Multifunctional joint of deep-sea hydraulic mechanical arm

Abstract

The application discloses a deep-sea water hydraulic mechanical arm multifunctional joint, which comprises a wrist swing cylinder, a hand claw swing cylinder, a mechanical hand claw, a swing hydraulic cylinder fixed base and a connecting side plate; the swing hydraulic cylinder fixed base comprises a hand claw swing cylinder fixed base, a first fixed base and a second fixed base of the wrist swing cylinder; a flow passage in the second fixed base of the wrist swing cylinder is connected with water to drive the wrist swing cylinder to swing, and then the fixed base of the hand claw swing cylinder, the hand claw swing cylinder and the mechanical hand claw are sequentially driven to swing up and down; a flow passage in the fixed base of the hand claw swing cylinder is connected with water to drive the hand claw swing cylinder to swing, and then the mechanical hand claw is driven to swing left and right; the flow passage in the fixed base of the hand claw swing cylinder is connected with water, sequentially passes through an output shaft of the hand claw swing cylinder and a driving hydraulic cylinder of the mechanical hand claw, and a driving piston in the driving hydraulic cylinder of the mechanical hand claw is controlled to drive the mechanical hand claw to perform opening and closing actions. The application uses water hydraulic driving to drive the mechanical arm joint, and avoids oil-water mutual penetration pollution.

Description

Technical Field

[0001] This invention belongs to the field of deep-sea hydraulic robotic arms, and more specifically, relates to a multifunctional joint for a deep-sea hydraulic robotic arm. Background Technology

[0002] The deep sea contains strategic resources for the sustainable development of human society. Deep-sea development is an important undertaking for the future, and marine equipment is the main technological support for the marine economy and security.

[0003] Currently, hydraulic drive and transmission are applied to all heavy-duty deep-sea equipment, and deep-sea hydraulic manipulators have wide applications in deep-sea mineral resource extraction, marine environmental monitoring, and deep-sea oil and gas exploration and development. Domestic research on deep-sea hydraulic manipulators is basically mature; however, using hydraulically driven manipulators can lead to oil-water cross-contamination in the deep sea, and hydraulically driven manipulators are difficult to maintain and suffer from severe performance degradation.

[0004] However, with increasing emphasis on ecological environmental protection, green practices, energy conservation, and safe production, the pollution and safety issues inherent in traditional hydraulic systems are becoming increasingly apparent. Water-hydraulic systems, with their unique advantages such as environmental friendliness, automatic pressure compensation, low operating costs, easy handling of working fluids, simple system composition, and high cleanliness, have attracted widespread attention. Currently, the research and development of water-hydraulic robotic arms is still in the exploratory stage.

[0005] Existing deep-sea hydraulic robotic arms suffer from problems such as oil-water contamination, difficult maintenance, and severe performance degradation. Summary of the Invention

[0006] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a multi-functional joint for a deep-sea hydraulic robotic arm, thereby solving the problems of oil-water mutual seepage pollution, difficult maintenance and serious performance degradation of the existing deep-sea hydraulic robotic arms.

[0007] To achieve the above objectives, according to one aspect of the present invention, a multifunctional joint for a deep-sea hydraulic robotic arm is provided, comprising: a wrist swing cylinder, a gripper swing cylinder, a robotic gripper, a swing hydraulic cylinder fixing base, and a connecting side plate;

[0008] The swing hydraulic cylinder fixing base includes a fixing base for a gripper swing cylinder, a first fixing base for a wrist swing cylinder, and a second fixing base for a wrist swing cylinder. The first fixing base and the second fixing base for the wrist swing cylinder are fixed on the connecting side plate. The tail end of the gripper swing cylinder fixing base passes through the first fixing base and the second fixing base for the wrist swing cylinder and is positioned by a shoulder. The wrist swing cylinder is fixed on the second fixing base for the wrist swing cylinder, and the gripper swing cylinder is fixed on the fixing base for the gripper swing cylinder. The robotic gripper is connected to the output shaft of the gripper swing cylinder.

[0009] The output shaft of the wrist swing cylinder passes through the second fixed base of the wrist swing cylinder and is connected to the tail end of the fixed base of the hand swing cylinder. Water is introduced into the flow channel in the second fixed base of the wrist swing cylinder to drive the wrist swing cylinder to swing, which in turn drives the fixed base of the hand swing cylinder, the hand swing cylinder and the mechanical hand to swing up and down in sequence.

[0010] The output shaft of the gripper swing cylinder passes through the fixed base of the gripper swing cylinder and is connected to the tail end of the driving hydraulic cylinder of the robotic gripper. Water is introduced into the flow channel in the fixed base of the gripper swing cylinder to drive the gripper swing cylinder to swing, thereby driving the robotic gripper to swing left and right.

[0011] Water flows through the fixed base of the gripper swing cylinder into the flow channel, passing sequentially through the output shaft of the gripper swing cylinder and the drive hydraulic cylinder of the robotic gripper, controlling the drive piston in the drive hydraulic cylinder of the robotic gripper to drive the robotic gripper to perform opening and closing actions.

