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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Abstract
一种新型模块化电驱动水下机械臂及水下机器人，所述新型模块化电驱动水下机械臂包括：机械臂组件，用于连接水下机器人；固定器组件，用于连接所述机械臂组件和执行器；所述固定器组件的第一端与所述机械臂组件连接而第二端与所述执行器连接。本申请提供的一种新型模块化电驱动水下机械臂及水下机器人具有如下有益效果：(1)采用改进的动密封结构，使得水下机械臂能抗较高水压，且作业水深增大；(2)采用模块化结构，降低水下机械臂的维修难度；(3)可在水下更换前端执行器，使得水下机械臂适应多工况需求。
A novel modular electrically driven underwater robotic arm and an underwater robot, the novel modular electrically driven underwater robotic arm comprises: a robotic arm assembly for connecting to an underwater robot; a fixture assembly for connecting the machine An arm assembly and an actuator; a first end of the anchor assembly is connected to the robotic arm assembly and a second end is connected to the actuator. A novel modular electric-driven underwater manipulator and an underwater robot provided by the present application have the following beneficial effects: (1) An improved dynamic sealing structure is adopted, so that the underwater manipulator can resist higher water pressure, and the working water depth increases (2) The modular structure is adopted to reduce the maintenance difficulty of the underwater manipulator; (3) the front-end actuator can be replaced underwater, so that the underwater manipulator can adapt to the needs of multiple working conditions.
Description
技术领域technical field
本发明属于水下机器人技术领域，具体涉及一种新型模块化电驱动水下机械臂及水下机器人。The invention belongs to the technical field of underwater robots, and in particular relates to a novel modular electric drive underwater mechanical arm and an underwater robot.
背景技术Background technique
近年来陆地资源日益紧缺，而海洋蕴含着丰富的资源和能源，人类对海洋资源的开采活动逐渐增加。水下机械臂作为水下采矿作业的主要装备发挥着重要作用，但目前水下机械臂存在很多问题：以电驱动方式的机械臂水下作业深度一般为300米-400米，达不到高水深作业需求，而且由于密封结构不够完善，主要为被动式密封，在极限水深容易发生渗水现象；以液压驱动的水下机械臂虽然作业水深大，但由于需要装备体积较大的液压元器件，以及复杂的液压管路，因此耗能大，作业时间短。In recent years, land resources have become increasingly scarce, while the ocean contains abundant resources and energy, and human exploitation of marine resources has gradually increased. The underwater manipulator plays an important role as the main equipment for underwater mining operations, but at present there are many problems with the underwater manipulator: the underwater working depth of the manipulator in the electric drive mode is generally 300 meters to 400 meters, which cannot reach high The water depth operation needs, and because the sealing structure is not perfect, it is mainly passive sealing, and water seepage is easy to occur at the limit water depth; although the hydraulically driven underwater manipulator operates in a large water depth, it needs to be equipped with large hydraulic components, and Complex hydraulic pipelines, so energy consumption is high and working time is short.
现有水下机械臂多采用一体式结构，关键部件(如电机、电路板)采用树脂灌封，一旦封死难以拆卸，维修难度极大；现有机械臂前端执行器功能单一，无法在水下更换前端执行器，以满足多工况需求。Most of the existing underwater manipulators use an integrated structure, and key components (such as motors and circuit boards) are potted with resin. Once sealed, it is difficult to disassemble and maintenance is extremely difficult; The front-end actuator can be replaced under the following conditions to meet the needs of various working conditions.
发明内容SUMMARY OF THE INVENTION
鉴于上述问题，本发明提供克服上述问题或者至少部分地解决上述问题的一种新型模块化电驱动水下机械臂及水下机器人。In view of the above-mentioned problems, the present invention provides a novel modular electric-driven underwater manipulator and an underwater robot that overcome the above-mentioned problems or at least partially solve the above-mentioned problems.
为解决上述技术问题，本发明提供了一种新型模块化电驱动水下机械臂，包括：In order to solve the above-mentioned technical problems, the present invention provides a novel modular electric drive underwater manipulator, including:
机械臂组件，用于连接水下机器人；Robotic arm assembly, used to connect the underwater robot;
固定器组件，用于连接所述机械臂组件和执行器；所述固定器组件的第一端与所述机械臂组件连接而第二端与所述执行器连接。An anchor assembly is used for connecting the mechanical arm assembly and the actuator; the first end of the anchor assembly is connected with the mechanical arm assembly and the second end is connected with the actuator.
优选地，所述机械臂组件包括：第一关节驱动器、第二关节驱动器、第三关节驱动器、第四关节驱动器、第一连接件、第二连接件、第三连接件和第四连接件，其中，所述第一关节驱动器的第一端连接所述固定器组件的第一端而第二端安装于所述第一连接件的第一端，所述第二关节驱动器的第一端安装于所述第一连接件的第二端而第二端安装于所述第二连接件的第一端，所述第三关节驱动器的第一端安装于所述第二连接件的第二端而第二端安装于所述第三连接件的第一端，所述第四关节驱动器的第一端安装于所述第三连接件的第二端而第二端安装于所述第四连接件的第一端。Preferably, the robotic arm assembly includes: a first joint driver, a second joint driver, a third joint driver, a fourth joint driver, a first connector, a second connector, a third connector, and a fourth connector, Wherein, the first end of the first joint driver is connected to the first end of the fixator assembly and the second end is installed on the first end of the first connecting piece, and the first end of the second joint driver is installed the second end of the first connector is mounted on the first end of the second connector, the first end of the third joint driver is mounted on the second end of the second connector The second end is mounted on the first end of the third connector, the first end of the fourth joint driver is mounted on the second end of the third connector and the second end is mounted on the fourth connector the first end of the piece.
