Oil-filled mechanical legs for underwater robots

Abstract

The present invention discloses an oil-filled mechanical leg for an underwater robot, comprising four groups of integrated oil-filled mechanical leg bodies and a foot-type underwater robot body for connecting the groups of integrated oil-filled mechanical leg bodies; each group of the integrated oil-filled mechanical leg bodies comprises a motor pressure-resistant shell, a hollow motor is installed inside the motor pressure-resistant shell, and a thigh pressure-resistant shell is sealed and installed on the output side of the motor pressure-resistant shell. A Scotch yoke structure is used at the knee joint. Since there is only a watertight O-ring as a fulcrum between the screw nut and the knee joint, when the ball screw is subjected to a force perpendicular to the screw direction, the force will directly act on the watertight O-ring, greatly increasing the wear of the watertight O-ring during the reciprocating motion of the screw. Compared with a conventional connecting rod mechanism, the Scotch yoke structure does not introduce a component force perpendicular to the screw direction, thereby reducing the probability of water leakage due to damage to the watertight O-ring.

Description

Technical Field

[0001] The present invention relates to the field of ships, and in particular to an oil-filled mechanical leg of an underwater robot. Background Art

[0002] Underwater robots (AUVs) are essential marine engineering equipment for ocean development and utilization. Certain seabed areas are characterized by complex topography, turbulent ocean currents, and harsh environments. With the increasing prevalence and development of underwater operations, traditional tethered remotely operated submersibles (ROVs) are limited by surface support vessels and tow cables, making them inconvenient to use. Unmanned autonomous vehicles (UAVs) also suffer from poor stability and struggle to complete operational tasks. To enable stable exploration and precise operations in the complex deep-sea environment, leg-based AUVs have been proposed.

[0003] Underwater robotic legs are the primary moving components of legged underwater robots. Their design directly impacts their performance, including speed, flexibility, and maintainability. Current design and manufacturing technologies for underwater robotic legs are limited and cannot meet the complex requirements of underwater environments, such as watertightness, pressure resistance, and corrosion resistance. For example, to ensure both watertightness and pressure resistance, the legs often incorporate integrated oil pressure compensation. This integral oil filling not only increases the amount of hydraulic oil required for compensation but also complicates subsequent disassembly, repair, and upgrades. Consequently, there is a need for oil-filled robotic legs for underwater robots. Summary of the Invention

[0004] The purpose of the present invention is to provide an oil-filled mechanical leg for an underwater robot, which adopts a design of local oil filling rather than overall oil filling, places the knee joint and calf structure in water, and designs the parts prone to corrosion and wear to be replaceable, so as to solve the technical problems mentioned in the background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an oil-filled mechanical leg of an underwater robot, comprising: four groups of integrated oil-filled mechanical leg bodies, and a foot-type underwater robot body for matching and connecting the groups of integrated oil-filled mechanical leg bodies; each group of the integrated oil-filled mechanical leg bodies comprises a motor pressure-resistant shell, a hollow motor is installed inside the motor pressure-resistant shell, a replaceable end cover is bolted to the outer end of the motor pressure-resistant shell, an output transmission cylinder is threadedly installed at the output end of the motor pressure-resistant shell, and a screw nut is installed inside the output transmission cylinder; a thigh pressure-resistant shell is sealed and installed on the output side of the motor pressure-resistant shell, a ball screw is rotatably installed inside the thigh pressure-resistant shell, and one end of the ball screw is key-connected to the output end of the hollow motor, and the ball screw is threadedly installed inside the screw nut. The ball screw is bolted with a detachable limit seat, and a transmission slider is installed at the end of the detachable limit seat; the end of the thigh pressure-resistant shell is rotatably installed with a mechanical leg calf, the mechanical leg calf is cooperatively connected with the transmission slider, and the end of the mechanical leg calf is locked and installed with a replaceable foot end; the outer side of the thigh pressure-resistant shell is bolted with a protective shell, and a partition plate is fixedly installed inside the protective shell, and two groups of water-pushing fan blades are provided on one side of the partition plate inside the protective shell, and an underwater probe is bolted on the other side of the partition plate inside the protective shell, and the lens end of the underwater probe is installed through the protective shell; mounting seats are bolted on each side of the foot-type underwater robot body, and an underwater special propulsion motor is bolted inside the mounting seat, and an auxiliary water-pushing fan is key-connected and installed at the output end of the underwater special propulsion motor.

