Deep sea residing type modularized pluggable electric connection manipulator

Abstract

The invention relates to the technical field of underwater operation equipment, in particular to a deep sea residing type modular pluggable electric connection manipulator which comprises a rack unit provided with a steering engine unit, a paw unit is arranged on the outer side of the rack unit, and the steering engine unit is in transmission connection with the paw unit; the side edge, away from the gripper unit, of the rack unit is sequentially connected with a plug unit and a socket unit, the plug unit and the socket unit are in butt joint and locked, and a static conductive assembly is arranged in the plug unit. The interior of the plug unit is sealed through a static conductive assembly, the waterproof performance of an internal steering engine can be guaranteed, the long-term underwater staying requirement can be met, the working efficiency of underwater operation can be effectively improved, the manipulator can also be used for improving the operation capacity of the AUV, and the manipulator is convenient to carry and replace.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operation equipment, and particularly to a deep-sea resident modular pluggable electrical connection manipulator. Background Art

[0002] In recent years, underwater robots have been widely used in the fields of marine scientific research, deep-sea resource exploration, ocean engineering, and strategic high-tech. These robots are usually used to perform underwater detection, resource exploration and other tasks. However, with the increasing complexity of underwater operation requirements, simple underwater robots are difficult to meet the needs of certain specific tasks, especially in occasions that require fine operation and powerful operation capabilities.

[0003] In order to improve the operation ability of underwater robots, researchers have begun to install underwater manipulators on them to form an underwater robot-manipulator system. This system can complete underwater detection tasks, and at the same time, through the equipped manipulator, it can realize functions such as underwater grasping and underwater fishing, significantly enhancing the underwater operation ability. This trend has become a global research hotspot.

[0004] Currently, the manipulators developed by professional underwater manipulator production and research companies are mainly applied to remotely operated vehicles (ROVs), manned submersibles, and deep-sea operation type underwater workstations. These devices play an important role in the development of marine oil and gas resources and scientific research due to their characteristics such as real-time data transmission, large operation depth, and long working time underwater. With the continuous development of deep-sea engineering, the operation accuracy and stability of the underwater manipulator of ROV are getting higher and higher, and the functions are also very mature.

[0005] However, with the continuous development of underwater resource development, the requirements for the automation and intelligence level of underwater operations are getting higher and higher. Traditional large-volume and cable-equipped devices such as ROVs are relatively cumbersome for some fine detection and maintenance work. In contrast, small-volume and fully autonomous autonomous underwater vehicles (AUVs) are more suitable for these work occasions. AUVs are usually used as a deep-sea detection tool, carrying various sensors to perform ocean detection tasks.

[0006] However, for AUVs with self-contained energy sources, when performing underwater operations, they need to be lowered by a surface mother ship in advance. When a single underwater task is completed, they need to surface for energy replenishment, data exchange, and maintenance. The whole process will take a lot of time and cost, and interrupt the continuity of the operation. It is also impossible to handle underwater emergencies in a timely manner. Therefore, the existing technologies have obvious limitations in terms of underwater operation efficiency, cost, and continuity. Summary of the Invention

[0007] The purpose of the present invention is to solve the above-mentioned shortcomings in the prior art and to propose a deep-sea resident modular pluggable electrical connection manipulator.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A deep-sea resident modular pluggable electrical connection manipulator is designed, comprising a frame unit equipped with a steering unit, a gripper unit is arranged on the outside of the frame unit, and the steering unit and the gripper unit are connected in a transmission manner;

[0010] The side of the rack unit facing away from the gripper unit is connected with a plug unit and a socket unit in sequence, and the plug unit and the socket unit are docked and locked, wherein a static conductive component is arranged inside the plug unit, and a dynamic conductive component is arranged inside the socket unit, and the static conductive component and the dynamic conductive component are coupled to achieve electrical conduction.

[0011] Furthermore, the rack unit includes a packaging shell and a cover connected to the front end of the packaging shell, wherein a support plate is fixedly installed on the inner side of the packaging shell.

