A transmission and locking mechanism for automatic replacement of underwater manipulator working tools

Abstract

The present invention provides a transmission and locking mechanism for automatic replacement of underwater robot arm working tools, the mechanism comprises a motor drive assembly, a working tool and three identical locking assemblies, wherein the working tools include three types: a gripper, a drill bit and a cutter, and the locking assemblies are evenly arranged on the outer periphery of the motor drive assembly housing. The present invention can realize automatic underwater replacement of the three working tools, and provide locking force through the locking assembly. Thanks to the non-contact power transmission of the magnetic coupling coupling, the mechanism has the characteristics of good watertightness, reliable replacement and stable operation.

Description

Technical Field

[0001] The present invention belongs to the field of marine engineering technology, and in particular relates to a transmission and locking mechanism for automatic replacement of underwater mechanical arm working tools. Background Art

[0002] The lower electric manipulator arm is usually installed on an underwater robot to perform underwater grasping, cutting, drilling and other tasks. It is an indispensable working tool for underwater robots and has a wide range of applications in the field of marine engineering. Since the underwater electric manipulator arm works in seawater, the existing underwater electric manipulator arm is usually only equipped with a single working tool and does not have the ability to automatically replace multiple working tools underwater. The difficulty lies in how to achieve power transmission from a watertight power source to the working tool, as well as the locking limit problem after the working tool is replaced. Summary of the invention

[0003] The object of the present invention is to provide a transmission and locking mechanism for automatic replacement of underwater manipulator working tools, characterized in that it comprises a motor drive assembly, a working tool and a locking assembly, wherein the motor drive assembly and the working tool are locked and fixed by the locking assembly;

[0004] The motor drive assembly includes a housing, a motor disposed inside the housing, and an end cover sealed and fixed to the end of the housing. The other end of the housing is sealed and connected to the joint cabin of the robot arm. The housing is watertight inside through the end cover and the joint cabin. The stator of the motor is bonded to the inner wall of the housing, and the rotor of the motor is bonded to the motor shaft of the motor. The motor shaft is a hollow motor shaft. The middle part of the end cover is concave inwardly of the hollow motor shaft and a groove is formed. A plurality of first arc-shaped magnetic steels are provided on the inner wall of the motor shaft near one end of the end cover.

[0005] A plurality of second arc-shaped magnetic steels are arranged on the outer periphery of one end of the input shaft close to the motor drive assembly;

[0006] When the motor drive assembly is locked with the working tool through the locking assembly, the input shaft extends into the groove, and the first arc-shaped magnetic steel cooperates with the second arc-shaped magnetic steel to form a magnetic coupling coupling, thereby realizing non-contact rotary power transmission between the motor drive assembly and the working tool.

[0007] Furthermore, it also includes a base, which is arranged between the motor drive assembly and the working tool and is fixed to the working tool, and the base is a hollow base, and the input shaft extends out of the base;

[0008] A plurality of locating pins are evenly spaced on the end surface of the base facing one end of the motor drive assembly, and a plurality of locating holes are arranged in coordination with the locating pins. The plurality of locating pins correspond one to one with the plurality of locating holes, and the motor drive assembly realizes rotation limitation with the base through the locating pins and the locating holes.

[0009] Furthermore, a bearing seat is provided at the end of the shell on one side of the joint compartment, and the bearing seat is provided with a first deep groove ball bearing. A second deep groove ball bearing is fixed to the inner wall of the shell close to the end cover. The second deep groove ball bearing is sleeved on the outer periphery of the motor shaft, and the motor shaft provides slewing support through the first deep groove ball bearing and the second deep groove ball bearing.

[0010] Furthermore, the locking assembly includes a locking shell, a front cover and a rear cover are provided at both ends of the locking shell, the front cover is provided with a through hole, a locking hook is provided inside the locking shell, one end of the locking hook extends out of the front cover through the through hole and is provided with a hook, a support ear is provided on the periphery of the base, and the motor drive assembly is locked with the working tool by hooking the support ear through the hook;

[0011] A sealing groove is provided on the outer periphery of the other end of the locking hook, and a grid ring is installed in the sealing groove. Baffle covers are provided on both sides of the grid ring to ensure watertightness between the end of the locking hook and the rear end cover. A wave spring is provided on the outer periphery of the locking piece, and the wave spring is arranged between the baffle cover and the rear end cover. The rear end cover is provided with an oil inlet hole for injecting high-pressure oil.