[0006] Preferably, the output end of the motor pressure shell is located outside the output transmission cylinder and is sleeved with a sealing sleeve, the thigh pressure shell is locked and connected to the motor pressure shell, and the outer arm of the sealing sleeve is installed in contact with the inside of the thigh pressure shell.

[0007] Preferably, a limit plate is provided inside the thigh pressure shell, a watertight O-ring is installed through the center of the limit plate corresponding to the position of the ball screw, and the ball screw extends from the inside of the watertight O-ring.

[0008] Preferably, the transmission slider extends from the inside of the thigh pressure shell, and the mechanical leg shank is rotatably mounted on the output end of the thigh pressure shell through a connecting shaft.

[0009] Preferably, an internal block is installed at one end of the mechanical leg calf located inside the thigh pressure-resistant shell, and the internal block is slidably installed inside the transmission slider.

[0010] Preferably, a mechanical leg arm is provided on the outside of the motor pressure-resistant shell, a thigh joint is sealed on the top of the mechanical leg arm, a hip joint is sealed on the top of the thigh joint, and the hip joint is electrically connected to the foot-type underwater robot body.

[0011] Preferably, a protective pad is installed on one side of the protective shell, and the protective pad is bolted to the surface of the thigh pressure-resistant shell. Two sets of filters are installed through one side of the partition plate of the protective shell, and a set of water inlet and outlet pipes are installed inside the protective shell corresponding to the filter positions on each side.

[0012] Preferably, a positioning seat is bolted and installed on one side of the partition plate, and a motor protection shell is locked and installed inside the positioning seat. Two groups of motors are arranged inside the motor protection shell, and each group of water-pushing fan blades is key-connected and installed with the output end of the corresponding side motor. The two groups of water-pushing fan blades are arranged corresponding to the positions of the water inlet and outlet pipes on each side.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The ball screw used in this application is a labor-saving structure with lower requirements for motor torque. Therefore, under the same load conditions, the robotic leg can use a smaller joint motor, which not only reduces the size of the pressure-resistant shell of the robotic leg itself, but also reduces the hydraulic oil compensation amount of the external oil-filling compensation mechanism. Compared with the robotic leg solution in which the motor directly drives the calf, only local oil filling of the thigh and joint part is required, and there is no need to fill the entire robotic leg with oil. Therefore, the structure is simpler and more compact, and the reliability is better.

[0015] 2. The knee joint and calf structure of the robotic leg are directly placed in the water. Therefore, compared with the overall oil-filled robotic leg, the robotic leg does not require the tedious operations of "draining oil - disassembly - cleaning - maintenance - installation - oil filling". Only the knee joint needs to be disassembled to complete the maintenance and replacement of the main moving parts of the robotic leg and the easily worn sliders and bearings. The calf foot end and the pressure shell end cover are both replaceable designs. According to the working conditions, different styles of foot ends can be replaced relatively easily, and the pressure shell end cover can also be replaced with a distributed small oil pressure compensator, which is convenient for maintenance and upgrades. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the overall structure of the integrated oil-filled mechanical leg body of the present invention;

[0018] Figure 3 This is a schematic diagram of the internal structure of the integrated oil-filled mechanical leg body of the present invention;

[0019] Figure 4 This is a schematic diagram of the hip joint installation structure of the present invention;

[0020] Figure 5 This is a schematic diagram of the installation structure of the protective shell of the present invention;

[0021] Figure 6This is an enlarged schematic diagram of the structure at A of the present invention;

[0022] Figure 7 This is an enlarged schematic diagram of the structure at point B of the present invention.