[0012] Furthermore, the wrist swing cylinder includes: a distribution pipe for the wrist swing cylinder, a cylinder body for the wrist swing cylinder, and a connector;

[0013] The cylinder body of the wrist swing cylinder is fixed on the second fixed base of the wrist swing cylinder;

[0014] The first wrist right-angle connector and the second wrist right-angle connector corresponding to the wrist swing cylinder are respectively installed on the inner side of the second fixed base of the wrist swing cylinder through the first mounting hole and the second mounting hole. The first wrist right-angle connector is connected to the first water pipe interface through the first distribution hole and the second distribution hole of the first mounting hole. The second wrist right-angle connector is connected to the second water pipe interface through the first distribution hole, the second distribution hole and the third distribution hole of the second mounting hole. The flow channels corresponding to the first distribution hole and the second distribution hole of the first mounting hole intersect and are connected at the intersection. The flow channels corresponding to the first distribution hole and the second distribution hole of the second mounting hole intersect and are connected at the intersection. The flow channels corresponding to the second distribution hole and the third distribution hole of the second mounting hole intersect and are connected at the intersection.

[0015] The first water pipe interface is connected to the flow channel on one side of the wrist swing cylinder via a connector and the distribution pipe of the wrist swing cylinder in sequence. The second water pipe interface is connected to the flow channel on the other side of the wrist swing cylinder via a connector and the distribution pipe of the wrist swing cylinder in sequence, thereby distributing water to the wrist swing cylinder.

[0016] Furthermore, the water pipe connection installation window for the first wrist right-angle connector and the second wrist right-angle connector corresponding to the wrist swing cylinder is located on the connecting side plate.

[0017] Furthermore, the gripper swing cylinder includes: a distribution pipe for the gripper swing cylinder and a cylinder body for the gripper swing cylinder;

[0018] The cylinder body of the gripper swing cylinder is fixed to one side of the fixed base of the gripper swing cylinder;

[0019] The first and second right-angle connectors of the gripper swing cylinders are respectively installed on the inner sides of the first and second fixed bases of the wrist swing cylinder through the third and fourth mounting holes. The first right-angle connector of the gripper swing cylinder is connected to the inner annular distribution groove of the first fixed base of the wrist swing cylinder through the first and second distribution holes of the third mounting hole. The second right-angle connector of the gripper swing cylinder is connected to the inner annular distribution groove of the second fixed base of the wrist swing cylinder through the first, second, and third distribution holes of the fourth mounting hole. The flow channels corresponding to the first and second distribution holes of the third mounting hole intersect and are connected at the intersection. The flow channels corresponding to the first and second distribution holes of the fourth mounting hole intersect and are connected at the intersection. The flow channels corresponding to the second and third distribution holes of the fourth mounting hole intersect and are connected at the intersection.

[0020] Water flows through the inner annular distribution groove and the first flow channel of the first fixed base of the wrist swing cylinder and enters the distribution hole on one side above the tail shaft of the fixed base of the gripper swing cylinder. Then it flows through the first distribution hole and the second distribution hole of the first flow channel and connects to the water pipe interface on the right side.

[0021] Water flows through the inner annular distribution groove and the second flow channel of the second fixed base of the wrist swing cylinder and enters the other side distribution hole above the tail shaft of the fixed base of the gripper swing cylinder. Then it flows through the first distribution hole and the second distribution hole of the second flow channel and connects to the water pipe interface on the left side.

[0022] The water pipe interfaces on the left and right sides are respectively distributed to the gripper swing cylinder through the distribution pipe of the gripper swing cylinder.

[0023] Furthermore, the water pipe connection installation window for the first and second right-angle joints of the gripper swing cylinder is located on the connecting side plate.

[0024] Furthermore, the flow distribution of the robotic gripper is achieved in the following manner:

[0025] The first and second right-angle connectors of the robotic gripper are respectively installed on the inner sides of the first fixed base and the second fixed base of the wrist swing cylinder through the fifth and sixth mounting holes.

[0026] The first gripper right-angle connector connects to the outer annular distribution groove of the first fixed base of the wrist swing cylinder through the first distribution hole and the second distribution hole of the fifth mounting hole; the second gripper right-angle connector connects to the outer annular distribution groove of the second fixed base of the wrist swing cylinder through the first distribution hole and the second distribution hole of the sixth mounting hole.

[0027] Water sequentially flows through the outer annular distribution groove and the third flow channel of the first fixed base into the side distribution hole below the tail shaft of the fixed base of the gripper swing cylinder. Then, it flows through the first, second, third, and fourth distribution holes of the third flow channel to the annular distribution groove at the end of the output shaft of the gripper swing cylinder. Finally, it flows through the internal flow channel of the output shaft of the gripper swing cylinder and the drive hydraulic cylinder of the robotic gripper into the upper part of the drive piston of the robotic gripper. Water sequentially flows through the outer annular distribution groove and the fourth flow channel of the second fixed base of the wrist swing cylinder. Then, it flows through the first, second, third, and fourth distribution holes of the fourth flow channel to the annular distribution groove at the end of the output shaft of the gripper swing cylinder. Finally, it flows through the internal flow channel of the output shaft of the gripper swing cylinder and the drive hydraulic cylinder of the robotic gripper into the lower part of the drive piston of the robotic gripper. This is the distribution of water in the robotic gripper.

[0028] Furthermore, the water pipe docking installation window for the first and second right-angle connectors of the robotic gripper is located on the connecting side plate.

[0029] Furthermore, a Glyd ring is used to achieve a dynamic seal at the connection between the internal flow channels of the first fixed base and the second fixed base of the wrist swing cylinder and the internal flow channel of the fixed base of the gripper swing cylinder; a Glyd ring is used to achieve a dynamic seal at the connection between the internal flow channel of the fixed base of the gripper swing cylinder and the internal flow channel of the output shaft of the gripper swing cylinder; and a sealing ring is used to achieve a static seal at the connection between the internal flow channel of the output shaft of the gripper swing cylinder and the internal flow channel of the drive hydraulic cylinder of the robotic gripper.

