Underwater manipulator system based on large foldable configuration

Abstract

The application relates to an underwater mechanical arm operation system based on a large folding configuration and relates to the technical field of underwater robots. The application solves the problems that the existing boat-mounted mechanical arm is difficult to simultaneously satisfy the arrangement constraint and the operation space constraint of the boat-mounted mechanical arm, the operation capacity and the arrangement capacity have technical contradictions, and the underwater sealing technology of a general robot joint is deficient. The connecting support base, the first joint driving sealing unit, the second joint driving sealing unit, the large arm unit, the third joint driving sealing unit, the fourth joint driving sealing unit, the small arm unit, the fifth joint driving sealing unit, the sixth joint driving sealing unit and the mechanical arm terminal connecting plate are sequentially connected from front to back, and the mechanical hand sealing driving unit, the visual sealing unit and the operation mechanical hand are respectively installed on the mechanical arm terminal connecting plate. The application is used for developing the large folding configuration underwater mechanical arm, the underwater electric driving sealing unit and the underwater sensing unit.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and more specifically to an underwater robotic arm operating system based on a large unfolding configuration. Background Technology

[0002] Serial robotic arms are general-purpose robotic systems capable of performing diverse and complex tasks, and are currently widely used in production, scientific research, military, and education. Submarine-mounted underwater robotic arms, as a key development branch of serial robotic arms, are of great significance in marine resource exploration, underwater pipeline maintenance, and marine defense construction. However, submarine-mounted underwater robotic arms are not yet widely used in marine operations, mainly due to limitations in the spatial arrangement of underwater vehicles, the sealing capabilities of underwater electric drives, and the development of underwater sensing units.

[0003] Underwater vehicles typically have an independently designed external hull to ensure their underwater mobility. However, robotic arms mounted on the outside of the pressure hull can interfere with or even disrupt the vehicle's dynamic characteristics, leading to decreased mobility or even instability. Therefore, in long-term underwater operations, it is essential to minimize the dynamic interference caused by the robotic arm while maximizing its operational performance. To overcome the technological bottlenecks limiting the dynamic characteristics of underwater vehicles and ensure the hydrodynamic characteristics and spatial arrangement of the vehicles, it is necessary to construct underwater robotic arms using large-scale extension and retraction technology. This would allow for full-attitude extension and retraction of the robotic arm, the construction of a submarine-mounted storage compartment for the robotic arm, and improvements in the portability, space utilization, and wide-range operational capabilities of the robotic arm operating system. This would significantly reduce the interference of the robotic arm on the underwater mobility of the vehicle, ensuring stable and efficient underwater operations.

[0004] Underwater electric drive technology is a key technology for ensuring high-precision operation of underwater robotic arms. However, underwater motors designed for special working conditions suffer from drawbacks such as high cost, large size, and difficult maintenance. To meet practical application requirements such as miniaturization and low cost, general-purpose robot joint motors must be used as drive components. General-purpose robot joint motors are usually not waterproof, or can only prevent water from being ejected from nozzles in all directions from entering the motor and causing damage; that is, according to GB / T4208-2017 enclosure protection rating (IP code), the waterproof rating is less than or equal to 5. Therefore, to overcome the sealing technology of underwater electric drive joints, it is necessary to design a sealed chamber for general-purpose robot joint motors based on the modular unit design concept, comprehensively considering multiple sealing requirements such as dynamic sealing of transmission components, static sealing of the overall structure, and electrical sealing of electronic components. This chamber would allow the motor joint to be indefinitely immersed in a specified water pressure, ensuring that the robot joint motor is not damaged by immersion, while minimizing drive losses caused by sealing damping and ensuring the drive performance of the robot joint motor.

[0005] Depth cameras, as one of the most widely used sensing devices, possess excellent advantages such as low cost, abundant information, and wide applicability, making them a crucial component for modern robots to achieve autonomous operation. However, general-purpose depth cameras lack waterproofing. Therefore, it is necessary to design a sealed enclosure for the depth camera, considering its overall structural dimensions and electrical data interface. This design must ensure the sealing performance of the vision system while minimizing the size and structure of the enclosure to avoid interference during robotic arm operations and ensure the adaptability of the underwater vision unit within the overall operational system.

[0006] In summary, existing shipborne robotic arms have several drawbacks. They cannot simultaneously meet the constraints of both the layout and the workspace of the shipborne robotic arm. Furthermore, there is a technical contradiction between operational capability and layout capability, as well as a lack of underwater sealing technology for general-purpose robot joints. Summary of the Invention

[0007] The purpose of this invention is to address the problems of existing shipborne robotic arms, such as difficulty in simultaneously meeting the layout and workspace constraints, the technical contradiction between operational and layout capabilities, and the lack of underwater sealing technology for general-purpose robot joints. This invention provides an underwater robotic arm operating system based on a large-folding configuration. By employing a large-folding configuration, the robotic arm is designed to simultaneously meet the layout and workspace constraints of shipborne robotic arms, thus resolving the technical contradiction between operational and layout capabilities. For the motors of general-purpose robot joints, a modular drive sealing chamber is designed to ensure the sealing performance of the robotic arm's transmission, structure, and electrical systems. Based on the structural dimensions and vision constraints of a general-purpose depth camera, a vision unit sealing chamber is designed, laying the foundation for the underwater robotic arm to achieve visual servo operations.

[0008] The technical solution of this invention is:

[0009] An underwater robotic arm operating system based on a large folding configuration includes a connecting support base 1, a first joint drive sealing unit 2, a second joint drive sealing unit 3, a large arm unit 4, a third joint drive sealing unit 5, a fourth joint drive sealing unit 6, a forearm unit 7, a fifth joint drive sealing unit 8, a sixth joint drive sealing unit 9, a robotic arm sealing drive unit 10, a vision sealing unit 11, a working robotic arm 12, and a robotic arm end effector connecting plate 13. The connecting support base 1 is connected to the tail cover of the first joint drive sealing unit 2. The output cover of the first joint drive sealing unit 2 is connected to the cabin support of the second joint drive sealing unit 3. The output cover of the second joint drive sealing unit 3 is connected to the connecting circular plate of the large arm unit 4. The connecting square plate of the large arm unit 4 is connected to the cabin support of the third joint drive sealing unit 5. The third joint drive sealing unit 5... The output cover is connected to the cabin support of the fourth joint drive sealing unit 6. The output cover of the fourth joint drive sealing unit 6 is connected to the connecting circular plate of the forearm unit 7. The connecting square plate of the forearm unit 7 is connected to the cabin support of the fifth joint drive sealing unit 8. The output cover of the fifth joint drive sealing unit 8 is connected to the cabin support of the sixth joint drive sealing unit 9. The output cover of the sixth joint drive sealing unit 9 is connected to the end connecting plate 13 of the robotic arm. The end connecting plate 13 of the robotic arm is provided with a robotic arm interface, a vision platform interface and a robotic arm platform interface. The robotic arm sealing drive unit 10, the vision sealing unit 11 and the working robotic arm 12 are fixedly connected to the end connecting plate 13 of the robotic arm through the robotic arm interface, the vision platform interface and the robotic arm platform interface, respectively. The drive output part of the robotic arm sealing drive unit 10 is connected to the power input part of the working robotic arm 12.