[0012] Further, the steering gear unit comprises a steering gear cover and a steering gear compartment body installed at the end of the packaging shell away from the cover;

[0013] An opening and closing steering gear and a rotating steering gear are fixedly installed inside the steering gear compartment body, wherein an opening and closing gear shaft is fixedly installed on the shaft end of the opening and closing steering gear, and a rotating gear shaft is fixedly installed on the shaft end of the rotating steering gear.

[0014] Furthermore, the gripper unit comprises a gripper bracket rotatably connected to the front end of the cover, two fixed seats are stacked and installed on the outer side of the gripper bracket, two V-shaped rods are pinned between the two stacked fixed seats, a gripper is pinned at one end of the V-shaped rod, and a connecting rod is pinned between the gripper and the fixed seat;

[0015] The middle part of the gripper bracket is rotatably connected with a screw gear shaft, the screw section of the screw gear shaft is threadedly connected with a slider, and the two sides of the slider are pinned to the other end of the V-shaped rod through two driving connecting rods.

[0016] Furthermore, the screw gear shaft passes through the interior of the servo cabin and meshes with the tensioning gear shaft for transmission. A hollow main shaft is also sleeved on the outside of the screw gear shaft, and the hollow main shaft and the gripper bracket are fixed to each other. A rotating gear is also fixed on the outside of the hollow main shaft, and the rotating gear and the rotating gear shaft mesh together for transmission.

[0017] Further, the plug unit includes a plug housing connected to the steering gear housing through a flange structure. A sliding sleeve is slidably connected to the outside of the plug housing. A plurality of ball holes are circumferentially distributed on the outside of the plug housing, and balls are movably connected inside the ball holes.

[0018] Among them, a resisting ring platform is formed inside the sliding sleeve. The resisting ring platform resists a plurality of balls to move towards the axis direction of the plug housing. A first spring is fixedly connected between the sliding sleeve and the plug housing.

[0019] Further, the static conductive component includes a first glue layer filled in the plug housing. A plurality of pins are placed inside the first glue layer. A plurality of the pins are electrically connected to the wires of the opening and closing steering gear and the rotating steering gear. An insulating coating is further coated on the outside of the pins away from the end portions.

[0020] Further, the socket unit includes a socket housing. An annular groove is formed on the outside of the socket housing. The end of the socket housing is inserted into the inside of the plug housing, and the balls are clamped outside the annular groove.

[0021] Among them, a second glue layer and a third glue layer are filled inside the socket housing.

[0022] Further, the dynamic conductive component includes a plurality of conductive housings fixed between the second glue layer and the third glue layer. A stepped hole is formed inside the second glue layer. A crown spring is fixedly installed in the stepped hole. One end of the crown spring is fixedly connected to the conductive housing.

[0023] Among them, an inner core is slidably connected to the inside of the conductive housing through a second spring. The end of the inner core has a groove adapted to the spherical surface of the pin.

[0024] Further, an oil bladder is also fixedly installed between the second glue layer and the third glue layer. The oil bladder is sleeved outside a plurality of the conductive housings and filled with oil. Oil holes are formed through the outside of the conductive housing. A water inlet hole is formed on the outside of the socket housing.

[0025] The beneficial effects of a deep-sea dwelling modular pluggable electrical connection manipulator proposed by the present invention are as follows: The manipulator in the present invention is assembled modularly, improving the convenience of assembly and maintenance. In addition, the inside of the plug unit is sealed through the static conductive component, which can ensure the waterproof performance of the internal steering gear and meet the requirement of long-term dwelling underwater. It can not only effectively improve the working efficiency of underwater operations, but also be used to improve the operation ability of AUVs. Secondly, the manipulator of the present invention is portable and can be replaced, with advantages such as strong adaptability, quick operation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Isometric view of the present invention;

[0027] Figure 2 Schematic structural view of the frame unit of the present invention;

[0028] Figure 3 Cross-sectional view of the frame unit of the present invention;

[0029] Figure 4 Schematic structural view of the gripper unit of the present invention;

[0030] Figure 5 Schematic structural view of the gripper unit of the present invention after removing the fixed seat;

[0031] Figure 6 Schematic structural view of the opening and closing gear shaft of the present invention;

[0032] Figure 7 Schematic structural view of the rotating gear shaft of the present invention

[0033] Figure 8 Schematic structural view of the static conductive component of the present invention;

[0034] Figure 9 Schematic structural view of the plug unit of the present invention;

[0035] Figure 10 Schematic structural view of the dynamic conductive component of the present invention;

[0036] Figure 11 State diagram when the pin and the conductive housing of the present invention are connected;

[0037] Figure 12 State diagram when the plug housing and the socket housing of the present invention are connected;

[0038] Figure 13 Schematic structural view of the oil bladder of the present invention

[0039] Figure 14 Schematic structural view of the conductive housing of the present invention.

