Deepwater four-degree-of-freedom mechanical arm structure

Abstract

The invention discloses a deepwater four-degree-of-freedom mechanical arm structure. A mechanical arm comprises a first joint, a second joint, a connecting rod, a third joint, a fourth joint and an end effector part which are connected in sequence. Each of the four joints comprises a bottom plate, a supporting structure, an integrated hollow servo motor, a flange coupling disc, a harmonic reducer, an O-shaped ring, a rubber corrugated pipe, a mechanical arm connecting piece and an oil filling opening. The first joint and the second joint are connected through the mechanical arm connecting piece and then connected to the third joint through the connecting rod, the third joint is connected with the fourth joint through the mechanical arm connecting piece, and the fourth joint is connected with the end effector. According to the mechanical arm structure, the effect of small power and large torque can be achieved, and it is guaranteed that the mechanical arm works normally under the working condition of 1000 meters underwater.

Description

Technical field:

[0001] The present invention relates to the technical field of deepwater manipulator arms, and in particular to a deepwater four-degree-of-freedom manipulator arm structure. Background technology:

[0002] The working conditions faced by deep-water four-degree-of-freedom manipulators are complex and diverse. Therefore, in order to cope with deep-water operation tasks, the manipulator must have excellent waterproofness, sufficient degrees of freedom and load capacity. Most deep-water four-degree-of-freedom manipulators choose four-degree-of-freedom manipulators and manipulator sealing methods to compress the volume and simple seal, resulting in certain limitations when performing some tasks. In order to improve performance, common deep-water four-degree-of-freedom manipulators often have redundant structures. In order to achieve a compact structure, the sealing methods of the joints of the manipulator vary greatly, and the waterproof performance is weak.

[0003] Therefore, a deep-water four-degree-of-freedom robotic arm structure with small size, low power, high torque and excellent sealing is a problem that needs to be solved urgently. Summary of the invention:

[0004] The present invention provides a deep-water four-degree-of-freedom mechanical arm structure, which can output a large torque when the motor has low power and ensure zero leakage of the joints at a depth of 1000m.

[0005] The present invention adopts the following specific technical solutions:

[0006] A deep-water four-degree-of-freedom mechanical arm structure, the mechanical arm structure comprising a first joint, a second joint, a connecting rod, a third joint, a fourth joint, a mechanical arm connecting piece, and an end effector connected in sequence;

[0007] The first joint includes a base plate, a first supporting structure, a first integrated hollow servo motor, a first harmonic reducer, a first rubber bellows, a first O-ring, sealing oil, an oil filling port, a first mechanical arm connecting piece and a first flange coupling disc; the bottom of the supporting structure is fixedly connected to the top surface of the base plate; the first integrated hollow servo motor, the first rubber bellows, the first O-ring, the first harmonic reducer and the flange coupling disc are all located inside the first supporting structure; the first integrated hollow servo motor is connected to the first harmonic reducer; the output shaft of the first harmonic reducer is fixedly connected to the first flange coupling disc; the flange connecting disc is fixedly connected to the first mechanical arm connecting piece; the first rubber bellows is sleeved on the outside of the first integrated hollow servo motor after being connected to the first harmonic reducer, and is located inside the first supporting structure; the top end of the first O-ring is fixed to the first flange coupling disc and is located inside the first supporting structure; the dynamic ring section of the first O-ring fits the static ring section of the first rubber bellows; the first mechanical arm connecting piece is fixedly connected to the first supporting structure;

[0008] The second joint includes a second harmonic reducer, a second flange coupling disk, a second integrated hollow servo motor, a second O-ring, a second rubber bellows, a connecting rod and a second supporting structure; the second integrated hollow servo motor and the second harmonic reducer are fixedly installed inside the second supporting structure of the robotic arm; the output end of the second harmonic reducer is fixedly connected to the second flange coupling disk; the second flange coupling disk is fixedly connected to one end of the connecting rod; the second rubber bellows is sleeved on the outside of the second integrated hollow servo motor after being connected to the second harmonic reducer, and is located inside the second supporting structure; the top end of the second O-ring is fixed to the second supporting structure and is located inside the second supporting structure; the dynamic ring section of the second O-ring is in contact with the static ring section of the second rubber bellows; one end of the connecting rod is connected to the second supporting structure; one end of the first robotic arm connecting piece is fixedly connected to the bottom of the second supporting structure.