[0030] Furthermore, both the wrist swing cylinder and the gripper swing cylinder are gear and rack swing cylinders.

[0031] According to another aspect of the present invention, an application of a multi-functional joint for a deep-sea hydraulic robotic arm is provided, the multi-functional joint of which is used in deep-sea operations.

[0032] The shell of the robotic arm forearm, which requires the use of a multi-functional joint for deep-sea operations, is fastened to the connecting side plate. An external water pipe is connected to the internal flow channel of the multi-functional joint via a water pipe docking window on the connecting side plate. When the external water pipe is connected to the internal flow channel of the wrist swing cylinder, the rotation of the wrist swing cylinder is controlled by the inlet and outlet of the water pipe, thereby causing the fixed base of the gripper swing cylinder, the gripper swing cylinder, and the robotic gripper to swing up and down. When the external water pipe is connected to the internal flow channel of the gripper swing cylinder, the rotation of the gripper swing cylinder is controlled by the inlet and outlet of the water pipe, thereby causing the robotic gripper to swing left and right. When the external water pipe is connected to the internal flow channel of the robotic gripper, the opening and closing actions of the robotic gripper are controlled by the inlet and outlet of the water pipe.

[0033] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0034] (1) This invention uses water-hydraulic hydraulics to drive the robotic gripper within the flow channel of the multifunctional joint of the robotic arm, overcoming the problems of oil-water mutual seepage pollution, difficult maintenance, and severe performance degradation inherent in existing deep-sea hydraulic robotic arms that use oil-hydraulic hydraulics. In this invention, the output shaft of the wrist swing cylinder passes through the second fixed base of the wrist swing cylinder and connects to the tail end of the fixed base of the gripper swing cylinder. The gripper swing cylinder is fixed on the fixed base of the gripper swing cylinder. The tail end of the fixed base of the gripper swing cylinder passes through the first fixed base and the second fixed base of the wrist swing cylinder and is positioned by a shoulder. The robotic gripper is connected to the output shaft of the gripper swing cylinder. Therefore, when water is introduced into the flow channel within the second fixed base of the wrist swing cylinder to drive the wrist swing cylinder to swing, the fixed base of the gripper swing cylinder, the gripper swing cylinder, and the robotic gripper can swing up and down. The output shaft of the gripper swing cylinder passes through the fixed base of the gripper swing cylinder and connects to the tail end of the drive hydraulic cylinder of the robotic gripper. Therefore, when water flows through the flow channel in the fixed base of the gripper swing cylinder to drive the gripper swing cylinder to swing, it can drive the robotic gripper to swing left and right. When water flows through the flow channel in the fixed base of the gripper swing cylinder and passes sequentially through the output shaft of the gripper swing cylinder and the drive hydraulic cylinder of the robotic gripper, it can control the drive piston in the drive hydraulic cylinder of the robotic gripper to drive the robotic gripper to perform opening and closing actions. This end effector integrated mechanism enables the robotic gripper to achieve large-amplitude swinging movements in all directions and can control the robotic gripper to perform grasping actions in any posture. Moreover, the connection structure of each joint is simple, effectively improving the power density of the end effector joint.

[0035] (2) In this invention, the fixed base of the wrist swing cylinder is a split structure, consisting of a first fixed base and a second fixed base. Each fixed base has a flow channel, which can directly distribute the flow to the wrist swing cylinder and assist in distributing the flow to the gripper swing cylinder and the robotic gripper. The fixed base of the gripper swing cylinder has a flow channel, which can assist in distributing the flow to the gripper swing cylinder and the robotic gripper. The output shaft of the gripper swing cylinder and the drive hydraulic cylinder of the robotic gripper have flow channels, which can assist in distributing the flow to the robotic gripper.

[0036] (3) The present invention provides water pipe docking installation windows for the wrist swing cylinder, the gripper swing cylinder and the corresponding connector of the robotic gripper on the connecting side plate. By opening the flow channel in the fixed base of the swing hydraulic cylinder, the flow distribution port of the end joint of the robotic arm and the drive hydraulic cylinder of the robotic gripper are all integrated into the connecting side plate to achieve centralized flow distribution of the power mechanism. This is beneficial to optimize the end structure of the deep-sea robotic arm and greatly simplifies the pipe laying method of the end joint of the deep-sea robotic arm.

[0037] (4) This invention employs dynamic sealing at the flow channel connection between the fixed bases, dynamic sealing at the internal flow channel connection between the fixed base and the output shaft, and static sealing at the connection between the internal flow channel of the output shaft of the gripper swing cylinder and the internal flow channel of the driving hydraulic cylinder of the robotic gripper. This combination of dynamic and static sealing ensures zero leakage under high-pressure water-medium driving conditions. The use of a rack and pinion swing cylinder in this invention enables high torque output under high pressure, thereby increasing the power density of the end effector joint. Conventional robotic arm joints can withstand a maximum working pressure of 21 MPa, while this invention, due to its increased power density at the end effector joint, can withstand a maximum working pressure of 31.5 MPa, thus improving the pressure rating.

