CN117067247A - Deep sea robot assembly and pluggable electric connection paw applying same - Google Patents

Abstract

The present disclosure relates to a deep sea robot assembly and pluggable electrical connection claws employing the same. The pluggable electric connection paw comprises a tail end paw structure unit, a paw opening and closing degree of freedom realizing unit, a paw integral rotation degree of freedom realizing unit, a speed reducing mechanism unit, a manipulator frame supporting unit, an electric connection module static sealing unit, an electric connection module dynamic sealing unit, an electric connection module internal and external pressure balancing unit, an electric connection module self-locking unlocking unit and an electric connection module conductive metal rod connection mode unit. The technical scheme that this disclosure provided a but can use in the deep sea plug electricity connects manipulator structure, can guarantee that two degrees of freedom can not take place to interfere, can realize the individual control of two degrees of freedom to can guarantee that the electricity connects the hand claw and still can have reliable leakproofness when moving along with AUV in the aquatic, have that the hand claw snatchs in a flexible way, electric connector is but the plug structure and electric connector leakproofness is high characteristics.

Description

Deep sea robot assembly and pluggable electric connection paw applying same

Technical Field

The disclosure relates to the field of AUVs, and in particular to a pluggable electric connection paw applied to the field of deep sea AUVs.

Background

With the continuous deep development of ocean resources, the underwater robot technology is increasingly valued in countries around the world. Underwater manipulators are important work tools for underwater robots. The underwater robot carrying the underwater manipulator can submerge to an area which can not be reached by a diver to finish underwater operation.

Due to the specificity of the deep sea environment, the underwater manipulator has higher technical requirements than the common manipulator claw. In order to ensure the working reliability of the gripper, the working time of the gripper and the gripping flexibility of the gripper; under the deep sea condition, a high-reliability underwater autonomous docking and separation technology is required, so that autonomous docking and separation among all modules of the underwater robot are realized; meanwhile, the high-water-pressure balance and high-reliability dynamic and static sealing of the deep sea are required to be completed.

From the current research and design situation of underwater two-degree-of-freedom manipulators at home and abroad, most of the manipulator is realized by utilizing two motors, and the manipulator is also realized by utilizing a steering engine in a small number. In addition, motors or multiple steering engines are mainly used for serial installation in structure, and two degrees of freedom are controlled to be completely separated in space position, so that interference of the two degrees of freedom is eliminated, the overall length size is greatly increased, and the wire arrangement of the two motors or the steering engines becomes a problem; in addition, the mechanical gripper also commonly adopts a clamp type structure, and the defect of the structure is that the object is easy to fall off or can not be clamped due to the action of clamping extrusion force when the regular object is clamped. As shown in patent number CN218984868U, CN 201911237349.

From the current research situation of the underwater electric connector at home and abroad, most of the research on the high-reliability underwater autonomous docking and detaching technology is performed as an underwater electric wire connector, and the electric wire connector is kept under water when working and only needs to be locked when the electric wire connector is kept under the sea. See Chen Haiyang design and manufacture of deep sea plug electrical connectors, university of southeast, 2019.doi10.27014d.cnki.gdnau.2019.001846; for the highly reliable dynamic and static sealing technology in deep sea, the sealing technology is enough to meet the working condition in deep sea, but in some sealing technologies, the weakening of the tight fitting degree of the conductive metal rod or block to the rubber contact surface is not considered on the contact surface of the plug and the socket. Such as Zhu Guyuan; she Yanggao, national institute of electronics, national institute of science, 2017,80-84,80-84, for sealing design and analysis of subsea connectors.

Disclosure of Invention

The disclosure provides a deep sea robot assembly and a pluggable electric connection paw applying the same, which can solve the prior art problems in the background art.

The deep sea robot assembly of the present disclosure includes a terminal paw structure unit including a first jaw 1, a first V-shaped link 2, a second jaw 84, a second V-shaped link 86, a first link 15, a second link 85, a third link 87, a fourth link 88, a jaw support 16, a second crank 72, a first crank 89, and a push block 25.

The first jaw 1, the third link 87, the fourth link 88, the first V-shaped link 2 and the jaw support 16 together form a parallelogram linkage.

The second jaw 84, second V-link 86, first link 15, second link 85, and jaw support 16 form another parallelogram linkage.

Wherein the first V-shaped connecting rod 2 and the second V-shaped connecting rod 86 are driving members, the first clamping jaw 1 and the second clamping jaw 84 are side links, the first connecting rod 15, the second connecting rod 85, the third connecting rod 87 and the fourth connecting rod 88 are driven members, and the clamping jaw support 16 is a frame; the first clamping jaw 1 and the second clamping jaw 84 are in translational movement in a plane; one end of the first V-shaped connecting rod 2 and one end of the second V-shaped connecting rod 86 are connected with the push block 25 through a first crank 89 and a second crank 72 respectively; all connecting rods in the tail end paw structure unit are connected through clearance fit by using a locating pin and a hole, so that the connection of rotating pairs capable of rotating mutually among the connecting rods is ensured.

Further, the assembly further comprises a paw opening and closing degree of freedom realizing unit;

the gripper opening and closing degree of freedom implementation unit includes a push rod gear shaft 21, a sixth gear 2101, a connecting key 22, a push rod 23, a screw block 24, a first support cover 26, a sixth gear shaft 31, a sixth gear 3101, a link seat 74, an anti-rotation pin 75, an orientation groove 81, a second double-row bearing 27, a third sleeve 28, a fourth sleeve 29, and a second support cover 32.

One end of the push rod gear shaft is provided with a fourth sleeve 29, a second double-row bearing 27 and a third sleeve 28 from the six-stage big gear 2101 downwards in sequence, the third sleeve 28 and the fourth sleeve 29 are respectively used for axially positioning the six-stage big gear 2101 and the second double-row bearing 27, and the fourth sleeve 29 is also used for axially positioning the push rod gear shaft 21.

The second double-row bearing 27 can prevent the push rod gear shaft 21 from tilting and swinging sideways; the sixth-stage pinion 3101 on the sixth gear shaft 31 meshes with the sixth-stage bull gear 2101 on the pushrod gear shaft 21, and performs gear transmission. The connection ends of the sixth gear shaft 31 and the fourth gear shaft 76 are connected through a connecting shaft disc, so that the sixth gear shaft 31 can rotate together, and in order to make the sixth gear shaft 31 a simple beam, the other end of the sixth gear shaft 31 is connected to the first supporting cover 26 through a bearing; the push rod gear shaft 21 is connected with a six-level large gear 2101 on the push rod gear shaft in a shaft sleeve mode; the thread block 24 is connected with the push rod gear shaft 21 through a thread pair, so that the rotation of the push rod gear shaft 21 can be converted into the up-and-down movement of the thread block 24; the connecting key 22 connects the screw block 24 and the push rod 23 integrally.

The push rod 23 is a hollow part, the anti-rotation pin 75 and the push rod 23 are integrally manufactured, and the interaction between the anti-rotation pin 75 and the first support cover 26 is performed through an axial orientation groove 81 on the first support cover, so that the push rod 23 moves together with the screw block 24. The tail-end paw structure unit is connected with the paw opening and closing degree-of-freedom implementation unit through the pushing block 25, so that the push rod 23 in the paw opening and closing degree-of-freedom implementation unit is converted into opening and closing motions of the first clamping jaw 1 and the second clamping jaw 84 in the tail-end paw structure unit, and further the opening and closing degree of freedom of the paw is achieved.