[0023] In the figure: 1. Foot-type underwater robot body; 2. Integrated oil-filled mechanical leg body; 3. Motor pressure-resistant shell; 4. Hollow motor; 5. Replaceable end cover; 6. Output transmission cylinder; 7. Screw nut; 8. Ball screw; 9. Thigh pressure-resistant shell; 10. Sealing sleeve; 11. Watertight O-ring; 12. Removable limit seat; 13. Transmission slider; 14. Mechanical leg calf; 15. Replaceable foot end; 16. Mechanical leg arm; 17. Thigh joint; 18. Hip joint; 19. Protective pad; 20. Protective shell; 21. Partition plate; 22. Filter; 23. Water inlet and outlet pipes; 25. Positioning seat; 26. Motor protective shell; 27. Water-throwing fan blades; 28. Underwater probe; 29. ​​Mounting seat; 30. Underwater special propulsion motor; 31. Auxiliary water-throwing fan. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] The present invention provides: an oil-filled mechanical leg of an underwater robot, such as Figures 1-4 As shown, there are four sets of integrated oil-filled mechanical leg bodies 2, and a foot-type underwater robot body 1 for connecting each set of integrated oil-filled mechanical leg bodies 2;

[0026] Each set of integrated oil-filled mechanical leg body 2 mainly includes the following parts:

[0027] Motor pressure shell 3: A hollow motor 4 is installed inside the motor pressure shell, and a thigh pressure shell 9 is sealed and installed on the output side of the motor pressure shell.

[0028] Thigh pressure-resistant shell 9: A ball screw 8 is rotatably installed inside the thigh pressure-resistant shell, a detachable limit seat 12 is bolted to the ball screw, and a transmission slider 13 is installed at the end of the slide groove.

[0029] Mechanical leg shank 14: The mechanical leg shank is rotatably mounted on the output end of the thigh pressure-resistant shell 9 through a connecting shaft and is connected to the transmission slider 13. A replaceable foot end 15 is locked and mounted at the end of the mechanical leg shank.

[0030] Protective shell 20: The outer side of the thigh pressure shell 9 is bolted with a protective shell 20, and a partition plate 21 is fixedly installed inside the protective shell. Inside the protective shell, two sets of water-pushing blades 27 are set on one side of the partition plate 21, and an underwater probe 28 is bolted on the other side. The underwater probe lens end is installed through the protective shell.

[0031] Other accessories: A replaceable end cap 5 is bolted to the outer end of the motor's pressure housing. An output drive cylinder 6 is threadedly mounted on the motor's pressure housing output end. A lead screw nut 7 is mounted inside the output drive cylinder, and a ball screw is threaded inside the lead screw nut. A sealing sleeve 10 is sleeved and mounted on the outer end of the output drive cylinder. A limit plate is installed inside the upper pressure housing, with a watertight O-ring 11 installed through the center of the limit plate corresponding to the position of the ball screw.

[0032] Knee joint structure: A Scotch yoke structure is used at the knee joint, which prevents the force perpendicular to the screw from acting directly on the watertight O-ring, thereby reducing the risk of water leakage due to damage to the watertight O-ring.

[0033] Hip joint and thigh joint: A mechanical leg arm 16 is provided on the outside of the motor pressure-resistant shell 3, a thigh joint 17 is sealed on the top of the mechanical leg arm, a hip joint 18 is sealed on the top of the thigh joint, and the hip joint is electrically connected to the foot-type underwater robot body 1.

[0034] Protective shell 20: A protective pad 19 is installed on one side of the protective shell. Two sets of filter screens 22 are installed through the protective shell on one side of the partition plate 21. A set of water inlet and outlet pipes 23 are installed inside the protective shell corresponding to the filter screen positions on each side.

[0035] Motor protection shell 26: A positioning seat 25 is bolted to one side of the partition plate, and a motor protection shell 26 is locked and installed inside the positioning seat. Two groups of motors are set inside the motor protection shell, and each group of water-pushing fan blades 27 is key-connected and installed with the output end of the corresponding side motor.

[0036] A mounting seat 29 is bolted to each side of the foot-type underwater robot body 1, and an underwater special propulsion motor 30 is bolted to the inside of the mounting seat. An auxiliary water-pushing fan 31 is key-connected to the output end of the underwater special propulsion motor.