[0012] Furthermore, a step surface is provided in the middle of the locking hook, the vertical section of the locking hook is a semicircular section, the through hole is a semicircular through hole, and the locking hook limits its own rotation through the semicircular through hole and the semicircular section.

[0013] Furthermore, the number of locking assemblies is at least two, and the multiple locking assemblies are fixed to the outer periphery of the shell at equal intervals. The number of ears is greater than or equal to the number of locking assemblies, and the locking assemblies are arranged opposite to the ears.

[0014] Furthermore, it also includes a tool tray, which is provided with a mounting groove, and the working tool is clamped in the mounting groove through the base.

[0015] Furthermore, the working tool is a gripper, a cutter or a drill bit, the tool tray is provided with three mounting slots, and the gripper, the cutter and the drill bit are respectively clamped in different mounting slots.

[0016] Furthermore, the outer circumference of the base between the lifting ear and the working tool is relatively provided with a plurality of step planes, and the inner circumferences of the three mounting grooves are all provided with limiting step surfaces corresponding to the plurality of plane steps one by one, and the gripper, the cutting machine and the drill bit are all clamped with the respective mounting grooves through the cooperation of the step planes and the limiting step surfaces and the limiting of the lifting ear and the surface of the tool plate;

[0017] The structural arrangement of the plurality of supporting ears is the same, and the side surface where the supporting ears are connected to the hook is a concave arc surface.

[0018] A method for automatically replacing underwater robot arm working tools, comprising the following steps:

[0019] S1: Control the underwater manipulator to drive the used working tool into the installation slot corresponding to the tool tray, and ensure that the base is placed vertically;

[0020] S2: Inject high-pressure oil into the locking assembly through the oil inlet hole, so that the locking hook overcomes the force of the wave spring and moves toward the working tool, thereby separating the hook of the locking hook from the lug;

[0021] S3: Control the working tool to move upward so that the positioning pin is disengaged from the positioning hole on the end cover;

[0022] S4: Control the motor drive assembly to rotate so that the locking hook is located between two adjacent ears;

[0023] S5: Control the movement of the motor drive assembly to realize the operation of the tool and the motor drive assembly;

[0024] S6: The motor drive assembly is coaxially arranged with the input shaft of the other working tool, and the locking hook is ensured to be located between two adjacent support ears;

[0025] S7: Control the motor drive assembly to move toward other working tools;

[0026] S8: Control the motor drive assembly to rotate, so that the locking hook and the support ear are on the same axis, and release the pressure on the locking assembly, so that the locking hook is locked with the support ear under the action of the wave spring;

[0027] S9: Control the motor drive assembly to rotate back and forth. During this process, the positioning pin automatically enters the positioning hole through the force of the locking assembly, completing the installation of other working tools and the motor drive assembly, and then completing the automatic replacement of the underwater manipulator arm working tools.

[0028] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in:

[0029] The automatic replacement and locking mechanism of the underwater manipulator working tool of the present invention adopts a magnetic coupling coupling solution to solve the problem of non-contact power transmission between the power source and the working tool, and ensures the watertightness of the working tool driving motor.

[0030] The automatic replacement and locking mechanism of the underwater manipulator working tool of the present invention is equipped with a hydraulically driven locking assembly to ensure the working stability after the working tool is replaced.

[0031] The automatic replacement and locking mechanism of the underwater manipulator working tools of the present invention can realize the automatic underwater replacement of three working tools such as a gripper, a drill bit and a cutter, thereby improving the working capacity of the underwater manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of a transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to the present invention;

[0033] Figure 2It is a cross-sectional structural diagram of a motor drive assembly in a transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to the present invention;

[0034] Figure 3 It is a cross-sectional structural diagram of a gripper and a base in a transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to the present invention;

[0035] Figure 4 It is a cross-sectional structural diagram of a locking assembly in a transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to the present invention;

[0036] Figure 5 This is an assembly diagram of various working tools and a tool tray of a transmission and locking mechanism for automatic replacement of working tools of an underwater manipulator arm according to the present invention.