[0009] The third joint includes a third harmonic reducer, a third flange coupling disk, a third integrated hollow servo motor, a third O-ring, a third rubber bellows, a connecting rod, a second mechanical arm connecting piece and a third supporting structure; the third integrated hollow servo motor and the third harmonic reducer are fixedly installed inside the third supporting structure of the mechanical arm; the output end of the third harmonic reducer is fixedly connected to the third flange coupling disk; the third flange coupling disk is connected to the second mechanical arm connecting piece; the third rubber bellows is sleeved on the outside of the third integrated hollow servo motor after being connected to the third harmonic reducer, and is located inside the third supporting structure; the top end of the third O-ring is fixed on the third flange coupling disk and connected to the third supporting structure; the dynamic ring section of the third O-ring is fitted with the static ring section of the third rubber bellows; one end of the second mechanical arm connecting piece is fixedly connected to the bottom of the connecting rod; the input end of the third integrated hollow servo motor is fixed to the third bottom; the bottom plate is fixedly connected to the other end of the connecting rod.

[0010] The fourth joint includes a fourth harmonic reducer, a fourth flange coupling disk, a fourth integrated hollow servo motor, a fourth O-ring, a fourth rubber bellows, an end effector, a third robot arm connector, a connecting rod and a fourth supporting structure; the fourth integrated hollow servo motor and the fourth harmonic reducer are fixedly installed inside the fourth supporting structure of the robot arm; the output end of the fourth harmonic reducer is fixedly connected to the fourth flange coupling disk; the fourth flange coupling disk is fixedly connected to the input end of the end effector; the fourth rubber bellows is sleeved on the outside of the fourth integrated hollow servo motor after being connected to the fourth harmonic reducer, and is located inside the fourth supporting structure; the top end of the fourth O-ring is fixed to one end of the third supporting structure; the dynamic ring section of the fourth O-ring is fitted with the static ring section of the fourth rubber bellows; one end of the third robot arm connector is connected to the fourth supporting structure; and one end of the fourth supporting structure is fixedly connected to the bottom of the end effector.

[0011] Furthermore, one end of the first mechanical arm connecting piece, the second mechanical arm connecting piece, and the third mechanical arm connecting piece is provided with a first groove for embedding the O-ring.

[0012] The bottoms of the first supporting structure, the second supporting structure, the third supporting structure and the fourth supporting structure are all provided with grooves for fixing the rubber bellows.

[0013] One end of the connecting rod is provided with a flange coupling disc for fixedly connecting the output shaft of the integrated hollow servo motor.

[0014] Furthermore, the first motor, the second motor, the third motor, and the fourth motor are all integrated hollow servo motors.

[0015] Beneficial effects:

[0016] The deep-water four-degree-of-freedom mechanical arm structure of the present invention comprises a first joint, a first supporting structure, a first mechanical arm connecting piece, a second joint, a second supporting structure, a second mechanical arm connecting piece, a third joint, a connecting rod, a third supporting structure, a fourth joint, a third supporting structure, a third mechanical arm connecting piece and an end execution part which are connected in sequence, and the rotation between adjacent connecting rods is realized through the joints; each joint adopts a harmonic reducer, and the first harmonic reducer of the first joint is directly connected to the first integrated hollow servo motor, which minimizes the volume of the mechanical arm and increases the output torque of the mechanical arm; the first joint is connected to the first supporting structure through a base, the rubber bellows is embedded in the groove of the first supporting structure, the static ring section of the rubber bellows and the dynamic ring section of the O-ring are tightly fitted, the O-ring is embedded in the groove at one end of the mechanical arm connecting piece, the flange coupling plate of the mechanical arm connecting piece and The output shaft of the harmonic reducer is fixedly connected, and sealing oil is filled into the joint through the oil filling port of the robot arm. The harmonic reducer and the flange coupling disc can stably withstand axial gravity, thereby achieving the effect of small power and large torque, and the combination of mechanical seals and oil-filled seals using rubber bellows and O-rings improves the sealing performance of the robot arm joints; the harmonic reducer and motor in the second joint, the third joint and the fourth joint are all driven by the flange coupling disc, and the harmonic reducer is connected to the corresponding robot arm connector through the flange coupling disc. The use of the flange coupling disc for transmission makes the position of the motor and the reducer more compact; the flange coupling disc can be set as an integrated robot arm connector to avoid jamming of the transmission due to external factors. This transmission method enables the motor and reducer to drive synchronously, and will increase the torque, while reducing the volume without affecting the joint accuracy and load.

