Manipulator device

Abstract

The invention relates to the technical field of underwater unmanned vehicles, in particular to a manipulator device. The underwater robot comprises an underwater mechanical arm, a lifting device and a tail end accessory, wherein the underwater mechanical arm is used for transferring a target object; the lifting device is used for adjusting the position of the underwater mechanical arm, and the lifting device is connected with the underwater mechanical arm through a flange; the tail end accessory is used for achieving the purpose that the underwater mechanical arm grabs a target object, and the tail end accessory is connected with the underwater mechanical arm through a joint module. According to the invention, the manipulator device can be controlled by the aircraft to carry out precise operation work, and objects can be grabbed and precisely placed in a range of 180 degrees * 360 degrees. By adopting motor control, the manipulator has the capabilities of high power-to-weight ratio, difficulty in corrosion and precise torque control, and has the advantage of stronger flexible movement capability in a local space compared with the defects that a common aircraft only controls own attitude to realize object throwing and collision and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned aerial vehicles, and in particular to a manipulator device. Background Art

[0002] With the development of science and technology and the demand for marine development and military applications, underwater unmanned vehicles have also entered the fast lane of development and are active in the fields of marine science, marine engineering, underwater security and underwater warfare. When underwater unmanned vehicles are operating underwater, underwater manipulators can be used as an operating device to perform complex underwater operations based on high-precision control.

[0003] The manipulator is a mature engineering product, widely used in aerospace, assembly lines and other fields. It has the advantages of flexible control and high control precision. Faced with the complex underwater environment, the manipulator can undertake a series of underwater operations, including but not limited to: grabbing objects, disposing of objects, and the movement of the manipulator can also temporarily change the center of mass and center of buoyancy of the vehicle, making the vehicle's underwater control plan more flexible.

[0004] The robot device in the prior art has a small grasping range and cannot grasp and place objects accurately, so it is urgently needed to be improved. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a manipulator device, which solves the problem that the manipulator device in the prior art has a small grasping range and cannot grasp and place accurately.

[0006] To achieve the above-mentioned and other related purposes, the present invention provides a manipulator device, comprising:

[0007] Underwater robotic arm for target object transfer;

[0008] A lifting device, used to adjust the position of the underwater mechanical arm, wherein the lifting device is connected to the underwater mechanical arm via a flange;

[0009] The end attachment is used to enable the underwater robotic arm to grasp the target object, and the end attachment is connected to the underwater robotic arm through a joint module.

[0010] In one embodiment of the present invention, the underwater robotic arm comprises:

[0011] A first rotary joint, a first end of which is connected to the flange;

[0012] A second rotary joint, a first end of which is connected to a second end of the first rotary joint away from the lifting device; an axis of the first end of the first rotary joint is perpendicular to an axis of the second end of the first rotary joint;

[0013] A large arm connecting rod, one end of which is connected to the second end of the second rotary joint; the axis of the first end of the second rotary joint is perpendicular to the axis of the second end of the second rotary joint;

[0014] A third rotary joint, a first end of which is connected to the other end of the upper arm connecting rod;

[0015] A fourth rotary joint, a first end of which is connected to a second end of the third rotary joint close to the flange; an axis of the first end of the third rotary joint is perpendicular to an axis of the second end of the third rotary joint;

[0016] A small arm connecting rod, one end of which is connected to the second end of the fourth rotary joint; the axis of the first end of the fourth rotary joint is perpendicular to the axis of the second end of the fourth rotary joint;

[0017] A fifth rotating joint has one end connected to the other end of the forearm connecting rod, and the other end of the fifth rotating joint is connected to the end attachment.

[0018] In one embodiment of the present invention, the manipulator device realizes movement with 7 degrees of freedom.

[0019] In one embodiment of the present invention, the lifting device is used to enable the underwater robotic arm to move in a lifting direction.