[0010] Furthermore, the second joint drive sealing unit 3 includes a first drive sealing chamber housing 301, a first sealing chamber tail cover 302, a first sealing chamber bracket 303, a first sealing chamber reducer motor drive unit 304, a first sealing chamber drive output outer cover 305, a first sealing chamber drive output shaft inner plate 306, a first sealing chamber transmission spline 307, a first sealing chamber dynamic sealing ring 308, a first sealing chamber friction metal gasket 309, a first sealing chamber static sealing ring 310, a first sealing chamber drive limiting device 311, and a first sealing chamber watertight connector 312; the first sealing chamber bracket 303 is disposed at the bottom of the first drive sealing chamber housing 301, and the first sealing chamber bracket 303 is welded to the first drive sealing chamber housing 301. The sealing chamber housing 301 is fixedly connected, and the first sealing chamber bracket 303 is fixedly connected to the output cover of the first joint drive sealing unit 2 by screws; the inner side of the output hole of the first drive sealing chamber housing 301 is provided with an annular sealing groove, and the first sealing chamber dynamic sealing ring 308 is installed in the sealing groove of the output hole of the first drive sealing chamber housing 301. The middle of the inner side of the output hole is provided with an output cover positioning flange; the first sealing chamber friction metal gasket 309 and the first sealing chamber drive output cover 305 are inserted from the outside to the inside through the tail hole of the first drive sealing chamber housing 301. The first sealing chamber friction metal gasket 309 is placed on the output cover positioning flange of the first drive sealing chamber housing 301. The output cover 305 is in full contact with the dynamic sealing ring 308 of the first sealing chamber; the inner plate 306 of the first sealing chamber drive output shaft and the first sealing chamber reducer motor drive unit 304 are inserted sequentially from the outside to the inside through the tail hole of the first drive sealing chamber housing 301; the inner plate 306 of the first sealing chamber drive output shaft and the first sealing chamber drive output cover 305 are connected by multiple screws; the positioning mounting flange of the first sealing chamber reducer motor drive unit 304 is connected to the drive positioning mounting flange of the first drive sealing chamber housing 301 by multiple screws; a first sealing chamber transmission spline 307 is provided between the first sealing chamber reducer motor drive unit 304 and the first sealing chamber drive output cover 305; the first sealing... The chamber drive spline 307 is connected to the output flange of the first sealed chamber reducer motor drive unit 304 by multiple screws. The first sealed chamber drive spline 307 is fully engaged with the sealed chamber drive spline groove on the inner plate 306 of the first sealed chamber drive output shaft. The first drive sealed chamber housing 301 is provided with a water seal socket, in which a first sealed chamber water-tight connector 312 is inserted. The first sealed chamber water-tight connector 312 is electrically connected to the first sealed chamber reducer motor drive unit 304. The inner side of the tail hole of the first drive sealed chamber housing 301 is provided with an annular sealing groove, and the first sealed chamber static sealing ring 310 is installed in the sealing groove of the tail hole of the first drive sealed chamber housing 301.The tail cover plate 302 of the first sealing chamber is located at the tail of the first drive sealing chamber housing 301. The tail cover plate 302 is in full contact with the static sealing ring 310 of the first sealing chamber. The tail cover plate 302 is connected to the first drive sealing chamber housing 301 by multiple screws. The drive limiting device 311 of the first sealing chamber is located on the output side outside the first drive sealing chamber housing 301. The drive limiting device 311 is connected to the first drive sealing chamber housing 301 by multiple screws.

[0011] Furthermore, the boom unit 4 includes a boom drive shaft connecting circular plate 401, a boom housing 402, a boom support frame connecting square plate 403, and multiple first rivet metal clamps 404. The boom housing 402 is a "T"-shaped boom housing. The boom drive shaft connecting circular plate 401 and the boom support frame connecting square plate 403 are respectively fixedly connected to the beginning and end ends of the boom housing 402 by welding. The multiple first rivet metal clamps 404 are respectively fixed to the boom housing 402 and the boom support frame connecting square plate 403 by screws. The boom drive shaft connecting circular plate 401 is fixedly connected to the first sealing chamber drive output outer cover 305 of the second joint drive sealing unit 3 by multiple screws. The boom support frame connecting square plate 403 is fixedly connected to the sealing chamber bracket of the third joint drive sealing unit 5 by multiple screws.

[0012] Furthermore, the forearm unit 7 includes a forearm drive shaft connecting circular plate 701, a forearm housing 702, a forearm support frame connecting square plate 703, and multiple second rivet metal clamps 704. The forearm housing 702 is an "I"-shaped forearm housing. The forearm drive shaft connecting circular plate 701 and the forearm support frame connecting square plate 703 are respectively welded to the first and last ends of the forearm housing 702 and fixedly connected. The multiple second rivet metal clamps 704 are respectively fixed to the forearm housing 702 and the forearm support frame connecting square plate 703 by screws. The forearm drive shaft connecting circular plate 701 is fixedly connected to the outer cover of the sealing chamber drive output of the fourth joint drive sealing unit 6 by multiple screws. The forearm support frame connecting square plate 703 is fixedly connected to the sealing chamber bracket of the fifth joint drive sealing unit 8 by multiple screws.

[0013] Furthermore, the robotic arm sealing drive unit 10 includes a second drive sealing chamber housing 1001, a second sealing chamber tail cover 1002, a second sealing chamber bracket 1003, a second sealing chamber reducer motor drive unit 1004, a second sealing chamber drive output outer cover 1005, a second sealing chamber drive output shaft inner plate 1006, a second sealing chamber transmission spline 1007, a second sealing chamber dynamic sealing ring 1008, a second sealing chamber friction metal gasket 1009, a second sealing chamber static sealing ring 1010, a second sealing chamber drive limiting device 1011, a second sealing chamber watertight connector 1012, and a sealing chamber drive output shaft 1013; the second sealing chamber bracket 1003 is disposed on the second drive... At the bottom of the sealed chamber housing 1001, the second sealed chamber bracket 1003 is fixedly connected to the second drive sealed chamber housing 1001 by welding. The second sealed chamber bracket 1003 is fixedly connected to the robot arm interface of the end plate 13 of the robotic arm by screws. The inner side of the output hole of the second drive sealed chamber housing 1001 is provided with an annular sealing groove. The second sealed chamber dynamic sealing ring 1008 is installed in the sealing groove of the output hole of the second drive sealed chamber housing 1001. The middle of the inner side of the output hole is provided with an output cover positioning flange. The second sealed chamber friction metal gasket 1009 and the second sealed chamber drive output outer cover 1005 are inserted from the outside to the inside through the tail hole of the second drive sealed chamber housing 1001. The second sealing chamber friction metal gasket 1009 is placed on the output cover positioning flange of the second drive sealing chamber housing 1001, and the second sealing chamber drive output outer cover 1005 is in full contact with the second sealing chamber dynamic sealing ring 1008; the sealing chamber drive output shaft 1013 is coaxially arranged on the outside of the second sealing chamber drive output outer cover 1005, and the sealing chamber drive output shaft 1013 and the second sealing chamber drive output outer cover 1005 are fixedly connected by multiple screws; the second sealing chamber drive output shaft inner plate 1006 and the second sealing chamber reducer motor drive unit 1004 are inserted from the outside to the inside through the tail hole of the second drive sealing chamber housing 1001, and the second sealing chamber drive output shaft inner plate 1006 and the second sealing chamber reducer motor drive unit 1004 are inserted from the outside to the inside. The second sealed chamber drive output cover 1005 is connected by multiple screws. The positioning mounting flange of the second sealed chamber reducer motor drive unit 1004 is connected to the drive positioning mounting flange of the second drive sealed chamber housing 1001 by multiple screws. A second sealed chamber transmission spline 1007 is provided between the second sealed chamber reducer motor drive unit 1004 and the second sealed chamber drive output cover 1005. The second sealed chamber transmission spline 1007 is connected to the output flange of the second sealed chamber reducer motor drive unit 1004 by multiple screws. The second sealed chamber transmission spline 1007 is fully engaged with the sealed chamber transmission spline groove on the inner plate 1006 of the second sealed chamber drive output shaft.The second drive sealed chamber housing 1001 is provided with a water-sealed insertion hole, into which a second sealed chamber water-tight connector 1012 is inserted. The second sealed chamber water-tight connector 1012 is electrically connected to the second sealed chamber reducer motor drive unit 1004. An annular sealing groove is provided on the inner side of the tail hole of the second drive sealed chamber housing 1001, and a second sealed chamber static sealing ring 1010 is installed in the sealing groove of the tail hole of the second drive sealed chamber housing 1001. A second sealed chamber tail cover plate 1002 is placed at the tail of the second drive sealed chamber housing 1001, and the second sealed chamber tail cover plate 1002 is in full contact with the second sealed chamber static sealing ring 1010. The second sealed chamber tail cover plate 1002 and the second drive sealed chamber housing 1001 are connected by multiple screws. A second sealed chamber drive limiting device 1011 is placed on the output side outside the second drive sealed chamber housing 1001, and the second sealed chamber drive limiting device 1011 is connected to the second drive sealed chamber housing 1001 by multiple screws.

[0014] Furthermore, the vision sealing unit 11 includes a depth camera 1101, a vision sealing chamber shell 1102, a perspective sealing cover 1103, a vision sealing chamber rear cover 1104, a camera connecting plate 1105, a third sealing chamber static sealing ring 1106, a camera connecting cable 1107, and a third sealing chamber watertight connector 1108. The perspective sealing cover 1103, the vision sealing chamber shell 1102, and the vision sealing chamber rear cover 1104 are arranged sequentially from top to bottom. The lower surface of the vision sealing chamber shell 1102 is provided with a rectangular sealing groove. The third sealing chamber static sealing ring 1106 is installed in the sealing groove of the vision sealing chamber shell 1102. The vision sealing chamber rear cover 1104 is fixedly connected to the rear cover flange of the vision sealing chamber shell 1102 by multiple connecting screws. The vision sealing chamber rear cover 1104 is fixedly connected to the vision platform interface on the robotic arm end-effector connecting plate 13 by multiple screws. The upper surface of the vision sealing chamber shell 1102 is provided with... A lens avoidance square hole is provided, and a perspective sealing cover 1103 is located directly above the lens avoidance square hole. The perspective sealing cover 1103 is fixedly connected to the perspective flange of the vision sealing chamber 1102 by multiple screws. The camera connection plate 1105 and the depth camera 1101 are arranged sequentially from top to bottom inside the vision sealing chamber 1102. The camera connection plate 1105 is fixedly connected to the vision sealing chamber 1102 by multiple screws. The camera connection plate 1105 is provided with a lens positioning hole. The lens of the depth camera 1101 is engaged with the lens positioning hole of the camera connection plate 1105. The side of the vision sealing chamber 1102 is provided with a watertight connector. The third sealing chamber watertight connector 1108 is fixedly connected to the watertight connector through threads. One end of the camera connection cable 1107 is inserted into the electrical connection hole of the depth camera 1101, and the other end of the camera connection cable 1107 is connected to the third sealing chamber watertight connector 1108.