Further, the assembly further comprises a paw integral rotation freedom degree realizing unit;

the gripper integral rotation degree of freedom realizing unit comprises a first sleeve 17, a second sleeve 18, a five-stage large gear 19, a first double-row bearing 20, a fifth gear shaft 33, a five-stage small gear 3301, an upper end cover 73 and a flat key 80.

The connection ends of the fifth gear shaft 33 and the fourth gear shaft 76 are connected by a coupling disc so that they can rotate together, and the other end of the fifth gear shaft 33 is positioned to the upper end cover 73 so that the fifth gear shaft 33 is a simple beam. The fifth pinion 3301 and the fifth large gear 19 on the fifth gear shaft 33 mesh with each other to perform gear transmission.

A second sleeve 18, a five-stage large gear 19, a first sleeve 17, a first double-row bearing 20 and an upper end cover 73 are installed in order from a sleeve fixing hole 1601 of the jaw support 16; the first sleeve 17 and the second sleeve 18 serve to axially position the fifth gear shaft 33 and the first double row bearing 20, respectively.

The outer ring of the first double-row bearing 20 and the upper end cover 73 are mounted in an interference fit manner, so that the outer ring is prevented from rotating; the circumferential positioning of fifth gear shaft 33 is fixed to jaw support 16 by flat key 80 so that jaw support 16 may rotate with fifth gear shaft 33.

The end paw structure unit is connected with the paw integral rotation freedom realizing unit through the flat key 80, and the rotation of the five-stage big gear 19 is converted into the rotation of the jaw support 16 in the end paw structure unit, so that the paw integral rotation freedom is realized.

Further, the assembly further comprises a reduction mechanism unit;

the reduction mechanism unit includes a first motor 3, a second motor 37, a third support cover 34, a first gear set 36, a second gear set 35, a fourth gear shaft 76, a fourth gear shaft 7601, a second gear shaft 77, a second gear pinion 7701, a second gear wheel 7702, a third gear shaft 78, a third gear pinion 7801, a third gear wheel 7802, a first gear shaft 79, and a first gear pinion 7901; the first gear set 36 is identical in construction to the second gear set 35.

The first motor 3 controls the second gear set 35, the second motor 37 controls the first gear set 36, the fourth large gear 7601 of the fourth gear shaft 76 is meshed with the third small gear 7801 of the third gear shaft 78, the third large gear 7802 of the third gear shaft 78 is meshed with the second small gear 7701 of the second gear shaft 77, the second large gear 7702 of the second gear shaft 77 is meshed with the first small gear 7901 of the first gear shaft 79,

Each gear shaft in the speed reducing mechanism unit is connected with the gear of the gear shaft in the speed reducing mechanism unit in the shaft sleeve mode, and the gear shafts are installed in the simply supported beam installation mode;

the output gear shaft of the first gear set 36 is fixedly connected with the fifth gear shaft 33 of the input gear shaft in the paw integrated rotation freedom degree realizing unit through coaxial connection, so that the rotation of the second motor 37 in the speed reducing mechanism unit can be transmitted to the paw integrated rotation freedom degree realizing unit;

the output gear shaft of the second gear set 35 is fixedly connected with the sixth gear shaft 31 of the output gear shaft between the jaw opening and closing degree of freedom realizing units through coaxial connection, and the rotation of the first motor 3 in the speed reducing mechanism unit can be transmitted to the jaw opening and closing degree of freedom realizing units.

The deep sea robot paw is constructed by the assembly and the manipulator frame supporting unit.

The robot frame support unit includes an upper end cover 73, a first support cover 26, a second support cover 32, a third support cover 34, a robot housing 14, a first motor base 1401, a first support table 1402, a second motor base 1403, a second support table 1404, a first support block 1405, a third support table 1407, and a second support block 1409.

The upper end cap 73 is a symmetrical two halves for mounting the inner first double bearing 20; the upper end cover 73 is fixed into a whole by six small screws through third threaded holes 1410 uniformly distributed on the manipulator shell 14; the first support cover 26 is fixed to the robot housing 14 by a small screw through a screw hole in the second support block 1409; the second support cover 32 is fixed to the robot housing 14 by screws through screw holes in the second support table 1404 and the third support table 1407; the third support cover 34 is fixed to the robot housing by screws through screw holes in the first support table 1402 and the first support block 1405.

The first support table 1402 is used to increase the rigidity of the third support cover 34 and reduce deformation; a placing space for the first motor 3 and the second motor 37 is arranged between the third supporting cover 34 and the bottom of the manipulator shell; a speed reducing mechanism unit is arranged between the third support cover 34 and the second support cover 32, a paw opening and closing degree of freedom realizing unit is arranged between the second support cover 32 and the first support cover 26, and a paw integral rotation degree of freedom realizing unit is arranged between the first support cover 26 and the upper end cover 73;

the gripper opening and closing degree of freedom realizing unit and the gripper integral rotation degree of freedom realizing unit are arranged in a central symmetry manner in the manipulator shell; the first gear set and the second gear set are arranged in a central symmetry mode inside the manipulator shell.

The deep sea robot gripper can realize two degrees of freedom of opening and closing of the gripper and integral rotation of the gripper, the degree of freedom of opening and closing is realized by means of the first motor, and the degree of freedom of integral rotation is realized by means of the second motor; the first motor outputs power to the sixth gear shaft through the second gear set in the speed reducing mechanism unit, and then the power is transmitted to the push block through the paw opening and closing degree of freedom realizing unit, and the push rod pushes the push block to move up and down, so that the opening and closing of the paw are realized.

The second motor outputs power to the fifth gear shaft through the first gear set, and then the power is transmitted to the clamping jaw support through the clamping jaw integral rotation freedom degree realizing unit, so that integral rotation of the clamping jaw is realized; the push block is connected with the push rod through the first bearing, so that the push block rotates by itself to ensure that the push rod is static, and the interference problem of two degrees of freedom is solved.

Further, an electric connector module is additionally arranged for the deep sea robot claw;

the electrical connector module comprises a plug and a socket; the plug and the socket have the same internal structure, and are sequentially provided with a static sealing unit, a dynamic sealing unit and an internal and external pressure balancing unit;

The manipulator housing is bolted to a flange 39 on a socket housing 55 in the electrical connector module.

The first motor and the second motor share five lead-out cables, which are respectively two signal wires, two power wires and a public ground wire, and the five cables respectively come out from two threading holes 38 at the bottom of the manipulator shell and are connected to five socket pins 65.

The static sealing unit comprises a second O-ring 10, a first O-ring 11, a socket housing 55, a plug housing 59, a first isolation piston 92, a first isolation piston tip 67, a second isolation piston 93 and a second isolation piston tip 69;

the first O-shaped ring and the second O-shaped ring are respectively placed in O-shaped ring grooves at the front sections of the socket shell and the plug shell and respectively contact with the first isolation piston and the second isolation piston, so that the sealing effect on pressure oil can be achieved on the internal energy, and the sealing effect on seawater can be achieved on the external energy; the first isolation piston thin end and the second isolation piston thin end are in interference fit with the socket shell and the plug shell, and can seal pressure oil and seawater.