[0037] This design enables the underwater robot's oil-filled legs to operate stably in complex underwater environments while maintaining excellent maintainability. The localized oil filling reduces the amount of hydraulic oil required for compensation, simplifies the leg structure, and improves reliability. Furthermore, the replaceable components facilitate subsequent maintenance and upgrades. The details are as follows:

[0038] Each set of integrated oil-filled mechanical leg bodies 2 includes a motor pressure-resistant shell 3, a hollow motor 4 is installed inside the motor pressure-resistant shell 3, a thigh pressure-resistant shell 9 is sealed and installed on the output side of the motor pressure-resistant shell 3, a ball screw 8 is rotatably installed inside the thigh pressure-resistant shell 9, a detachable limit seat 12 is bolted to the ball screw 8, a transmission slider 13 is installed at the end of the detachable limit seat 12, a mechanical leg shank 14 is rotatably installed at the end of the thigh pressure-resistant shell 9, the mechanical leg shank 14 is cooperatively connected to the transmission slider 13, and a replaceable foot end 15 is locked and installed at the end of the mechanical leg shank 14;

[0039] A protective shell 20 is bolted to the outside of the thigh pressure-resistant shell 9, and a partition plate 21 is fixedly installed inside the protective shell 20. Two groups of water-pushing fan blades 27 are arranged inside the protective shell 20 on one side of the partition plate 21, and an underwater probe 28 is bolted to the other side of the partition plate 21 inside the protective shell 20, and the lens end of the underwater probe 28 is installed through the protective shell 20; mounting seats 29 are bolted to each side of the inside of the foot-type underwater robot body 1, and an underwater special propulsion motor 30 is bolted to the inside of the mounting seat 29, and an auxiliary water-pushing fan 31 is key-connected to the output end of the underwater special propulsion motor 30.

[0040] Preferably, a replaceable end cover 5 is bolted to the outer end of the motor pressure shell 3, an output transmission cylinder 6 is threadedly installed on the output end of the motor pressure shell 3, a screw nut 7 is installed inside the output transmission cylinder 6, and a ball screw 8 is threadedly installed inside the screw nut 7. The hollow motor is fixed to the motor pressure shell 3 and the output transmission cylinder 6 by bolts respectively. The hollow motor 4 and the output transmission cylinder 6 are both hollowed out in the middle to provide a flow channel for the hydraulic oil. The screw nut 7 is fixed to the output transmission cylinder 6 with bolts to transmit the torque of the hollow motor 4 to the ball screw 8, so that the screw moves horizontally.

[0041] The ball screw is a labor-saving structure with lower requirements for motor torque. Therefore, under the same load conditions, the robotic leg can use a smaller joint motor, which not only reduces the size of the pressure-resistant shell of the robotic leg itself, but also reduces the hydraulic oil compensation amount of the external oil-filling compensation mechanism. Compared with the robotic leg solution in which the motor directly drives the calf, only local oil filling of the thigh and joint part is required, without the need for overall oil filling of the robotic leg. Therefore, the structure is simpler and more compact, and the reliability is better.

[0042] Furthermore, the output end of the motor pressure shell 3 is located on the outside of the output transmission cylinder 6 and is sleeved with a sealing sleeve 10. The thigh pressure shell 9 is locked and connected to the motor pressure shell 3, and the outer arm of the sealing sleeve 10 is installed in contact with the inside of the thigh pressure shell 9. The set sealing sleeve 10 can improve the connectivity and sealing between the motor pressure shell 3 and the thigh pressure shell 9, and reduce the occurrence of oil leakage.

[0043] Furthermore, a limit plate is provided inside the thigh pressure-resistant shell 9, and a watertight O-ring 11 is installed through the center of the limit plate corresponding to the position of the ball screw 8. The ball screw 8 extends from the inside of the watertight O-ring 11, and the contact parts of the ball screw 8 and the watertight O-ring 11 are both turned into optical axes to ensure the watertightness of the dynamic seal.

[0044] A Scotch yoke structure is used at the knee joint. Since the only fulcrum between the screw nut and the knee joint is the watertight O-ring, when the ball screw is subjected to a force perpendicular to the screw direction, the force will act directly on the watertight O-ring, greatly increasing the wear of the watertight O-ring during the reciprocating motion of the screw. Compared with the conventional connecting rod mechanism, the Scotch yoke structure does not introduce a component force perpendicular to the screw direction, thereby reducing the chance of water leakage due to damage to the watertight O-ring.