[0015] Furthermore, the robotic arm 12 includes a robotic arm palm 1201, a palm cover plate 1202, a gripper connecting plate 1203, a robotic arm gripper 1204, a power input shaft 1205, a power conversion shaft 1206, a power output shaft 1207, a synchronous belt drive unit 1208, a gear drive unit 1209, an input shaft sleeve 1210, a power conversion shaft sleeve 1211, an output shaft sleeve 1212, a ball bearing 1213, a first palm connecting block 1214, and a second palm connecting block 1215. The robotic arm palm 1201 and the palm cover plate 1202 are arranged parallel to each other and opposite to each other. The front end of the robotic arm palm 1201 and the palm cover plate 1202 are connected by the first palm connecting block 1214. The rear end of the robotic hand 1201 and the palm cover 1202 are connected by a second palm connecting block 1215. The palm cover 1202 is fixedly connected to the robotic arm platform interface on the end plate 13 of the robotic arm by multiple screws. A power input shaft 1205, a power conversion shaft 1206, and a power output shaft 1207 are vertically arranged between the robotic hand 1201 and the palm cover 1202 from left to right. The two ends of the power input shaft 1205, the power conversion shaft 1206, and the power output shaft 1207 are respectively inserted into the shaft holes of the robotic hand 1201 and the palm cover 1202 and are rotatably connected by six ball bearings 1213. The outer surfaces of the robotic hand 1201 and the palm cover 1202... The robot hand 1201 has two sets of symmetrically arranged gripper grooves on each side. Four gripper connecting plates 1203 are located at each of the four gripper grooves. The two gripper connecting plates 1203 on the left side are connected to both ends of the power input shaft 1205 via flat keys, and the two gripper connecting plates 1203 on the right side are connected to both ends of the power output shaft 1207 via flat keys. Two robot grippers 1204 are located on the front side of the robot hand 1201. These two robot grippers 1204 are symmetrically arranged around the robot hand line. Each robot gripper 1204 has two mounting slots machined on its upper and lower rear surfaces. The mounting slots on the robot grippers 1204 mate with the corresponding gripper connecting plates 1203 and are connected by multiple screws. The synchronous belt drive unit 1208 includes a first synchronous belt drive mechanism and a second synchronous belt drive mechanism. The power input shaft 1205 is connected to the sealed chamber drive output shaft 1013 of the robotic arm sealed drive unit 10 through the first synchronous belt drive mechanism. The power conversion shaft 1206 is connected to the power output shaft 1207 through the second synchronous belt drive mechanism. The power input shaft 1205 and the power conversion shaft 1206 are connected through the gear drive unit 1209. The input shaft sleeve 1210, the power conversion shaft sleeve 1211, and the output shaft sleeve 1212 are respectively fitted on the power input shaft 1205, the power conversion shaft 1206, and the power output shaft 1207, and are used to realize the axial positioning of each pulley.

[0016] Furthermore, the first synchronous belt drive mechanism includes a first driving pulley, a first driven pulley, and a first transmission belt. The first driving pulley is mounted on the sealed chamber drive output shaft 1013, and the first driven pulley is mounted on the power input shaft 1205. The first driving pulley and the first driven pulley are connected by the first transmission belt.

[0017] Furthermore, the second synchronous belt drive mechanism includes a second driving pulley, a second driven pulley, and a second transmission belt. The second driving pulley is mounted on the power conversion shaft 1206, and the second driven pulley is mounted on the power output shaft 1207. The power conversion shaft 1206 and the power output shaft 1207 are connected by the second transmission belt.

[0018] Furthermore, the gear transmission unit 1209 includes a driving gear and a driven gear. The driving gear is mounted on the power input shaft 1205, and the driven gear is mounted on the power conversion shaft 1206. The driving gear and the driven gear mesh with each other.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. This invention addresses the practical needs of submarine-mounted robotic arms in underwater operations, such as wide range of motion and strong telescopic capability. Based on the large-folding configuration technology of robotic arms, it analyzes and designs the overall dimensions and drive load of the robotic arm, establishing a six-degree-of-freedom large-folding robotic arm configuration. This simultaneously meets the layout constraints and working space constraints of the submarine-mounted robotic arm, resolving the key contradiction between the operational requirements and layout constraints. Regarding the sealing performance and other underwater operational requirements of the submarine-mounted robotic arm, a modular drive sealing chamber is used as the basis for designing the overall structure of the robotic arm. This simplifies the design, processing, and assembly processes, allows for on-demand expansion of the robotic arm, and ensures sealing performance in transmission, structure, and electrical aspects, solving the key technical challenges of sealing, production, and expansion for submarine-mounted robotic arms. To achieve underwater visual servo operation capabilities for the submarine-mounted robotic arm, this invention's underwater robotic arm system is equipped with an underwater vision unit at the end of the robotic arm. Structural and electrical seals are designed for widely used depth cameras, and a vision-guided end cap for the sealing chamber is designed based on visual constraints, enabling high performance of a universal depth camera in underwater operations.

[0021] 2. The underwater robotic arm operating system based on a large folding configuration described in this invention features a serial robot configuration consisting of six rotational degrees of freedom. To ensure the arrangement constraints of the onboard robotic arm and comprehensively consider the operational space requirements, this large folding robotic arm configuration adjusts the structural dimensions of the upper arm and lower arm units based on the dimensions of the drive sealed chambers of each joint of the robot. This allows the structure formed by the fourth to fifth joints of the robotic arm to be contained within the semi-enclosed area formed by the second to fourth joints, and the nominal link length from the fifth joint to the end of the robotic arm should be less than the nominal link length of the structure formed by the fourth to fifth joints. When folding is required, the posture of the second, third, and fifth joints of the robotic arm is adjusted to bring the entire robotic arm into a bent state, forming a retracted posture, significantly saving storage space. The robotic arm in this configuration also possesses excellent operational capabilities, with its theoretical operational range being a hemispherical space with a radius equal to the nominal lengths of the upper arm, lower arm, and wrist of the robotic arm.

[0022] 3. The underwater robotic arm operating system based on a large folding configuration described in this invention has six rotational degrees of freedom. Therefore, this underwater robotic arm operating system has a total of six joint drive sealing units, with four different sizes of joint drive sealing units, all adopting a similar drive sealing chamber design, so that the drive sealing units have similar structures and similar installation methods. Based on this design, the joint drive sealing units can be connected to other joint sealing drive units or structural units such as the upper arm and lower arm through the chamber bracket, tail cover plate, and output cover to form the overall structure of the robotic arm. The upper arm and lower arm units are mainly used to connect the joint drive sealing units to meet the overall structural size requirements of the robotic arm, and are also equipped with rivet clamps for fixing the electrical circuits of the robotic arm.

[0023] 4. The vision sealing unit of the underwater robotic arm operation system based on the large folding configuration described in this invention is designed with a perspective sealing cover to ensure the sensing performance of the depth camera. The vision sealing chamber is designed for the general electrical layout of the depth camera. The structural and electrical sealing of the vision sealing unit is achieved through the static sealing ring and watertight connection of the sealing chamber. The integrity of the overall structure of the vision sealing unit is achieved by connecting the rear cover of the vision sealing chamber and the camera connection plate through threaded connection.

[0024] 5. The underwater robotic arm operating system based on a large folding configuration described in this invention connects the power input shaft and the sealed chamber drive output shaft via a first synchronous belt transmission mechanism. The movement of the power input shaft and the power conversion shaft is transmitted via a gear transmission unit. The power conversion shaft and the power output shaft are connected via a second synchronous belt transmission mechanism, enabling synchronous reverse rotation of the power input shaft and the power output shaft. Two robotic grippers are connected to the power input shaft and the power output shaft respectively via keys, thereby realizing the opening and closing actions of the two robotic grippers. Attached Figure Description

[0025] Figure 1 This is a diagram showing the unfolded configuration of an underwater robotic arm operating system based on a large unfolded configuration according to the present invention.