[0020] In one embodiment of the present invention, the first rotary joint is used to realize the rotational movement of the underwater robotic arm on the plane where the flange is located; the second rotary joint is used to realize the rotational movement of the upper arm connecting rod on the cross-section where the flange is located; the third rotary joint is used to realize the rotational movement of the lower arm connecting rod around the axis of the upper arm connecting rod; the fourth rotary joint is used to realize the rotational movement of the lower arm connecting rod relative to the upper arm connecting rod; the fifth rotary joint is used to realize the rotational movement of the end attachment relative to the lower arm connecting rod.

[0021] In one embodiment of the present invention, the end attachment includes a reduction motor, and the reduction motor is used to realize the telescopic movement of the end attachment.

[0022] In one embodiment of the present invention, the lifting device comprises:

[0023] An inner cylinder of the lifting mechanism, which is connected to the flange;

[0024] An outer cylinder of a lifting mechanism, which is arranged outside the inner cylinder of the lifting mechanism;

[0025] A motor, which is fixed to the bottom of the outer cylinder of the lifting mechanism;

[0026] A first screw rod is disposed in the inner cylinder of the lifting mechanism, and the bottom of the first screw rod is connected to the motor;

[0027] A screw nut, which is arranged on the outside of the first screw and installed on the top of the motor;

[0028] The motor rotates to drive the screw nut to move, so that the lifting mechanism inner cylinder and the lifting mechanism outer cylinder move relative to each other, resulting in displacement of the lifting mechanism inner cylinder and the lifting mechanism outer cylinder in the direction of the first screw.

[0029] In one embodiment of the present invention, a slide rail is provided on the outer side of the inner tube of the lifting mechanism, and a slider is provided on the inner side of the outer tube of the lifting mechanism, and the slide rail cooperates with the slider to slide; or a slider is provided on the outer side of the inner tube of the lifting mechanism, and a slide rail is provided on the inner side of the outer tube of the lifting mechanism, and the slide rail cooperates with the slider to slide; or there is no contact between the inner tube of the lifting mechanism and the outer tube of the lifting mechanism.

[0030] In one embodiment of the present invention, the end attachment further comprises:

[0031] The reduction motor is arranged in the housing of the end actuator;

[0032] A second screw rod, which is arranged at the bottom of the reduction motor, and the second screw rod is used to realize downward movement under the drive of the reduction motor;

[0033] a nut, one end of which is connected to the second screw rod;

[0034] A pin shaft, which is fixedly connected to the other end of the nut;

[0035] A steel column, which is sleeved on the outside of the pin shaft, and the steel column is used to achieve self-locking between the steel column and the tool under the push of the pin shaft, and the tool is arranged at the bottom of the housing of the end actuator;

[0036] A gripper is arranged at the bottom of the tool and is used to grab an object.

[0037] In one embodiment of the present invention, the motor is connected to an external controller.

[0038] As described above, a manipulator device of the present invention has the following beneficial effects:

[0039] (1) The manipulator device of the present invention includes an underwater manipulator arm, a lifting device, and an end attachment. The manipulator device of the present invention can be controlled by a vehicle to carry out precise operations, and can grasp and accurately place objects within a range of 180°×360°.

[0040] (2) The manipulator device of the present invention is controlled by a motor, has a high power-to-weight ratio, is not prone to corrosion, and has the ability to accurately control torque.

[0041] (3) Compared with the common aircraft which only controls its own posture to drop or collide objects, the manipulator device of the present invention has the advantage of having stronger and more flexible movement ability in local space. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A principle block diagram of a manipulator device provided in an embodiment of the present application.

[0043] Figure 2 A structural diagram of an underwater manipulator arm of a manipulator device provided in one embodiment of the present application.

[0044] Figure 3 A structural diagram of an underwater manipulator arm of a manipulator device provided in yet another embodiment of the present application.

[0045] Figure 4 A structural diagram of an underwater manipulator arm of a manipulator device provided in yet another embodiment of the present application.

[0046] Figure 5 A structural diagram of a lifting device of a manipulator device provided in an embodiment of the present application.

[0047] Figure 6 A structural diagram of an end attachment of a manipulator device provided in an embodiment of the present application.