[0037] In the figure, 1. motor drive assembly; 101. housing; 102. bearing seat; 103. first deep groove ball bearing; 104. motor shaft; 105. stator; 106. rotor; 107. end cover; 108. proximity switch; 109. second deep groove ball bearing; 110. first arc-shaped magnetic steel; 2. gripper; 201. second arc-shaped magnetic steel; 202. input shaft; 203. angular contact ball bearing; 204. base; 205. telescopic member; 206. positioning pin; 207. hand grip; 3. locking assembly; 301. rear end cover; 302. locking shell; 303. blocking cover; 304. grid ring; 305. wave spring; 306. front end cover; 307. locking hook; 4. cutting machine; 5. drill bit; 6. tool tray. DETAILED DESCRIPTION

[0038] The following is a more detailed description of a transmission and locking mechanism for automatic replacement of underwater robot arm working tools of the present invention in conjunction with a schematic diagram, wherein a preferred embodiment of the present invention is shown. It should be understood that those skilled in the art can modify the present invention described herein and still achieve the beneficial effects of the present invention. Therefore, the following description should be understood as being widely known to those skilled in the art and not as a limitation to the present invention.

[0039] The present invention discloses a transmission and locking mechanism for automatic replacement of working tools at the end of an underwater mechanical arm, which can realize Figure 2 The underwater automatic replacement and locking of the three working tools, namely the gripper, drill bit and cutter, improve the operating capability of the underwater robotic arm.

[0040] like Figure 1 As shown, the transmission and locking mechanism for automatic replacement of the working tool at the end of the underwater manipulator arm includes a motor drive component 1, a working tool and three identical locking components 3.

[0041] The motor drive assembly 1 provides rotational power for the working tool to perform actions and can serve as a mounting and fixing base for the working tool;

[0042] refer to Figure 5 The working tools can be replaced with three types of tools, namely, gripper 2, cutter 4, drill bit 5, etc. according to the working needs; the power source of the working tools is the rotational driving force provided by the motor drive assembly 1; the gripper 2, cutter 4 and drill bit 5 are respectively placed in the corresponding installation grooves of the tool tray 6 when they are not replaced.

[0043] The following content uses the gripper as an example for detailed explanation.

[0044] Three identical locking assemblies 3 are evenly arranged on the outer periphery of the housing 101 of the motor drive assembly 1, and are used to lock the gripper and the motor drive assembly 1;

[0045] like Figure 2 As shown, the motor drive assembly 1 is composed of a shell 101, an end cover 107, a motor shaft 104, a stator 105 of the motor, a rotor 106 of the motor and other components; the outer periphery of the shell 101 is a hexagonal design, and each hexagonal plane is used to install the locking assembly 3. According to the locking force required, three or six locking assemblies 3 can be set; the right side of the shell 101 is installed with an end cover 107, and an O-ring sealing groove is provided on the outer periphery of the end cover 107; a groove is provided inwardly in the middle of the end cover 107, and a proximity switch 108 is provided at the center of the groove, and a static seal between the end cover 107 and the proximity switch 108 is achieved by threaded sealing. Preferably, a normally closed proximity switch with an external thread of M8 can be selected; the left side of the shell 101 can be connected to other joint compartments of the robot arm, and then The stator 105 of the motor is bonded to the inner wall of the housing 101, the rotor 106 of the motor is connected to the motor shaft 104, and the motor shaft 104 is provided with a first deep groove ball bearing 103 and a second deep groove ball bearing 109 for rotary support; the preferred motor is a frameless DC brushless motor, the model of which is Suzhou Yanyi YFL060 series motor; the outer periphery of the first deep groove ball bearing 103 is supported by a bearing seat 102, and the bearing seat 102 and the housing 101 are fastened by screws; the second deep groove ball bearing 109 is arranged on the housing 101; the motor shaft 104 adopts a hollow design, and the groove is extended into the motor shaft 104, and 8 first arc-shaped magnetic steels 110 are arranged inside the right side of the motor shaft 104, and the first arc-shaped magnetic steels 110 are large arc-shaped magnetic steels;