[0026] Figure 2 This is an isometric view of an underwater robotic arm operating system based on a large folding configuration according to the present invention.

[0027] Figure 3 This is an isometric view of the second joint drive sealing unit of the underwater robotic arm of the present invention;

[0028] Figure 4 This is an isometric view of the main arm unit of the underwater robotic arm of this invention;

[0029] Figure 5 This is an isometric view of the forearm unit of the underwater robotic arm of this invention;

[0030] Figure 6 This is an isometric view of the sealing drive unit of the robotic arm of this invention;

[0031] Figure 7 This is a side view of the sealed cabin of the underwater robotic arm's vision unit;

[0032] Figure 8 yes Figure 7 Sectional view at AA;

[0033] Figure 9 This is the main view of the sealed cabin of the underwater robotic arm's vision unit;

[0034] Figure 10 yes Figure 9 Sectional view at BB;

[0035] Figure 11 This is a top view of the robotic arm.

[0036] Figure 12 yes Figure 11 Sectional view at CC;

[0037] Figure 13 This is a sectional view of the robotic arm.

[0038] Figure 14 yes Figure 13 Side view at DD;

[0039] Figure 15 It is an isometric drawing of a robotic arm.

[0040] In the picture:

[0041] 1-Connecting support base;

[0042] 2-First joint drive sealing unit;

[0043] 3-Second joint drive sealing unit; 301-First drive sealing chamber housing; 302-First sealing chamber tail cover; 303-First sealing chamber bracket; 304-First sealing chamber reducer motor drive unit; 305-First sealing chamber drive output outer cover; 306-First sealing chamber drive output shaft inner plate; 307-First sealing chamber transmission spline; 308-First sealing chamber dynamic sealing ring; 309-First sealing chamber friction metal gasket; 310-First sealing chamber static sealing ring; 311-First sealing chamber drive limit device; 312-First sealing chamber watertight connector.

[0044] 4- Boom unit; 401- Boom drive shaft connecting round plate; 402- Boom housing; 403- Boom support frame connecting square plate; 404- First rivet metal clamp;

[0045] 5-Third joint drive sealing unit;

[0046] 6-Fourth joint drive sealing unit;

[0047] 7-Forearm unit; 701-Forearm drive shaft connecting round plate; 702-Forearm housing; 703-Forearm support frame connecting square plate; 704-Second rivet metal clamp;

[0048] 8-Fifth joint drive sealing unit;

[0049] 9-Sixth joint drive sealing unit;

[0050] 10-Manipulator sealing drive unit; 1001-Second drive sealing chamber housing; 1002-Second sealing chamber tail cover; 1003-Second sealing chamber bracket; 1004-Second sealing chamber reducer motor drive unit; 1005-Second sealing chamber drive output outer cover; 1006-Second sealing chamber drive output shaft inner plate; 1007-Second sealing chamber transmission spline; 1008-Second sealing chamber dynamic sealing ring; 1009-Second sealing chamber friction metal gasket; 1010-Second sealing chamber static sealing ring; 1011-Second sealing chamber drive limit device; 1012-Second sealing chamber watertight connector; 1013-Sealing chamber drive output shaft;

[0051] 11-Visual sealing unit; 1101-Depth camera; 1102-Visual sealing chamber shell; 1103-Perspective sealing cover; 1104-Visual sealing chamber rear cover; 1105-Camera connection plate; 1106-Third sealing chamber static sealing ring; 1107-Camera connection cable; 1108-Third sealing chamber watertight connector.

[0052] 12-Working robot; 1201-Robot hand; 1202-Hand cover plate; 1203-Gripper connecting plate; 1204-Robot gripper; 1205-Power input shaft; 1206-Power conversion shaft; 1207-Power output shaft; 1208-Synchronous belt drive unit; 1209-Gear drive unit; 1210-Input shaft sleeve; 1211-Power conversion shaft sleeve; 1212-Output shaft sleeve; 1213-Ball bearing; 1204-First hand connecting block; 1205-Second hand connecting block;

[0053] 13-Endplate of robotic arm. Detailed Implementation

[0054] Specific implementation method one: Combining Figures 1 to 15 This embodiment describes an underwater robotic arm operation system based on a large folding configuration. It includes a connecting support base 1, a first joint drive sealing unit 2, a second joint drive sealing unit 3, a large arm unit 4, a third joint drive sealing unit 5, a fourth joint drive sealing unit 6, a small arm unit 7, a fifth joint drive sealing unit 8, a sixth joint drive sealing unit 9, a robotic arm sealing drive unit 10, a vision sealing unit 11, a working robotic arm 12, and a robotic arm end-effector connecting plate 13. The connecting support base 1 is connected to the tail cover of the first joint drive sealing unit 2. The output cover of the first joint drive sealing unit 2 is connected to the cabin support of the second joint drive sealing unit 3. The output cover of the second joint drive sealing unit 3 is connected to the connecting circular plate of the large arm unit 4. The connecting square plate of the large arm unit 4 is connected to the cabin support of the third joint drive sealing unit 5. The third joint drive... The output cover of the dynamic sealing unit 5 is connected to the cabin support of the fourth joint drive sealing unit 6. The output cover of the fourth joint drive sealing unit 6 is connected to the connecting circular plate of the forearm unit 7. The connecting square plate of the forearm unit 7 is connected to the cabin support of the fifth joint drive sealing unit 8. The output cover of the fifth joint drive sealing unit 8 is connected to the cabin support of the sixth joint drive sealing unit 9. The output cover of the sixth joint drive sealing unit 9 is connected to the end connecting plate 13 of the robotic arm. The end connecting plate 13 of the robotic arm is provided with a robotic arm interface, a vision platform interface and a robotic arm platform interface. The robotic arm sealing drive unit 10, the vision sealing unit 11 and the working robotic arm 12 are fixedly connected to the end connecting plate 13 of the robotic arm through the robotic arm interface, the vision platform interface and the robotic arm platform interface, respectively. The drive output part of the robotic arm sealing drive unit 10 is connected to the power input part of the working robotic arm 12.

[0055] Specific Implementation Method Two: Combining Figure 2 and Figure 3This embodiment describes the second joint drive sealing unit 3, which includes a first drive sealing chamber housing 301, a first sealing chamber tail cover 302, a first sealing chamber bracket 303, a first sealing chamber reducer motor drive unit 304, a first sealing chamber drive output outer cover 305, a first sealing chamber drive output shaft inner plate 306, a first sealing chamber transmission spline 307, a first sealing chamber dynamic sealing ring 308, a first sealing chamber friction metal gasket 309, a first sealing chamber static sealing ring 310, a first sealing chamber drive limiting device 311, and a first sealing chamber watertight connector 312. The first sealing chamber bracket 303 is disposed at the bottom of the first drive sealing chamber housing 301 and is constructed by welding. The first sealing chamber bracket 303 is fixedly connected to the first drive sealing chamber housing 301 and to the output cover of the first joint drive sealing unit 2 by screws. An annular sealing groove is provided on the inner side of the output hole of the first drive sealing chamber housing 301. The first sealing chamber dynamic sealing ring 308 is installed in the sealing groove of the output hole of the first drive sealing chamber housing 301. An output cover positioning flange is provided in the middle of the inner side of the output hole. The first sealing chamber friction metal gasket 309 and the first sealing chamber drive output cover 305 are inserted sequentially from the outside to the inside through the tail hole of the first drive sealing chamber housing 301. The first sealing chamber friction metal gasket 309 is placed on the output cover positioning flange of the first drive sealing chamber housing 301. The outer cover 305 of the sealing chamber drive output is in full contact with the dynamic sealing ring 308 of the first sealing chamber; the inner plate 306 of the first sealing chamber drive output shaft and the first sealing chamber reducer motor drive unit 304 are inserted from the outside to the inside through the tail hole of the first drive sealing chamber housing 301. The inner plate 306 of the first sealing chamber drive output shaft and the outer cover 305 of the first sealing chamber drive output are connected by multiple screws. The positioning mounting flange of the first sealing chamber reducer motor drive unit 304 is connected to the drive positioning mounting flange of the first drive sealing chamber housing 301 by multiple screws; a first sealing chamber transmission spline 307 is provided between the first sealing chamber reducer motor drive unit 304 and the outer cover 305 of the first sealing chamber drive output. The transmission spline 307 of the sealed chamber is connected to the output flange of the motor drive unit 304 of the first sealed chamber reducer by multiple screws. The transmission spline 307 of the first sealed chamber is fully engaged with the transmission spline groove of the first sealed chamber drive output shaft inner plate 306. The housing 301 of the first drive sealed chamber is provided with a water seal socket, in which a water-tight connector 312 of the first sealed chamber is inserted. The water-tight connector 312 of the first sealed chamber is electrically connected to the motor drive unit 304 of the first sealed chamber reducer. The inner side of the tail hole of the first drive sealed chamber housing 301 is provided with an annular sealing groove, and the static sealing ring 310 of the first sealed chamber is installed in the sealing groove of the tail hole of the first drive sealed chamber housing 301.The tail cover plate 302 of the first sealed chamber is located at the tail of the first drive sealed chamber housing 301. The tail cover plate 302 is in full contact with the static sealing ring 310 of the first sealed chamber. The tail cover plate 302 is connected to the first drive sealed chamber housing 301 by multiple screws. The drive limiting device 311 of the first sealed chamber is located on the output side outside the first drive sealed chamber housing 301. The drive limiting device 311 is connected to the first drive sealed chamber housing 301 by multiple screws. With this configuration, the joint drive sealing unit can be connected to other joint sealing drive units or structural units such as the upper arm and lower arm through the chamber bracket, tail cover, and output cover on the sealed chamber via threads, forming the overall structure of the robotic arm. Other components and connections are the same as in specific embodiment one.