[0048] Component number description

[0049] 10 Underwater Robotic Arm

[0050] 11 First revolute joint

[0051] 12 Second rotation joint

[0052] 13 Boom connecting rod

[0053] 14 The third rotation joint

[0054] 15 Fourth rotation joint

[0055] 16 Arm connecting rod

[0056] 17 Fifth rotation joint

[0057] 20 Lifting device

[0058] 21 Lifting mechanism inner tube

[0059] 22 Lifting mechanism outer tube

[0060] 23 Motor

[0061] 24 First screw

[0062] 25 Screw nut

[0063] 26 Flange

[0064] 30 End attachment

[0065] 31 Gear Motor

[0066] 32 End effector housing

[0067] 33 Second screw

[0068] 34 Nut

[0069] 35 Pin

[0070] 36 Steel Column

[0071] 37 Tools

[0072] 38 Grip

[0073] 39 Objects DETAILED DESCRIPTION

[0074] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0075] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0076] Terms such as first or second can be used to describe various components, but these components are not limited by the above terms. The above terms are used to distinguish one component from another component, for example, without departing from the scope of the concept according to the present disclosure, a first component can be referred to as a second component, and similarly, a second component can be referred to as a first component.

[0077] In addition, "connected / coupled" means that one component is directly electrically coupled to another component or is indirectly electrically coupled through another component. The singular form may include the plural form unless explicitly stated in the sentence. In addition, "include / comprise" or "includes / comprises" used in this specification indicates that one or more components, steps, operations, and elements exist or have been added. The specific structural or functional descriptions of the examples of the implementation of the concepts disclosed in this specification are only illustrated to describe the examples of the implementation of the concepts, and the examples of the implementation of the concepts can be implemented in various forms, but these descriptions are not limited to the examples of the implementation described in this specification.

[0078] According to the concept, various modifications and changes can be applied to the examples of the embodiments, so that the examples of the embodiments will be illustrated in the drawings and described in the specification. However, the examples of the embodiments according to the concept are not limited to the specific embodiments, but include all changes, equivalents or replacements included in the spirit and technical scope of the present disclosure.

[0079] It should be understood that when an element is described as being "coupled" or "connected" to another element, the element may be directly coupled or directly connected to the other element, or may be coupled or connected to the other element through a third element. Conversely, it should be understood that when an element is referred to as being "directly coupled to" or "directly coupled to" another element, no other element is placed between them. Other expressions describing the relationship between components (i.e., "between" and "directly between" or "adjacent to" and "directly adjacent to") need to be interpreted in the same manner.

[0080] The terms used in this specification are only used to describe specific examples of the embodiments and are not intended to limit the present disclosure. If there is no clear opposite meaning in the context, the singular form may include the plural form. In this specification, it should be understood that the term "including" or "having" indicates the presence of the features, quantities, steps, operations, components, parts or combinations thereof described in the specification, but the possibility of the presence or addition of one or more other features, quantities, steps, operations, components, parts or combinations thereof cannot be precluded.

[0081] If there is no contrary definition, all terms (including technical terms or scientific terms) used herein have the same meaning as those generally understood by ordinary technicians in the field. If the terms defined in the commonly used dictionary are not clearly defined in this specification, they should be interpreted as having the same meaning as in the context of the relevant technology, and not interpreted as ideal or overly formal meanings.

[0082] Descriptions of well-known components and processing techniques may be omitted so as not to unnecessarily obscure the embodiments of the disclosure.

[0083] Throughout the specification, the same reference numerals refer to the same elements. Thus, even if a reference numeral is not mentioned or described with reference to one figure, it may be mentioned or described with reference to another figure. Furthermore, even if a reference numeral is not shown in one figure, it may be mentioned or described with reference to another figure.

[0084] In addition, the logic level of the signal may be different or opposite to the described logic level. For example, a signal described as having a logic "high" level may alternatively have a logic "low" level, and a signal described as having a logic "low" level may alternatively have a logic "high" level.

[0085] The following will describe the various embodiments of the present disclosure in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present disclosure, many technical details are provided in order to enable the reader to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present disclosure can be implemented.