[0040] In the figure: 1, rack unit; 11, packaging shell; 12, cover; 13, support plate; 2, steering gear unit; 20, steering gear cover; 21, steering gear compartment; 22, opening and closing steering gear; 23, rotating steering gear; 24, opening and closing gear shaft; 25, rotating gear shaft; 3, claw unit; 31, claw bracket; 32, fixing seat; 33, V-shaped rod; 34, claw; 35, connecting rod; 36, screw gear shaft; 37, slider; 38, driving connecting rod; 39, hollow spindle; 391, rotating gear; 4, plug unit; 40, static conductive component; 4 01. First rubber layer; 402. Insert pin; 403. Insulating sheath; 41. Plug housing; 42. Sleeve; 43. Ball; 44. Abutment ring; 45. First spring; 5. Socket unit; 50. Dynamic conductive component; 501. Conductive housing; 502. Crown spring; 503. Second spring; 504. Insert core; 505. Groove; 506. Oil hole; 507. Oil storage chamber; 508. Compression spring; 509. Piston; 51. Socket housing; 52. Ring groove; 53. Second rubber layer; 54. Third rubber layer; 55. Oil nut; 56. Water inlet. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0042] Reference Figure 1-14 An embodiment of the present invention discloses a deep-sea resident modular pluggable electrical connection manipulator, which can reside underwater for a long time and can realize the design of different tool hands by replacing the gripper module, which can not only improve the working efficiency of the AUV, but also improve the operating capability of the AUV;

[0043] Reference Figure 1 Specifically, the manipulator includes a frame unit 1 equipped with a steering unit 2, a gripper unit 3 is arranged on the outside of the frame unit 1, the steering unit 2 and the gripper unit 3 are transmission-connected, and the steering unit 2 is used to drive the gripper unit 3 to open and close and rotate;

[0044] The side of the rack unit 1 facing away from the gripper unit 3 is connected with a plug unit 4 and a socket unit 5 in sequence. The socket unit 5 can be installed on the AUV so that when connected, the socket unit 5 and the plug unit 4 can be connected to complete the overall connection between the AUV and the robotic arm. The plug unit 4 and the socket unit 5 are docked and locked, wherein a static conductive component 40 is configured inside the plug unit 4, and a dynamic conductive component 50 is configured inside the socket unit 5. The static conductive component 40 and the dynamic conductive component 50 are coupled to achieve electrical conduction.

[0045] Reference Figure 2 、 Figure 3 In some embodiments, the frame unit 1 of the present invention includes a packaging shell 11 and a cover 12 connected to the front end of the packaging shell 11. A support plate 13 is fixedly installed inside the packaging shell 11. The cover 12 and the packaging shell 11 are fixed by bolts passing through. The support plate 13 is used to support each gear shaft. Specifically, in this embodiment, bearing positions are provided on the end faces of the cover 12 and the support plate 13, and angular contact ball bearings are installed in the bearing positions.

[0046] Reference Figure 3 Furthermore, in this embodiment, the servo unit 2 includes a servo cover 20 and a servo housing 21 installed at the end of the packaging shell 11 away from the cover 12. The cover 12, the packaging shell 11, the servo cover 20, and the servo housing 21 are fastened together by a plurality of bolts distributed circumferentially to achieve modular assembly.