[0045] It is worth noting that the transmission slider 13 extends from the inside of the thigh pressure-resistant shell 9, and the mechanical leg shank 14 is rotatably mounted on the output end of the thigh pressure-resistant shell 9 via a connecting shaft. An internal block is mounted on one end of the mechanical leg shank 14 located inside the thigh pressure-resistant shell 9, and the internal block is slidably mounted inside the transmission slider 13. The detachable chute is fixedly connected to the ball screw 8 via threads and, together with the transmission slider 13, forms a Scotch yoke structure to eliminate the lateral force component perpendicular to the screw direction that may be brought by the mechanical leg shank 14, reducing the wear of the watertight O-ring 11 by this force component. The detachable chute is a split structure, with the chute components on both sides fixed by bolts to form a complete chute structure.

[0046] Specifically, a mechanical leg arm 16 is provided on the outside of the motor pressure-resistant shell 3, and a thigh joint 17 is sealed and installed on the top of the mechanical leg arm 16. A hip joint 18 is sealed and installed on the top of the thigh joint 17. The hip joint 18 is electrically connected and installed with the foot-type underwater robot body 1. The mechanical leg arm 16, thigh joint 17 and hip joint 18 are provided to control each group of integrated oil-filled mechanical leg bodies 2 to move stably, to ensure that the foot-type underwater robot body 1 as a whole moves stably in the water body, forming an underwater integrated oil-filled mechanical leg solution suitable for foot-type underwater robots.

[0047] Furthermore, a protective pad 19 is installed on one side of the protective shell 20, and the protective pad 19 is bolted to the surface of the thigh pressure-resistant shell 9. Two groups of filters 22 are installed on one side of the partition plate 21 of the protective shell 20, and a group of water inlet and outlet pipes 23 are installed inside the protective shell 20 corresponding to the positions of the filters 22 on each side. The protective pad 19 arranged inside the protective shell 20 improves the overall sealing of the protective shell 20 to ensure the connection between the protective shell 20 and the thigh pressure-resistant shell 9. At the same time, the partition plate 21 installed inside the protective shell 20 can divide the internal space of the protective shell 20 into two groups of spaces, one group is used to limit the underwater probe 28 to observe and record the underwater environment, and the other space is used to assist the integrated oil-filled mechanical leg body 2 to move, and can cooperate with the auxiliary water-pushing fan 31 in a more complex underwater environment to assist the foot-type underwater robot body 1 to move, thereby improving the overall mobility of the device underwater. The filter screen 22 is set to pass through the water body to prevent debris from entering the protective shell 20 and contacting the water-pushing fan blades 27, causing damage to the water-pushing fan blades 27.

[0048] Specifically, a positioning seat 25 is bolted to one side of the partition plate 21, and a motor protection shell 26 is locked and installed inside the positioning seat 25. Two groups of motors are arranged inside the motor protection shell 26, and each group of water-pushing fan blades 27 is key-connected and installed with the output end of the corresponding side motor. The two groups of water-pushing fan blades 27 are arranged corresponding to the positions of the inlet and outlet water pipes 23 on each side. The positioning seat 25 sets the limit to the motor protection shell 26, and the motor is protected by the motor protection shell 26, thereby more stably controlling the rotation of the water-pushing fan blades 27, cooperating with the directional water supply of the inlet and outlet water pipes 23 to increase the thrust of the water, thereby ensuring auxiliary control of the foot-type underwater robot body 1.

[0049] The knee joint and calf structure of the robotic leg are directly placed in the water. Therefore, compared with the overall oil-filled robotic leg, the robotic leg does not require the tedious operations of "draining oil - disassembly - cleaning - maintenance - installation - oil filling". It only needs to disassemble the knee joint part to complete the maintenance and replacement of the main moving parts of the robotic leg and the easily worn sliders and bearings. The calf foot end and the pressure shell end cover are both replaceable designs. According to the working conditions, different styles of foot ends can be replaced relatively easily, and the pressure shell end cover can also be replaced with distributed small oil pressure compensators, which is convenient for maintenance and upgrades.