[0056] In this embodiment, the robot's joints one through six all adopt this modular sealed drive unit design concept.

[0057] In this embodiment, the first sealing chamber dynamic sealing ring 308 is placed in the sealing groove of the output hole of the first driving sealing chamber housing 301 and lubricating oil is injected to ensure that the sealing ring is flat; the first sealing chamber static sealing ring 310 is placed in the sealing groove of the tail hole of the first driving sealing chamber housing 301 and lubricating oil is injected to ensure that the sealing ring is flat.

[0058] Specific implementation method three: Combining Figure 2 and Figure 4 This embodiment describes the boom unit 4, which includes a boom drive shaft connecting circular plate 401, a boom housing 402, a boom support frame connecting square plate 403, and multiple first rivet metal clamps 404. The boom housing 402 is a "T"-shaped boom housing. The boom drive shaft connecting circular plate 401 and the boom support frame connecting square plate 403 are respectively fixedly connected to the beginning and end ends of the boom housing 402 by welding. The multiple first rivet metal clamps 404 are respectively fixed to the boom housing 402 and the boom support frame connecting square plate 403 by screws. The boom drive shaft connecting circular plate 401 is fixedly connected to the first sealing chamber drive output outer cover 305 of the second joint drive sealing unit 3 by multiple screws. The boom support frame connecting square plate 403 is fixedly connected to the sealing chamber bracket of the third joint drive sealing unit 5 by multiple screws. With this configuration, the boom unit 4 is mainly used to connect the second joint drive sealing unit 3 and the third joint drive sealing unit 5, meeting the overall structural size requirements of the robotic arm. It also includes rivet clamps for fixing the robotic arm's electrical wiring. Other components and connections are the same as in specific implementation methods one or two.

[0059] Specific implementation method four: Combination Figure 2 and Figure 5This embodiment describes the forearm unit 7, which includes a forearm drive shaft connecting circular plate 701, a forearm housing 702, a forearm support frame connecting square plate 703, and multiple second riveted metal clamps 704. The forearm housing 702 is an "I"-shaped forearm housing. The forearm drive shaft connecting circular plate 701 and the forearm support frame connecting square plate 703 are welded and fixedly connected to the beginning and end ends of the forearm housing 702, respectively. The multiple second riveted metal clamps 704 are fixed to the forearm housing 702 and the forearm support frame connecting square plate 703 by screws. The forearm drive shaft connecting circular plate 701 is fixedly connected to the outer cover of the sealing chamber drive output of the fourth joint drive sealing unit 6 by multiple screws. The forearm support frame connecting square plate 703 is fixedly connected to the sealing chamber bracket of the fifth joint drive sealing unit 8 by multiple screws. With this configuration, the forearm unit 7 is mainly used to connect the fourth joint drive sealing unit 6 and the fifth joint drive sealing unit 8, meeting the overall structural size requirements of the robotic arm. It also includes riveted clamps for fixing the electrical circuitry of the robotic arm. Other components and connections are the same as in specific implementation methods one, two, or three.

[0060] Specific Implementation Method Five: Combining Figure 2 and Figure 6This embodiment describes the robotic arm sealing drive unit 10, which includes a second drive sealing chamber housing 1001, a second sealing chamber tail cover 1002, a second sealing chamber bracket 1003, a second sealing chamber reducer motor drive unit 1004, a second sealing chamber drive output outer cover 1005, a second sealing chamber drive output shaft inner plate 1006, a second sealing chamber transmission spline 1007, a second sealing chamber dynamic sealing ring 1008, a second sealing chamber friction metal gasket 1009, a second sealing chamber static sealing ring 1010, a second sealing chamber drive limiting device 1011, a second sealing chamber watertight connector 1012, and a sealing chamber drive output shaft 1013; the second sealing chamber bracket 1003... The second drive sealing chamber housing 1001 is located at the bottom of the second drive sealing chamber housing 1001. The second sealing chamber bracket 1003 is fixedly connected to the second drive sealing chamber housing 1001 by welding. The second sealing chamber bracket 1003 is fixedly connected to the robot arm interface of the robot arm end connecting plate 13 by screws. The inner side of the output hole of the second drive sealing chamber housing 1001 is provided with an annular sealing groove. The second sealing chamber dynamic sealing ring 1008 is installed in the sealing groove of the output hole of the second drive sealing chamber housing 1001. The middle of the inner side of the output hole is provided with an output cover positioning flange. The second sealing chamber friction metal gasket 1009 and the second sealing chamber drive output outer cover 1005 are sequentially arranged from the outside to the inside from the tail hole of the second drive sealing chamber housing 1001. Insertion: The second sealing chamber friction metal gasket 1009 is placed on the output cover positioning flange of the second drive sealing chamber housing 1001, and the second sealing chamber drive output outer cover 1005 is in full contact with the second sealing chamber dynamic sealing ring 1008; the sealing chamber drive output shaft 1013 is coaxially arranged on the outside of the second sealing chamber drive output outer cover 1005, and the sealing chamber drive output shaft 1013 and the second sealing chamber drive output outer cover 1005 are fixedly connected by multiple screws; the second sealing chamber drive output shaft inner plate 1006 and the second sealing chamber reducer motor drive unit 1004 are inserted from the outside to the inside through the tail hole of the second drive sealing chamber housing 1001, and the second sealing chamber drive output shaft inner plate 1006... The second sealed chamber drive output cover 1005 is connected to the second sealed chamber reducer motor drive unit 1004 by multiple screws. The positioning mounting flange of the second sealed chamber reducer motor drive unit 1004 is connected to the drive positioning mounting flange of the second drive sealed chamber housing 1001 by multiple screws. A second sealed chamber transmission spline 1007 is provided between the second sealed chamber reducer motor drive unit 1004 and the second sealed chamber drive output cover 1005. The second sealed chamber transmission spline 1007 is connected to the output flange of the second sealed chamber reducer motor drive unit 1004 by multiple screws. The second sealed chamber transmission spline 1007 is fully engaged with the sealed chamber transmission spline groove on the inner plate 1006 of the second sealed chamber drive output shaft.The second drive sealed chamber housing 1001 is provided with a water-sealed insertion hole, into which a second sealed chamber water-tight connector 1012 is inserted. The second sealed chamber water-tight connector 1012 is electrically connected to the second sealed chamber reducer motor drive unit 1004. The inner side of the tail hole of the second drive sealed chamber housing 1001 is provided with an annular sealing groove, and the second sealed chamber static sealing ring 1010 is installed in the sealing groove of the tail hole of the second drive sealed chamber housing 1001. The tail cover plate 1002 of the second sealed chamber is placed at the tail of the second drive sealed chamber housing 1001. The tail cover plate 1002 of the second sealed chamber is in full contact with the second sealed chamber static sealing ring 1010. The tail cover plate 1002 of the second sealed chamber is connected to the second drive sealed chamber housing 1001 by multiple screws. The second sealed chamber drive limiting device 1011 is placed on the output side outside the second drive sealed chamber housing 1001. The second sealed chamber drive limiting device 1011 is connected to the second drive sealed chamber housing 1001 by multiple screws. This setup is as follows. Other components and connections are the same as in specific implementation methods one, two, three, or four.

[0061] In this embodiment, the dynamic sealing ring 1008 of the second sealing chamber is placed in the sealing groove of the output hole of the second drive sealing chamber housing 1001 and lubricating oil is injected to ensure that the sealing ring is flat; the static sealing ring 1010 of the second sealing chamber is placed in the sealing groove of the tail hole of the second drive sealing chamber housing 1001 and lubricating oil is injected to ensure that the sealing ring is flat.