[0017] At the same time, since one end of the connecting rod is directly connected to the output shaft of the second joint harmonic reducer, and the other end is directly connected to the bottom of the fourth joint support structure, the connecting rod adopts the above structure and connection method to save a lot of redundant structure, so that the joint can be transmitted with a more compact structure. In conjunction with the harmonic reducer, the force on the joint is more balanced, the torque is improved, and it is highly sealed.

[0018] Grooves are provided at the bottom of the first supporting structure, the bottom of the second supporting structure, the bottom of the third supporting structure, and the bottom of the fourth supporting structure, and the integrated hollow servo motor and the harmonic reducer are installed and embedded in the grooves, which can enhance the stability of the structure while ensuring the coaxiality of the reducer input and output. Description of the drawings:

[0019] Figure 1It is a structural schematic diagram of the mechanical arm structure of the present invention;

[0020] Figure 2 It is a schematic cross-sectional structure diagram of the mechanical arm structure of the present invention;

[0021] Figure 3 for Figure 1 Schematic diagram of the cross-sectional structure of the first joint and the second joint;

[0022] Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure of the third joint and the fourth joint;

[0023] Among them, 1-first joint, 2-second joint, 3-third joint, 4-fourth joint, 5-end effector, 6-connecting rod, 7-oil filling port, 8-bottom plate, 9-first supporting structure, 10-first robot arm connecting piece, 11-second supporting structure, 12-second robot arm connecting piece, 13-third supporting structure, 14-third robot arm connecting piece, 15-fourth supporting structure, 16-fourth robot arm connecting piece, 17-first integrated hollow servo motor, 18-first harmonic reducer, 19-first rubber bellows, 20-first O ring, 21-first flange coupling disc, 22-second integrated hollow servo motor, 23-second harmonic reducer, 24-second rubber bellows, 25-second O-ring, 26-second flange coupling disc, 27-third integrated hollow servo motor, 28-third rubber bellows, 29-third harmonic reducer, 30-third O-ring, 31-third finger flange coupling disc, 32-fourth rubber bellows, 33-fourth O-ring, 34-fourth harmonic reducer, 35-fourth integrated hollow servo motor, 36-fourth flange coupling disc. Specific implementation method:

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0025] like Figure 1 As shown in the structure, this embodiment provides a deep-water four-degree-of-freedom manipulator structure. The manipulator structure includes a first joint 1, a first support structure 9, a first manipulator arm connection 10, a second joint 2, a second support structure 11, a second manipulator arm connection 12, a third joint 3, a third support structure 15, a third manipulator arm connection 16, a fourth joint 4, a fourth support structure 15, a fourth manipulator arm connection 16 and an end effector part 5 connected in sequence;

[0026] like Figure 2 As shown in the structure, the first joint 1, the second joint 2, the third joint 3, and the fourth joint 4 include an oil filling port 7, a base plate 8, a first supporting structure 9, a first mechanical arm connecting member 10, a second supporting structure 11, a second mechanical arm connecting member 12, a third supporting structure 13, a third mechanical arm connecting member 14, a fourth supporting structure 15, and a fourth mechanical arm connecting member 16; the bottom of the first supporting structure 9 is fixedly connected to the top surface of the base plate 8; one end of the first mechanical arm connecting member 10 is fixedly connected to the first supporting structure 9; the other end of the first mechanical arm connecting member 10 is fixedly connected to the second supporting structure 11; the other end of the second supporting structure 11 is fixedly connected to one end of the second mechanical arm connecting member 12; one end of the third supporting structure 13 is fixedly connected to one end of the third mechanical arm connecting member 14; the other end of the third mechanical arm connecting member 14 is fixedly connected to one end of the fourth supporting structure 15; the other end of the fourth supporting structure 15 is fixedly connected to one end of the fourth mechanical arm connecting member 16; the other end of the fourth mechanical arm connecting member 16 is fixedly connected to the end effector.