优选地，所述第一关节驱动器包括：第一外壳、第一转子端盖、第一后端盖、第一轴承环、第一活塞压环、第一压力活塞、第一电机、第一固定板、第一一级减速器、第一一级行星架、第一二级减速器、第一二级行星架、第一轴承套、第一O型密封圈和第一斯特封密封圈，其中，所述第一转子端盖安装于所述第一外壳的第一端，且所述第一外壳的第一端伸入所述第一转子端盖内部，并于二者之间形成第一外空间，所述第一后端盖安装于所述第一外壳的第二端，且伸入所述第一外壳的第二端内部，并于二者之间形成第一内空间，所述第一外壳的第一端朝向所述第一转子端盖内部延伸形成第一凸出部，所述第一轴承环套设于所述第一凸出部上，且与所述第一转子端盖内壁抵紧，所述第一活塞压环和所述第一压力活塞设置于所述第一外空间中，所述第一凸出部上设置有第一安装部，所述第一安装部连通所述第一外空间和所述第一内空间，所述第一压力活塞密封设置于所述第一安装部中，所述第一活塞压环套设于所述第一安装部上，且压紧所述第一压力活塞，所述第一电机、所述第一固定板、所述第一一级减速器、所述第一一级行星架、所述第一二级减速器、所述第一二级行星架和所述第一轴承套均设置于所述第一内空间中，所述第一电机设置于所述第一固定板上，所述第一一级减速器设置于所述第一一级行星架上，所述第一二级减速器设置于所述第一二级行星架上，所述第一电机的输出轴穿过所述第一固定板与所述第一一级减速器连接，所述第一一级行星架的输出轴与所述第一二级减速器连接，所述第一二级行星架的输出轴穿过所述第一凸出部与所述第一转子端盖连接，所述第一轴承套套设于所述第一二级行星架的输出轴上，且与所述第一外壳内壁抵紧，所述第一内空间内部充满不导电油液，所述第一转子端盖上设置有通孔，所述第一压力活塞的第一面与所述不导电油液接触而第二面通过所述第一活塞压环和所述通孔与外界海水接触，所述第一O型密封圈套设于所述第一压力活塞上，且与所述第一安装部内壁密封连接，所述第一斯特封密封圈套设于所述第一二级行星架的输出轴上，且与所述第一凸出部内壁密封连接。Preferably, the first joint driver includes: a first housing, a first rotor end cover, a first rear end cover, a first bearing ring, a first piston pressure ring, a first pressure piston, a first motor, a first fixed Plate, first-stage reducer, first-stage planet carrier, first-stage reducer, first-stage planetary carrier, first bearing sleeve, first O-ring and first-stage sealing ring, Wherein, the first rotor end cover is mounted on the first end of the first casing, and the first end of the first casing extends into the interior of the first rotor end cover, and forms a third an outer space, the first rear end cover is mounted on the second end of the first shell, and extends into the second end of the first shell to form a first inner space therebetween, so The first end of the first casing extends toward 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 is connected to the first rotor. The inner wall of the end cover is tightly pressed, the first piston pressure ring and the first pressure piston are arranged in the first outer space, and a first installation portion is arranged on the first protruding portion, and the first installation The first outer space and the first inner space are communicated with each other, the first pressure piston is sealed in the first installation part, and the first piston pressure ring is sleeved on the first installation part , and press the first pressure piston, the first motor, the first fixed plate, the first stage reducer, the first stage planet carrier, the first second stage reducer , The first-stage planet carrier and the first bearing sleeve are all arranged in the first inner space, the first motor is arranged on the first fixed plate, and the first-stage reducer Set on the first-stage planet carrier, the first-stage reducer is set on the first-stage planet carrier, and the output shaft of the first motor passes through the first fixing plate and the The first-stage reducer is connected, the output shaft of the first-stage planet carrier is connected with the first-stage reducer, and the output shaft of the first-stage planet carrier passes through the first protrusion The part is connected to the first rotor end cover, the first bearing sleeve is sleeved on the output shaft of the first and second stage planet carrier, and is tightly pressed against the inner wall of the first shell, and the first inner space is Filled with non-conductive oil, the first rotor end cover is provided with a through hole, the first surface of the first pressure piston is in contact with the non-conductive oil, and the second surface passes through the first piston pressure ring and the The through hole is in contact with the external seawater, the first O-ring is sleeved on the first pressure piston, and is sealingly connected with the inner wall of the first installation portion, and the first sealing ring is sleeved on the first pressure piston. on the output shaft of the first and second-stage planet carrier, and sealingly connected with the inner wall of the first protruding part.
优选地，所述第二关节驱动器包括：第二外壳、第二转子端盖、第二后端盖、第二轴承环、第二活塞压环、第二压力活塞、第二电机、第二固定板、第二一级减速器、第二一级行星架、第二二级减速器、第二二级行星架、第二轴承套、第二O型密封圈和第二斯特封密封圈，其中，所述第二转子端盖安装于所述第二外壳的第二端，且所述第二外壳的第二端伸入所述第二转子端盖内部，并于二者之间形成第二外空间，所述第二后端盖安装于所述第二外壳的第二端，且伸入所述第二外壳的第二端内部，并于二者之间形成第二内空间，所述第二外壳的第二端朝向所述第二转子端盖内部延伸形成第二凸出部，所述第二轴承环套设于所述第二凸出部上，且与所述第二转子端盖内壁抵紧，所述第二活塞压环和所述第二压力活塞设置于所述第二外空间中，所述第二凸出部上设置有第二安装部，所述第二安装部连通所述第二外空间和所述第二内空间，所述第二压力活塞密封设置于所述第二安装部中，所述第二活塞压环套设于所述第二安装部上，且压紧所述第二压力活塞，所述第二电机、所述第二固定板、所述第二一级减速器、所述第二一级行星架、所述第二二级减速器、所述第二二级行星架和所述第二轴承套均设置于所述第二内空间中，所述第二电机设置于所述第二固定板上，所述第二一级减速器设置于所述第二一级行星架上，所述第二二级减速器设置于所述第二二级行星架上，所述第二电机的输出轴穿过所述第二固定板与所述第二一级减速器连接，所述第二一级行星架的输出轴与所述第二二级减速器连接，所述第二二级行星架的输出轴穿过所述第二凸出部与所述第二转子端盖连接，所述第二轴承套套设于所述第二二级行星架的输出轴上，且与所述第二外壳内壁抵紧，所述第二内空间内部充满不导电油液，所述第二转子端盖上设置有通孔，所述第二压力活塞的第二面与所述不导电油液接触而第二面通过所述第二活塞压环和所述通孔与外界海水接触，所述第二O型密封圈套设于所述第二压力活塞上，且与所述第二安装部内壁密封连接，所述第二斯特封密封圈套设于所述第二二级行星架的输出轴上，且与所述第二凸出部内壁密封连接。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 pressure ring, a second pressure piston, a second motor, and a second fixed Plate, second-stage reducer, second-stage planet carrier, second-stage reducer, second-stage planetary carrier, second bearing sleeve, second O-ring and second-stage sealing ring, Wherein, the second rotor end cover is mounted on the second end of the second casing, and the second end of the second casing extends into the second rotor end cover and forms a second end cover therebetween. Two outer spaces, the second rear end cover is mounted on the second end of the second shell, and extends into the second end of the second shell, and forms a second inner space between the two, so The second end of the second housing extends toward the inside of the second rotor end cover to form a second protrusion, the second bearing ring is sleeved on the second protrusion, and is connected with the second rotor The inner wall of the end cover is tightly pressed, the second piston pressure ring and the second pressure piston are arranged in the second outer space, and a second