[0086] See also Figure 1 , Figure 1 The present invention provides a principle block diagram of a manipulator device provided in an embodiment of the present application. The present invention provides a manipulator device, comprising an underwater manipulator arm 10, a lifting device 20, and an end attachment 30. The underwater manipulator arm 10 is used to transfer a target object; the lifting device 20 is used to adjust the position of the underwater manipulator arm 10, and the lifting device 20 is connected to the underwater manipulator arm 10 through a flange; the end attachment 30 is used to enable the underwater manipulator arm 10 to grasp the target object, and the end attachment 30 is connected to the underwater manipulator arm 10 through a joint module.

[0087] In one embodiment of the present invention, a manipulator device of the present invention includes an underwater manipulator arm 10, a lifting device 20, and an end attachment 30, wherein the underwater manipulator arm 10 is the main part of the underwater operation manipulator device, mainly including high-power density joints, high-protection components, and arm rods, which are used to complete the transfer of target objects; the external equipment of the underwater manipulator arm 10 is mainly composed of the lifting device 20 and the end attachment 30, which are used to complete the adjustment of the position of the underwater manipulator arm 10 and the grasping of the target object. The underwater manipulator arm 10 is connected to the lifting device 20 through a flange, and the end attachment 30 is connected to the underwater manipulator arm 10 through a joint module.

[0088] The mechanical structure of the underwater manipulator 10 is composed of a series of rigid arm rods connected by joint modules. The manipulator is characterized by having an arm for ensuring mobility, a wrist for providing flexibility and an end attachment 30 for performing tasks required by the robot.

[0089] See also Figure 2 , Figure 3 , Figure 4 , Figure 2 A structural diagram of an underwater manipulator arm of a manipulator device provided in one embodiment of the present application. Figure 3 A structural diagram of an underwater manipulator arm of a manipulator device provided in yet another embodiment of the present application. Figure 4 A structural diagram of an underwater manipulator device provided for another embodiment of the present application. The underwater manipulator 10 includes: a first rotary joint 11, a second rotary joint 12, a large arm connecting rod 13, a third rotary joint 14, a fourth rotary joint 15, a small arm connecting rod 16, and a fifth rotary joint 17. The first end of the first rotary joint 11 is connected to the flange; the first end of the second rotary joint 12 is connected to the second end of the first rotary joint 11 away from the lifting device 20; the axis of the first end of the first rotary joint 11 is perpendicular to the axis of the second end of the first rotary joint 11; one end of the large arm connecting rod 13 is connected to the second end of the second rotary joint 12; the axis of the first end of the second rotary joint 12 is perpendicular to the axis of the second end of the second rotary joint 12 the axial direction is perpendicular; the first end of the third rotary joint 14 is connected to the other end of the upper arm link 13; the first end of the fourth rotary joint 15 is connected to the second end of the third rotary joint 14 close to the flange; the axis of the first end of the third rotary joint 14 is perpendicular to the axis of the second end of the third rotary joint 14; one end of the forearm link 16 is connected to the second end of the fourth rotary joint 15; the axis of the first end of the fourth rotary joint 15 is perpendicular to the axis of the second end of the fourth rotary joint 15; one end of the fifth rotary joint 17 is connected to the other end of the forearm link 16, and the other end of the fifth rotary joint 17 is connected to the end attachment 30.

[0090] In one embodiment of the present invention, the movement ability of the underwater manipulator 10 is ensured by joints, and the manipulator device of the present invention includes seven joints and seven degrees of freedom. The connection between two adjacent connecting rods can be achieved by a mobile joint or a rotating joint. In an open kinematic chain, each mobile joint or rotating joint provides a degree of freedom for the mechanical structure. The mobile joint can realize the relative translation between the two connecting rods, and the rotating joint can realize the relative rotation between the two connecting rods.