[0038] (5) The multi-functional joint of the deep-sea hydraulic manipulator designed in this invention can be directly fixed to the deep-sea hydraulic manipulator via connecting side plates to achieve high-pressure and heavy-load operations in deep sea. Installation is convenient, and it can be driven by hydraulic water, avoiding pollution to the marine environment. The up-and-down swing, left-and-right swing, and opening / closing movements of the manipulator can be controlled by separately controlling the water inlet and outlet of the wrist swing cylinder, the gripper swing cylinder, and the internal flow channel of the manipulator. The control method is simple and effective. The multi-functional joint of the deep-sea hydraulic manipulator designed in this invention can be applied to deep-sea operations, contributing to my country's strategic goal of coordinating the protection and development of marine resources and advancing the construction of a maritime power. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of a multifunctional joint of a deep-sea hydraulic manipulator provided in an embodiment of the present invention;

[0040] Figure 2 This is a rear view of a multifunctional joint of a deep-sea hydraulic manipulator provided in an embodiment of the present invention;

[0041] Figure 3 This is a cross-sectional schematic diagram of a multifunctional joint of a deep-sea hydraulic manipulator provided in an embodiment of the present invention;

[0042] Figure 4 This is a longitudinal sectional schematic diagram of a multifunctional joint of a deep-sea hydraulic manipulator provided in an embodiment of the present invention;

[0043] Figure 5 (a) is a schematic diagram of the structure of the second fixed base of the wrist swing cylinder provided in an embodiment of the present invention;

[0044] Figure 5 (b) is a schematic diagram of the structure of the first fixed base of the wrist swing cylinder provided in an embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the fixed base structure of the gripper swing cylinder provided in an embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the connecting side plate structure of the end joint integrated mechanism provided in an embodiment of the present invention;

[0047] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0048] 1 is a wrist swing cylinder, 2 is a gripper swing cylinder, 3 is a robotic gripper, 4 is a fixed base for the gripper swing cylinder, 5 is an underwater light, 6 is an underwater camera, 7 is the first fixed base for the wrist swing cylinder, 8 is a connecting side plate, 9 is the second fixed base for the wrist swing cylinder, 10 is a watertight connector, 11 is a right-angle connector, 12 is the first large Glyd ring, 13 is the first support bushing, 14 is the second support bushing, 15 is a sealing ring, 16 is a wear-resistant sleeve, 17 is the second Glyd ring, 51 is an underwater light bracket, 52 is a watertight connector. The following components are listed: right-angle bracket for the lower lighting light; 61 is the underwater camera bracket; 62 is the underwater camera right-angle bracket; 101 is the distribution pipe for the wrist swing cylinder; 102 is the cylinder body for the wrist swing cylinder; 103 is the connector; 104 is the output shaft for the wrist swing cylinder; 105 is the flat key; 201 is the distribution pipe for the gripper swing cylinder; 202 is the cylinder body for the gripper swing cylinder; 203 is the output shaft for the gripper swing cylinder; 301 is the driving hydraulic cylinder for the robotic gripper; 302 is the driving piston for the robotic gripper; 303 is the plug key; and 304 is the flow channel plug. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0050] like Figure 1As shown, a multi-functional joint for a deep-sea hydraulic manipulator includes: a wrist swing cylinder 1, a gripper swing cylinder 2, a manipulator gripper 3, a fixed base 4 for the gripper swing cylinder, an underwater light 5, an underwater camera 6, a first fixed base 7 for the wrist swing cylinder, a connecting side plate 8, a second fixed base 9 for the wrist swing cylinder, and a watertight connector 10. The first fixed base 7 and the second fixed base 9 of the wrist swing cylinder are respectively fixed to the connecting side plate 8 by multiple bolts. The tail end of the gripper swing cylinder fixed base 4 passes through the first fixed base 7 and the second fixed base 9 of the wrist swing cylinder and is positioned by a shoulder. The wrist swing cylinder 1 is fixed to the second fixed base 9 of the wrist swing cylinder, the gripper swing cylinder 2 is fixed to the fixed base 4 of the gripper swing cylinder, and the manipulator gripper 3 is connected to the output shaft of the gripper swing cylinder 2. The underwater light 5 and the underwater camera 6 are mounted on the connecting side plate 8 and the fixed base 4 of the gripper swing cylinder. Both the wrist swing cylinder 1 and the gripper swing cylinder 2 are equipped with watertight connectors 10 at their ends.

[0051] Existing hydraulically driven robotic arms are flexible and not heavy-duty equipment, making them unsuitable for deep-sea mineral resource extraction, marine environmental monitoring, and deep-sea oil and gas exploration and development. In contrast, the robotic arm joints designed in this invention are heavy-duty equipment.

[0052] like Figure 2 As shown, the wrist swing cylinder 1 includes: a distribution pipe 101 for the wrist swing cylinder, a cylinder body 102 for the wrist swing cylinder, and a connector 103. The cylinder body 102 of the wrist swing cylinder is fixed to the second fixed base 9 of the wrist swing cylinder by connecting bolts. The gripper swing cylinder 2 includes a distribution pipe 201 for the gripper swing cylinder and a cylinder body 202 for the gripper swing cylinder. The cylinder body 202 of the gripper swing cylinder can be fixed to one side of the fixed base 4 of the gripper swing cylinder by connecting bolts. The right-angle connector 11 is installed on the side of the second fixed base 9 of the wrist swing cylinder through the mounting hole.