installation portion is arranged on the second protruding portion, and the second installation The second outer space and the second inner space are communicated with each other, the second pressure piston is sealed in the second installation part, and the second piston pressure ring is sleeved on the second installation part , and press the second pressure piston, the second motor, the second fixed plate, the second first stage reducer, the second first stage planet carrier, the second second stage reducer , The second stage 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 stage reducer It is arranged on the second-stage planetary carrier, the second-stage reducer is arranged on the second-stage planetary carrier, and the output shaft of the second motor passes through the second fixing plate and the the second-stage reducer is connected, the output shaft of the second-stage planet carrier is connected with the second-stage reducer, and the output shaft of the second-stage planet carrier passes through the second protrusion The second rotor end cover is connected with the second rotor end cover, the second bearing sleeve is sleeved on the output shaft of the second stage carrier, and is pressed against the inner wall of the second shell, and the second inner space is Filled with non-conductive oil, the second rotor end cover is provided with a through hole, the second surface of the second pressure piston is in contact with the non-conductive oil, and the second surface passes through the second piston pressure ring and the The through hole is in contact with the external seawater, the second O-ring is sleeved on the second pressure piston, and is sealingly connected with the inner wall of the second installation portion, and the second sealing ring is sleeved on the second pressure piston. on the output shaft of the second-stage planet carrier, and sealingly connected with the inner wall of the second protruding portion.
优选地，所述第三关节驱动器包括：第三外壳、第三转子端盖、第三后端盖、第三轴承环、第三活塞压环、第三压力活塞、第三电机、第三固定板、第三一级减速器、第三一级行星架、第三二级减速器、第三二级行星架、第三轴承套、第三O型密封圈和第三斯特封密封圈，其中，所述第三转子端盖安装于所述第三外壳的第三端，且所述第三外壳的第三端伸入所述第三转子端盖内部，并于二者之间形成第三外空间，所述第三后端盖安装于所述第三外壳的第三端，且伸入所述第三外壳的第三端内部，并于二者之间形成第三内空间，所述第三外壳的第三端朝向所述第三转子端盖内部延伸形成第三凸出部，所述第三轴承环套设于所述第三凸出部上，且与所述第三转子端盖内壁抵紧，所述第三活塞压环和所述第三压力活塞设置于所述第三外空间中，所述第三凸出部上设置有第三安装部，所述第三安装部连通所述第三外空间和所述第三内空间，所述第三压力活塞密封设置于所述第三安装部中，所述第三活塞压环套设于所述第三安装部上，且压紧所述第三压力活塞，所述第三电机、所述第三固定板、所述第三一级减速器、所述第三一级行星架、所述第三二级减速器、所述第三二级行星架和所述第三轴承套均设置于所述第三内空间中，所述第三电机设置于所述第三固定板上，所述第三一级减速器设置于所述第三一级行星架上，所述第三二级减速器设置于所述第三二级行星架上，所述第三电机的输出轴穿过所述第三固定板与所述第三一级减速器连接，所述第三一级行星架的输出轴与所述第三二级减速器连接，所述第三二级行星架的输出轴穿过所述第三凸出部与所述第三转子端盖连接，所述第三轴承套套设于所述第三二级行星架的输出轴上，且与所述第三外壳内壁抵紧，所述第三内空间内部充满不导电油液，所述第三转子端盖上设置有通孔，所述第三压力活塞的第三面与所述不导电油液接触而第三面通过所述第三活塞压环和所述通孔与外界海水接触，所述第三O型密封圈套设于所述第三压力活塞上，且与所述第三安装部内壁密封连接，所述第三斯特封密封圈套设于所述第三二级行星架的输出轴上，且与所述第三凸出部内壁密封连接。Preferably, the third joint driver includes: a third housing, a third rotor end cover, a third rear end cover, a third bearing ring, a third piston pressure ring, a third pressure piston, a third motor, and a third fixed Plate, third-stage reducer, third-stage planet carrier, third-stage reducer, third-stage planetary carrier, third bearing sleeve, third O-ring and third-stage sealing ring, Wherein, the third rotor end cover is mounted on the third end of the third casing, and the third end of the third casing extends into the interior of the third rotor end cover, and a third end cover is formed therebetween. Three outer spaces, the third rear end cover is mounted on the third end of the third shell, and extends into the third end of the third shell, and forms a third inner space between the two, so The third end of the third housing extends toward the inside of the third rotor end cover to form a third protrusion, the third bearing ring is sleeved on the third protrusion, and is connected with the third rotor The inner wall of the end cover is tightly pressed, the third piston pressure ring and the third pressure piston are arranged in the third outer space, and a third installation portion is arranged on the third protruding portion, and the third installation The third outer space and the third inner space are communicated with each other, the third pressure piston is sealed in the third installation part, and the third piston pressure ring is sleeved on the third installation part , and press the third pressure piston, the third motor, the third fixed plate, the third stage reducer, the third stage planet carrier, the third stage reducer , The third-stage planet carrier and the third bearing sleeve are all arranged in the third inner space, the third motor is arranged on the third fixed plate, and the third-stage reducer Set on the third-stage planetary carrier, the third-stage reducer is set on the third-stage planetary carrier, and the output shaft of the third motor passes through the third fixing plate and the the third-stage reducer is connected, the output shaft of the third-stage planet carrier is connected with the third-stage reducer, and the output shaft of the third-stage planet carrier passes through the third protrusion The part is connected to the third rotor end cover, the third bearing sleeve is sleeved on the output shaft of the third stage carrier, and is tightly pressed against the inner wall of the third shell, and the third inner space is inside 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 in contact with the non-conductive oil, and the third surface passes through the third piston pressure ring and the The through hole is in contact with the external seawater, the third O-ring is sleeved on the third pressure piston, and is sealingly connected with the inner wall of the third installation portion, and the third sealing ring is sleeved on the third pressure piston. on the output shaft of the third-stage planetary carrier, and sealingly connected with the inner wall of the third protruding portion.