The dynamic seal unit comprises a plug housing 59, a socket housing 55, a first spring 4, a first excluder column 5, a second excluder column 6, a second spring 7, a socket back 13, a plug back 8, a first reciprocating pin 49, a second reciprocating pin 54, a first curved slot 57, a second curved slot 52, a socket pin 65, a first isolation piston 92, a second isolation piston 93, a first isolation piston thick end 66, a first isolation piston thin end 67, a second isolation piston thin end 69, a second isolation piston thick end 70 and a plug pin 71.

The socket contact pin, the socket back seat and the socket shell are sealed together by glue, and the socket back seat is a solidified solid glue block used for fixing the socket contact pin and sealing the interior of the socket; five first isolating columns are fixed in the first isolating piston and are exposed from the thick end of the first isolating piston, and the first isolating columns are in non-contact with the socket pins and have a distance to achieve the effect of isolating and sealing.

The first reciprocating pin is fixed on the thin end of the first isolation piston; when the first and second isolation pistons are moved rearward by the compression interaction, the first reciprocating pin interacts with the first curved slot 57 in the socket housing to urge the first isolation piston to rotate while moving rearward.

An internal and external pressure balance unit of the electrical connector, comprising pressure oil 83, a cavity 82, a first isolation piston butt 66 and a second isolation piston butt 70; pressure oil 83 fills the cavity 82 to balance the high water pressure in the outside deep sea. The thick end of the first isolation piston, the thick end of the second isolation piston and the inner wall of the plug and the socket are installed in a clearance fit mode, so that pressure oil can flow left and right in the cavity.

The thin end of the first isolation piston in the static sealing unit is integrated with the thick end of the first isolation piston in the dynamic sealing unit, so that the two units can synchronously play a sealing role, namely, when the plug and the socket are mutually plugged, the thin end of the first isolation piston in the static sealing unit moves backwards in a spiral manner, the thick end of the first isolation piston in the dynamic sealing unit is pushed to move forwards and backwards, and the pressure oil of the internal and external pressure balancing unit flows forwards and backwards due to the fact that the thick end of the first isolation piston moves forwards and backwards, so that high water pressure in the deep sea outside is balanced all the time.

Further, the plug and the socket in the electric connector module also comprise a self-locking unlocking unit;

the self-locking unlocking unit includes a third motor 12, a seventh gear shaft 68, a seven-stage pinion 6801, a first locking buckle 50, a second locking buckle 90, a third locking buckle 91, a first buckle base 5902, a second buckle base 5901, a straightening plate 51, a third buckle base 58, a guide groove 60, a guide pin 53, a locking ring 61, a locking ring rack 62, a locking ring protrusion 63, and a fixing block 56.

The self-locking unlocking unit adopts a guide alignment structure, an encircling type claw structure and a rotatable clamping ring structure;

the guide alignment structure consists of a guide pin 53 and a guide groove 60, so as to ensure that the self-locking unlocking mechanism can be accurately aligned;

the encircling type claw structure consists of a first locking buckle 50, a second locking buckle 90, a third locking buckle 91, a first buckle base 5902, a second buckle base 5901, a straightening plate 51 and a third buckle base 58;

the rotatable snap ring structure includes a third motor 12, a locking ring 61, a fixed block 56, and a seventh gear shaft 68; the third motor 12 is directly embedded into a motor clamping seat of the socket shell 55, the seventh gear shaft 68 is connected with the third motor 12 through a motor disc, and a seven-stage pinion 6801 on the seventh gear shaft 68 is fixedly connected with a shaft in a shaft sleeve manner; the seven-stage pinion 6801 is in meshed transmission with the locking ring rack 62 on the locking ring 61 to realize the control of the rotation of the locking ring 61 by the third motor 12; the locking ring is axially fixed by two fixing blocks 56 uniformly distributed around the outer periphery of the socket housing.

The first buckle base 5902, the second buckle base 5901, the straightening plate 51 and the third buckle base 58 are uniformly distributed outside the front section of the plug housing 59; the first locking buckle 50, the second locking buckle 90 and the third locking buckle 91 are correspondingly connected with the first buckle base 5902, the second buckle base 5901 and the third buckle base 58 through positioning pins, and are connected by adopting a revolute pair, so that the first locking buckle 50, the second locking buckle 90 and the third locking buckle 91 can correspondingly rotate relative to the first buckle base 5902, the second buckle base 5901 and the third buckle base;

the straightening plate is a part extending out of the end part of the socket shell and is used for stretching the locking buckle so as to be self-locking; the guide slot opens into the socket housing, and the guide pin is machined based on the plug housing.

Further, the plug and the socket also comprise a conductive metal rod connection mode unit.

The conductive metal rod connection mode unit comprises a first rubber block 43, a second beryllium copper sheet 44, a second beryllium copper block 45, a second rubber block 46, a first beryllium copper sheet 47 and a first beryllium copper block 48.

The first beryllium copper block and the second beryllium copper block are respectively connected to the first excluder column 5 and the second excluder column 6 through threaded connection, so that the first beryllium copper sheet and the second beryllium copper sheet can be conveniently replaced after being damaged;

The first beryllium copper sheet and the second beryllium copper sheet are respectively connected with the first beryllium copper block and the second beryllium copper block in an integrated manner; the first rubber block and the second rubber block are respectively wrapped on the first beryllium copper sheet and the second beryllium copper sheet; the first beryllium copper sheet and the second beryllium copper sheet are respectively embedded into the first rubber block and the second rubber block, so that the first rubber block and the second rubber block can support the first beryllium copper sheet and the second beryllium copper sheet while ensuring elastic deformation, and the deformation of the first beryllium copper sheet and the second beryllium copper sheet after multiple works is prevented from causing the plug and socket circuit to be not butted.

The above-mentioned at least one technical solution adopted by one or more embodiments of the present disclosure can achieve the following beneficial effects:

firstly, the disclosure provides a brand-new pluggable electric connection deep sea robot hand claw, and the hand claw adopts a parallelogram connecting rod structure, so that a target object can be firmly grabbed.

Secondly, two degrees of freedom of the mechanical gripper provided by the disclosure are realized by adopting two steering engines in parallel, and the two degrees of freedom are assembled together, so that the overall structure is compact, and the size is greatly reduced. And can guarantee that two degrees of freedom can not take place to interfere, can realize the independent control of two degrees of freedom.

Thirdly, the butt joint locking and separating structure of the plug and the socket of the electric connector module can safely and reliably work after the plug and the socket of the electric connector are connected, and the plug and the socket can be separated conveniently and rapidly when the electric connector is not required to work.

In addition, the plug and socket of the electric connector module provided by the disclosure adopts the beryllium copper sheet with good elastic deformation on the butt joint contact surface, so that the close body fit of the contact surface of the plug and the socket can be ensured, and the seawater on the contact surface can be completely removed.

In conclusion, the technical scheme provided by the disclosure has the advantages of reliable sealing structure, reliable application in underwater environment, portability, carrying and replacement, strong adaptability, quick operation and maintenance and the like.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the technical aspects of the disclosure.

Fig. 1 is a cross-sectional view of a pluggable electrical connection finger of the present disclosure.

Fig. 2 is a schematic view of a jaw support structure according to the present disclosure.

FIG. 3 is a schematic diagram of the structure of the end paw structural unit according to the present disclosure.