[0053] like Figure 3 As shown, the gripper swing cylinder fixed base 4 is supported by the first support bushing 13. The drive piston 302 of the robotic gripper can directly drive the robotic gripper 3 to perform opening and closing actions. The tail end of the drive hydraulic cylinder 301 of the robotic gripper can be inserted into the gripper swing cylinder fixed base 4.

[0054] like Figure 4As shown, the wrist swing cylinder 1 further includes: an output shaft 104 of the wrist swing cylinder, which can pass through the second fixed base 9 of the wrist swing cylinder and be connected to the tail end of the fixed base 4 of the gripper swing cylinder via a flat key 105, thereby driving the fixed base 4 of the gripper swing cylinder, the gripper swing cylinder 2, and the robotic gripper 3 to swing up and down. The output shaft 203 of the gripper swing cylinder can pass through the fixed base 4 of the gripper swing cylinder and be connected to the tail end of the drive hydraulic cylinder 301 of the robotic gripper via a plug-in key 303 for positioning.

[0055] Figure 5 (a) is a schematic diagram of the second fixed base structure of the wrist swing cylinder. Figure 5 (b) is a schematic diagram of the first fixed base structure of the wrist swing cylinder. In this diagram, 71, 72, 91-94, 91c, and 92d are mounting holes of the same specification. 71, 72, and 91-94 are used to install right-angle connectors; 91c and 92d are used to install connector 104; 75 and 95 are bolt holes of the same specification for bolting to the connecting side plate 8; 73 and 96 are Glyd ring grooves; 74 and 97 are annular distribution grooves; 98 is the mounting position for the first support bushing 13; and 99 is a bolt hole for bolting to the cylinder body 102 of the wrist swing cylinder. 71a, 71b, 72a, and 72b are distribution holes of the first fixed base of the wrist swing cylinder. 91a, 91b, 92a, 92b, 92c, 93a, 93b, 94a, 94b, and 94c are distribution holes of the second fixed base of the wrist swing cylinder.

[0056] Figure 6 This is a schematic diagram of the fixed base structure of the gripper swing cylinder. In this diagram, 41 is the positioning seat of the cylinder body 202 of the gripper swing cylinder, 42 is a bolt hole for bolting to the cylinder body 202 of the gripper swing cylinder, 43 is a connector mounting hole for mounting connector 104, 44-47 are radial holes for diverting water from the annular distribution groove 74 and annular distribution groove 97, 48 is a keyway, 49 is a mounting threaded hole for the underwater lighting lamp 5 and the underwater camera 6, and 44a, 44b, 45a, 45b, 45c, 45d, 46a, 46b, 46c, 46d, 47a, and 47b are distribution holes of the fixed base of the gripper swing cylinder.

[0057] Example 1

[0058] Example 1 illustrates the specific fixing method of the fixed base and connecting side plate of the wrist swing cylinder in this invention, as well as the specific materials of the support bushing and wear-resistant sleeve in this invention.

[0059] The first fixed base 7 and the second fixed base 9 of the wrist swing cylinder are respectively fixed to the connecting side plate 8 by 10 bolts. The tail end of the gripper swing cylinder fixed base 4 passes through the first fixed base 7 and the second fixed base 9 of the wrist swing cylinder and is positioned by a shoulder. It is supported by the first support bushing 13 made of PEEK material (PEEK is polyetheretherketone, a special engineering plastic with excellent properties such as high temperature resistance, self-lubrication, easy processing and high mechanical strength). The output shaft 203 of the gripper swing cylinder can pass through the fixed base 4 of the gripper swing cylinder and be connected and positioned to the tail end of the drive hydraulic cylinder 301 of the robotic gripper through a plug-in key 303. It is supported by the second support bushing 14 made of PEEK material, which can drive the robotic gripper 3 to swing left and right. The tail end of the hydraulic cylinder 301 driving the robotic gripper can be inserted into the fixed base 4 of the gripper swing cylinder and supported by a wear-resistant sleeve 16 made of PEEK material. Each swing hydraulic cylinder is connected to a displacement sensor, and the displacement signal can be extracted through a corresponding watertight connector to achieve precise control of the deep-sea hydraulic robotic gripper's posture via a host computer. The size of the first support bushing is larger than that of the second support bushing.

[0060] Example 2

[0061] like Figures 3 to 6 As shown, the flow distribution principle of each driving joint in this invention is as follows:

[0062] Two right-angle connectors 11 are installed on the side of the second fixed base 9 of the wrist swing cylinder through mounting holes 91 and 92 respectively. They are connected to water pipe interface 91c through distribution holes 91a and 91b respectively, and to water pipe interface 92d through distribution holes 92a, 92b and 92c respectively. They supply water to the wrist swing cylinder 1 through connector 103, distribution pipe 101 and right-angle connector 11 respectively.

[0063] Two right-angle connectors 11 are installed on the inner sides of the first fixed base 7 and the second fixed base 9 of the wrist swing cylinder through mounting holes 72 and 94, respectively. They are connected to the inner annular distribution groove 74 of the first fixed base 7 of the wrist swing cylinder through distribution holes 72a and 72b, respectively, and connected to the inner annular distribution groove 97 of the second fixed base 9 of the wrist swing cylinder through distribution holes 94a, 94b and 94c. The driving medium is introduced into the two distribution holes above the tail shaft of the fixed base 4 of the gripper swing cylinder through the two inner annular distribution grooves 74 and 97 through the flow port 44 and flow port 47, respectively. Then, it is connected to the water pipe interfaces 43 on the left and right sides through distribution holes 44a, 44b and 47a, 47b, respectively. The medium is distributed to the gripper swing cylinder 2 through connector 103 and distribution pipe 201.