优选地，所述第四关节驱动器包括：第四外壳、第四转子端盖、第四后端盖、第四轴承环、第四活塞压环、第四压力活塞、第四电机、第四固定板、第四一级减速器、第四一级行星架、第四二级减速器、第四二级行星架、第四轴承套、第四O型密封圈和第四斯特封密封圈，其中，所述第四转子端盖安装于所述第四外壳的第四端，且所述第四外壳的第四端伸入所述第四转子端盖内部，并于二者之间形成第四外空间，所述第四后端盖安装于所述第四外壳的第四端，且伸入所述第四外壳的第四端内部，并于二者之间形成第四内空间，所述第四外壳的第四端朝向所述第四转子端盖内部延伸形成第四凸出部，所述第四轴承环套设于所述第四凸出部上，且与所述第四转子端盖内壁抵紧，所述第四活塞压环和所述第四压力活塞设置于所述第四外空间中，所述第四凸出部上设置有第四安装部，所述第四安装部连通所述第四外空间和所述第四内空间，所述第四压力活塞密封设置于所述第四安装部中，所述第四活塞压环套设于所述第四安装部上，且压紧所述第四压力活塞，所述第四电机、所述第四固定板、所述第四一级减速器、所述第四一级行星架、所述第四二级减速器、所述第四二级行星架和所述第四轴承套均设置于所述第四内空间中，所述第四电机设置于所述第四固定板上，所述第四一级减速器设置于所述第四一级行星架上，所述第四二级减速器设置于所述第四二级行星架上，所述第四电机的输出轴穿过所述第四固定板与所述第四一级减速器连接，所述第四一级行星架的输出轴与所述第四二级减速器连接，所述第四二级行星架的输出轴穿过所述第四凸出部与所述第四转子端盖连接，所述第四轴承套套设于所述第四二级行星架的输出轴上，且与所述第四外壳内壁抵紧，所述第四内空间内部充满不导电油液，所述第四转子端盖上设置有通孔，所述第四压力活塞的第四面与所述不导电油液接触而第四面通过所述第四活塞压环和所述通孔与外界海水接触，所述第四O型密封圈套设于所述第四压力活塞上，且与所述第四安装部内壁密封连接，所述第四斯特封密封圈套设于所述第四二级行星架的输出轴上，且与所述第四凸出部内壁密封连接。Preferably, the fourth joint driver includes: a fourth housing, a fourth rotor end cover, a fourth rear end cover, a fourth bearing ring, a fourth piston pressure ring, a fourth pressure piston, a fourth motor, and a fourth fixed Plate, fourth-stage reducer, fourth-stage planetary carrier, fourth-stage reducer, fourth-stage planetary carrier, fourth bearing sleeve, fourth O-ring and fourth-stage sealing ring, Wherein, the fourth rotor end cover is mounted on the fourth end of the fourth casing, and the fourth end of the fourth casing extends into the fourth rotor end cover and forms a fourth end cover between them. Four outer spaces, the fourth rear end cover is mounted on the fourth end of the fourth shell, and extends into the fourth end of the fourth shell, and forms a fourth inner space between the two, so The fourth end of the fourth housing extends toward the inside of the fourth rotor end cover to form a fourth protrusion, the fourth bearing ring is sleeved on the fourth protrusion, and is connected with the fourth rotor The inner wall of the end cover is tightly pressed, the fourth piston pressure ring and the fourth pressure piston are arranged in the fourth outer space, and a fourth installation portion is arranged on the fourth protrusion, and the fourth installation The fourth outer space communicates with the fourth inner space, the fourth pressure piston is sealed in the fourth installation part, and the fourth piston pressure ring is sleeved on the fourth installation part , and press the fourth pressure piston, the fourth motor, the fourth fixed plate, the fourth stage reducer, the fourth stage planet carrier, and the fourth stage reducer , The fourth stage carrier and the fourth bearing sleeve are all arranged in the fourth inner space, the fourth motor is arranged on the fourth fixing plate, and the fourth stage reducer Set on the fourth-stage planetary carrier, the fourth-stage reducer is set on the fourth-stage planetary carrier, and the output shaft of the fourth motor passes through the fourth fixing plate and the The fourth-stage reducer is connected, the output shaft of the fourth-stage planet carrier is connected with the fourth-stage reducer, and the output shaft of the fourth-stage planet carrier passes through the fourth protrusion The part is connected with the fourth rotor end cover, the fourth bearing sleeve is sleeved on the output shaft of the fourth second stage planet carrier, and is tightly pressed against the inner wall of the fourth outer shell, and the fourth inner space is inside 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 in contact with the non-conductive oil, and the fourth surface passes through the fourth piston pressure ring and the The through hole is in contact with the external seawater, the fourth O-ring is sleeved on the fourth pressure piston, and is sealingly connected with the inner wall of the fourth installation portion, and the fourth sealing ring is sleeved on the fourth pressure piston. on the output shaft of the fourth-stage planet carrier and sealingly connected with the inner wall of the fourth protruding portion.
优选地，所述第一连接件包括：第一安装腔和第一紧固腔，所述第二连接件包括：第二安装腔和第二紧固腔，其中，所述第一关节驱动器的第二端安装于所述第一安装腔中，所述第二关节驱动器的第一端安装于所述第一紧固腔中，所述第二关节驱动器的第二端安装于所述第二安装腔中，所述第三关节驱动器的第一端安装于所述第二紧固腔中。Preferably, the first connector includes: a first installation cavity and a first fastening cavity, the second connector includes: a second installation cavity and a second fastening cavity, wherein the first joint driver The second end is installed in the first installation cavity, the first end of the second joint driver is installed in the first fastening cavity, and the second end of the second joint driver is installed in the second joint driver In the installation cavity, the first end of the third joint driver is installed in the second fastening cavity.