[0046] refer to Figure 3The gripper 2 includes a base 204, an input shaft 202, a telescopic member 205 and other components; the base 204 serves as a fixed base for the gripper, and its outer circumference is provided with six ears, and the right side of the ear is a concave arc surface; the outer cylindrical surface of the right side of the ear of the base 204 is processed with two step planes. When it is inserted into the mounting groove of the tool disk 6, the two step planes cooperate with the two limit step surfaces pre-set on the inner circumference of the mounting groove. Through the cooperation of the limit step surface and the step plane, the limitation of the auxiliary ear and the surface of the tool disk can realize axial, radial and rotational limitation; the base 204 is provided with two corner joints The ball bearing 203 provides radial and axial movement support for the input shaft 202; 8 second arc-shaped magnetic steels 201 are arranged on the left side of the input shaft 202, and the second arc-shaped magnetic steels 201 are small arc-shaped magnetic steels; the left side of the telescopic member 205 goes deep into the input shaft 202, and the telescopic member 205 and the input shaft 202 are provided with threads, and when the input shaft 202 rotates, the telescopic member 205 can realize reciprocating motion, thereby driving the hand grip 207 at the end to open and close; three equidistantly arranged positioning pins 206 are arranged on the base 204, which are used for radial positioning after the base 204 and the end cover 107 are matched;

[0047] One end of the small magnet on the left side of the input shaft 202 can be placed in the groove of the end cover 107, and then cooperate with the large magnet inside the right side of the motor shaft 104 to form a magnetic coupling coupling, so as to realize non-contact rotary power transmission from the motor shaft 104 to the input shaft 202;

[0048] The telescopic member 205 reciprocates along the axial direction of the motor drive assembly 1 when the input shaft 202 rotates; the telescopic member 205 moves to the left, and when its left end is about to contact the proximity switch 108, the proximity switch 108 will feedback an electrical signal, thereby realizing the detection of the closing limit position of the hand grip 207, and realizing the position calibration at the initial moment of power-on;

[0049] refer to Figure 4The locking assembly 3 includes a locking shell 302, a rear end cover 301, a front end cover 306, a locking hook 307, a wave spring 305 and other components; the interior of the locking shell 302 is a hollow smooth cylindrical surface, and the outer side is a flat design for installation and fixation with the housing 101; the locking shell 302 is provided with a rear end cover 301 on the left side, a front end cover 306 on the right side, and a locking hook 307 inside; the locking hook 307 is provided with two sealing grooves on the outer periphery of the left end for installing the grid ring 304, and the grid ring 304 is provided with the same blocking covers 303 on both sides, which can ensure the watertightness of the left cavity when the locking hook 307 reciprocates; the left side of the locking hook 307 is cut The surface is semicircular, and can cooperate with the semicircular through hole in the middle of the front end cover 306, so as to limit the rotational movement of the locking hook 307; the right side of the locking hook 307 is processed into a hook shape, which is used to cooperate with the support ear of the concave arc surface on the outer periphery of the base 204. When the hook of the locking hook 307 hooks the support ear of the base 204, the gripper 2 can be locked; the wave spring 305 is arranged inside the locking shell 302, which is sleeved on the outer periphery of the locking hook 307, and can provide the locking hook 307 with a force to move to the left; an oil inlet hole is arranged in the middle of the rear end cover 301, which can allow high-pressure oil to enter the cavity on the left side of the locking hook 307, so as to provide the locking hook 307 with a force to move to the right.

[0050] There are two processes: automatic disassembly of the gripper 2 and automatic installation of the drill bit 5;

[0051] The automatic disassembly process of gripper 2 is as follows:

[0052] 1. Control the underwater manipulator to drive the gripper 2 into the corresponding groove of the tool tray 6, and ensure that the gripper 2 is placed vertically, that is, the motor drive assembly 1 is on the top and the gripper 2 is on the bottom;

[0053] 2. The high-pressure oil is introduced into the left cavity of the locking hook 307 through the oil filling port of the rear end cover 301 of the locking assembly 3, so that the locking hook 307 overcomes the force of the wave spring 305 and moves to the right, so that the locking hook 307 is separated from the inward-inclined support ear on the outer periphery of the base 204;

[0054] 3. Control the end gripper 2 to move upward by 6 mm to disengage the positioning pin 206 from the positioning hole on the end cover 107;