[0027] The first supporting structure 9, the second supporting structure 11, the third supporting structure 13, the fourth supporting structure 15 and the first mechanical arm connecting member 10, the second mechanical arm connecting member 12, the third mechanical arm connecting member 14, the fourth mechanical arm connecting member 16 are all fixedly connected through the input shaft of the motor and the output shaft of the reducer by screws and nuts, and sealing oil is flushed into the joint cavity through the reserved oil filling port;

[0028] like Figure 3 As shown in the structure, the first joint 1 includes a first integrated hollow servo motor 17, a first harmonic reducer 18, a first rubber bellows 19, a first O-ring 20 and a first flange coupling disc 21; the first integrated hollow servo motor 17 and the first harmonic reducer 18 are fixedly installed; the first flange coupling disc 21 is fixedly connected to the output shaft after the first integrated hollow servo motor 17 and the second harmonic reducer 18; the first rubber bellows 19 and the first O-ring 20 are tightly fitted;

[0029] like Figure 3 As shown in the structure, the second joint 2 includes a second integrated hollow servo motor 22, a second harmonic reducer 23, a second rubber bellows 24, a second O-ring 25 and a second flange coupling disc 26; the second integrated hollow servo motor 22 and the second harmonic reducer 23 are fixedly installed; the second flange coupling disc 26 is fixedly connected to the output shaft after the second integrated hollow servo motor 22 and the second harmonic reducer 23; the second rubber bellows 24 and the second O-ring 25 are tightly fitted;

[0030] like Figure 4As shown in the structure, the third joint 3 includes a fourth integrated hollow servo motor 27, a third rubber bellows 28, a third harmonic reducer 29, a fourth O-ring 30 and a fourth flange coupling disc 31; the third integrated hollow servo motor 27 and the third harmonic reducer 29 are fixedly installed; the third flange coupling disc 31 is fixedly connected to the output shaft after the third integrated hollow servo motor 27 and the third harmonic reducer 29; the third rubber bellows 28 and the third O-ring 30 are tightly fitted;

[0031] like Figure 4 As shown in the structure, the fourth joint 4 includes a fourth rubber bellows 32, a fourth O-ring 33, a fourth harmonic reducer 34, a fourth integrated hollow servo motor 35 and a fourth flange coupling disc 36; the fourth integrated hollow servo motor 35 and the fourth harmonic reducer 34 are fixedly installed; the fourth flange coupling disc 36 is fixedly connected to the output shaft after the fourth integrated hollow servo motor 35 and the fourth harmonic reducer 34; the fourth rubber bellows 34 and the fourth O-ring 33 are tightly fitted;

[0032] Furthermore, a first groove for embedding the first rubber bellows 19 is provided at one end of the first supporting structure 9; a second groove for embedding the first O-ring 20 is provided at one end of the first mechanical arm connecting member 10; the other end of the first mechanical arm connecting member 10 is connected to the bottom of the second supporting structure by screws and nuts; a third groove for embedding the second rubber bellows 24 is provided at one end of the second supporting structure 11; a fourth groove for embedding the second O-ring 25 is provided at one end of the second mechanical arm connecting member 12; the second flange coupling plate and the connecting rod are an integrated structure; a fifth groove for embedding the third rubber bellows 28 is provided at one end of the third supporting structure 13; a sixth groove for embedding the third O-ring 30 is provided at one end of the third mechanical arm connecting member 14; a seventh groove for embedding the fourth rubber bellows 32 is provided at one end of the fourth supporting structure 15; an eighth groove for embedding the fourth O-ring 33 is provided at one end of the fourth mechanical arm connecting member 16;

[0033] The above-mentioned deep-water four-degree-of-freedom manipulator structure includes a first joint 1, a second joint 2, a third joint 3, a fourth joint 4, and an end effector part 5 which are connected in sequence, and the rotation between adjacent connecting parts is realized through the joints, and the task execution action is performed through the end effector part 5; each joint adopts a harmonic reducer, and the first harmonic reducer 18 of the first joint 1 is directly connected to the first integrated hollow servo motor 17, which minimizes the size of the manipulator; the first manipulator arm connecting part 10 and the first flange coupling disc 21 in the first joint 1 are an integrated connecting part, which is connected to the output end of the first harmonic reducer 18 through the first flange coupling disc 21, and can stably bear Affected by axial gravity, small power and large torque are achieved; the connection method and structure of the second joint 2, the third joint 3 and the fourth joint 4 are the same as the connection method and structure of the first joint 1, and the harmonic reducer and the integrated hollow servo motor are connected through the flange coupling disk and the output shaft of the harmonic reducer for transmission, so that the transmission is convenient for the integrated hollow servo motor and the harmonic reducer. The distribution of the position is more compact and can be placed inside the robot arm to avoid jamming of the transmission due to external factors. This transmission method allows the motor and the reducer to transmit synchronously without gaps, and reduces transmission noise, while reducing the volume without affecting the joint accuracy and load, and achieving the effect of small power and large torque.

[0034] The above-mentioned flange coupling discs are connected to the output shaft of the harmonic reducer through screws and nuts. The connection through screws and nuts facilitates the installation of the harmonic reducer and the replacement of the integrated hollow servo motor.

