rod 210, the screw nut 211 and the connecting rod 212 are all arranged inside the fixed cylinder 202, an output shaft of the rotating motor 206 passes through the baffle 209 to be connected with the coupler 205, and the coupler 205 is connected with the screw rod 210, the sliding ring 203 is sleeved on the screw rod 210, the screw rod nut 211 is arranged on the screw rod 210, a first end of the hinge member 204 is hinged to the inner wall of the fixed cylinder 202 and a second end is hinged to a first end of the connecting rod 212, the second end of the connecting rod 212 is hinged with the lead screw nut 211, a through slot 214 is arranged on the first end of the fixed cylinder 202 corresponding to the hinged piece 204, the actuator end cap 201 is sleeved at the first end of the fixed cylinder 202, the rotating motor 206 drives the screw rod 210 to rotate, the lead screw 210 drives the lead screw nut 211 to move along the lead screw nut 211, the lead screw nut 211 drives the connecting rod 212 to move so that the hinge element 204 extends out of the through groove 214 to lock the actuator end cover 201 or retracts into the through groove 214 to release the actuator end cover 201, the stationary cover 207 is coupled to a first end of the first joint driver 110 in the robot arm assembly 100.
In the embodiment of the present application, the fixture assembly 200 is used for implementing an autonomous replacement of an actuator at the front end of the robot arm assembly 100, wherein an actuator end cover 201 is connected to the actuator, a fixing cover 207 is connected to the robot arm assembly 100, a lead screw 210 is connected to a rotating motor 206 through a coupling 205, the rotating motor 206 drives the lead screw 210 to rotate, a lead screw nut 211 makes a linear motion on the lead screw 210, a connecting rod 212 drives a hinge element 204 hinged to a fixing cylinder 202 to swing within a certain angle range, a closed state of the hinge element 204 is shown in fig. 7, at this time, the lead screw nut 211 reaches a maximum stroke, and the fixture assembly 200 releases the actuator at the front end; the open position of the hinge 204 is shown in fig. 8, where the anchor assembly 200 locks the front end effector to the robot arm assembly 100.
The application provides a pair of novel electrically driven underwater mechanical arm of modularization and underwater robot has following beneficial effect:
(1) by adopting the improved dynamic sealing structure, the underwater mechanical arm can resist higher water pressure, and the operating water depth is increased;
(2) the maintenance difficulty of the underwater mechanical arm is reduced by adopting a modular structure;
(3) the front end actuator can be replaced underwater, so that the underwater mechanical arm can meet the requirements of multiple working conditions.
It is noted that, in this document, 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In short, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A modular electrically-driven underwater mechanical arm is characterized in that,
the method comprises the following steps:
the mechanical arm assembly is used for connecting the underwater robot;
a holder assembly for connecting the manipulator assembly and the actuator; the holder assembly having a first end coupled to the robotic arm assembly and a second end coupled to the actuator;
the robot arm assembly includes: the first joint driver, the second joint driver, the third joint driver, the fourth joint driver, the first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece, wherein the first end of the first joint driver is connected with the first end of the fixer assembly, the second end of the first joint driver is installed at the first end of the first connecting piece, the first end of the second joint driver is installed at the second end of the first connecting piece, the second end of the second joint driver is installed at the first end of the second connecting piece, the first end of the third joint driver is installed at the second end of the second connecting piece, the second end of the third joint driver is installed at the first end of the third connecting piece, and the first end of the fourth joint driver is installed at the second end of the third connecting piece, and the second end of the fourth joint driver is installed at the first end of the fourth connecting piece;
the first joint driver includes: the first pressure piston is arranged on the first pressure piston, the first motor, the first fixing plate, the first primary speed reducer, the first primary planet carrier, the first secondary speed reducer, the first secondary planet carrier, the first bearing sleeve, the first O-shaped sealing ring and the first steckel sealing ring are arranged on the first end of the first shell, the first end of the first shell extends into the first rotor end cover to form a first outer space between the first end cover and the first bearing sleeve, the first rear end cover is arranged on the second end of the first shell and extends into the second end of the first shell to form a first inner space between the first end cover and the second end of the first shell, the first end of the first shell extends towards the inside of the first rotor end cover to form a first protruding part, and the first bearing sleeve is arranged on the first protruding part, and tightly abuts against the inner wall of the first rotor end