[0064] Two right-angle connectors 11 are installed on the inner sides of the first fixed base 7 and the second fixed base 9 of the wrist swing cylinder respectively through mounting holes 71 and 93. They are connected to the outer annular distribution groove 74 of the first fixed base 7 of the wrist swing cylinder through distribution holes 71a and 71b respectively, and connected to the outer annular distribution groove 97 of the second fixed base 9 of the wrist swing cylinder through distribution holes 93a and 93b respectively. The driving medium passes through the two outer annular distribution grooves 74 and 97 through the flow channel. 45 and 46 are respectively introduced into the two side distribution holes below the tail shaft of the fixed base 4 of the gripper swing cylinder, and then respectively through distribution holes 45a, 45b, 45c, 45d and 46a, 46b, 46c, 46d to the annular distribution groove at the end of the output shaft 203 of the gripper swing cylinder, and finally flow into the space above or below the mechanical gripper drive piston 302 through the internal flow channel of the output shaft 203 of the gripper swing cylinder and the mechanical gripper drive hydraulic cylinder 301.

[0065] In this design, Glyd rings are used to achieve dynamic sealing between and on both sides of two adjacent annular distribution grooves 97, and between and on both sides of annular distribution grooves 74. Grooves 74 and 96 are used to install the first Glyd ring 12. Similarly, the two annular distribution grooves at the end of the output shaft 203 of the gripper swing cylinder also use three small Glyd rings (second Glyd rings) 17 to achieve dynamic sealing. The output shaft 203 of the gripper swing cylinder is connected to the drive hydraulic cylinder 301 of the robotic gripper via a key 303. The robotic gripper 3 rotates together with the output shaft 203 of the gripper swing cylinder. The internal flow channels of the output shaft 203 of the gripper swing cylinder and the drive hydraulic cylinder 301 of the robotic gripper are sealed with sealing rings 15 to achieve static sealing. All flow channel holes communicating with the external environment are sealed with plugs 304 by welding. Experiments show that this end integration method can achieve zero leakage under high-pressure water-medium driving conditions. The size of the first Glyd ring is larger than that of the second Glyd ring.

[0066] Example 3

[0067] Combination Figure 7 The working process of the deep-sea hydraulic manipulator end joint integrated mechanism of the present invention will be described.

[0068] Figure 7 This is a structural diagram of the connecting side plate 8. The threaded hole 81 can be connected to the housing of the robotic arm forearm by bolts. The threaded hole 82 can be connected to the first fixed base 7 and the second fixed base 9 of the wrist swing cylinder by bolts. 83 is the installation position of the pin locking piece. 84 is the pin hole of the robotic arm telescopic joint. 85 is the water pipe docking installation window of the right angle connector. 86 is the installation position hole of the bracket 51 of the underwater lighting lamp 5 and the bracket 61 of the underwater camera 6.

[0069] The working process of the deep-sea hydraulic manipulator end joint integrated mechanism of the present invention will be described below. When this integrated mechanism is installed at the end of the manipulator forearm, simply pass one end of the manipulator telescopic joint through the pin hole 84 on the connecting side plate 8 and lock it. The housing of the manipulator forearm is then fastened to the connecting side plate 8 through the threaded hole 81. In addition, only six pipelines need to be connected to the water pipe docking window 85 of the right-angle connector on the connecting side plate 8. By switching between high and low pressure pipelines, the manipulator gripper can be controlled to perform tasks such as object gripping at various points on the arc surface. Switching the inlet and outlet of the right-angle connector 11 at mounting holes 91 and 92 enables rotational control of the wrist swing cylinder, thereby driving the fixed base 4 of the gripper swing cylinder, the gripper swing cylinder 2, and the robotic gripper 3 to swing up and down; switching the inlet and outlet of the right-angle connector 11 at mounting holes 72 and 94 enables rotational control of the gripper swing cylinder, thereby driving the robotic gripper 3 to swing left and right; switching the inlet and outlet of the right-angle connector 11 at mounting holes 71 and 93 enables control of the opening and closing action of the robotic gripper 3.

[0070] The present invention achieves the following beneficial effects: It can be driven by hydraulic pressure and can be directly fixed to the deep-sea hydraulic manipulator via connecting side plates, making installation convenient. This end effector integrated mechanism allows the manipulator gripper to swing more than 180° vertically and horizontally, enabling it to grasp objects in any posture on an arc surface. Furthermore, the joint connection structure is simple and compact, effectively improving the power density of the end effector joints. By integrating the flow channels in the hydraulic cylinders and the fixed base of the swing hydraulic cylinders, the flow distribution ports of the manipulator's end effector joints are integrated, which helps optimize the end effector structure of the deep-sea manipulator and greatly simplifies the piping problem of the end effector joints. Each swing hydraulic cylinder is connected to a displacement sensor, and the displacement signal can be extracted through corresponding watertight connectors, enabling precise control of the deep-sea hydraulic manipulator's posture via a host computer.