优选地，所述第三连接件包括：第三安装腔和第三紧固腔，所述第四连接件包括：第四安装腔和第四紧固腔，其中，所述第三关节驱动器的第二端安装于所述第三安装腔中，所述第四关节驱动器的第一端安装于所述第三紧固腔中，所述第四关节驱动器的第二端安装于所述第四安装腔中，所述第四紧固腔与所述水下机器人连接。Preferably, the third connector includes: a third installation cavity and a third fastening cavity, the fourth connector includes: a fourth installation cavity and a fourth fastening cavity, wherein the third joint driver The second end is installed in the third installation cavity, the first end of the fourth joint driver is installed in the third fastening cavity, and the second end of the fourth joint driver is installed in the fourth joint driver In the installation cavity, the fourth fastening cavity is connected with the underwater robot.
优选地，所述固定器组件包括：执行器端盖、固定筒、滑动环、铰接件、联轴器、转动电机、固定盖、电机后端盖、挡板、丝杆、丝杆螺母、连杆和固定器端盖，其中，所述电机后端盖设置于所述固定筒的第一端，所述固定器端盖设置于所述固定筒的第二端，所述固定筒与所述固定盖连接，且第二端伸入所述固定盖内部，所述滑动环、所述铰接件、所述联轴器、所述转动电机、所述挡板、所述丝杆、所述丝杆螺母和所述连杆均设置于所述固定筒内部，所述转动电机的输出轴穿过所述挡板与所述联轴器连接，所述联轴器与所述丝杆连接，所述滑动环套设于所述丝杆上，所述丝杆螺母设置于所述丝杆上，所述铰接件的第一端与所述固定筒内壁铰接而第二端与所述连杆第一端铰接，所述连杆的第二端与所述丝杆螺母铰接，所述固定筒的第一端上对应所述铰接件处设置有通槽，所述执行器端盖套设于所述固定筒的第一端，所述转动电机驱动所述丝杆转动，所述丝杆带动所述丝杆螺母沿自身运动，所述丝杆螺母带动所述连杆运动以使所述铰接件伸出所述通槽而锁紧所述执行器端盖或缩入所述通槽而释放所述执行器端盖，所述固定盖与所述机械臂组件中第一关节驱动器的第一端连接。Preferably, the holder assembly includes: an actuator end cover, a fixing cylinder, a sliding ring, a hinge, a coupling, a rotating motor, a fixing cover, a motor rear end cover, a baffle, a lead screw, a lead screw nut, a connection A rod and a holder end cap, wherein the motor rear end cap is provided at the first end of the fixing cylinder, the holder end cap is arranged at the second end of the fixing cylinder, the fixing cylinder is connected to the The fixed cover is connected, and the second end extends into the inside of the fixed cover, the sliding ring, the hinge, the coupling, the rotating motor, the baffle, the screw rod, the wire The rod nut and the connecting rod are both arranged inside the fixed cylinder, the output shaft of the rotating motor is connected with the coupling through the baffle plate, and the coupling is connected with the screw rod, so The sliding ring is sleeved on the screw rod, the screw rod nut is set on the screw rod, the first end of the hinge piece is hinged with the inner wall of the fixing cylinder, and the second end is connected with the first end of the connecting rod. One end is hinged, the second end of the connecting rod is hinged with the screw nut, the first end of the fixing cylinder is provided with a through groove corresponding to the hinge, and the actuator end cover is sleeved on the At the first end of the fixed cylinder, the rotating motor drives the lead screw to rotate, the lead screw drives the lead screw nut to move along itself, and the lead screw nut drives the connecting rod to move to make the hinge part move. Extending out of the through slot to lock the actuator end cap or retracting into the through slot to release the actuator end cap, the fixing cap and the first end of the first joint driver in the robotic arm assembly connect.
本发明还提供了一种水下机器人，包括如上述中任一所述的新型模块化电驱动水下机械臂。The present invention also provides an underwater robot, comprising the novel modular electric-driven underwater mechanical arm as described in any one of the above.
本发明实施例中的一个或多个技术方案，至少具有如下技术效果或优点：本申请提供的一种新型模块化电驱动水下机械臂及水下机器人具有如下有益效果：One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages: A novel modular electric-driven underwater manipulator and an underwater robot provided by the present application have the following beneficial effects:
(1)采用改进的动密封结构，使得水下机械臂能抗较高水压，且作业水深增大；(1) The improved dynamic sealing structure is adopted, so that the underwater manipulator can resist higher water pressure and increase the operating water depth;
(2)采用模块化结构，降低水下机械臂的维修难度；(2) The modular structure is adopted to reduce the maintenance difficulty of the underwater manipulator;
(3)可在水下更换前端执行器，使得水下机械臂适应多工况需求。(3) The front-end actuator can be replaced underwater, so that the underwater manipulator can adapt to the needs of multiple working conditions.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.
图1是本发明实施例提供的一种新型模块化电驱动水下机械臂的整体结构示意图；1 is a schematic diagram of the overall structure of a novel modular electric-driven underwater manipulator provided by an embodiment of the present invention;
图2是本发明实施例提供的一种新型模块化电驱动水下机械臂中第一关节驱动器的结构示意图；2 is a schematic structural diagram of a first joint driver in a novel modular electric-driven underwater manipulator provided by an embodiment of the present invention;
图3是本发明实施例提供的一种新型模块化电驱动水下机械臂中第一关节驱动器的结构示意图；3 is a schematic structural diagram of a first joint driver in a novel modular electric-driven underwater manipulator provided by an embodiment of the present invention;
图4是本发明实施例提供的一种新型模块化电驱动水下机械臂中第一关节驱动器的部分结构示意图；4 is a partial structural schematic diagram of a first joint driver in a novel modular electric-driven underwater manipulator provided by an embodiment of the present invention;
图5是本发明实施例提供的一种新型模块化电驱动水下机械臂中第一连接件的结构示意图；5 is a schematic structural diagram of a first connector in a novel modular electric-driven underwater manipulator provided by an embodiment of the present invention;
图6是本发明实施例提供的一种新型模块化电驱动水下机械臂中固定器组件的结构示意图；6 is a schematic structural diagram of a fixture assembly in a novel modular electric-driven underwater manipulator provided by an embodiment of the present invention;
图7是本发明实施例提供的一种新型模块化电驱动水下机械臂中固定器组件的释放状态示意图；7 is a schematic diagram of a release state of a fixture assembly in a novel modular electric-driven underwater manipulator provided by an embodiment of the present invention;
图8是本发明实施例提供的一种新型模块化电驱动水下机械臂中固定器组件的锁紧状态示意图。FIG. 8 is a schematic diagram of a locking state of a fixture assembly in a novel modular electric-driven underwater manipulator provided by an embodiment of the present invention.