cover, the first piston press ring and the first pressure piston are arranged in the first outer space, a first installation part is arranged on the first convex part and is communicated with the first outer space and the first inner space, the first pressure piston is hermetically arranged in the first installation part, the first piston press ring is sleeved on the first installation part and tightly presses the first pressure piston, the first motor, the first fixing plate, the first primary speed reducer, the first primary planet carrier, the first secondary speed reducer, the first secondary planet carrier and the first bearing sleeve are all arranged in the first inner space, the first motor is arranged on the first fixing plate, the first primary speed reducer is arranged on the first primary planet carrier, and the first secondary speed reducer is arranged on the first secondary planet carrier, the output shaft of the first motor penetrates through the first fixing plate to be connected with the first primary speed reducer, the output shaft of the first primary planet carrier is connected with the first secondary speed reducer, the output shaft of the first secondary planet carrier penetrates through the first bulge to be connected with the first rotor end cover, the first bearing sleeve is arranged on the output shaft of the first secondary planet carrier and tightly abuts against the inner wall of the first shell, the first inner space is filled with non-conductive oil, a through hole is formed in the first rotor end cover, the first surface of the first pressure piston is in contact with the non-conductive oil, the second surface of the first pressure piston is in contact with the outside seawater through the first piston pressing ring and the through hole, the first O-shaped sealing ring is arranged on the first pressure piston in a sleeved mode and is in sealing connection with the inner wall of the first installation part, and the first steckel sealing ring is arranged on the output shaft of the first secondary planet carrier in a sleeved mode, and is connected with the inner wall of the first bulge in a sealing way.
2. The modular electrically driven underwater robotic arm of claim 1 wherein said second joint driver comprises: a second housing, a second rotor end cap, a second rear end cap, a second bearing ring, a second piston press ring, a second pressure piston, a second motor, a second fixing plate, a second primary speed reducer, a second primary planet carrier, a second secondary speed reducer, a second secondary planet carrier, a second bearing sleeve, a second O-ring and a second steckel seal ring, wherein the second rotor end cap is installed at the second end of the second housing, the second end of the second housing extends into the second rotor end cap to form a second outer space therebetween, the second rear end cap is installed at the second end of the second housing and extends into the second end of the second housing to form a second inner space therebetween, the second end of the second housing extends towards the inside of the second rotor end cap to form a second bulge, the second bearing ring is sleeved on the second bulge, and tightly abuts against the inner wall of the second rotor end cover, the second piston press ring and the second pressure piston are arranged in the second outer space, a second installation part is arranged on the second convex part, the second installation part is communicated with the second outer space and the second inner space, the second pressure piston is arranged in the second installation part in a sealing way, the second piston press ring is sleeved on the second installation part and tightly presses the second pressure piston, the second motor, the second fixing plate, the second primary speed reducer, the second primary planet carrier, the second secondary speed reducer, the second secondary planet carrier and the second bearing sleeve are all arranged in the second inner space, the second motor is arranged on the second fixing plate, the second primary speed reducer is arranged on the second primary planet carrier, the second secondary speed reducer is arranged on the second secondary planet carrier, the output shaft of the second motor passes through the second fixing plate and is connected with the second one-level speed reducer, the output shaft of the second one-level planet carrier is connected with the second two-level speed reducer, the output shaft of the second two-level planet carrier passes through the second bulge and is connected with the second rotor end cover, the second bearing sleeve is arranged on the output shaft of the second two-level planet carrier and is tightly supported with the inner wall of the second outer shell, the second inner space is internally filled with non-conductive oil, a through hole is arranged on the second rotor end cover, the second surface of the second pressure piston is contacted with the non-conductive oil, the second surface is contacted with the external seawater through the second piston press ring and the through hole, the second O-shaped seal ring is arranged on the second pressure piston in a sleeved mode and is connected with the inner wall of the second installation part in a sealing mode, and the second Stent seal ring is arranged on the output shaft of the second two-level planet carrier, and is connected with the inner wall of the second bulge in a sealing way.