[0091] Specifically, the lifting device 20 is used to realize the movement of the underwater manipulator 10 in the lifting direction. The first rotary joint 11 is used to realize the rotational movement of the underwater manipulator 10 on the plane where the flange is located; the second rotary joint 12 is used to realize the rotational movement of the upper arm connecting rod 13 on the cross section where the flange is located; the third rotary joint 14 is used to realize the rotational movement of the small arm connecting rod 16 around the axis of the upper arm connecting rod 13; the fourth rotary joint 15 is used to realize the rotational movement of the small arm connecting rod 16 relative to the upper arm connecting rod 13; the fifth rotary joint 17 is used to realize the rotational movement of the end attachment 30 relative to the small arm connecting rod 16. The end attachment 30 includes a reduction motor 31, and the reduction motor 31 is used to realize the telescopic movement of the end attachment 30.

[0092] In the initial state: the lifting device 20 is in the initial position, the upper arm connecting rod 13 and the lower arm connecting rod 16 of the underwater manipulator 10 are stored in parallel, and the underwater operation manipulator device occupies the smallest space at this time and can be stored inside the vehicle.

[0093] When in use: the lifting device 20 moves up and down, and after the underwater robotic arm 10 is fully extended to the outside of the vehicle, the underwater robotic arm can move to the specified position through the remaining 6 degrees of freedom in the unfolding space.

[0094] The manipulator device of the present invention has seven degrees of freedom and has the advantage of high precision. The aircraft can control the manipulator to carry out precise operations, and can grasp and accurately place objects within the range of 180°×360°. The manipulator is controlled by a motor, has a high power-to-weight ratio, is not easy to corrode, and has the ability to accurately control torque. Compared with the shortcomings of ordinary aircraft that only control their own posture to achieve object dropping and collision, the manipulator of the present invention has the advantage of having a stronger and more flexible movement ability in local space.

[0095] See also Figure 5 , Figure 5The structural diagram of a lifting device of a manipulator device provided in an embodiment of the present application. The lifting device 20 comprises: a lifting mechanism inner cylinder 21, a lifting mechanism outer cylinder 22, a motor 23, a first screw 24, a screw nut 25, and a flange 26, wherein the lifting mechanism inner cylinder 21 is connected to the flange; the lifting mechanism outer cylinder 22 is arranged on the outside of the lifting mechanism inner cylinder 21; the motor 23 is fixed at the bottom of the lifting mechanism outer cylinder 22; the first screw 24 is arranged in the lifting mechanism inner cylinder 21, and the bottom of the first screw 24 is connected to the motor 23; the rod nut 25 is arranged on the outside of the first screw 24 and is installed on the top of the motor 23; the motor 23 rotates to drive the screw nut 25 to move, so that the lifting mechanism inner cylinder 21 and the lifting mechanism outer cylinder 22 have relative movement, resulting in displacement of the lifting mechanism inner cylinder 21 and the lifting mechanism outer cylinder 22 in the direction of the first screw 24.

[0096] Specifically, a slide rail is provided on the outer side of the lifting mechanism inner cylinder 21, and a slider is provided on the inner side of the lifting mechanism outer cylinder 22, and the slide rail and the slider slide in cooperation with each other; or a slider is provided on the outer side of the lifting mechanism inner cylinder 21, and a slide rail is provided on the inner side of the lifting mechanism outer cylinder 22, and the slide rail and the slider slide in cooperation with each other; or there is no contact between the lifting mechanism inner cylinder 21 and the lifting mechanism outer cylinder 22.

[0097] In one embodiment of the present invention, the lifting device 20 is divided into two parts: a lifting mechanism inner cylinder 21 and a lifting mechanism outer cylinder 22. The lifting mechanism outer cylinder 22 is fixed, and the lifting mechanism inner cylinder 21 generates reciprocating linear motion relative to the lifting mechanism outer cylinder 22 under the action of the screw nut 25. The lifting device 20 is fixedly connected to the underwater robotic arm 10 through a flange 26, and the lifting mechanism inner cylinder 21 and the lifting mechanism outer cylinder 22 are not fixed. The motor 23 of the lifting device 20 rotates to drive the movement of the screw nut 25, so that the lifting mechanism inner cylinder 21 and the lifting mechanism outer cylinder 22 generate relative motion, generating displacement in the direction of the first screw 24.