Fig. 4 is a schematic view of the installation of the jaw support of the present disclosure.

Fig. 5 is a schematic view of a structure for mounting a push rod gear shaft and a push rod according to the present disclosure.

Fig. 6 is a schematic view of a clamping jaw clamping driving structure according to the present disclosure.

Fig. 7 is a schematic structural view of the jaw driving module according to the present disclosure.

Fig. 8 is a schematic view of a reduction mechanism according to the present disclosure.

Fig. 9 is a schematic diagram of a gear set according to the present disclosure.

Fig. 10 is a schematic view of a manipulator housing according to the present disclosure.

Fig. 11 is a schematic structural diagram of a manipulator module according to the present disclosure.

FIG. 12 is a schematic view of a butt joint construction of an excluder column according to the present disclosure.

Fig. 13 is a schematic diagram of a connection structure between a manipulator module and an electrical connector module according to the present disclosure.

FIG. 14 is a schematic view of the relative positions of pins and excluder posts according to the present disclosure. Fig. 14 (a) shows an axial relative position when the pin and the excluder post are not connected, and fig. 14 (b) shows an axial relative position when the pin and the excluder post are connected.

Fig. 15 is a schematic view of an electrical connector plug and socket according to the present disclosure in an uninstalled state.

Fig. 16 is a schematic diagram of a plugged-in state of the plug and socket of the electrical connector according to the present disclosure.

Fig. 17 is a schematic diagram of the self-locking and unlocking process of the electrical connector module according to the present disclosure. Fig. 17 (c) shows the state of the locking device when the plug and the socket are not inserted, fig. 17 (d) shows the state that the locking ring is not rotated to be locked when the plug and the socket are just inserted, and fig. 17 (e) shows the state that the locking ring is rotated to be locked after the plug and the socket are inserted.

Fig. 18 is a schematic view of a locking ring structure according to the present disclosure.

Fig. 19 is a schematic view of an electrical connector module structure according to the present disclosure.

Fig. 20 is a schematic diagram of an electrical connector module pressure oil and cavity according to the present disclosure.

In the figure: 1. first jaw, 2, first V-shaped link, 3, first motor, 4, first spring, 5, first excluder, 6, second excluder, 7, second spring, 8, plug rear seat, 9, adapter sleeve, 10, second O-ring, 11, first O-ring, 12, third motor, 13, socket rear seat, 14, manipulator housing 1401, first motor base, 1402, first support table, 1403, second motor base, 1404, second support table, 1405, first support block, 1406, first threaded hole, 1407, third support table, 1408, second threaded hole, 1409, second support block, 1410, third threaded hole, 15, first link, 16, jaw support 1601, sleeve mount, 17, first sleeve, 18, second sleeve, 19, fifth-stage large gear, 20, first bearing, 21, gear shaft, 2101, sixth-stage large gear, 22, connecting key, 23, push rod, 24, screw block, 25, push block, 26, first support cover, 27, second double row bearing, 28, third sleeve, 29, fourth sleeve, 30, first bearing, 31, sixth gear shaft, 3101, sixth pinion, 32, second support cover, 33, fifth gear shaft, 3301, fifth pinion, 34, third support cover, 35, second gear set, 36, first gear set, 37, second motor, 38, threading hole, 39, flange, 40, flange threaded hole, 41, fixing groove, 42, manipulator threaded hole, 43, first rubber block, 44, second beryllium copper block, 45, second beryllium copper block, 46, second rubber block, 47, first beryllium copper block, 48, first beryllium copper block, 49, first reciprocating pin, 50, first locking buckle, 51, straight plate, 52, second curved slot, 53, guide pin, 54, 55. the socket housing 56, the fixed block 57, the first curved slot 58, the third snap-in seat 59, the plug housing 5901, the second snap-in seat 5902, the first snap-in seat 60, the guide slot 61, the locking ring 62, the locking ring rack 63, the locking ring tab 64, the securing ring 65, the socket pin 66, the first isolation piston butt 67, the first isolation piston tip 68, the seventh gear shaft 68, 69, the second isolation piston tip 70, the second isolation piston butt 71, the plug pin 72, the second crank 73, the upper end cap 74, the connecting rod seat 75, the anti-rotation pin, 76, fourth gear shaft, 7601, fourth gear, 77, second gear shaft, 7701, second gear pinion, 7702, second gear, 78, third gear shaft, 7801, third gear pinion, 7802, third gear, 79, first gear shaft, 7901, first gear pinion, 80, flat key, 81, directional slot, 82, cavity, 83, pressurized oil, 84, second jaw, 85, second link, 86, second V-shaped link, 87, third link, 88, fourth link, 89, first crank, 90, second locking catch, 91, third locking catch, 92, first isolation piston, 93, second isolation piston.

Detailed Description

Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

Furthermore, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.

First, the pluggable electric connection paw is described in detail: for the realization of the basic functions of the manipulator claw, the whole mechanical structure can be generally split into the following basic functional units: an end-grip structural unit for effecting an end effector of a work; the realizing unit of the opening and closing freedom degree of the paw is used for transmitting the motion to the paw of the end effector to realize the opening and closing control of the paw; the realizing unit of the overall rotation freedom degree of the paw is used for transmitting the motion to the paw of the end effector so as to realize the forward and reverse rotation of the paw at any angle; the speed reducing mechanism unit is used for realizing speed reducing adjustment on high rotation speeds output by the first motor and the second motor, so that the two degrees of freedom of the paw can be controlled more accurately by controlling large motor angle change; the manipulator frame supporting unit is used for enabling all parts and the claws in the manipulator to be fixed together and guaranteeing the determined space position; a static sealing unit of the electric connector for preventing leakage of pressure oil inside the electric connector and permeation of external seawater to the inside; the dynamic sealing unit of the electric connector is used for realizing the dynamic sealing of the whole internal circuit and seawater in the plugging process of the electric connector; the self-locking unlocking unit of the electric connector is used for realizing safe and reliable work after the plug and the socket of the electric connector are connected, and can conveniently and quickly separate the plug and the socket when the work is not needed; the plug and socket conductive metal rod connection mode unit of the electric connector aims at preventing the contact surface from being tightly attached due to the existence of the conductive rod when the plug and socket plungers are contacted; the purpose of the internal and external pressure balance unit of the electric connector is to ensure that the electric connector can safely and reliably work in a high-pressure environment in deep sea.

The tail end paw structure unit comprises a first clamping jaw, a first V-shaped connecting rod, a second clamping jaw, a second V-shaped connecting rod, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a clamping jaw support, a first crank, a second crank and a pushing block, wherein the first clamping jaw, the third connecting rod, the fourth connecting rod, the first V-shaped connecting rod and the clamping jaw support form a parallelogram connecting rod mechanism together. The second clamping jaw, the second V-shaped connecting rod, the first connecting rod, the second connecting rod and the clamping jaw support form another parallelogram linkage mechanism. The first V-shaped connecting rod and the second V-shaped connecting rod are driving parts, the first clamping jaw and the second clamping jaw are side link rods, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are driven parts, the clamping jaw support is a frame, and the first clamping jaw and the second clamping jaw of the side link rods can be known to do translational motion in a plane through the parallelogram connecting rod mechanism. The other ends of the first V-shaped connecting rod and the second V-shaped connecting rod are connected with the pushing block through a first crank and a second crank. All connecting rods in the whole structural unit are connected through clearance fit between the locating pins and the holes, and the clearance fit can ensure that the connecting rods are connected through rotating pairs capable of rotating mutually.