3. The modular electrically driven underwater robotic arm of claim 1 wherein said third joint drive comprises: a third housing, a third rotor end cap, a third rear end cap, a third bearing ring, a third piston press ring, a third pressure piston, a third motor, a third fixing plate, a third primary reducer, a third primary planet carrier, a third secondary reducer, a third secondary planet carrier, a third bearing sleeve, a third O-ring and a third steckel seal ring, wherein the third rotor end cap is installed at the third end of the third housing, the third end of the third housing extends into the third rotor end cap to form a third outer space therebetween, the third rear end cap is installed at the third end of the third housing, extends into the third end of the third housing to form a third inner space therebetween, the third end of the third housing extends towards the inside of the third rotor end cap to form a third bulge, and the third bearing ring is sleeved on the third bulge, and is abutted against the inner wall of the third rotor end cover, the third piston press ring and the third pressure piston are arranged in the third outer space, a third installation part is arranged on the third bulge part, the third installation part is communicated with the third outer space and the third inner space, the third pressure piston is arranged in the third installation part in a sealing way, the third piston press ring is sleeved on the third installation part and presses the third pressure piston, the third motor, the third fixing plate, the third primary speed reducer, the third primary planet carrier, the third secondary speed reducer, the third secondary planet carrier and the third bearing sleeve are all arranged in the third inner space, the third motor is arranged on the third fixing plate, the third primary speed reducer is arranged on the third primary planet carrier, the third secondary speed reducer is arranged on the third secondary planet carrier, the output shaft of the third motor passes through the third fixing plate and is connected with the third one-level speed reducer, the output shaft of the third one-level planet carrier is connected with the third two-level speed reducer, the output shaft of the third two-level planet carrier passes through the third bulge and is connected with the third rotor end cover, the third bearing sleeve is arranged on the output shaft of the third two-level planet carrier and is tightly propped against the inner wall of the third shell, the inside of the third inner space is filled with non-conductive oil, the third rotor end cover is provided with a through hole, the third surface of the third pressure piston is contacted with the non-conductive oil, the third surface is contacted with the external seawater through the third piston press ring and the through hole, the third O-shaped seal ring is arranged on the third pressure piston and is hermetically connected with the inner wall of the third installation part, and the third stet seal ring is arranged on the output shaft of the third two-level planet carrier, and is connected with the inner wall of the third bulge in a sealing way.
4. The modular electrically driven underwater robotic arm of claim 1 wherein said fourth joint driver comprises: a fourth housing, a fourth rotor end cap, a fourth rear end cap, a fourth bearing ring, a fourth piston compression ring, a fourth pressure piston, a fourth motor, a fourth fixing plate, a fourth primary reducer, a fourth primary planet carrier, a fourth secondary reducer, a fourth secondary planet carrier, a fourth bearing sleeve, a fourth O-shaped sealing ring and a fourth ste seal sealing ring, wherein the fourth rotor end cap is installed at the fourth end of the fourth housing, the fourth end of the fourth housing extends into the fourth rotor end cap to form a fourth outer space therebetween, the fourth rear end cap is installed at the fourth end of the fourth housing and extends into the fourth end of the fourth housing to form a fourth inner space therebetween, the fourth end of the fourth housing extends towards the inside of the fourth rotor end cap to form a fourth protruding portion, and the fourth bearing ring is sleeved on the fourth protruding portion, and is abutted against the inner wall of the end cover of the fourth rotor, the fourth piston press ring and the fourth pressure piston are arranged in the fourth outer space, a fourth installation part is arranged on the fourth convex part, the fourth installation part is communicated with the fourth outer space and the fourth inner space, the fourth pressure piston is arranged in the fourth installation part in a sealing way, the fourth piston press ring is sleeved on the fourth installation part and compresses the fourth pressure piston, the fourth motor, the fourth fixing plate, the fourth primary speed reducer, the fourth primary planet carrier, the fourth secondary speed reducer, the fourth secondary planet carrier and the fourth bearing sleeve are all arranged in the fourth inner space, the fourth motor is arranged on the fourth fixing plate, the fourth primary speed reducer is arranged on the fourth primary planet carrier, the fourth secondary speed reducer is arranged on the fourth secondary planet carrier, the output shaft of the fourth motor passes through the fourth fixing plate and is connected with the fourth one-level speed reducer, the output shaft of the fourth one-level planet carrier is connected with the fourth two-level speed reducer, the output shaft of the fourth two-level planet carrier passes through the fourth bulge and is connected with the fourth rotor end cover, the fourth bearing sleeve is arranged on the output shaft of the fourth two-level planet carrier and is tightly propped against the inner wall of the fourth outer shell, the inside of the fourth inner space is full of non-conductive oil, the fourth rotor end cover is provided with a through hole, the fourth surface of the fourth pressure piston is in contact with the non-conductive oil, the fourth surface of the fourth pressure piston is in contact with the seawater through hole through the fourth piston press ring and the through hole, the fourth O-shaped seal ring is arranged on the fourth pressure piston and is in seal connection with the inner wall of the fourth installation part, and the fourth steckel seal ring is arranged on the output shaft of the fourth two-level planet carrier, and is connected with the inner wall of the fourth bulge in a sealing way.