[0071] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-functional joint for a deep-sea hydraulic robotic arm, characterized in that, include: Wrist swing cylinder (1), gripper swing cylinder (2), robotic gripper (3), swing hydraulic cylinder fixed base and connecting side plate (8); The fixed base of the swing hydraulic cylinder includes a fixed base (4) for the gripper swing cylinder, a first fixed base (7) for the wrist swing cylinder, and a second fixed base (9) for the wrist swing cylinder; the first fixed base (7) and the second fixed base (9) for the wrist swing cylinder are fixed on the connecting side plate (8), and the tail end of the fixed base (4) for the gripper swing cylinder passes through the first fixed base (7) and the second fixed base (9) for the wrist swing cylinder and is positioned by a shoulder; the wrist swing cylinder (1) is fixed on the second fixed base (9) for the wrist swing cylinder, the gripper swing cylinder (2) is fixed on the fixed base (4) for the gripper swing cylinder, and the mechanical gripper (3) is connected to the output shaft of the gripper swing cylinder (2); The output shaft of the wrist swing cylinder (1) passes through the second fixed base (9) of the wrist swing cylinder and is connected to the tail end of the fixed base (4) of the hand swing cylinder. Water is introduced into the flow channel in the second fixed base (9) of the wrist swing cylinder to drive the wrist swing cylinder (1) to swing, thereby sequentially driving the fixed base (4) of the hand swing cylinder, the hand swing cylinder (2) and the mechanical hand (3) to swing up and down. The output shaft of the gripper swing cylinder (2) passes through the fixed base (4) of the gripper swing cylinder and is connected to the tail end of the driving hydraulic cylinder of the mechanical gripper (3). Water is introduced into the flow channel in the fixed base (4) of the gripper swing cylinder to drive the gripper swing cylinder (2) to swing, thereby driving the mechanical gripper (3) to swing left and right. Water flows into the fixed base (4) of the gripper swing cylinder and passes through the output shaft of the gripper swing cylinder (2) and the drive hydraulic cylinder of the mechanical gripper (3) in sequence, controlling the drive piston in the drive hydraulic cylinder of the mechanical gripper (3) to drive the mechanical gripper (3) to perform opening and closing actions.

2. The multi-functional joint of a deep-sea hydraulic robotic arm as described in claim 1, characterized in that, The wrist swing cylinder (1) includes: a distribution pipe (101) for the wrist swing cylinder, a cylinder body (102) for the wrist swing cylinder, and a connector (103); The cylinder body (102) of the wrist swing cylinder is fixed on the second fixed base (9) of the wrist swing cylinder; The first wrist right-angle connector and the second wrist right-angle connector corresponding to the wrist swing cylinder (1) are respectively installed on the inner side of the second fixed base (9) of the wrist swing cylinder through the first mounting hole (91) and the second mounting hole (92). The first wrist right-angle connector is connected to the first water pipe interface (91c) through the first distribution hole (91a) and the second distribution hole (91b) of the first mounting hole. The second wrist right-angle connector is connected to the second water pipe interface (92d) through the first distribution hole (92a), the second distribution hole (92b) and the third distribution hole (92c) of the second mounting hole. The flow channels corresponding to the first distribution hole (91a) and the second distribution hole (91b) of the first mounting hole intersect and are connected at the intersection. The flow channels corresponding to the first distribution hole (92a) and the second distribution hole (92b) of the second mounting hole intersect and are connected at the intersection. The flow channels corresponding to the second distribution hole (92b) and the third distribution hole (92c) of the second mounting hole intersect and are connected at the intersection. The first water pipe interface (91c) is connected to the flow channel on one side of the wrist swing cylinder (1) through the connector (103) and the distribution pipe (101) of the wrist swing cylinder in sequence. The second water pipe interface (92d) is connected to the flow channel on the other side of the wrist swing cylinder (1) through the connector (103) and the distribution pipe (101) of the wrist swing cylinder in sequence, thereby distributing water to the wrist swing cylinder (1).

3. The multi-functional joint of a deep-sea hydraulic robotic arm as described in claim 2, characterized in that, The water pipe connection installation window of the first wrist right-angle connector and the second wrist right-angle connector corresponding to the wrist swing cylinder (1) is located on the connecting side plate (8).

4. A multi-functional joint for a deep-sea hydraulic robotic arm as described in claim 1 or 2, characterized in that, The gripper swing cylinder (2) includes: a distribution pipe (201) for the gripper swing cylinder and a cylinder body (202) for the gripper swing cylinder; The cylinder body (202) of the gripper swing cylinder is fixed to one side of the fixed base (4) of the gripper swing cylinder; The first and second right-angle connectors of the gripper swing cylinders are respectively installed on the inner sides of the first fixed base (7) and the second fixed base (9) of the wrist swing cylinder through the third mounting hole (72) and the fourth mounting hole (94). The first right-angle connector of the gripper swing cylinder is connected to the inner annular distribution groove of the first fixed base (7) of the wrist swing cylinder through the first distribution hole (72a) and the second distribution hole (72b) of the third mounting hole. The second right-angle connector of the gripper swing cylinder is connected to the inner annular distribution groove of the first fixed base (7) of the wrist swing cylinder through the first distribution hole (72a) and the second distribution hole (72b) of the fourth mounting hole. The flow distribution hole (94a), the second flow distribution hole (94b) and the third flow distribution hole (94c) are connected to the inner annular flow distribution groove of the second fixed base (9) of the wrist swing cylinder; the flow channels corresponding to the first flow distribution hole (72a) and the second flow distribution hole (72b) of the third mounting hole intersect and are connected at the intersection; the flow channels corresponding to the first flow distribution hole (94a) and the second flow distribution hole (94b) of the fourth mounting hole intersect and are connected at the intersection; the flow channels corresponding to the second flow distribution hole (94b) and the third flow distribution hole (94c) of the fourth mounting hole intersect and are connected at the intersection. Water passes through the inner annular distribution groove and the first flow channel (44) of the first fixed base (7) of the wrist swing cylinder in sequence and enters the distribution hole on one side above the tail shaft of the fixed base (4) of the hand swing cylinder. Then, it passes through the first distribution hole (44a) and the second distribution hole (44b) of the first flow channel (44) in sequence and connects to the water pipe interface on the right side. Water flows through the inner annular distribution groove and the second flow channel (47) of the second fixed base (9) of the wrist swing cylinder and enters the other side distribution hole above the tail shaft of the fixed base (4) of the hand swing cylinder. Then it flows through the first distribution hole (47a) and the second distribution hole (47b) of the second flow channel (47) and connects to the water pipe interface on the left side. The water pipe interfaces on the left and right sides are respectively distributed to the hand gripper swing cylinder (2) through the distribution pipe (201) of the hand gripper swing cylinder.