[0062] Specific Implementation Method Six: Combination Figure 2 , Figures 7 to 10This embodiment describes a vision sealing unit 11 comprising a depth camera 1101, a vision sealing chamber shell 1102, a perspective sealing cover 1103, a vision sealing chamber rear cover 1104, a camera connecting plate 1105, a third sealing chamber static sealing ring 1106, a camera connecting cable 1107, and a third sealing chamber watertight connector 1108. The perspective sealing cover 1103, vision sealing chamber shell 1102, and vision sealing chamber rear cover 1104 are arranged sequentially from top to bottom. The lower surface of the vision sealing chamber shell 1102 has a rectangular sealing groove. The third sealing chamber static sealing ring 1106 is installed within the sealing groove of the vision sealing chamber shell 1102. The vision sealing chamber rear cover 1104 is fixedly connected to the rear cover flange of the vision sealing chamber shell 1102 by multiple connecting screws. The vision sealing chamber rear cover 1104 is fixedly connected to the vision platform interface on the robotic arm end-effector connecting plate 13 by multiple screws. 2. The upper surface is provided with a lens avoidance square hole. The perspective sealing cover 1103 is located directly above the lens avoidance square hole. The perspective sealing cover 1103 is fixedly connected to the perspective flange of the vision sealing chamber 1102 by multiple screws. The camera connecting plate 1105 and the depth camera 1101 are arranged sequentially from top to bottom inside the vision sealing chamber 1102. The camera connecting plate 1105 is fixedly connected to the vision sealing chamber 1102 by multiple screws. The camera connecting plate 1105 is provided with a lens positioning hole. The lens of the depth camera 1101 is engaged with the lens positioning hole of the camera connecting plate 1105. The side of the vision sealing chamber 1102 is provided with a watertight connector. The third sealing chamber watertight connector 1108 is fixedly connected to the watertight connector through threads. One end of the camera connecting cable 1107 is inserted into the electrical connection hole of the depth camera 1101, and the other end of the camera connecting cable 1107 is connected to the third sealing chamber watertight connector 1108. In this configuration, the vision sealing unit is designed with a perspective sealing cover to ensure the sensing performance of the depth camera, and a vision sealing chamber is designed for the general electrical layout of the depth camera. The structural and electrical sealing of the vision sealing unit is achieved through a static sealing ring and a watertight connection. Other components and connections are the same as in specific implementation methods one, two, three, four, or five.

[0063] In this embodiment, the static sealing ring 1106 of the third sealing chamber is placed into the sealing grooves on both sides of the transparent sealing cover 1103 and the rear cover 1104 of the visual sealing chamber, and lubricating oil is injected to ensure that the sealing ring is flat.

[0064] Specific implementation method seven: Combination Figure 2 , Figures 11 to 15This embodiment describes a robotic arm 12 comprising a robotic hand 1201, a hand cover plate 1202, a gripper connecting plate 1203, robotic grippers 1204, a power input shaft 1205, a power conversion shaft 1206, a power output shaft 1207, a synchronous belt drive unit 1208, a gear drive unit 1209, an input shaft sleeve 1210, a power conversion shaft sleeve 1211, an output shaft sleeve 1212, a ball bearing 1213, a first hand connecting block 1214, and a second hand connecting block 1215. The robotic hand 1201 and the hand cover plate 1202 are arranged parallel to each other and opposite to each other, with the front end of the robotic hand 1201 and the hand cover plate 1202 connected by the first hand connecting block. The robotic hand 1201 and the rear end of the palm cover 1202 are connected by a second palm connecting block 1215. The palm cover 1202 is fixedly connected to the robotic arm platform interface on the end plate 13 of the robotic arm by multiple screws. A power input shaft 1205, a power conversion shaft 1206, and a power output shaft 1207 are vertically arranged between the robotic hand 1201 and the palm cover 1202 from left to right. The two ends of the power input shaft 1205, the power conversion shaft 1206, and the power output shaft 1207 are respectively inserted into the shaft holes of the robotic hand 1201 and the palm cover 1202 and are rotatably connected by six ball bearings 1213. The outer surface of the 02 is provided with two sets of symmetrically arranged gripper grooves. Four gripper connecting plates 1203 are respectively provided at the four gripper grooves. The two gripper connecting plates 1203 on the left side are connected to both ends of the power input shaft 1205 via flat keys, and the two gripper connecting plates 1203 on the right side are connected to both ends of the power output shaft 1207 via flat keys. Two robotic grippers 1204 are provided on the front side of the robotic hand 1201. The two robotic grippers 1204 are symmetrically arranged around the work robot hand line. Each robotic gripper 1204 has two mounting slots machined on its rear end upper and lower surfaces. The mounting slots on the robotic grippers 1204 mate with the corresponding gripper connecting plates 1203 and... Multiple screws are used for fixing and connecting; the synchronous belt drive unit 1208 includes a first synchronous belt drive mechanism and a second synchronous belt drive mechanism; the power input shaft 1205 is connected to the sealed chamber drive output shaft 1013 of the robotic arm sealed drive unit 10 through the first synchronous belt drive mechanism, the power conversion shaft 1206 is connected to the power output shaft 1207 through the second synchronous belt drive mechanism, the power input shaft 1205 and the power conversion shaft 1206 are connected through the gear drive unit 1209, and the input shaft sleeve 1210, the power conversion shaft sleeve 1211 and the output shaft sleeve 1212 are respectively fitted on the power input shaft 1205, the power conversion shaft 1206 and the power output shaft 1207, respectively, and are used to realize the axial positioning of each pulley.In this configuration, the power input shaft 1205 and the sealed chamber drive output shaft 1013 are connected via a first synchronous belt drive mechanism. The movement of the power input shaft 1205 and the power conversion shaft 1206 is transmitted via a gear transmission unit 1209. The power conversion shaft 1206 and the power output shaft 1207 are connected via a second synchronous belt drive mechanism, achieving synchronous reverse rotation of the power input shaft 1205 and the power output shaft 1207. The two robotic grippers are connected to the power input shaft 1205 and the power output shaft 1207 respectively via keys, thereby realizing the opening and closing action of the two robotic grippers. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0065] Specific implementation method eight: Combination Figures 11 to 15 This embodiment describes a first synchronous belt drive mechanism comprising a first driving pulley, a first driven pulley, and a first transmission belt. The first driving pulley is mounted on the sealed chamber drive output shaft 1013, and the first driven pulley is mounted on the power input shaft 1205. The first driving pulley and the first driven pulley are connected by the first transmission belt. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0066] Specific Implementation Method Nine: Combining Figures 11 to 15 This embodiment describes a second synchronous belt drive mechanism comprising a second driving pulley, a second driven pulley, and a second transmission belt. The second driving pulley is mounted on a power conversion shaft 1206, and the second driven pulley is mounted on a power output shaft 1207. The power conversion shaft 1206 and the power output shaft 1207 are connected via the second transmission belt. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, or eight.

[0067] Specific Implementation Method Ten: Combining Figures 11 to 15 This embodiment describes a gear transmission unit 1209 comprising a driving gear and a driven gear. The driving gear is mounted on the power input shaft 1205, and the driven gear is mounted on the power conversion shaft 1206. The driving gear and the driven gear mesh with each other. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0068] Working principle

[0069] Combination Figures 1 to 15 This invention explains the working principle of an underwater robotic arm operating system based on a large folding configuration:

[0070] When the underwater robotic arm system requires folding, the attitudes of the second joint drive sealing unit 3, the third joint drive sealing unit 5, and the fifth joint drive sealing unit 8 are adjusted to bring the entire robotic arm into a bent state, forming a retracted posture. The unfolding action is similar to the folding action and will not be described in detail here.

[0071] When the gripper of the underwater robotic arm system needs to open or close, the second sealed chamber reducer motor drive unit 1004 of the robotic arm sealed drive unit 10 drives the sealed chamber drive output shaft 1013 to rotate. The sealed chamber drive output shaft 1013 drives the power input shaft 1205 to rotate through the first synchronous belt transmission mechanism. The power input shaft 1205 drives the power conversion shaft 1206 to rotate through the gear transmission unit 1209. The power conversion shaft 1206 drives the power output shaft 1207 to rotate through the second synchronous belt transmission mechanism, thereby realizing the synchronous reverse rotation of the power input shaft 1205 and the power output shaft 1207 and thus realizing the opening and closing action of the two robotic grippers.