[0035] The first integrated hollow servo motor 17 in the above-mentioned deep-water four-degree-of-freedom robotic arm structure can adopt an integrated hollow servo motor of the CRA-RI50-70-PRO-50-B model, the second integrated hollow servo motor 22 and the third integrated hollow servo motor 27 can adopt an integrated hollow servo motor of the CRA-RI30-40-PRO-50-B model, and the fourth integrated hollow servo motor 25 can adopt an integrated hollow servo motor of the CRA-RI50-70-PRO-100 model.

[0036] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A deep-water four-degree-of-freedom manipulator structure, characterized in that: It comprises a first joint (1), a second joint (2), a third joint (3), a fourth joint (4), an end effector (5) and a connecting rod (6) which are connected in sequence. The first joint comprises an oil filling port (7), a base plate (8), a first supporting structure (9), a first mechanical arm connecting piece (10), a first integrated hollow servo motor (17), a first harmonic reducer (18), a first rubber bellows (19), a first O-ring (20), a first mechanical arm connecting piece (10) and a first flange coupling plate (21); the bottom of the first supporting structure is fixedly connected to the top surface of the base plate; The first integrated hollow servo motor, the first rubber bellows, the first O-ring, the first harmonic reducer and the first flange coupling disc are all located inside the first supporting structure; the first integrated hollow servo motor is connected to the first harmonic reducer; the output shaft of the first harmonic reducer is fixedly connected to the first flange coupling disc; the flange coupling disc is fixedly connected to the first mechanical arm connecting piece; the first rubber bellows is sleeved on the outside of the first integrated hollow servo motor after being connected to the first harmonic reducer, and is located inside the first supporting structure; the top end of the first O-ring is fixed to the first flange coupling disc and is located inside the first supporting structure; the dynamic ring section of the first O-ring fits the static ring section of the first rubber bellows; the first mechanical arm connecting piece is fixedly connected to the first supporting structure; The second joint comprises a connecting rod (6), a second supporting structure (11), a second mechanical arm connecting piece (12), a second harmonic reducer (23), a second flange coupling disc (26), a second integrated hollow servo motor (22), a second rubber bellows (24) and a second O-ring (25); the second integrated hollow servo motor and the second harmonic reducer are fixedly installed inside the second supporting structure of the mechanical arm; the output end of the second harmonic reducer is fixedly connected to the second flange coupling disc; the second flange coupling disc and the connecting rod are an integrated structure; the second rubber bellows is sleeved on the outside of the second integrated hollow servo motor after being connected to the second harmonic reducer, and is located inside the second supporting structure; the top end of the second O-ring is fixed inside the second mechanical arm connecting piece; the dynamic ring section of the second O-ring is in contact with the static ring section of the second rubber bellows; one end of the first mechanical arm connecting piece is fixedly connected to the bottom of the second supporting structure. The third joint comprises a connecting rod (6), a third supporting structure (13), a third mechanical arm connecting piece (14), a third integrated hollow servo motor (27), a third rubber bellows (28), a third harmonic reducer (29), a third O-ring (30) and a third flange coupling disc (31); the third integrated hollow servo motor and the third harmonic reducer are fixedly installed inside the third supporting structure of the mechanical arm; the output end of the third harmonic reducer is fixedly connected to the third flange coupling disc; the third flange coupling disc and the second mechanical arm connecting piece are an integrated structure; the third rubber bellows is sleeved on the outside of the third integrated hollow servo motor after being connected to the third harmonic reducer, and is located inside the third supporting structure; the top end of the third O-ring is fixed to the third mechanical arm connecting piece; the dynamic ring section of the third O-ring is in contact with the static ring section of the third rubber bellows; one end of the third mechanical arm connecting piece is fixedly connected to the bottom of the connecting rod. The input end of the third integrated hollow servo motor is fixedly connected to the third supporting structure; and the third supporting structure is fixedly connected to the other end of the connecting rod. The fourth joint comprises an end effector (5), a connecting rod (6), a fourth supporting structure (15), a fourth mechanical arm connecting piece (16), a fourth rubber bellows (32), a fourth O-ring (33), a fourth harmonic reducer (34), a fourth integrated hollow servo motor (35) and a fourth flange coupling disc (36); the fourth integrated hollow servo motor and the fourth harmonic reducer are fixedly installed inside the fourth supporting structure; the output end of the fourth harmonic reducer is fixedly connected to the fourth flange coupling disc; the fourth flange coupling disc and the fourth mechanical arm connecting piece are an integral structure. structure; the fourth robot arm connecting piece is fixedly connected to the input end of the end effector; the fourth rubber bellows is sleeved on the outside of the fourth integrated hollow servo motor after being connected to the fourth harmonic reducer, and is located at the bottom of the fourth supporting structure; the top end of the fourth O-ring is fixed to one end of the fourth robot arm connecting piece; the dynamic ring section of the fourth O-ring is fitted with the static ring section of the fourth rubber bellows; one end of the fourth robot arm connecting piece is connected to the fourth supporting structure; the other end of the fourth robot arm connecting piece is fixedly connected to the bottom of the end effector.

