Drive module for constructing underwater electric manipulator

Abstract

The invention relates to the technical field of underwater robot operation, in particular to a drive module for constructing an underwater electric manipulator. The drive module comprises a pitching joint, an auxiliary connecting plate, a wrist rotating joint, a wire routing connecting plate and a wire routing seal plate, two axial ends of the pitching joint are connected with the wrist rotating joint respectively through the auxiliary connecting plate and the wire routing connecting plate so as to transmit pitching motion to the wrist rotating joint, a joint connecting piece is internally driven by the wrist rotating joint to rotate, routing wires between the pitching joint and the wrist rotating joint are accommodated in the wire routing connecting plate, and the wire routing connecting plate is sealed through the wire routing seal plate. According to the drive module for constructing the underwater electric manipulator, the internal wire routing is achieved, the problem that external wire routing is prone to break down is solved, the underwater application is facilitated, the connection with external machinery is simple, the underwater manipulator with different degrees of freedom can be rapidly and flexibly constructed so as to meet different needs, the generality is good, the application range is wide, and the design of the underwater electric manipulator can be simplified.

Description

technical field

[0001] The invention relates to the technical field of underwater robot operation, in particular to a driving module for building an underwater electric manipulator. Background technique

[0002] The underwater manipulator is currently the most widely used operating tool in the underwater field, and it is widely carried on underwater robots. The current underwater electric manipulators are all driven by single-degree-of-freedom modules. When used to build high-degree-of-freedom electric manipulators such as five-function and seven-function, the structure is complex and the size is large. Moreover, the current underwater electric manipulators mostly use external wiring, which is prone to failures such as line entanglement when operating in complex underwater environments. The existing underwater electric manipulators do not integrate the motor driver in the drive joint, and the motor driver needs to be placed in the electronic cabin of the carrier (usually an...

Images