5. The modular electrically driven underwater robotic arm of claim 1 wherein the first link comprises: first installation cavity and first fastening chamber, the second connecting piece includes: the second end of the first joint driver is installed in the first installation cavity, the first end of the second joint driver is installed in the first fastening cavity, the second end of the second joint driver is installed in the second installation cavity, and the first end of the third joint driver is installed in the second fastening cavity.
6. The modular electrically driven underwater robotic arm of claim 1 wherein the third link comprises: third installation cavity and third fastening chamber, the fourth connecting piece includes: the underwater robot comprises a fourth mounting cavity and a fourth fastening cavity, wherein the second end of the third joint driver is mounted in the third mounting cavity, the first end of the fourth joint driver is mounted in the third fastening cavity, the second end of the fourth joint driver is mounted in the fourth mounting cavity, and the fourth fastening cavity is connected with the underwater robot.
7. The modular electrically driven underwater robotic arm of claim 1 wherein the retainer assembly comprises: the actuator comprises an actuator end cover, a fixed cylinder, a sliding ring, an articulated piece, a coupler, a rotating motor, a fixed cover, a motor rear end cover, a baffle, a screw rod, a screw nut, a connecting rod and a fixer end cover, wherein the motor rear end cover is arranged at the first end of the fixed cylinder, the fixer end cover is arranged at the second end of the fixed cylinder, the fixed cylinder is connected with the fixed cover, the second end of the fixed cylinder extends into the fixed cover, the sliding ring, the articulated piece, the coupler, the rotating motor, the baffle, the screw rod, the screw nut and the connecting rod are all arranged in the fixed cylinder, an output shaft of the rotating motor penetrates through the baffle to be connected with the coupler, the coupler is connected with the screw rod, the sliding ring is sleeved on the screw rod, the screw nut is arranged on the screw rod, the first end of the articulated piece is articulated with the inner wall of the fixed cylinder, and the second end of the articulated piece is articulated with the first end of the connecting rod, the second end of the connecting rod is hinged to the screw rod nut, a through groove is formed in the first end of the fixed cylinder, corresponding to the hinged piece, the actuator end cover is sleeved at the first end of the fixed cylinder, the rotating motor drives the screw rod to rotate, the screw rod drives the screw rod nut to move along the screw rod nut, the screw rod nut drives the connecting rod to move so that the hinged piece extends out of the through groove to lock the actuator end cover or retracts into the through groove to release the actuator end cover, and the fixed cover is connected with the first end of a first joint driver in the mechanical arm assembly.
8. An underwater robot is characterized in that,
comprising a modular electrically driven underwater robotic arm as claimed in any one of claims 1 to 7.
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| CN202110151301.4A CN112977766B (en) | 2021-02-03 | 2021-02-03 | Novel modularization electrically-driven underwater mechanical arm and underwater robot |
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| CN202110151301.4A CN112977766B (en) | 2021-02-03 | 2021-02-03 | Novel modularization electrically-driven underwater mechanical arm and underwater robot |
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| CN112977766B true CN112977766B (en) | 2022-06-24 |
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| CN100575187C (en) * | 2008-08-08 | 2009-12-30 | 安徽工程科技学院 | Many fingers, multi-joints water drive mechanical arm for underwater operation |
| KR20120008348A (en) * | 2010-07-16 | 2012-01-30 | 임성호 | Installation method and equipment for small equipments in the sea bottom |
| CN109617312B (en) * | 2018-02-27 | 2024-02-27 | 达闼机器人股份有限公司 | Actuator, mechanical arm and robot |
| CN109454633A (en) * | 2018-09-12 | 2019-03-12 | 华中科技大学 | A kind of multi-functional in-orbit maintaining robot system |
| CN109382815B (en) * | 2018-11-08 | 2023-09-22 | 河北工业大学 | Industrial intelligent modularized mechanical arm |
| CN110315520B (en) * | 2019-07-18 | 2022-09-06 | 电子科技大学 | Energy controllable redundant elastic driver based on metamorphic mechanism |
| CN110834325A (en) * | 2019-09-30 | 2020-02-25 | 中国北方车辆研究所 | Two-stage planetary transmission robot joint body driver |
| CN211362330U (en) * | 2019-12-05 | 2020-08-28 | 南京华研动密封科技有限公司 | Underwater cooperative robot |
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