The realization unit of the gripper opening and closing degree of freedom comprises a push rod gear shaft, a six-stage large gear, a connecting key, a push rod, a thread block, a first supporting cover, a sixth gear shaft, a six-stage small gear, a connecting rod seat, an anti-rotation pin, a directional groove, a second double-row bearing, a third sleeve, a fourth sleeve and a second supporting cover, wherein one end of the push rod gear shaft is provided with the fourth sleeve, the second double-row bearing and the third sleeve from the six-stage large gear downwards in sequence, the third sleeve and the fourth sleeve perform axial positioning on the six-stage large gear and the second double-row bearing, and the fourth sleeve can also perform axial positioning on the push rod gear shaft. The second double-row bearing can prevent the push rod gear shaft from tilting and swinging left and right. And a sixth-stage pinion on the sixth gear shaft is meshed with a sixth-stage bull gear on the push rod gear shaft to carry out gear transmission. The connecting ends of the sixth gear shaft and the fourth gear shaft are connected through a connecting shaft disc, so that the sixth gear shaft and the fourth gear shaft can rotate together, and the other end of the sixth gear shaft is connected to the first supporting cover through a bearing in order to enable the sixth gear shaft to be a simply supported beam. The push rod gear shaft is connected with the six-level large gear on the push rod gear shaft in a shaft sleeve mode. The thread blocks are connected with the push rod gear shaft through thread pairs, so that the rotation of the push rod gear shaft can be converted into the up-and-down movement of the thread blocks. The thread block and the push rod are connected into a whole through the connecting key, the push rod is a hollow part, the anti-rotation pin and the push rod are made into a whole, and the anti-rotation pin and the first support cover interact through an axial directional groove on the first support cover, so that the push rod moves along with the thread block.

The gear shaft is installed to be a simply supported beam, so that the gear shaft is prevented from working in a cantilever beam mode, gear load distribution is uneven due to the cantilever beam, gear abrasion failure is accelerated, the gear shaft is easy to deform, and finally the whole manipulator cannot work. All gear shafts in the present disclosure are all installed into a simply supported beam, and except for the seventh gear shaft, the shaft ends are all positioned to the manipulator frame support unit by adopting proper bearings, and interference fit is adopted between the bearing outer ring and the support part, and between the bearing inner ring and the gear shaft.

The shaft sleeve mode is connected, and is a mode for connecting a thin shaft with a gear with a larger size. A shaft sleeve is made of metal or plastic materials, is sleeved on a rotating shaft, and then a gear is fixed on the shaft sleeve. The fixing method can be to fix the gear on the shaft sleeve by using screws, glue or welding and the like. This type of connection is adopted in order not to impair the strength of the shaft any more, considering that the gear shaft in the present disclosure is very small in size, and is simple, ensuring that the strength and torque of the work are satisfied more easily. The connection modes between the gears and the shafts of the gear shaft structure are all shaft sleeve connection modes.

The paw integral rotation degree of freedom realizing unit comprises a first sleeve, a second sleeve, a five-stage large gear, a first double-row bearing, a fifth gear shaft, a five-stage small gear, an upper end cover, a flat key and a sleeve fixing hole, wherein the connecting ends of the fifth gear shaft and the fourth gear shaft are connected through a connecting shaft disc, so that the fifth gear shaft can rotate together, the other end of the fifth gear shaft is positioned on the upper end cover for being a simply supported beam. And a fifth-stage pinion and a fifth-stage bull gear on the fifth gear shaft are meshed with each other to carry out gear transmission. A second sleeve, a five-stage large gear, a first sleeve, a first double-row bearing and an upper end cover are sequentially arranged from a sleeve fixing hole of the clamping jaw support upwards. The first sleeve and the second sleeve are used for axially positioning the fifth gear shaft and the first double-row bearing. The first double-row bearing outer ring and the upper end cover are installed in an interference fit mode, and the outer ring is prevented from rotating. The circumferential positioning of the fifth gear shaft is fixed on the clamping jaw support through a flat key so as to realize that the clamping jaw support can rotate together with the fifth gear shaft.

The speed reducing mechanism unit comprises a first motor, a second motor, a third supporting cover, a first gear set, a second gear set, a fourth gear shaft, a fourth gear, a second gear shaft, a second gear pinion, a second gear big gear, a third gear shaft, a third gear pinion, a third gear big gear, a first gear shaft and a first gear small gear, the unit comprises two identical first gear sets and second gear sets, wherein the first gear sets are used for illustration.

The first motor controls the second gear set, the second motor controls the first gear set, and the first motor and the second motor output shaft are respectively connected with the second gear set and the first gear shaft of the first gear set through the motor disc, so that the first gear shaft can rotate together with the motor output shaft. The four-stage large gear of the fourth gear shaft is meshed with the three-stage small gear of the third gear shaft, the three-stage large gear of the third gear shaft is meshed with the second-stage small gear of the second gear shaft, and the second-stage large gear of the second gear shaft is meshed with the first-stage small gear of the first gear shaft. Each gear shaft in the unit and the gears thereof are connected in the shaft sleeve mode, and the gear shafts are installed in the simple beam installation mode.

The manipulator frame supporting unit comprises an upper end cover, a first supporting cover, a second supporting cover, a third supporting cover, a manipulator shell, a first motor base, a first supporting table, a second motor base, a second supporting table, a first supporting block, a first threaded hole, a third supporting table, a second threaded hole, a second supporting block and a third threaded hole. The upper end cover is made into two symmetrical halves, and is fixed into a whole by six small screws through six third threaded holes uniformly distributed on the manipulator shell for facilitating the installation of the first double-row bearing inside. The first support cap is also secured to the robot housing by six screws through threaded holes in the second support block. The second supporting cover is fixed on the manipulator shell through the first threaded holes on the second supporting table and the third supporting table by four screws. The third supporting cover is fixed to the manipulator shell through six screws, a first supporting table and threaded holes in the first supporting block, and the first supporting table reduces deformation for increasing rigidity of the third supporting cover. The whole unit has a certain spatial position in order to ensure that all parts and claws inside the manipulator can be fixed together and that all parts are absolutely stationary.

The static sealing unit of the electric connector comprises a first O-shaped ring, a second O-shaped ring, a socket shell, a plug shell, a first isolation piston thin end, a second isolation piston and a second isolation piston thin end, wherein the first O-shaped ring and the second O-shaped ring are respectively placed in O-shaped ring grooves of the front sections of the socket shell and the plug shell and respectively contact with the first isolation piston and the second isolation piston, so that the sealing effect on pressure oil can be achieved in the electric connector, and the sealing effect on seawater can be achieved in the electric connector. Meanwhile, the first isolation piston tip and the second isolation piston tip are in interference fit with the inside of the socket shell and the plug shell, and can also seal pressure oil and seawater.

The dynamic sealing unit of the electric connector comprises a plug shell, a socket shell, a first spring, a first isolating column, a second spring, a socket backseat, a plug backseat, a first reciprocating pin, a second reciprocating pin, a first curved groove, a second curved groove, a socket contact pin, a first isolating piston, a second isolating piston, a first isolating piston thick end, a first isolating piston thin end, a second isolating piston thick end and a plug contact pin. The dynamic sealing unit of the plug and socket is identical in construction and in principle, and the socket is described herein.