[0047] Reference Figure 6 、 Figure 7 Inside the servo housing 21, a clamping servo 22 and a rotating servo 23 are fixedly installed. A clamping gear shaft 24 is fixedly installed at the shaft end of the clamping servo 22, and a rotating gear shaft 25 is fixedly installed at the shaft end of the rotating servo 23. Specifically, in this embodiment, bearing positions are also provided on the outer side of the cover 12 and the end face of the servo cover 20, and angular contact ball bearings are placed in the bearing positions. The gear shafts all adopt the method of key connecting the shaft rod and the gear. Of course, in this embodiment, the rotating gear shaft 25 penetrates into the interior of the packaging shell 11, and its gear part is located between the cover 12 and the support plate 13. The clamping gear shaft 24 also penetrates into the interior of the packaging shell 11, and its gear part is located between the support plate 13 and the servo cover 20. By setting a number of angular contact ball bearings, the support and rotational stability of each gear shaft can be improved, so as to improve the control stability of the gripper unit 3.

[0048] Reference Figure 4 、 Figure 5 Based on the above embodiments, in this embodiment, the gripper unit 3 includes a gripper bracket 31 rotatably connected to the front end of the cover 12. Two fixed seats 32 are stacked on the outer side of the gripper bracket 31. Two V-shaped rods 33 are pin-connected between the two stacked fixed seats 32. In this embodiment, the middle of the V-shaped rod 33 is pin-connected between the two fixed seats 32. One end of the V-shaped rod 33 is pin-connected with a gripper 34, and a connecting rod 35 is also pin-connected between the gripper 34 and the fixed seat 32.

[0049] A lead screw gear shaft 36 is rotatably connected to the middle of the gripper bracket 31. A slider 37 is threadedly connected to the lead screw section of the lead screw gear shaft 36. Both sides of the slider 37 are pin-connected to the other end of the V-shaped rod 33 through two driving connecting rods 38.

[0050] Refer to Figure 4 Furthermore, in the present invention, the lead screw gear shaft 36 penetrates into the inside of the steering gear housing 21 and meshes with the opening and closing gear shaft 24 for transmission. A hollow main shaft 39 is also sleeved outside the lead screw gear shaft 36. The hollow main shaft 39 is fixed to the gripper bracket 31. A rotating gear 391 is also fixed outside the hollow main shaft 39. The rotating gear 391 meshes with the rotating gear shaft 25 for transmission. Of course, in this embodiment, the lead screw gear shaft 36 is also composed of a lead screw and a gear connected by a key. The lead screw gear shaft 36 penetrates through the above-mentioned support plate 13. The hollow main shaft 39 penetrates through the support plate 13 and is rotationally connected to the angular contact ball bearing on the support plate 13. The rotating gear 391 can be fixed outside the hollow main shaft 39 by four set screws to achieve fixation.

[0051] That is to say, during specific operation, when the two grippers 34 need to perform opening and closing actions, the opening and closing steering gear 22 drives the opening and closing gear shaft 24 to rotate. The opening and closing gear shaft 24 meshes with the lead screw gear shaft 36 for transmission. Therefore, the lead screw gear shaft 36 will rotate synchronously.

[0052] When the lead screw gear shaft 36 rotates, the slider 37 on its outside will linearly move towards the far end. When the slider 37 moves outwards, it will drive the V-shaped rod 33 to deflect through the driving connecting rod 38. Since the gripper 34 is pin-connected to the V-shaped rod 33 and a four-bar linkage mechanism is formed by means of the connecting rod 35 and the fixed seat 32, when the V-shaped rod 33 deflects, it can drive the gripper 34 to open outwards. On the contrary, the two grippers 34 approach each other and close, thus completing the opening and closing control of the two grippers 34.

[0053] When the circumferential angle of the entire gripper unit 3 needs to be adjusted, the rotating steering gear 23 drives the rotating gear shaft 25 to rotate. Since the rotating gear shaft 25 meshes with the rotating gear 391 for transmission, the entire hollow main shaft 39 rotates circumferentially. At the same time, since the hollow main shaft 39 is fixedly connected to the gripper bracket 31, the entire gripper unit 3 can be driven to perform circumferential rotation adjustment.