[0055] 4. Control the motor drive assembly 1 to rotate 30° so that the locking hook 307 is located in the gap between the peripheral ears of the base 204;

[0056] 5. Control the motor drive assembly 1 to move upward to realize the disassembly of the gripper 2;

[0057] The automatic installation process of the drill bit 5 is as follows:

[0058] 1. Place the motor drive assembly 1 above the input shaft 202 in a coaxial position, and ensure that the locking hook 307 is in the gap between the peripheral ears of the base 204;

[0059] 2. Control the motor drive assembly 1 to move downward until the end surface of the end cover 107 is 6 mm away from the end surface of the base 204;

[0060] 3. Inject high-pressure oil into the left side of the locking hook 307 to make the locking hook 307 in the extended limit state;

[0061] 4. Control the motor drive assembly 1 to rotate 30° and release the pressure on the left side of the locking hook 307, so that the locking hook 307 can be locked with the ear of the base 204 under the action of the wave spring 305;

[0062] 5. To ensure that the locating pin 206 can smoothly enter the locating hole of the end cover 107, the motor drive assembly 1 can be controlled to turn 5° left and 5° right respectively. During this process, the locating pin 206 can automatically enter the locating hole of the end cover 107 with the help of the force of the locking assembly 1.

[0063] The above is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any technician in the relevant technical field, without departing from the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification to the technical solution and technical content disclosed in the present invention, which does not depart from the content of the technical solution of the present invention and still falls within the protection scope of the present invention.

Claims

1. A transmission and locking mechanism for automatic replacement of underwater manipulator working tools, characterized in that: It comprises a motor drive assembly (1), a working tool and a locking assembly (3), wherein the motor drive assembly (1) and the working tool are locked and fixed by the locking assembly (3); The motor drive assembly (1) comprises a housing (101), a motor arranged inside the housing (101), and an end cover (107) sealed and fixed to an end of the housing (101); the other end of the housing (101) is sealed and connected to a joint cabin of a robot arm; the housing (101) is internally watertight through the end cover (107) and the joint cabin; the stator (105) of the motor is bonded to an inner wall of the housing (101); the rotor (106) of the motor is bonded to a motor shaft (104) of the motor; the motor shaft (104) is a hollow motor shaft; the middle portion of the end cover (107) is recessed into the hollow motor shaft and forms a groove; a plurality of first arc-shaped magnetic steels (110) are provided on an inner wall of the motor shaft (104) close to one end of the end cover (107); A plurality of second arc-shaped magnetic steels (201) are provided on the outer periphery of one end of the input shaft (202) close to the end cover (107); When the motor drive assembly (1) is locked with the working tool via the locking assembly (3), the input shaft (202) extends into the groove, and the first arc-shaped magnetic steel (110) cooperates with the second arc-shaped magnetic steel (201) to form a magnetic coupling coupling, thereby achieving non-contact rotary power transmission between the motor drive assembly (1) and the working tool; It also includes a base (204), the base (204) being arranged between the motor drive assembly (1) and the working tool, and being fixed to the working tool; A plurality of positioning pins (206) are evenly spaced on an end surface of the base (204) facing one end of the motor drive assembly (1); the end cover (107) is provided with a plurality of positioning holes arranged in cooperation with the positioning pins (206); the plurality of positioning pins (206) correspond to the plurality of positioning holes one by one; the motor drive assembly (1) is rotationally limited with the base (204) by means of the positioning pins (206) and the positioning holes; The locking assembly (3) comprises a locking shell (301), a front end cover (306) and a rear end cover (302) are provided at both ends of the locking shell (301), the front end cover (306) is provided with a through hole, a locking hook (307) is provided inside the locking shell (301), one end of the locking hook (307) protrudes out of the front end cover (306) through the through hole and is provided with a hook, a support ear is provided on the periphery of the base (204), and the motor drive assembly (1) is locked with the working tool by hooking the support ear with the hook; A sealing groove is provided on the outer periphery of the other end of the locking hook (307), a grid ring (304) is installed in the sealing groove, and baffles (303) are provided on both sides of the grid ring (304) for ensuring watertightness between the end of the locking hook (307) and the rear end cover (302), a wave spring (305) is sleeved on the outer periphery of the locking hook (307), and the wave spring (305) is arranged between the baffles (303) and the rear end cover (302), and the rear end cover (302) is provided with an oil inlet hole for injecting high-pressure oil.