5. The multi-functional joint of a deep-sea hydraulic robotic arm as described in claim 4, characterized in that, The water pipe connection installation window for the first right-angle connector and the second right-angle connector of the gripper swing cylinder corresponding to the gripper swing cylinder is located on the connecting side plate (8).

6. A multi-functional joint for a deep-sea hydraulic robotic arm as described in claim 1 or 2, characterized in that, The flow distribution of the robotic gripper (3) is achieved in the following manner: The first right-angle connector and the second right-angle connector of the robotic gripper (3) are respectively installed on the inner side of the first fixed base (7) of the wrist swing cylinder and the second fixed base (9) of the wrist swing cylinder through the fifth mounting hole (71) and the sixth mounting hole (93); The first gripper right-angle connector is connected to the outer annular distribution groove of the first fixed base (7) of the wrist swing cylinder through the first distribution hole (71a) and the second distribution hole (71b) of the fifth mounting hole; the second gripper right-angle connector is connected to the outer annular distribution groove of the second fixed base (9) of the wrist swing cylinder through the first distribution hole (93a) and the second distribution hole (93b) of the sixth mounting hole. Water sequentially flows through the outer annular distribution groove of the first fixed base (7) and the third flow channel (45) into the side distribution hole below the tail shaft of the fixed base (4) of the gripper swing cylinder. It then flows through the first distribution hole (45a), second distribution hole (45b), third distribution hole (45c), and fourth distribution hole (45d) of the third flow channel to the annular distribution groove at the end of the output shaft of the gripper swing cylinder. Finally, it flows through the internal flow channel of the output shaft of the gripper swing cylinder and the drive hydraulic cylinder of the robotic gripper into the drive piston of the robotic gripper. Above; water flows sequentially through the outer annular distribution groove and the fourth flow channel (46) of the second fixed base (9) of the wrist swing cylinder, and then through the first distribution hole (46a), the second distribution hole (46b), the third distribution hole (46c) and the fourth distribution hole (46d) of the fourth flow channel to the annular distribution groove at the end of the output shaft of the gripper swing cylinder, and finally flows into the lower part of the drive piston of the gripper through the internal flow channel of the output shaft of the gripper swing cylinder and the drive hydraulic cylinder of the gripper, thus distributing the flow of the gripper (3).

7. The multi-functional joint of a deep-sea hydraulic robotic arm as described in claim 6, characterized in that, The water pipe docking installation window of the first right-angle connector and the second right-angle connector of the robotic gripper (3) is located on the connecting side plate (8).

8. A multi-functional joint for a deep-sea hydraulic robotic arm as described in claim 1 or 2, characterized in that, The internal flow channels of the first fixed base (7) and the second fixed base (9) of the wrist swing cylinder are connected to the internal flow channel of the fixed base (4) of the gripper swing cylinder by a Glyd ring to achieve dynamic sealing. The internal flow channel of the fixed base (4) of the gripper swing cylinder is connected to the internal flow channel of the output shaft of the gripper swing cylinder by a Glyd ring to achieve dynamic sealing. The internal flow channel of the output shaft of the gripper swing cylinder is connected to the internal flow channel of the drive hydraulic cylinder of the mechanical gripper by a sealing ring to achieve static sealing.

9. A multi-functional joint for a deep-sea hydraulic robotic arm as described in claim 1 or 2, characterized in that, Both the wrist swing cylinder (1) and the hand swing cylinder (2) are gear and rack swing cylinders.

10. The application of a multi-functional joint of a deep-sea hydraulic robotic arm as described in any one of claims 1-9, characterized in that, The robotic arm's multi-functional joint is used in deep-sea operations. The shell of the robotic arm forearm, which requires the use of a multi-functional joint for deep-sea operations, is fastened to the connecting side plate. An external water pipe is connected to the internal flow channel of the multi-functional joint via a water pipe docking window on the connecting side plate. When the external water pipe is connected to the internal flow channel of the wrist swing cylinder, the rotation of the wrist swing cylinder is controlled by the inlet and outlet of the water pipe, thereby causing the fixed base of the gripper swing cylinder, the gripper swing cylinder, and the robotic gripper to swing up and down. When the external water pipe is connected to the internal flow channel of the gripper swing cylinder, the rotation of the gripper swing cylinder is controlled by the inlet and outlet of the water pipe, thereby causing the robotic gripper to swing left and right. When the external water pipe is connected to the internal flow channel of the robotic gripper, the opening and closing actions of the robotic gripper are controlled by the inlet and outlet of the water pipe.

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