[0054] Refer to Figure 8, in some embodiments, the plug unit 4 in the present invention includes a plug housing 41 connected to the steering gear housing 21 through a flange structure, and the flange structures are fixed by bolt fasteners. A sliding sleeve 42 is slidably connected to the outside of the plug housing 41. A number of ball holes are circumferentially distributed on the outside of the plug housing 41. A ball 43 is movably connected inside the ball hole, and the diameter of the ball 43 is greater than the inner diameter of the ball hole, so as to prevent the ball 43 from directly falling into the inside of the plug housing 41;

[0055] Among them, a resisting ring platform 44 is formed inside the sliding sleeve 42, and the resisting ring platform 44 resists a number of balls 43 to move towards the axis direction of the plug housing 41. A first spring 45 is fixedly connected between the sliding sleeve 42 and the plug housing 41.

[0056] Refer to Figure 9 , it should be noted that, in this embodiment, there is a stop platform on the outside of the plug housing 41. The first spring 45 is movably placed between the stop platform and the resisting ring platform 44. In order to prevent the sliding sleeve 42 from falling off, a limit ring can also be fixed at the end of the plug housing 41 through a set screw. The limit ring is used to limit the forward movement position of the sliding sleeve 42. Of course, there is a gap between the inner side of the front end of the sliding sleeve 42 and the plug housing 41, so as to facilitate the upward movement space of the ball 43.

[0057] Refer to Figure 8 , specifically, in this embodiment, the static conductive component 40 is initially not charged. The static conductive component 40 includes a first glue layer 401 filled in the plug housing 41. The first glue layer 401 is a vulcanized glue layer, and vulcanized glue can be injected through a hole reserved in advance on the plug housing 41 to achieve a sealing effect. A number of pins 402 are placed inside the first glue layer 401. A number of the pins 402 are electrically connected to the wires of the opening and closing steering gear 22 and the rotating steering gear 23. An insulating coating 403 is further coated on the outside of the pins 402 away from the end. The provided insulating coating 403 is used to achieve the purpose of insulation and waterproofing. Of course, the end of the pin 402 should be an exposed metal contact structure to facilitate contact with the dynamic conductive component 50 to complete electrical connection.

[0058] The first glue layer 401 is used to seal the outgoing line terminals of the steering gear and the pins 402 to prevent the circuit from touching water and causing a short circuit. When the plug unit 4 and the socket unit 5 are plugged together, the electricity and control signals at the AUV end can be safely transmitted to the steering gear, and then the steering gear can be controlled to work.

[0059] There are three O - ring seals provided between the outer side of the first glue layer 401 and the plug housing 41 to improve the connection tightness of the plug housing 41 towards the steering gear housing 21. The outgoing terminals of the opening and closing steering gear 22 and the rotating steering gear 23 are a Y - shaped outgoing line. After the outgoing terminal of the steering gear is normally connected to the pin 402 of the electrical connector, the pin 402 is placed in the vulcanized rubber layer. In this embodiment, four pins 402 can be configured, and the leads of the pins 402 are led out from the first glue layer 401 to connect to the steering gear wires.

[0060] Refer to Figure 10 Furthermore, in the present invention, the socket unit 5 includes a socket housing 51, and the socket housing 51 is used to connect to an underwater robot. Thus, during underwater operation, the underwater robot can connect the socket housing 51 to the above - mentioned plug housing 41 to achieve underwater connection operation. A ring groove 52 is provided on the outer side of the socket housing 51. The end of the socket housing 51 is inserted into the inside of the plug housing 41, and the ball 43 is clamped outside the ring groove 52.

[0061] Refer to Figure 10 The inside of the socket housing 51 is filled with a second glue layer 53 and a third glue layer 54. Specifically, in this embodiment, the second glue layer 53 and the third glue layer 54 can also be set as vulcanized rubber layers, which are formed at both ends of the socket housing 51. The second glue layer 53 and the third glue layer 54 form a spaced - apart chamber inside the socket housing 51, and this detection chamber is used to install the oil bladder 55.

[0062] Refer to Figure 10 、 Figure 11 Based on the above - mentioned embodiment, in this embodiment, the dynamic conductive component 50 includes a plurality of conductive housings 501 fixed between the second glue layer 53 and the third glue layer 54. Appropriately, four conductive housings 501 can also be set. The conductive housings 501 can be set as metal shells. A stepped hole is provided inside the second glue layer 53, and a crown spring 502 is fixedly installed in the stepped hole. One end of the crown spring 502 is fixedly connected to the conductive housing 501.