具体实施方式Detailed ways
下文将结合具体实施方式和实施例，具体阐述本发明，本发明的优点和各种效果将由此更加清楚地呈现。本领域技术人员应理解，这些具体实施方式和实施例是用于说明本发明，而非限制本发明。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 presented therefrom. It should be understood by those skilled in the art that these specific embodiments and examples are used to illustrate the present invention, but not to limit the present invention.
在整个说明书中，除非另有特别说明，本文使用的术语应理解为如本领域中通常所使用的含义。因此，除非另有定义，本文使用的所有技术和科学术语具有与本发明所属领域技术人员的一般理解相同的含义。若存在矛盾，本说明书优先。Throughout the specification, unless specifically stated otherwise, terms used herein are to be understood as commonly used in the art. Therefore, unless otherwise defined, 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. In case of conflict, the present specification takes precedence.
除非另有特别说明，本发明中用到的各种原材料、试剂、仪器和设备等，均可通过市场购买得到或者可通过现有方法制备得到。Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or can be prepared by existing methods.
如图1-8，在本申请实施例中，本发明提供了一种新型模块化电驱动水下机械臂，包括：As shown in Figures 1-8, in the embodiments of the present application, the present invention provides a novel modular electric-driven underwater manipulator, including:
机械臂组件100，用于连接水下机器人；The
固定器组件200，用于连接所述机械臂组件100和执行器；所述固定器组件200的第一端与所述机械臂组件100连接而第二端与所述执行器连接。The
在本申请实施例中，机械臂组件100与水下机器人的主体部分连接，固定器组件200用于可拆卸地安装执行器，且同时与机械臂组件100连接，可满足水下机器人的不同功能需要而选择性地安装和拆卸不同的执行器。In the embodiment of the present application, the
如图1-8，在本申请实施例中，所述机械臂组件100包括：第一关节驱动器110、第二关节驱动器120、第三关节驱动器130、第四关节驱动器140、第一连接件150、第二连接件160、第三连接件170和第四连接件180，其中，所述第一关节驱动器110的第一端连接所述固定器组件200的第一端而第二端安装于所述第一连接件150的第一端，所述第二关节驱动器120的第一端安装于所述第一连接件150的第二端而第二端安装于所述第二连接件160的第一端，所述第三关节驱动器130的第一端安装于所述第二连接件160的第二端而第二端安装于所述第三连接件170的第一端，所述第四关节驱动器140的第一端安装于所述第三连接件170的第二端而第二端安装于所述第四连接件180的第一端。As shown in FIGS. 1-8 , in the embodiment of the present application, the
在本申请实施例中，机械臂组件100共有4个自由度，分别通过第一关节驱动器110、第二关节驱动器120、第三关节驱动器130和第四关节驱动器140实现。In the embodiment of the present application, the
如图1-8，在本申请实施例中，所述第一关节驱动器110包括：第一外壳1101、第一转子端盖1102、第一后端盖1103、第一轴承环1104、第一活塞压环1105、第一压力活塞1106、第一电机1107、第一固定板1108、第一一级减速器1109、第一一级行星架1110、第一二级减速器1111、第一二级行星架1112、第一轴承套1113、第一O型密封圈1114和第一斯特封密封圈1115，其中，所述第一转子端盖1102安装于所述第一外壳1101的第一端，且所述第一外壳1101的第一端伸入所述第一转子端盖1102内部，并于二者之间形成第一外空间，所述第一后端盖1103安装于所述第一外壳1101的第二端，且伸入所述第一外壳1101的第二端内部，并于二者之间形成第一内空间，所述第一外壳1101的第一端朝向所述第一转子端盖1102内部延伸形成第一凸出部1116，所述第一轴承环1104套设于所述第一凸出部1116上，且与所述第一转子端盖1102内壁抵紧，所述第一活塞压环1105和所述第一压力活塞1106设置于所述第一外空间中，所述第一凸出部1116上设置有第一安装部，所述第一安装部连通所述第一外空间和所述第一内空间，所述第一压力活塞1106密封设置于所述第一安装部中，所述第一活塞压环1105套设于所述第一安装部上，且压紧所述第一压力活塞1106，所述第一电机1107、所述第一固定板1108、所述第一一级减速器1109、所述第一一级行星架1110、所述第一二级减速器1111、所述第一二级行星架1112和所述第一轴承套1113均设置于所述第一内空间中，所述第一电机1107设置于所述第一固定板1108上，所述第一一级减速器1109设置于所述第一一级行星架1110上，所述第一二级减速器1111设置于所述第一二级行星架1112上，所述第一电机1107的输出轴穿过所述第一固定板1108与所述第一一级减速器1109连接，所述第一一级行星架1110的输出轴与所述第一二级减速器1111连接，所述第一二级行星架1112的输出轴穿过所述第一凸出部1116与所述第一转子端盖1102连接，所述第一轴承套1113套设于所述第一二级行星架1112的输出轴上，且与所述第一外壳1101内壁抵紧，所述第一内空间内部充满不导电油液，所述第一转子端盖1102上设置有第一通孔1117，所述第一压力活塞1106的第一面与所述不导电油液接触而第二面通过所述第一活塞压环1105和所述第一通孔1117与外界海水接触，所述第一O型密封圈1114套设于所述第一压力活塞1106上，且与所述第一安装部内壁密封连接，所述第一斯特封密封圈1115套设于所述第一二级行星架1112的输出轴上，且与所述第一凸出部1116内壁密封连接。1-8, in the embodiment of the present application, the first
在本申请实施例中，当第一电机1107工作时，第一电机1107带动第一一级减速器1109转动，第一一级减速器1109带动第一一级行星架1110转动，第一一级行星架1110带动第一二级减速器1111转动，第一二级减速器1111带动第一二级行星架1112转动，第一二级行星架1112的输出轴带动第一转子端盖1102转动，第一转子端盖1102带动负载转动。第一外空间内部充满不导电油液，外部海水经由第一通孔1117作用在第一压力活塞1106上，第一压力活塞1106上开有三个圆周槽，圆周槽中装有第一O型密封圈1114，防止海水进入，第一压力活塞1106同时与不导电油液接触，将海水压力传导至内部油液，减小第一关节驱动器110内外压力差，能增大第一关节驱动器110承压能力，增大水下机械臂的工作水深。In the embodiment of the present application, when the