[0050] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An oil-filled mechanical leg of an underwater robot, characterized in that: include: Four groups of integrated oil-filled mechanical leg bodies (2), and a foot-type underwater robot body (1) for cooperatively connecting each group of the integrated oil-filled mechanical leg bodies (2); Each group of the integrated oil-filled mechanical leg bodies (2) includes a motor pressure-resistant shell (3), a hollow motor (4) is installed inside the motor pressure-resistant shell (3), a replaceable end cover (5) is bolted to the outer end of the motor pressure-resistant shell (3), an output transmission cylinder (6) is threadedly installed at the output end of the motor pressure-resistant shell (3), and a screw nut (7) is installed inside the output transmission cylinder (6); The output side of the motor pressure-resistant housing (3) is sealed with a thigh pressure-resistant housing (9), a ball screw (8) is rotatably installed inside the thigh pressure-resistant housing (9), and one end of the ball screw (8) is key-connected with the output end of the hollow motor (4), the ball screw (8) is threadedly installed inside the screw nut (7), the ball screw (8) is bolted with a detachable limit seat (12), and a transmission slider (13) is installed at the end of the detachable limit seat (12); The end of the thigh pressure-resistant shell (9) is rotatably mounted with a mechanical leg shank (14), the mechanical leg shank (14) is cooperatively connected with the transmission slider (13), and the end of the mechanical leg shank (14) is locked with a replaceable foot end (15); The outer side of the thigh pressure-resistant shell (9) is bolted with a protective shell (20), a partition plate (21) is fixedly installed inside the protective shell (20), two groups of water-pushing blades (27) are provided inside the protective shell (20) on one side of the partition plate (21), and an underwater probe (28) is bolted with the other side of the partition plate (21) inside the protective shell (20), and the lens end of the underwater probe (28) is installed through the protective shell (20); Each side of the foot-type underwater robot body (1) is bolted with a mounting seat (29), an underwater special propulsion motor (30) is bolted and installed inside the mounting seat (29), and an auxiliary water-pushing fan (31) is key-connected and installed at the output end of the underwater special propulsion motor (30).

2. The oil-filled mechanical leg of an underwater robot according to claim 1, characterized in that: The output end of the motor pressure-resistant shell (3) is located outside the output transmission cylinder (6) and is sleeved with a sealing sleeve (10); the thigh pressure-resistant shell (9) is locked and connected to the motor pressure-resistant shell (3); and the outer arm of the sealing sleeve (10) is installed in contact with the inside of the thigh pressure-resistant shell (9).

3. The oil-filled mechanical leg of an underwater robot according to claim 2, characterized in that: A limit plate is provided inside the thigh pressure-resistant shell (9), and a watertight O-ring (11) is installed through the center of the limit plate corresponding to the position of the ball screw (8), and the ball screw (8) extends from the inside of the watertight O-ring (11).

4. The oil-filled mechanical leg of an underwater robot according to claim 3, characterized in that: The transmission slider (13) extends from the inside of the thigh pressure-resistant shell (9), and the mechanical leg shank (14) is rotatably mounted on the output end of the thigh pressure-resistant shell (9) via a connecting shaft.

5. The oil-filled mechanical leg of an underwater robot according to claim 4, characterized in that: The mechanical leg shank (14) is located inside the thigh pressure-resistant shell (9), and an internal block is installed at one end thereof, and the internal block is slidably installed inside the transmission slider (13).

6. The oil-filled mechanical leg of an underwater robot according to claim 5, characterized in that: A mechanical leg arm (16) is provided on the outside of the motor pressure-resistant shell (3); a thigh joint (17) is sealed and installed on the top of the mechanical leg arm (16); a hip joint (18) is sealed and installed on the top of the thigh joint (17); and the hip joint (18) is electrically connected and installed with the foot-type underwater robot body (1).

7. The oil-filled mechanical leg of an underwater robot according to claim 6, characterized in that: A protective pad (19) is installed on one side of the protective shell (20), and the protective pad (19) is bolted to the surface of the thigh pressure-resistant shell (9). Two groups of filter screens (22) are installed through one side of the protective shell (20) located on the partition plate (21), and a group of water inlet and outlet pipes (23) are installed inside the protective shell (20) corresponding to the position of the filter screens (22) on each side.

8. The oil-filled mechanical leg of an underwater robot according to claim 7, characterized in that: A positioning seat (25) is bolted to one side of the partition plate (21), and a motor protection shell (26) is locked and installed inside the positioning seat (25). Two groups of motors are arranged inside the motor protection shell (26), and each group of water-pushing fan blades (27) is key-connected and installed with the output end of the corresponding side motor. The two groups of water-pushing fan blades (27) are arranged corresponding to the positions of the water inlet and outlet pipes (23) on each side.

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