[0063] An insert core 504 is slidably connected to the inside of the conductive housing 501 through a second spring 503. The end of the insert core 504 has a groove 505 adapted to the spherical surface of the pin 402. Specifically, in this embodiment, the open end of the conductive housing 501 should have a constricted opening. The insert core 504 has a T - shaped structure, and its larger - diameter end slides inside the conductive housing 501 and abuts against a constricted opening of the conductive housing 501 for limiting. The insert core 504 is tightly pressed against the conductive housing 501 by the second spring 503 at the rear end.

[0064] Specifically, the ferrule 504 described in this embodiment is a ceramic ferrule, such as Figure 11 As shown, in this embodiment, two O-rings are arranged between the conductive shell 501 and the third adhesive layer 54, and two O-rings are embedded in the step hole. The two O-rings fit tightly with the plug 504 to achieve waterproofing. In addition, in this embodiment, one end of the conductive shell 501 is connected to the power supply of the underwater robot through a lead wire, and the lead wire is passed through the third adhesive layer 54.

[0065] When the socket unit 5 and the plug unit 4 are connected;

[0066] Reference Figure 12 First, push the sliding sleeve 42 outside the plug housing 41 to make the abutment ring 44 inside the sliding sleeve 42 separate from the ball 43. At this time, the ball 43 has space to move upward.

[0067] After that, one end of the socket housing 51 is inserted into the inside of the plug housing 41. After the insertion is in place, the pressure on the sliding sleeve 42 is released, and the sliding sleeve 42 is reset under the push of the first spring 45. At this time, the abutment ring 44 on the inner side of the sliding sleeve 42 abuts against the ball 43 to make it move inward and be clamped in the annular groove 52 on the outer side of the socket housing 51. In this way, the plug housing 41 and the socket housing 51 are fastened together.

[0068] During this process, the spherical end of the pin 402 will come into contact with the groove 505 of the core 504. By squeezing the seawater in the groove 505 outward to avoid the local high-pressure area, the pin 402 pushes the core 504 to squeeze the second spring 503 to move backward, and the pin 402 gradually replaces the original position of the core 504, and the static seal is converted into a dynamic seal; when the exposed conductive metal end of the front end of the pin 402 is fully inserted into the crown spring 502, the dynamic seal ends and turns into a static seal, and the circuit is turned on at this time.

[0069] Reference Figure 13 In order to achieve that the product can adapt to the pressure changes caused by the continuous change of underwater depth, the present invention also includes an oil naan 55 fixedly installed between the second adhesive layer 53 and the third adhesive layer 54, the oil naan 55 is sleeved on the outside of the plurality of conductive shells 501 and filled with oil, the outside of the conductive shell 501 is penetrated with an oil hole 506, the outside of the socket shell 51 is provided with a water inlet hole 56, the oil naan 55 is fixedly installed inside the socket shell 51, the oil naan 55 is filled with pressurized oil, the oil can enter the conductive shell 501 through the oil hole 506 on the conductive shell 501, and the seawater contacts the oil naan 55 through the water inlet hole 56 on the socket shell 51, thereby achieving the pressure change inside the socket unit 5 to adapt to the change of seawater depth and maintaining the internal pressure balance of the socket unit 5.

[0070] ReferenceFigure 14 , of course, when the water pressure is relatively high, the oil bladder 55 will be compressed. When too much oil enters the socket housing 51, the force on the plug core 504 will increase. Therefore, in order to accommodate some oil, in this embodiment, an oil storage cavity 507 may also be provided at one end of the conductive housing 501. The oil storage cavity 507 is communicated with the inside of the conductive housing 501. At the same time, a piston 509 is connected to the inside of the oil storage cavity 507 through a compression spring 508. When the water pressure is too high, too much oil enters the inside of the conductive housing 501. At this time, some oil will push the piston 509 to move, and the oil will enter the oil storage cavity 507. In this way, the force on the plug core 504 can be reduced, and the problem of damage caused by excessive pressure can be avoided.