The socket contact pin, the socket backseat and the socket shell are sealed together through glue, and the socket backseat is a solidified solid glue block and plays roles of fixing the socket contact pin and sealing the inside of the socket. Five first isolating columns are fixed in the first isolating piston and are exposed from the thick end of the first isolating piston, but the first isolating columns are not contacted with the socket pins, and a certain distance is reserved between the first isolating columns so as to achieve the effect of isolating and sealing. The first reciprocating pin is fixed to the thin end of the first isolation piston. When the first isolation piston and the second isolation piston are mutually extruded to move backwards, the first reciprocating pin and the first curved groove on the socket shell are mutually interacted, so that the first isolation piston is driven to rotate while moving backwards.

The self-locking unlocking unit of the electric connector mainly adopts a claw-clasp type butt-joint locking and separating structure and comprises a guiding alignment structure, an encircling claw structure and a rotatable clasp structure.

The guide alignment structure consists of a guide pin and a guide groove, and the guide pin and the guide groove can be accurately aligned for ensuring the self-locking unlocking mechanism. The encircling type clamping jaw structure is composed of a first locking buckle, a second locking buckle, a third locking buckle, a first buckle base, a second buckle base, a straightening plate and a third buckle base, and the rotatable clamping ring structure comprises a third motor, a locking ring, a fixing block and a seventh gear shaft. The third motor is directly embedded into the motor clamping seat of the socket shell, the seventh gear shaft is connected with the third motor through a motor disc, and the seven-stage pinion on the seventh gear shaft is fixedly connected with the shaft in a shaft sleeve mode. The seven-stage pinion is meshed with a locking ring rack on the locking ring for transmission, so that the rotation of the locking ring is controlled by a third motor. The locking ring is axially fixed by two fixing blocks uniformly distributed on the periphery of the socket shell. The first buckle base, the second buckle base, the straightening plate, the third buckle base equipartition is outside the plug shell anterior segment, and first locking buckle, second locking buckle, third locking buckle and first buckle base, second buckle base, third buckle base correspond through the locating pin and are connected, and adopt the revolute pair to connect, guarantee that first locking buckle, second locking buckle, third locking buckle and first buckle base, second buckle base, third buckle base all correspond can relative rotation. The straightening plate is a part of the end of the socket shell, which extends out and is used for stretching the locking buckle so as to be self-locking. The above working accuracy is ensured by the guiding action of the abutting guide groove and the guide pin, wherein the guide groove is a groove formed on the socket shell, and the guide pin is machined on the plug shell.

The electric connector plug and socket conductive metal rod connection mode unit comprises a first rubber block, a first beryllium copper sheet, a first beryllium copper block, a second rubber block, a second beryllium copper sheet and a second beryllium copper block, wherein the first beryllium copper block and the second beryllium copper block are connected to a first excluder column and a second excluder column through threaded connection so as to facilitate replacement after the first beryllium copper sheet and the second beryllium copper sheet are damaged. The first beryllium copper sheet and the second beryllium copper sheet are respectively integrated with the first beryllium copper block and the second beryllium copper block, the first rubber block and the second rubber block are respectively wrapped on the first beryllium copper sheet and the second beryllium copper sheet, and the first beryllium copper sheet and the second beryllium copper sheet are respectively embedded into the first rubber block and the second rubber block. The first rubber block and the second rubber block can support the first beryllium copper sheet and the second beryllium copper sheet while ensuring elastic deformation, and prevent the deformation of the first beryllium copper sheet and the second beryllium copper sheet after multiple works from causing the plug and socket circuit to be not butted.

The internal and external pressure balance unit of the electric connector comprises pressure oil, a cavity of a plug and a socket, a thick end of a first isolation piston and a thick end of a second isolation piston, wherein the pressure oil is filled in the cavity of the plug and the socket so as to balance high water pressure in deep sea outside the electric connector. The thick end of the first isolation piston, the thick end of the second isolation piston and the inner wall of the plug and the socket are installed in a clearance fit mode, so that pressure oil can flow left and right in the cavity.

The manipulator module mainly realizes two degrees of freedom of opening and closing of the gripper and integral rotation of the gripper. The degree of freedom of opening and closing is mainly realized by the first motor, and the degree of freedom of integral rotation is realized by the second motor. The first motor outputs power to the sixth gear shaft through a second gear set in the speed reducing mechanism unit, then the power is transmitted to the push block through the mechanism unit of the opening and closing freedom degree of the paw, and the push rod pushes the push block to move up and down, so that the opening and closing of the paw are realized. The second motor outputs power to the fifth gear shaft through the first gear set in the speed reducing mechanism unit, and then the power is transmitted to the clamping jaw support through the mechanism unit of the overall rotation freedom degree of the clamping jaw, so that the overall rotation of the clamping jaw is realized. The push block is connected with the push rod through the first bearing, so that the push block rotates to ensure that the push rod is static, and the interference problem of two degrees of freedom can be solved.

A first motor and a second motor placing space are arranged between the third supporting cover and the bottom of the manipulator shell in the whole manipulator. And a speed reducing mechanism unit is mainly arranged between the third supporting cover and the second supporting cover. The second support cover and the first support cover are mainly provided with a realizing unit of the opening and closing freedom degree of the paw. The first support cover and the upper end cover are mainly realized units of the whole rotation freedom degree of the paw.

The first motor and the second motor of the manipulator module are electrified completely by means of the electric connector. The electric connector module is characterized in that a plug and a socket are separately arranged when the electric connector module does not work, the plug is screwed on the AUV body through a switching cylinder, and the socket is connected with the manipulator module and is arranged in an underwater work station. The socket is connected with the manipulator through a flange plate and a manipulator shell through bolts, and six threaded holes are respectively formed in the bottoms of the flange plate and the manipulator shell and are respectively a flange plate threaded hole and a manipulator threaded hole. The first motor and the second motor share five data wires, two signal wires, two power wires and a public ground wire, the five wires come out from two threading holes at the bottom of the manipulator shell respectively and are connected to five socket pins, and the connection between the manipulator and two modules of the electric connector is realized.

The main aim of the electric connector module is to realize autonomous butt joint locking and unlocking, safe work under deep sea high water pressure and stable and reliable sealing performance in deep sea. The realization of the butt locking and unlocking is to utilize a self-locking unlocking unit which is respectively arranged at the reasonable periphery of the large end of the plug shell and the socket shell. In order to solve the problem of high water pressure in the balanced deep sea, the cavity inside the small end of the plug shell and the socket shell is filled with pressure oil. The problem of reliable sealing performance relates to dynamic sealing and static sealing, namely the problem that seawater is prevented from flowing in and pressure oil is prevented from flowing out in the plug and socket plugging process of the electric connector is solved. In the plugging process, firstly, the thin end of the first isolation piston is contacted with the thin end of the second isolation piston to extrude seawater, the connection mode unit of the conductive metal rod connected with the plug and the socket of the electric connector can ensure that the seawater is completely extruded, and in the process, the first isolation column and the socket contact pin and the second isolation column and the plug contact pin are relatively staggered and separated, so that the whole circuit cannot be conducted before the seawater is completely extruded, thereby ensuring the reliability of dynamic sealing, and secondly, the thin ends of the first O-shaped ring, the second O-shaped ring, the first isolation piston and the second isolation piston are utilized to ensure that pressure oil cannot flow outwards, the seawater cannot flow inwards, and the sealing reliability is further improved.