[0072] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater robotic arm operating system based on a large folding configuration, characterized in that: It includes a connecting support base (1), a first joint drive sealing unit (2), a second joint drive sealing unit (3), a large arm unit (4), a third joint drive sealing unit (5), a fourth joint drive sealing unit (6), a small arm unit (7), a fifth joint drive sealing unit (8), a sixth joint drive sealing unit (9), a robotic arm sealing drive unit (10), a vision sealing unit (11), a working robotic arm (12), and a robotic arm end-effector connecting plate (13). The connecting support base (1) is connected to the tail cover of the first joint drive sealing unit (2). The output cover of the first joint drive sealing unit (2) is connected to the cabin support of the second joint drive sealing unit (3). The output cover of the second joint drive sealing unit (3) is connected to the connecting circular plate of the large arm unit (4). The connecting square plate of the large arm unit (4) is connected to the cabin support of the third joint drive sealing unit (5). The output cover of the third joint drive sealing unit (5) is connected to the connecting circular plate of the large arm unit (4). The fourth joint drive sealing unit (6) is connected to the cabin support, the output cover of the fourth joint drive sealing unit (6) is connected to the connecting round plate of the forearm unit (7), the connecting square plate of the forearm unit (7) is connected to the cabin support of the fifth joint drive sealing unit (8), the output cover of the fifth joint drive sealing unit (8) is connected to the cabin support of the sixth joint drive sealing unit (9), the output cover of the sixth joint drive sealing unit (9) is connected to the end connection plate (13) of the robotic arm, the end connection plate (13) of the robotic arm is provided with a robotic arm interface, a vision platform interface and a robotic arm platform interface respectively, the robotic arm sealing drive unit (10), the vision sealing unit (11) and the working robotic arm (12) are fixedly connected to the end connection plate (13) of the robotic arm through the robotic arm interface, the vision platform interface and the robotic arm platform interface respectively, and the drive output part of the robotic arm sealing drive unit (10) is connected to the power input part of the working robotic arm (12); The second joint drive sealing unit (3) includes a first drive sealing chamber housing (301), a first sealing chamber tail cover (302), a first sealing chamber bracket (303), a first sealing chamber reducer motor drive unit (304), a first sealing chamber drive output outer cover (305), a first sealing chamber drive output shaft inner plate (306), a first sealing chamber transmission spline (307), a first sealing chamber dynamic sealing ring (308), a first sealing chamber friction metal gasket (309), a first sealing chamber static sealing ring (310), a first sealing chamber drive limiting device (311), and a first sealing chamber watertight connector (312); the first sealing chamber bracket (303) is located at the bottom of the first drive sealing chamber housing (301), the first... The sealing chamber bracket (303) is fixedly connected to the first drive sealing chamber housing (301) by welding. The first sealing chamber bracket (303) is fixedly connected to the output cover of the first joint drive sealing unit (2) by screws. The inner side of the output hole of the first drive sealing chamber housing (301) is provided with an annular sealing groove. The first sealing chamber dynamic sealing ring (308) is installed in the sealing groove of the output hole of the first drive sealing chamber housing (301). The middle of the inner side of the output hole is provided with an output cover positioning flange. The first sealing chamber friction metal gasket (309) and the first sealing chamber drive output cover (305) are inserted from the outside to the inside through the tail hole of the first drive sealing chamber housing (301). The first sealing chamber drive output outer cover (305) is placed on the output cover positioning flange of the first sealing chamber housing (301), and the first sealing chamber drive output outer cover (305) is in full contact with the first sealing chamber dynamic sealing ring (308); the first sealing chamber drive output shaft inner plate (306) and the first sealing chamber reducer motor drive unit (304) are inserted from the outside to the inside through the tail hole of the first driving sealing chamber housing (301), the first sealing chamber drive output shaft inner plate (306) and the first sealing chamber drive output outer cover (305) are connected by multiple screws, and the positioning mounting flange of the first sealing chamber reducer motor drive unit (304) is connected to the drive positioning mounting flange of the first driving sealing chamber housing (301) by multiple screws; the first sealing chamber reducer... A first sealing chamber transmission spline (307) is provided between the motor drive unit (304) and the first sealing chamber drive output cover (305). The first sealing chamber transmission spline (307) is connected to the output flange of the first sealing chamber reducer motor drive unit (304) by multiple screws. The first sealing chamber transmission spline (307) is fully engaged with the sealing chamber transmission spline groove on the inner plate (306) of the first sealing chamber drive output shaft. A water-tight connector (312) is provided on the first drive sealing chamber housing (301). The first sealing chamber water-tight connector (312) is inserted into the water-tight connector and is connected to the electrical connection line of the first sealing chamber reducer motor drive unit (304).The inner side of the tail hole of the first drive sealing chamber housing (301) is provided with an annular sealing groove, and the first sealing chamber static sealing ring (310) is installed in the sealing groove of the tail hole of the first drive sealing chamber housing (301); the tail cover plate (302) of the first sealing chamber is placed at the tail of the first drive sealing chamber housing (301), and the tail cover plate (302) of the first sealing chamber is in full contact with the first sealing chamber static sealing ring (310). The tail cover plate (302) of the first sealing chamber and the first drive sealing chamber housing (301) are connected by multiple screws; the first sealing chamber drive limiting device (311) is placed on the output side outside the first drive sealing chamber housing (301), and the first sealing chamber drive limiting device (311) and the first drive sealing chamber housing (301) are connected by multiple screws.

2. The underwater robotic arm operation system based on a large folding configuration according to claim 1, characterized in that: The boom unit (4) includes a boom drive shaft connecting round plate (401), a boom housing (402), a boom support frame connecting square plate (403), and multiple first rivet metal clamps (404). The boom housing (402) is a "T"-shaped boom housing. The boom drive shaft connecting round plate (401) and the boom support frame connecting square plate (403) are fixedly connected to the beginning and end ends of the boom housing (402) by welding, respectively. Multiple first rivet metal clamps (404) are fixed to the boom housing (402) and the boom support frame connecting square plate (403) by screws, respectively. The boom drive shaft connecting round plate (401) is fixedly connected to the first sealing chamber drive output cover (305) of the second joint drive sealing unit (3) by multiple screws. The boom support frame connecting square plate (403) is fixedly connected to the sealing chamber bracket of the third joint drive sealing unit (5) by multiple screws.

3. The underwater robotic arm operation system based on a large folding configuration according to claim 2, characterized in that: The forearm unit (7) includes a forearm drive shaft connecting round plate (701), a forearm housing (702), a forearm support frame connecting square plate (703), and multiple second rivet metal clamps (704). The forearm housing (702) is an "I"-shaped forearm housing. The forearm drive shaft connecting round plate (701) and the forearm support frame connecting square plate (703) are welded to the first and last ends of the forearm housing (702) respectively. Multiple second rivet metal clamps (704) are fixed to the forearm housing (702) and the forearm support frame connecting square plate (703) respectively by screws. The forearm drive shaft connecting round plate (701) is fixed to the outer cover of the sealing chamber drive output of the fourth joint drive sealing unit (6) by multiple screws. The forearm support frame connecting square plate (703) is fixed to the sealing chamber bracket of the fifth joint drive sealing unit (8) by multiple screws.