[0071] In summary, the manipulator in the present invention improves the convenience of assembly and maintenance through modular assembly. In addition, the inside of the plug unit 4 is sealed by the static conductive component 40, which can ensure the waterproof performance of the internal servo motor and meet the requirement of staying underwater for a long time. It can not only effectively improve the working efficiency of underwater operations, but also be used to improve the operation ability of the AUV. Secondly, the manipulator of the present invention is portable and can be easily carried and replaced, with advantages such as strong adaptability, fast operation and maintenance.

[0072] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A deep-sea resident modular pluggable electrical connection manipulator, characterized in that, It comprises a frame unit (1) equipped with a steering gear unit (2), a gripper unit (3) is arranged on the outside of the frame unit (1), and the steering gear unit (2) and the gripper unit (3) are connected in a transmission manner; The side of the rack unit (1) facing away from the gripper unit (3) is connected in sequence with a plug unit (4) and a socket unit (5), and the plug unit (4) and the socket unit (5) are docked and locked, wherein a static conductive component (40) is arranged inside the plug unit (4), and a dynamic conductive component (50) is arranged inside the socket unit (5), and the static conductive component (40) and the dynamic conductive component (50) are coupled to achieve electrical conduction.

2. The deep-sea dwelling modular pluggable electrically connected manipulator according to claim 1, wherein: The rack unit (1) comprises a packaging shell (11) and a cover (12) connected to the front end of the packaging shell (11), wherein a support plate (13) is also fixedly mounted on the inner side of the packaging shell (11).

3. The deep-sea dwelling modular pluggable electrical connection manipulator according to claim 2, wherein: The steering gear unit (2) comprises a steering gear cover (20) and a steering gear compartment body (21) mounted on the end of the packaging shell (11) away from the cover (12); An opening and closing steering gear (22) and a rotating steering gear (23) are fixedly installed inside the steering gear housing (21), wherein an opening and closing gear shaft (24) is fixedly installed on the shaft end of the opening and closing steering gear (22), and a rotating gear shaft (25) is fixedly installed on the shaft end of the rotating steering gear (23).

4. The deep-sea dwelling modular pluggable electrical connection manipulator according to claim 3, characterized in that: The gripper unit (3) comprises a gripper bracket (31) rotatably connected to the front end of the cover (12); two fixing seats (32) are stacked and installed on the outer side of the gripper bracket (31); two V-shaped rods (33) are pinned between the two stacked fixing seats (32); a gripper (34) is pinned to one end of the V-shaped rod (33); and a connecting rod (35) is pinned between the gripper (34) and the fixing seat (32); The middle part of the gripper bracket (31) is rotatably connected to a screw gear shaft (36), a slider (37) is threadedly connected to the screw section of the screw gear shaft (36), and two sides of the slider (37) are pin-connected to the other end of the V-shaped rod (33) through two driving connecting rods (38).

5. The deep-sea dwelling modular pluggable electrical connection manipulator according to claim 4, characterized in that: The screw gear shaft (36) penetrates into the interior of the steering gear housing (21) and meshes with the tensioning gear shaft (24) for transmission. A hollow main shaft (39) is sleeved on the outside of the screw gear shaft (36). The hollow main shaft (39) and the hand claw bracket (31) are fixed to each other. A rotating gear (391) is also fixed on the outside of the hollow main shaft (39). The rotating gear (391) and the rotating gear shaft (25) are meshed for transmission.

6. The deep-sea dwelling modular pluggable electrical connection manipulator according to claim 3, wherein: The plug unit (4) comprises a plug housing (41) connected to the steering gear housing (21) via a flange structure, a sleeve (42) is slidably connected to the outer side of the plug housing (41), a plurality of ball bearing holes are circumferentially distributed on the outer side of the plug housing (41), and balls (43) are movably connected inside the ball bearing holes; Wherein, a contact ring platform (44) is formed inside the sliding sleeve (42), the contact ring platform (44) contacts a number of balls (43) to move towards the axial direction of the plug housing (41), and a first spring (45) is fixedly connected between the sliding sleeve (42) and the plug housing (41).

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