The following further description refers to the accompanying drawings:

referring to fig. 1, 2 and 3, the end paw structure unit adopts a parallelogram linkage mechanism, so that a target with a larger size can be more firmly grabbed. The first jaw 1, the third link 87, the fourth link 88, the first V-shaped link 2 and the jaw support 16 together form a parallelogram linkage. The second jaw 84, second V-link 86, first link 15, second link 85, and jaw support 16 form another parallelogram linkage. The other ends of the first V-shaped connecting rod 2 and the second V-shaped connecting rod 86 are connected with the push block 25 through a first crank 89 and a second crank 72. When the power of the push rod 23 is transmitted to the push block 25, the first crank 89 and the second crank 72 are driven to rotate, so that the driving member is pushed to move, and the first clamping jaw 1 and the second clamping jaw 84 in the two parallelogram linkage structures are simultaneously driven to open and close.

Referring to fig. 5, 6, 7, 8 and 9, the implementation unit of the degree of freedom of opening and closing the paw adopts a screw-nut transmission principle, the first motor 3 obtains a start signal to start rotating, and the first motor is decelerated through the second gear set 35 of the reduction mechanism unit, and power is output by the fourth gear shaft 76 of the second gear set 35, so that the sixth gear shaft 31 rotates. The sixth-stage pinion 3101 of the sixth gear shaft 31 is meshed with the sixth-stage bull gear 2101 on the pushrod gear shaft 21, thereby rotating the pushrod gear shaft 21. Since the screw block 24 is connected with the push gear shaft 21 through the screw pair, it is possible to convert the rotation of the push gear shaft 21 into the up-and-down movement of the screw block 24. In view of keeping the screw block only up and down without rotation, two anti-rotation pins are machined on the push rod, which interact with an orientation groove 81 on the first support cover 26 to ensure that the screw block 24 and the push rod 23 move up and down together as a whole.

With reference to fig. 1, 4 and 7, the unit for achieving the overall rotational freedom of the jaw is achieved mainly by means of a five-stage gearwheel 19 fixed to the jaw support 16. When the second motor 37 passes through the first gear train 36 of the reduction mechanism unit, power is output from the fourth gear shaft 76 of the first gear train, thereby driving the fifth gear shaft 33 to rotate. The fifth pinion 3301 on the fifth gear shaft 33 is meshed with the fifth large gear 19. The five-stage large gear 19 is connected with the clamping jaw support 16 through a flat key 80 for transmission, and the rotation of the five-stage large gear 19 drives the clamping jaw support 16 to rotate, so that the integral rotation of the clamping jaw 1 is finally realized.

Referring to fig. 1, 8, 9 and 11, the reduction mechanism unit is composed of two identical sets of a first gear set and a second gear set, which are respectively controlled by a second motor 37 and a first gear set and a second gear set controlled by a first motor 3. For the first gear set 36, the primary pinion 7901 on the first gear shaft 79 of the second motor 37 is meshed with the tertiary gear wheel 7802 below the third gear shaft 78, the tertiary pinion 7801 on the third gear shaft 78 is meshed with the secondary gear wheel 7702 on the second gear shaft 77, the secondary pinion 7701 on the second gear shaft 77 is meshed with the quaternary gear wheel 7601 on the fourth gear shaft 76, according to the transmission route, the tertiary gear reduction is realized by driving the gear wheels by the pinion, and finally, the power of the second motor is transmitted to the upper surface of the fifth gear shaft 33 through the first gear set of the reduction mechanism.

With reference to fig. 1, 6, 7 and 10, the manipulator frame support unit aims to enable the various parts and claws inside the manipulator to be fixed together, ensuring a determined spatial position. The upper end cover 73, the first support cover 26, the second support cover 32, and the third support cover 34 are mainly used to fix the first gear shaft 79, the second gear shaft 77, the third gear shaft 78, the fourth gear shaft 76, the fifth gear shaft 33, and the sixth gear shaft 31. In addition, the upper end cap 73 also serves to secure the first double row bearing 20 and the jaw support 16.

Referring to fig. 1, 16 and 19, the static sealing unit of the electrical connector is intended to seal against the internal pressure oil 83 and the external seawater. The static seal is primarily achieved by the first O-ring 11, the second O-ring 10, the first isolation piston tip 67 and the second isolation piston tip 69. The inside of the cavity 82 in the plug and the socket is filled with pressure oil 83, the first O-shaped ring 11 and the second O-shaped ring 10 can realize the sealing of oil liquid in pairs, prevent leakage and prevent seawater from entering the pairs.

The sealing of the external seawater has three steps. The sea water is squeezed out from the contact end surface of the second isolation piston thin end 69 of the plug and the first isolation piston thin end 67 of the socket, then the interference fit between the first isolation piston thin end 67 and the second isolation piston thin end 69 and the socket shell 55 and the plug shell 59 respectively is achieved, and finally the first O-shaped ring 11 and the second O-shaped ring 10 are achieved.

Referring to fig. 1, 14, 15 and 19, the dynamic sealing unit of the electrical connector mainly adopts the idea of isolation sealing. In the non-working state, the first isolation piston thin end 67 and the second isolation piston thin end 69 of the socket plug are pressed to the outermost under the action of the first spring 4 and the second spring 7, the first isolation piston thin end 67 and the second isolation piston thin end 69 of the socket plug are isolated from the first isolation column 5 and the second isolation column 6 of the socket plug and the socket pin 65 and the plug pin 71 of the socket plug, the relative positions are shown in the left diagram in fig. 14, and the axial positions are shown in the right diagram (a) in fig. 14. When working, the AUV brings the plug to the workbench to be in butt joint with the socket. The first isolation piston thin end 67 and the second isolation piston thin end 69 of the socket plug are mutually extruded to push the other pair to move backwards, at this time, the first and second reciprocating pins 49 and 54 are respectively arranged on the first and second isolation piston thin ends, under the interaction of the first and second reciprocating pins 49 and 54 and the first and second curved grooves 57 and 52 respectively, the plungers are driven to move backwards and simultaneously rotate relatively, and finally the first and second isolation columns are respectively overlapped with the corresponding axial axes of the socket pins 65 and the plug pins 71 at the rear part thereof and are mutually contacted in the section, so that the circuit is conducted, and the position at this time is shown as a right diagram (b) of fig. 14.

Referring to fig. 1, 15, 16, 17, 18 and 19, the self-locking unlocking unit of the electrical connector, the plug-and-socket mating process is as shown in (c) to (e) of fig. 17. In the beginning of the jointing process, three straightening plates 51 uniformly distributed on the socket shell 55 are in contact with the rear half parts of the first locking buckle 50, the second locking buckle 90 and the third locking buckle 91, and under the action of the straightening plates, the first locking buckle, the second locking buckle and the third locking buckle rotate around the shaft, so that the upper half parts of the first locking buckle, the second locking buckle and the third locking buckle are gradually retracted to wrap the socket part inside; after the locking is in place, the first locking buckle, the second locking buckle and the third locking buckle are parallel to the shell of the electric connection mechanism, at the moment, the locking ring rack 62 on the locking ring 61 is meshed with the seven-stage pinion 6801 of the seventh gear shaft 68 through the gear rack principle, the third motor 12 drives the third gear 68 to rotate, the locking ring 61 is further rotated by an angle, the protruding part locking ring lug 63 on the locking ring 61 is screwed into the grooves of the head of the first locking buckle, the second locking buckle and the third locking buckle, and therefore the butt joint locking of the plug and the socket is achieved. Unlocking is the reverse of the above procedure.