[0098] See also Figure 6 , Figure 6A structural diagram of an end attachment of a manipulator device provided in an embodiment of the present application. The end attachment 30 also includes: the reduction motor 31, the end actuator housing 32, the second screw rod 33, the nut 34, the pin 35, the steel column 36, the tool 37, and the gripper 38. The reduction motor 31 is arranged in the end actuator housing 32; the second screw rod 33 is arranged at the bottom of the reduction motor 31, and the second screw rod 33 is used to realize downward movement under the drive of the reduction motor 31; one end of the nut 34 is connected to the second screw rod 33; the pin 35 is fixedly connected to the other end of the nut 34; the steel column 36 is sleeved on the outside of the pin 35, and the steel column 36 is used to realize self-locking between the steel column 36 and the tool 37 under the push of the pin 35, and the tool 37 is arranged at the bottom of the end actuator housing 32; the gripper 38 is arranged at the bottom of the tool 37, and the gripper 38 is used to grab the object 39.

[0099] In one embodiment of the present invention, after the end attachment 30 is driven by the underwater robotic arm 10 to move to the specified position, the reduction motor 31 drives the second screw rod 33 and the nut 34 to move downward, the pin 35 is fixedly connected to the nut 34, and the pin 35 pushes the steel ball 36. The steel ball 36 and the tool 37 are self-locking, which can achieve firm grasping. The reduction motor 31 continues to move downward, and the grasping of the object 39 is judged to be completed by the pressing pressure. The robotic arm 10 carries out the next operation. During this process, the pressing pressure of the pin 35 can be used to continuously detect whether the object 39 is still on the gripper 38. After completing the operation task, the pin 35 returns to the initial position, the steel ball 36 is automatically unlocked, and the gripper 38 is separated from the object.

[0100] Specifically, the motor 23 is connected to an external controller, and the controller controls the rotation of the reduction motor 31 and the motor 23. The controller is a component of the prior art, and the principle of the controller will not be described in detail here.

[0101] In one embodiment of the present invention, the first rotary joint 11, the second rotary joint 12, the third rotary joint 14, the fourth rotary joint 15, and the fifth rotary joint 17 of the present invention include a harmonic reducer, a motor, an encoder, and a brake.

[0102] To summarize, the manipulator device of the present invention includes an underwater manipulator arm, a lifting device, and end attachments. The manipulator device of the present invention can be controlled by a vehicle to carry out precise operations, and can grasp and accurately place objects within a range of 180°×360°. It is motor-controlled and has a high power-to-weight ratio, is not prone to corrosion, and has the ability to accurately control torque. Compared with ordinary vehicles that only control their own posture to achieve the shortcomings of dropping and colliding objects, the manipulator of the present invention has the advantage of more powerful flexible movement capabilities in local space.

[0103] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A robot device, characterized in that: include: An underwater robotic arm (10) for transferring a target object; A lifting device (20) is used to adjust the position of the underwater mechanical arm (10), and the lifting device (20) is connected to the underwater mechanical arm (10) via a flange; The end attachment (30) is used to enable the underwater mechanical arm (10) to grasp the target object, and the end attachment (30) is connected to the underwater mechanical arm (10) via a joint module.

2. A robot device according to claim 1, characterized in that: The underwater mechanical arm (10) comprises: A first rotary joint (11), a first end of which is connected to the flange; A second rotary joint (12), a first end of which is connected to a second end of the first rotary joint (11) away from the lifting device (20); an axis of the first end of the first rotary joint (11) is perpendicular to an axis of the second end of the first rotary joint (11); A large arm connecting rod (13), one end of which is connected to the second end of the second rotating joint (12); the axis of the first end of the second rotating joint (12) is perpendicular to the axis of the second end of the second rotating joint (12); A third rotary joint (14), a first end of which is connected to the other end of the upper arm connecting rod (13); a fourth rotary joint (15), a first end of which is connected to a second end of the third rotary joint (14) close to the flange; an axis of the first end of the third rotary joint (14) is perpendicular to an axis of the second end of the third rotary joint (14); A small arm connecting rod (16), one end of which is connected to the second end of the fourth rotating joint (15); the axis of the first end of the fourth rotating joint (15) is perpendicular to the axis of the second end of the fourth rotating joint (15); A fifth rotating joint (17) has one end connected to the other end of the forearm connecting rod (16), and the other end of the fifth rotating joint (17) is connected to the end attachment (30).