4. The underwater robotic arm operation system based on a large folding configuration according to claim 3, characterized in that: The robotic arm sealing drive unit (10) includes a second drive sealing chamber housing (1001), a second sealing chamber tail cover (1002), a second sealing chamber bracket (1003), a second sealing chamber reducer motor drive unit (1004), a second sealing chamber drive output outer cover (1005), a second sealing chamber drive output shaft inner plate (1006), a second sealing chamber transmission spline (1007), a second sealing chamber dynamic sealing ring (1008), a second sealing chamber friction metal gasket (1009), a second sealing chamber static sealing ring (1010), a second sealing chamber drive limit device (1011), a second sealing chamber watertight connector (1012), and a sealing chamber drive output shaft (1013). The second sealing chamber bracket (1003) is located at the bottom of the second drive sealing chamber housing (1001), and the second sealing chamber bracket (1003) is welded to the second drive sealing chamber housing. The body (1001) is fixedly connected, and the second sealing chamber bracket (1003) is fixedly connected to the robotic arm interface of the end connecting plate (13) of the robotic arm by screws; the inner side of the output hole of the second drive sealing chamber housing (1001) is provided with an annular sealing groove, and the second sealing chamber dynamic sealing ring (1008) is installed in the sealing groove of the output hole of the second drive sealing chamber housing (1001). The middle of the inner side of the output hole is provided with an output cover positioning flange; the second sealing chamber friction metal gasket (1009) and the second sealing chamber drive output outer cover (1005) are inserted from the outside to the inside through the tail hole of the second drive sealing chamber housing (1001). The second sealing chamber friction metal gasket (1009) is placed on the output cover positioning flange of the second drive sealing chamber housing (1001), and the second sealing chamber drive output outer cover (1005) is in full contact with the second sealing chamber dynamic sealing ring (1008); The sealed chamber drive output shaft (1013) is coaxially mounted on the outside of the second sealed chamber drive output outer cover (1005). The sealed chamber drive output shaft (1013) and the second sealed chamber drive output outer cover (1005) are fixedly connected by multiple screws. The inner plate (1006) of the second sealed chamber drive output shaft and the second sealed chamber reducer motor drive unit (1004) are inserted from the outside to the inside through the tail hole of the second drive sealed chamber housing (1001). The inner plate (1006) of the second sealed chamber drive output shaft and the second sealed chamber drive output outer cover (1005) are connected by multiple screws. The positioning and mounting flange of the second sealed chamber reducer motor drive unit (1004) is connected to the drive positioning and mounting flange of the second drive sealed chamber housing (1001) by multiple screws; a second sealed chamber transmission spline (1007) is provided between the second sealed chamber reducer motor drive unit (1004) and the second sealed chamber drive output cover (1005), and the second sealed chamber transmission spline (1007) is connected to the output flange of the second sealed chamber reducer motor drive unit (1004) by multiple screws, and the second sealed chamber transmission spline (1007) is connected to the second sealed chamber drive... The transmission spline groove of the sealing chamber on the inner plate (1006) of the output shaft is fully fitted; the second drive sealing chamber housing (1001) is provided with a water-sealed insertion hole, in which a second sealing chamber water-tight connector (1012) is inserted, and the second sealing chamber water-tight connector (1012) is electrically connected to the second sealing chamber reducer motor drive unit (1004); the inner side of the tail hole of the second drive sealing chamber housing (1001) is provided with an annular sealing groove, and the second sealing chamber static sealing ring (1010) is installed in the sealing groove of the tail hole of the second drive sealing chamber housing (1001). The tail cover plate (1002) of the second sealing chamber is placed at the tail of the housing (1001) of the second driving sealing chamber. The tail cover plate (1002) of the second sealing chamber is in full contact with the static sealing ring (1010) of the second sealing chamber. The tail cover plate (1002) of the second sealing chamber is connected to the housing (1001) of the second driving sealing chamber by a number of screws. The driving limit device (1011) of the second sealing chamber is placed on the output side outside the housing (1001) of the second driving sealing chamber. The driving limit device (1011) of the second sealing chamber is connected to the housing (1001) of the second driving sealing chamber by a number of screws.

5. The underwater robotic arm operation system based on a large unfolding configuration according to claim 4, characterized in that: The visual sealing unit (11) includes a depth camera (1101), a visual sealing chamber shell (1102), a perspective sealing cover (1103), a visual sealing chamber rear cover (1104), a camera connection plate (1105), a third sealing chamber static sealing ring (1106), a camera connection cable (1107), and a third sealing chamber watertight connector (1108). The perspective sealing cover (1103), the visual sealing chamber shell (1102), and the visual sealing chamber rear cover (1104) are arranged sequentially from top to bottom. The lower surface of the vision sealing chamber shell (1102) is provided with a rectangular sealing groove. The static sealing ring (1106) of the third sealing chamber is installed in the sealing groove of the vision sealing chamber shell (1102). The rear cover (1104) of the vision sealing chamber is fixedly connected to the rear cover flange of the vision sealing chamber shell (1102) by multiple connecting screws. The rear cover (1104) of the vision sealing chamber is fixedly connected to the vision platform interface on the end connecting plate (13) of the robotic arm by multiple screws. The upper surface of the vision sealing chamber shell (1102) A lens clearance square hole is provided, and a perspective sealing cover plate (1103) is located directly above the lens clearance square hole. The perspective sealing cover plate (1103) is fixedly connected to the perspective flange of the vision sealing chamber (1102) by multiple screws. A camera connecting plate (1105) and a depth camera (1101) are arranged sequentially from top to bottom inside the vision sealing chamber (1102). The camera connecting plate (1105) is fixedly connected to the vision sealing chamber (1102) by multiple screws. 5) A lens positioning hole is provided on the surface. The lens of the depth camera (1101) is matched with the lens positioning hole of the camera connecting plate (1105). A watertight connector is provided on the side of the visual sealing chamber shell (1102). The third sealing chamber watertight connector plug (1108) is fixedly connected to the watertight connector plug by thread. One end of the camera connecting line (1107) is inserted into the electrical connection hole of the depth camera (1101), and the other end of the camera connecting line (1107) is connected to the third sealing chamber watertight connector plug (1108).

6. The underwater robotic arm operation system based on a large unfolding configuration according to claim 5, characterized in that: The robotic arm (12) includes a robotic hand (1201), a hand cover plate (1202), a gripper connecting plate (1203), a robotic gripper (1204), a power input shaft (1205), a power conversion shaft (1206), a power output shaft (1207), a synchronous belt drive unit (1208), a gear drive unit (1209), an input shaft sleeve (1210), a power conversion shaft sleeve (1211), an output shaft sleeve (1212), a ball bearing (1213), a first hand connecting block (1214), and a second hand connecting block (1215); the robotic hand (1201) and the hand The palm cover plates (1202) are arranged parallel to each other. The front middle of the manipulator's palm (1201) and the palm cover plate (1202) are connected by a first palm connecting block (1214), and the rear side of the manipulator's palm (1201) and the palm cover plate (1202) are connected by a second palm connecting block (1215). The palm cover plate (1202) is fixedly connected to the manipulator platform interface on the end plate (13) of the manipulator by multiple screws. From left to right, the manipulator's palm (1201) and the palm cover plate (1202) are vertically arranged with a power input shaft (1205), a power conversion shaft (1206), and a power transmission shaft. The output shaft (1207), power input shaft (1205), power conversion shaft (1206), and power output shaft (1207) are respectively inserted into the shaft holes of the robotic hand (1201) and the hand cover plate (1202) and are rotatably connected by six ball bearings (1213); the outer surfaces of the robotic hand (1201) and the hand cover plate (1202) are respectively provided with two sets of symmetrically arranged gripper grooves, and four gripper connecting plates (1203) are respectively provided at the four gripper grooves. The two gripper connecting plates (1203) on the left side are respectively connected to the two ends of the power input shaft (1205) by flat keys, and the two gripper connecting plates (1203) on the right side are respectively connected to the two ends of the power input shaft (1205) by flat keys. The two gripper connecting plates (1203) are respectively connected to the two ends of the power output shaft (1207) by flat keys; the front side of the manipulator hand (1201) is provided with two manipulator grippers (1204), the two manipulator grippers (1204) are symmetrically arranged with the working manipulator hand line as the center, and the upper and lower surfaces of the rear end of each manipulator gripper (1204) are respectively machined with two mounting slots, the mounting slots on the manipulator gripper (1204) cooperate with the corresponding gripper connecting plate (1203) and are fixedly connected by multiple screws; the synchronous belt drive unit (1208) includes a first synchronous belt drive mechanism and a second synchronous belt drive mechanism;The power input shaft (1205) is connected to the sealed chamber drive output shaft (1013) of the robotic arm sealed drive unit (10) via a first synchronous belt drive mechanism. The power conversion shaft (1206) is connected to the power output shaft (1207) via a second synchronous belt drive mechanism. The power input shaft (1205) and the power conversion shaft (1206) are connected via a gear drive unit (1209). The input shaft sleeve (1210), the power conversion shaft sleeve (1211), and the output shaft sleeve (1212) are respectively fitted onto the power input shaft (1205), the power conversion shaft (1206), and the power output shaft (1207), and are used to achieve axial positioning of each pulley.

7. The underwater robotic arm operation system based on a large folding configuration according to claim 6, characterized in that: The first synchronous belt drive mechanism includes a first driving pulley, a first driven pulley and a first transmission belt. The first driving pulley is mounted on the sealed chamber drive output shaft (1013), and the first driven pulley is mounted on the power input shaft (1205). The first driving pulley and the first driven pulley are connected by the first transmission belt.

8. The underwater robotic arm operation system based on a large folding configuration according to claim 7, characterized in that: The second synchronous belt drive mechanism includes a second driving pulley, a second driven pulley, and a second drive belt. The second driving pulley is mounted on the power conversion shaft (1206), and the second driven pulley is mounted on the power output shaft (1207). The power conversion shaft (1206) and the power output shaft (1207) are connected by the second drive belt.

9. The underwater robotic arm operation system based on a large folding configuration according to claim 8, characterized in that: The gear transmission unit (1209) includes a driving gear and a driven gear. The driving gear is mounted on the power input shaft (1205), and the driven gear is mounted on the power conversion shaft (1206). The driving gear and the driven gear mesh with each other.

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