在本申请实施例中，所述第二关节驱动器120包括：第二外壳、第二转子端盖、第二后端盖、第二轴承环、第二活塞压环、第二压力活塞、第二电机、第二固定板、第二一级减速器、第二一级行星架、第二二级减速器、第二二级行星架、第二轴承套、第二O型密封圈和第二斯特封密封圈，其中，所述第二转子端盖安装于所述第二外壳的第二端，且所述第二外壳的第二端伸入所述第二转子端盖内部，并于二者之间形成第二外空间，所述第二后端盖安装于所述第二外壳的第二端，且伸入所述第二外壳的第二端内部，并于二者之间形成第二内空间，所述第二外壳的第二端朝向所述第二转子端盖内部延伸形成第二凸出部，所述第二轴承环套设于所述第二凸出部上，且与所述第二转子端盖内壁抵紧，所述第二活塞压环和所述第二压力活塞设置于所述第二外空间中，所述第二凸出部上设置有第二安装部，所述第二安装部连通所述第二外空间和所述第二内空间，所述第二压力活塞密封设置于所述第二安装部中，所述第二活塞压环套设于所述第二安装部上，且压紧所述第二压力活塞，所述第二电机、所述第二固定板、所述第二一级减速器、所述第二一级行星架、所述第二二级减速器、所述第二二级行星架和所述第二轴承套均设置于所述第二内空间中，所述第二电机设置于所述第二固定板上，所述第二一级减速器设置于所述第二一级行星架上，所述第二二级减速器设置于所述第二二级行星架上，所述第二电机的输出轴穿过所述第二固定板与所述第二一级减速器连接，所述第二一级行星架的输出轴与所述第二二级减速器连接，所述第二二级行星架的输出轴穿过所述第二凸出部与所述第二转子端盖连接，所述第二轴承套套设于所述第二二级行星架的输出轴上，且与所述第二外壳内壁抵紧，所述第二内空间内部充满不导电油液，所述第二转子端盖上设置有第二通孔，所述第二压力活塞的第二面与所述不导电油液接触而第二面通过所述第二活塞压环和所述第二通孔与外界海水接触，所述第二O型密封圈套设于所述第二压力活塞上，且与所述第二安装部内壁密封连接，所述第二斯特封密封圈套设于所述第二二级行星架的输出轴上，且与所述第二凸出部内壁密封连接。In the embodiment of the present application, the second
在本申请实施例中，第二关节驱动器120和第一关节驱动器110的结构和工作原理相同，此处不再赘述。In this embodiment of the present application, the structures and working principles of the second
在本申请实施例中，所述第三关节驱动器130包括：第三外壳、第三转子端盖、第三后端盖、第三轴承环、第三活塞压环、第三压力活塞、第三电机、第三固定板、第三一级减速器、第三一级行星架、第三二级减速器、第三二级行星架、第三轴承套、第三O型密封圈和第三斯特封密封圈，其中，所述第三转子端盖安装于所述第三外壳的第三端，且所述第三外壳的第三端伸入所述第三转子端盖内部，并于二者之间形成第三外空间，所述第三后端盖安装于所述第三外壳的第三端，且伸入所述第三外壳的第三端内部，并于二者之间形成第三内空间，所述第三外壳的第三端朝向所述第三转子端盖内部延伸形成第三凸出部，所述第三轴承环套设于所述第三凸出部上，且与所述第三转子端盖内壁抵紧，所述第三活塞压环和所述第三压力活塞设置于所述第三外空间中，所述第三凸出部上设置有第三安装部，所述第三安装部连通所述第三外空间和所述第三内空间，所述第三压力活塞密封设置于所述第三安装部中，所述第三活塞压环套设于所述第三安装部上，且压紧所述第三压力活塞，所述第三电机、所述第三固定板、所述第三一级减速器、所述第三一级行星架、所述第三二级减速器、所述第三二级行星架和所述第三轴承套均设置于所述第三内空间中，所述第三电机设置于所述第三固定板上，所述第三一级减速器设置于所述第三一级行星架上，所述第三二级减速器设置于所述第三二级行星架上，所述第三电机的输出轴穿过所述第三固定板与所述第三一级减速器连接，所述第三一级行星架的输出轴与所述第三二级减速器连接，所述第三二级行星架的输出轴穿过所述第三凸出部与所述第三转子端盖连接，所述第三轴承套套设于所述第三二级行星架的输出轴上，且与所述第三外壳内壁抵紧，所述第三内空间内部充满不导电油液，所述第三转子端盖上设置有第三通孔，所述第三压力活塞的第三面与所述不导电油液接触而第三面通过所述第三活塞压环和所述第三通孔与外界海水接触，所述第三O型密封圈套设于所述第三压力活塞上，且与所述第三安装部内壁密封连接，所述第三斯特封密封圈套设于所述第三二级行星架的输出轴上，且与所述第三凸出部内壁密封连接。In the embodiment of the present application, the third
在本申请实施例中，第三关节驱动器130和第一关节驱动器110的结构和工作原理相同，此处不再赘述。In the embodiment of the present application, the structures and working principles of the third
在本申请实施例中，所述第四关节驱动器140包括：第四外壳、第四转子端盖、第四后端盖、第四轴承环、第四活塞压环、第四压力活塞、第四电机、第四固定板、第四一级减速器、第四一级行星架、第四二级减速器、第四二级行星架、第四轴承套、第四O型密封圈和第四斯特封密封圈，其中，所述第四转子端盖安装于所述第四外壳的第四端，且所述第四外壳的第四端伸入所述第四转子端盖内部，并于二者之间形成第四外空间，所述第四后端盖安装于所述第四外壳的第四端，且伸入所述第四外壳的第四端内部，并于二者之间形成第四内空间，所述第四外壳的第四端朝向所述第四转子端盖内部延伸形成第四凸出部，所述第四轴承环套设于所述第四凸出部上，且与所述第四转子端盖内壁抵紧，所述第四活塞压环和所述第四压力活塞设置于所述第四外空间中，所述第四凸出部上设置有第四安装部，所述第四安装部连通所述第四外空间和所述第四内空间，所述第四压力活塞密封设置于所述第四安装部中，所述第四活塞压环套设于所述第四安装部上，且压紧所述第四压力活塞，所述第四电机、所述第四固定板、所述第四一级减速器、所述第四一级行星架、所述第四二级减速器、所述第四二级行星架和所述第四轴承套均设置于所述第四内空间中，所述第四电机设置于所述第四固定板上，所述第四一级减速器设置于所述第四一级行星架上，所述第四二级减速器设置于所述第四二级行星架上，所述第四电机的输出轴穿过所述第四固定板与所述第四一级减速器连接，所述第四一级行星架的输出轴与所述第四二级减速器连接，所述第四二级行星架的输出轴穿过所述第四凸出部与所述第四转子端盖连接，所述第四轴承套套设于所述第四二级行星架的输出轴上，且与所述第四外壳内壁抵紧，所述第四内空间内部充满不导电油液，所述第四转子端盖上设置有第四通孔，所述第四压力活塞的第四面与所述不导电油液接触而第四面通过所述第四活塞压环和所述第四通孔与外界海水接触，所述第四O型密封圈套设于所述第四压力活塞上，且与所述第四安装部内壁密封连接，所述第四斯特封密封圈套设于所述第四二级行星架的输出轴上，且与所述第四凸出部内壁密封连接。In the embodiment of the present application, the fourth
在本申请实施例中，第四关节驱动器140和第一关节驱动器110的结构和工作原理相同，此处不再赘述。In the embodiment of the present application, the structures and working principles of the fourth