3. A robot device according to claim 1 or 2, characterized in that: The manipulator device realizes movement with 7 degrees of freedom.

4. A robot device according to claim 2, characterized in that: The lifting device (20) is used to enable the underwater mechanical arm (10) to move in a lifting direction.

5. A robot device according to claim 4, characterized in that: The first rotary joint (11) is used to realize the rotational movement of the underwater mechanical arm (10) on the plane where the flange is located; the second rotary joint (12) is used to realize the rotational movement of the upper arm connecting rod (13) on the cross section where the flange is located; the third rotary joint (14) is used to realize the rotational movement of the small arm connecting rod (16) around the axis of the upper arm connecting rod (13); the fourth rotary joint (15) is used to realize the rotational movement of the small arm connecting rod (16) relative to the upper arm connecting rod (13); and the fifth rotary joint (17) is used to realize the rotational movement of the end attachment (30) relative to the small arm connecting rod (16).

6. A robot device according to claim 5, characterized in that: The end attachment (30) comprises a reduction motor (31), and the reduction motor (31) is used to realize the telescopic movement of the end attachment (30).

7. A robot device according to claim 5, characterized in that: The lifting device (20) comprises: A lifting mechanism inner cylinder (21), which is connected to the flange; A lifting mechanism outer cylinder (22), which is arranged outside the lifting mechanism inner cylinder (21); A motor (23) fixed to the bottom of the outer cylinder (22) of the lifting mechanism; A first screw rod (24) is disposed in the inner cylinder (21) of the lifting mechanism, and the bottom of the first screw rod (24) is connected to the motor (23); A screw nut (25), which is arranged on the outside of the first screw (24) and installed on the top of the motor (23); The motor (23) rotates to drive the screw nut (25) to move, so that the lifting mechanism inner cylinder (21) and the lifting mechanism outer cylinder (22) move relative to each other, resulting in displacement of the lifting mechanism inner cylinder (21) and the lifting mechanism outer cylinder (22) in the direction of the first screw (24).

8. A robot device according to claim 7, characterized in that: A slide rail is arranged on the outer side of the inner cylinder (21) of the lifting mechanism, and a slider is arranged on the inner side of the outer cylinder (22) of the lifting mechanism, and the slider slides in cooperation with the slide rail; or a slider is arranged on the outer side of the inner cylinder (21) of the lifting mechanism, and a slide rail is arranged on the inner side of the outer cylinder (22) of the lifting mechanism, and the slider slides in cooperation with the slide rail; or there is no contact between the inner cylinder (21) of the lifting mechanism and the outer cylinder (22) of the lifting mechanism.

9. A robot device according to claim 6, characterized in that: The end attachment (30) further includes: The reduction motor (31) is arranged in a housing (32) of the end actuator; A second screw rod (33), which is arranged at the bottom of the reduction motor (31), and the second screw rod (33) is used to realize downward movement under the drive of the reduction motor (31); a nut (34), one end of which is connected to the second screw rod (33); A pin (35) fixedly connected to the other end of the nut (34); A steel column (36) is sleeved on the outer side of the pin shaft (35), and the steel column (36) is used to achieve self-locking between the steel column (36) and a tool (37) under the push of the pin shaft (35), and the tool (37) is arranged at the bottom of the end actuator housing (32); A gripper (38) is arranged at the bottom of the tool (37), and the gripper (38) is used to grab an object (39).

10. A robot device according to claim 7, characterized in that: The motor (23) is connected to an external controller.

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