2. The transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to claim 1, characterized in that: The housing (101) is provided with a bearing seat (102) at an end portion on one side of the joint chamber, the bearing seat (102) being provided with a first deep groove ball bearing (103), a second deep groove ball bearing (109) being fixed to an inner wall of the housing (101) on a side close to the end cover (107), the second deep groove ball bearing (109) being sleeved on the outer circumference of the motor shaft (104), and the motor shaft (104) being provided with a slewing support through the first deep groove ball bearing (103) and the second deep groove ball bearing (109).

3. The transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to claim 2 is characterized in that: The vertical cross-section of the locking hook (307) is a semicircular cross-section, the through hole is a semicircular through hole, and the locking hook (307) limits its own rotation through the semicircular through hole and the semicircular cross-section.

4. The transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to claim 3 is characterized in that: The number of the locking assemblies (3) is at least two, and the plurality of locking assemblies (3) are fixed to the outer circumference of the housing (101) at equal intervals, the number of the supporting ears is greater than or equal to the number of the locking assemblies (3), and the locking assemblies (3) and the supporting ears are arranged opposite to each other.

5. The transmission and locking mechanism for automatic replacement of underwater robot arm working tools according to claim 4, characterized in that: It also comprises a tool tray (6), wherein the tool tray (6) is provided with a mounting groove, and the working tool is clamped in the mounting groove through the base (204).

6. The transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to claim 5, characterized in that: The working tool is a gripper (2), a cutter (4) or a drill bit (5); the tool tray (6) is provided with three mounting slots; the gripper (2), the cutter (4) and the drill bit (5) are respectively mounted in different mounting slots.

7. The transmission and locking mechanism for automatic replacement of underwater manipulator working tools according to claim 6, characterized in that: The outer periphery of the base (204) located between the lifting lug and the working tool is also relatively provided with a plurality of step planes, and the inner peripheries of the three mounting grooves are all provided with position limiting step surfaces corresponding one to one to the plurality of planar steps, and the gripper (2), the cutting machine (4) and the drill bit (5) are all locked in the respective mounting grooves through the cooperation of the step planes with the position limiting step surfaces and the position limiting of the lifting lug and the surface of the tool plate (6); The structural arrangement of the plurality of supporting ears is the same, and the side surface where the supporting ear is connected to the hook is a concave arc surface.

8. A method for automatically replacing an underwater robot arm working tool, using the transmission and locking mechanism for automatically replacing an underwater robot arm working tool as claimed in any one of claims 1 to 7, characterized in that: The steps include: S1: Controlling the underwater mechanical arm to drive the used working tool into the corresponding installation slot of the tool tray (6), and ensuring that the base (204) is placed vertically; S2: injecting high-pressure oil into the locking assembly (3) through the oil inlet hole, so that the locking hook (307) overcomes the force of the wave spring (305) and moves toward the working tool, thereby separating the hook of the locking hook (307) from the support ear; S3: controlling the working tool to move upward so that the positioning pin (206) is disengaged from the positioning hole on the end cover (107); S4: controlling the motor drive assembly (1) to rotate so that the locking hook (307) is located between two adjacent support ears; S5: controlling the motor drive assembly (1) to move, thereby separating the working tool from the motor drive assembly (1); S6: The motor drive assembly (1) is coaxially arranged with the input shaft (202) of the other working tool, and the locking hook (307) is ensured to be located between two adjacent support ears; S7: controlling the motor drive assembly (1) to move toward the other working tool; S8: Controlling the motor drive assembly (1) to rotate so that the locking hook (307) and the support ear are on the same axis, and relieving the pressure of the locking assembly (3), so that the locking hook (307) is locked with the support ear under the action of the wave spring (305); S9: Controlling the motor drive assembly (1) to rotate back and forth. During this process, the positioning pin (206) automatically enters the positioning hole through the force of the locking assembly (3), thereby completing the installation of the other working tools and the motor drive assembly (1), thereby completing the automatic replacement of the underwater robot arm working tools.

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