2. The deep-water four-degree-of-freedom manipulator structure according to claim 1, characterized in that: The sealing joint comprises an oil filling port (7), a base plate (8), a first supporting structure (9), a first mechanical arm connecting piece (10), a first integrated hollow servo motor (17), a first harmonic reducer (18), a first rubber bellows (19), a first O-ring (20), and a first flange coupling plate (21); The base plate is fixedly connected to the first supporting structure; the first flange coupling disc and the first mechanical arm connecting piece are an integrated structure; the first rubber bellows is embedded in the first supporting structure; the O-ring is embedded in the first mechanical arm connecting piece; the static ring section of the first rubber bellows is tightly fitted with the dynamic ring end face of the first O-ring; the first integrated hollow servo motor is fixedly connected to the first harmonic reducer; the output end of the first flange coupling disc after being fixedly connected to the first integrated hollow servo motor and the first harmonic reducer is fixedly connected by screws; the input end of the first supporting structure after being fixedly connected to the first integrated hollow servo motor and the first harmonic reducer is fixedly connected by screws; one end of the first mechanical arm connecting piece is fixedly connected to the second supporting structure; sealing oil is flushed into the joint through the oil filling port on the base plate to form a sealed joint; The sealing forms formed by the combination of the rubber bellows and the O-ring of the second joint, the third joint and the fourth joint are the same as the sealing form of the first joint, and the sealing oil passes through the oil filling port of the first joint and the hollow tube of the integrated hollow servo motor to fill the entire interior of the robotic arm.

3. The deep-water four-degree-of-freedom mechanical arm structure according to claim 2, characterized in that The joint rotation mechanism comprises a first integrated hollow servo motor (17) and a first harmonic reducer (18), a second integrated hollow servo motor (17) and a second harmonic reducer (18), a third integrated hollow servo motor (17) and a third harmonic reducer (18), and a fourth integrated hollow servo motor (17) and a fourth harmonic reducer (18); The first integrated hollow servo motor is connected to the first harmonic reducer; The second integrated hollow servo motor is connected to the second harmonic reducer; The third integrated hollow servo motor is connected to the third harmonic reducer; The fourth integrated hollow servo motor is connected to the fourth harmonic reducer.

4. The deep-water four-degree-of-freedom manipulator structure according to claim 1, characterized in that: The connecting rod is an integrated structure provided with the second flange coupling plate; the first groove for embedding the second planetary reducer is provided at the other end, and the second groove for embedding the third planetary reducer is provided.

5. The deep-water four-degree-of-freedom manipulator structure according to claim 1, characterized in that: The first robotic arm connecting member is provided with a groove for embedding the first O-ring; the first supporting structure is provided with a groove for embedding the first rubber bellows; the second robotic arm connecting member is provided with a groove for embedding the second O-ring; the second supporting structure is provided with a groove for embedding the second rubber bellows; the third robotic arm connecting member is provided with a groove for embedding the third O-ring; the third supporting structure is provided with a groove for embedding the third rubber bellows; the fourth robotic arm connecting member is provided with a groove for embedding the fourth O-ring; the fourth supporting structure is provided with a groove for embedding the fourth rubber bellows.

6. The deepwater four-degree-of-freedom manipulator structure according to any one of claims 1 to 4, characterized in that: The first mechanical arm connecting piece, the second mechanical arm connecting piece, the third mechanical arm connecting piece and the fourth mechanical arm connecting piece are all integrated structures with the flange coupling plate.

7. The deepwater four-degree-of-freedom manipulator structure according to any one of claims 1 to 4, characterized in that: The first integrated hollow servo motor, the second integrated hollow servo motor, the third integrated hollow servo motor, and the fourth integrated hollow servo motor all integrate a brake, waterproofing, a driver, and a hollow servo motor into an integrated motor.

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