如图5，在本申请实施例中，所述第一连接件150包括：第一安装腔151和第一紧固腔152，所述第二连接件160包括：第二安装腔和第二紧固腔，其中，所述第一关节驱动器110的第二端安装于所述第一安装腔151中，所述第二关节驱动器120的第一端安装于所述第一紧固腔152中，所述第二关节驱动器120的第二端安装于所述第二安装腔中，所述第三关节驱动器130的第一端安装于所述第二紧固腔中。As shown in FIG. 5 , in the embodiment of the present application, the
在本申请实施例中，所述第三连接件170包括：第三安装腔和第三紧固腔，所述第四连接件180包括：第四安装腔和第四紧固腔，其中，所述第三关节驱动器130的第二端安装于所述第三安装腔中，所述第四关节驱动器140的第一端安装于所述第三紧固腔中，所述第四关节驱动器140的第二端安装于所述第四安装腔中，所述第四紧固腔与所述水下机器人连接。In the embodiment of the present application, the
在本申请实施例中，第一安装腔151和第一紧固腔152之间呈一定角度布置，用于安装第一关节驱动器110和第二关节驱动器120。第二连接件160、第三连接件170和第四连接件180的结构和工作原理和第一连接件150的结构和工作原理类似，此处不再赘述。In the embodiment of the present application, the
如图6-8，在本申请实施例中，所述固定器组件200包括：执行器端盖201、固定筒202、滑动环203、铰接件204、联轴器205、转动电机206、固定盖207、电机后端盖208、挡板209、丝杆210、丝杆螺母211、连杆212和固定器端盖213，其中，所述电机后端盖208设置于所述固定筒202的第一端，所述固定器端盖213设置于所述固定筒202的第二端，所述固定筒202与所述固定盖207连接，且第二端伸入所述固定盖207内部，所述滑动环203、所述铰接件204、所述联轴器205、所述转动电机206、所述挡板209、所述丝杆210、所述丝杆螺母211和所述连杆212均设置于所述固定筒202内部，所述转动电机206的输出轴穿过所述挡板209与所述联轴器205连接，所述联轴器205与所述丝杆210连接，所述滑动环203套设于所述丝杆210上，所述丝杆螺母211设置于所述丝杆210上，所述铰接件204的第一端与所述固定筒202内壁铰接而第二端与所述连杆212第一端铰接，所述连杆212的第二端与所述丝杆螺母211铰接，所述固定筒202的第一端上对应所述铰接件204处设置有通槽214，所述执行器端盖201套设于所述固定筒202的第一端，所述转动电机206驱动所述丝杆210转动，所述丝杆210带动所述丝杆螺母211沿自身运动，所述丝杆螺母211带动所述连杆212运动以使所述铰接件204伸出所述通槽214而锁紧所述执行器端盖201或缩入所述通槽214而释放所述执行器端盖201，所述固定盖207与所述机械臂组件100中第一关节驱动器110的第一端连接。6-8, in the embodiment of the present application, the
在本申请实施例中，固定器组件200的作用是实现自主更换机械臂组件100前端执行器，其中执行器端盖201与执行器相连，固定盖207与机械臂组件100相连，丝杆210通过联轴器205与转动电机206连接，转动电机206带动丝杆210转动，丝杆螺母211在丝杆210上做直线运动，通过连杆212带动铰接在固定筒202上的铰接件204做一定角度范围内的摆动，铰接件204闭合状态如图7所示，此时丝杆螺母211到达行程最大处，固定器组件200释放前端的执行器；铰接件204张开状态如图8所示，此时固定器组件200将前端执行器锁紧在机械臂组件100上。In the embodiment of the present application, the function of the
本申请提供的一种新型模块化电驱动水下机械臂及水下机器人具有如下有益效果：A novel modular electric-driven underwater manipulator and an underwater robot provided by the present application have the following beneficial effects:
(1)采用改进的动密封结构，使得水下机械臂能抗较高水压，且作业水深增大；(1) The improved dynamic sealing structure is adopted, so that the underwater manipulator can resist higher water pressure and increase the operating water depth;
(2)采用模块化结构，降低水下机械臂的维修难度；(2) The modular structure is adopted to reduce the maintenance difficulty of the underwater manipulator;
(3)可在水下更换前端执行器，使得水下机械臂适应多工况需求。(3) The front-end actuator can be replaced underwater, so that the underwater manipulator can adapt to the needs of multiple working conditions.
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。以上所述仅是本申请的具体实施方式，使本领域技术人员能够理解或实现本申请。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本文所示的这些实施例，而是要符合与本文所申请的原理和新颖特点相一致的最宽的范围。It should be noted that, in this document, relational terms such as "first" and "second" etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element. The above descriptions are only specific embodiments of the present application, so that those skilled in the art can understand or implement 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 implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this 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 claimed herein.
总之，以上所述仅为本发明技术方案的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。In a word, the above descriptions are only preferred embodiments of the technical solutions of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
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