Referring to fig. 12, in the electrical connector plug-socket conductive metal rod connection mode unit, in order to prevent the contact between the first insulation piston thin end 67 and the second insulation piston thin end 69 of the plug-socket from being affected by the presence of conductive metal, the contact surface tight adhesion degree is mainly utilized by the excellent elastic deformation characteristic of the beryllium copper sheet. The two ends of the plug and the socket adopt joggle joint structures, so that the seawater in the connector inside can be discharged. When the second beryllium copper sheet 44 of the second beryllium copper block 45 and the first beryllium copper sheet 47 of the first beryllium copper block 48 are tightly attached, the circuit of the plug and the socket is completed.

Referring to fig. 17 and 18, the internal and external pressure balancing units of the electrical connector can make the electrical connector safely operate in a deep sea high pressure environment. The first and second thick isolation piston ends 66, 70 move as the first and second thin isolation piston ends 67, 69 move back and forth, at which time the pressure oil 83 flows back over the first and second thick isolation piston ends 66, 70, and due to the presence of the second O-ring 10, 11, the pressure oil 83 can only exist in the cavity 82, such that the pressure oil 83 always fills the cavity 82 of the plug and socket, thereby achieving internal and external pressure equalization of the electrical connector.

The tail end paw structure unit is connected with the paw opening and closing degree of freedom implementation unit through the pushing block 25, so that the up-and-down movement of the pushing rod 23 in the paw opening and closing degree of freedom implementation unit is converted into opening and closing movement of the first clamping jaw 1 and the second clamping jaw 84 in the tail end paw structure unit, and further the paw opening and closing degree of freedom is realized; meanwhile, the tail end paw structure unit is connected with the realizing unit of the whole rotation freedom degree of the paw through the flat key 80, and the rotation of the five-stage large gear 19 in the realizing unit of the whole rotation freedom degree of the paw is converted into the rotation of the clamping jaw support 16 in the tail end paw structure unit, so that the whole rotation freedom degree of the paw is realized. The implementation units of the gripper opening and closing degrees of freedom and the implementation units of the gripper integral rotation degrees of freedom are arranged in a central symmetry mode inside the manipulator shell 14.

The reduction gear unit of the present disclosure includes a first gear set 36 and a second gear set 35, both of which have a fourth gear shaft. The fourth gear shaft of the output gear shaft of the first gear set 36 is fixedly connected with the fifth gear shaft 33 of the input gear shaft in the realizing unit of the overall rotation freedom degree of the paw through coaxial connection, so that the rotation of the second motor 37 in the speed reducing mechanism unit can be transmitted to the realizing unit of the overall rotation freedom degree of the paw; the fourth gear shaft of the output gear shaft of the second gear set 35 is fixedly connected with the sixth gear shaft 31 of the output gear shaft in the implementation unit of the opening and closing degree of freedom of the paw through coaxial connection, so that the rotation of the first motor 3 in the reduction mechanism unit can be transmitted to the implementation unit of the opening and closing degree of freedom of the paw. Wherein the first gear set 36 and the second gear set 35 are also arranged in central symmetry within the robot housing 14.

A space for placing the first motor 3 and the second motor 37 is formed between the third supporting cover 34 and the bottom of the manipulator housing 14 in the manipulator frame supporting unit, a speed reducing mechanism unit is arranged between the third supporting cover 34 and the second supporting cover 32, a pawl opening and closing degree of freedom realizing unit is arranged between the second supporting cover 32 and the first supporting cover 26, and a pawl integral rotation degree of freedom realizing unit is arranged between the first supporting cover 26 and the upper end cover 73.

The manipulator housing 14 of the manipulator module of the present disclosure is bolted to the flange 39 on the socket housing 55 of the electrical connector module. The first motor 35 and the second motor 37 share five data wires, two signal wires, two power wires and a common ground wire, and the five wires respectively come out of two threading holes 38 at the bottom of the manipulator shell 14 and are connected to five socket pins 65, so that the mutual correlation between two modules of the manipulator and the electric connector is realized.

The plug and socket internal structure design in the electric connector module is the same, and the static sealing unit of the electric connector, the dynamic sealing unit of the electric connector and the internal and external pressure balancing unit of the electric connector are sequentially arranged at the space position from the large end of the plug and socket.

For the first isolation piston thin end 67 in the static sealing unit of the electric connector of the socket and the first isolation piston thick end 66 in the dynamic sealing unit of the electric connector are integrated, the synchronous sealing effect of the two units can be realized; when the plug and the socket of the electric connector are mutually plugged, the thin end 67 of the first isolation piston in the static sealing unit moves backwards in a spiral way, the thick end 66 of the first isolation piston in the dynamic sealing unit of the electric connector is pushed to move forwards and backwards, and the pressure oil 83 of the pressure balancing unit outside the electric connector flows forwards and backwards due to the fact that the thick end 66 of the first isolation piston moves forwards and backwards, so that high water pressure in the deep sea outside the electric connector is balanced all the time.

The self-locking unlocking units of the electric connector are uniformly distributed on the large ends of the plug housing 59 and the socket housing 55, three locking buckles are uniformly arranged on the large end of the plug housing 59 through three buckle bases, and the locking ring 61 is positioned on the large end of the socket through the fixing block 56 on the socket housing 55.

The conductive metal rod connection mode unit of the plug and socket of the electric connector is a conductive structure arranged at the contact part of the thin end 67 of the first isolation piston and the thin end 69 of the second isolation piston, and the tight fitting degree of the contact surface can be affected due to the existence of the conductive rod when the plug and socket of the electric connector are not contacted.

The workflow using the electrically connected jaws is as follows: the working personnel operate on an operating platform on the water surface, control the AUV with the plug to walk to an underwater appointed operating platform, and carry out butt joint locking with a manipulator with a socket. The AUV takes out the tool manipulator and walks to the appointed working position.

According to the working requirements, different degrees of freedom of the manipulator claw are selected. The method is generally divided into clamping targets, rotating and turning, rotating and screwing or unscrewing, and the like. The parameters of how long each motor needs to work, how much degree are rotated, and the like are controlled by the size of the target and the software programming. This process requires a predetermined relationship between the output parameters of the motor and the output parameters of the hand claw. And writing a track planning algorithm of the paw according to the whole transmission process of the motor paw, and then writing the track planning algorithm into software. The method can conveniently realize that the working result of the claw determination can be obtained by only inputting the parameters of the motor.

Claims (8)

1. A deep sea robot assembly comprising a terminal paw structural unit, characterized in that:

the tail end paw structure unit comprises a first clamping jaw, a first V-shaped connecting rod, a second clamping jaw, a second V-shaped connecting rod, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a clamping jaw support, a first crank, a second crank and a pushing block;

The first clamping jaw, the third connecting rod, the fourth connecting rod, the first V-shaped connecting rod and the clamping jaw support form a parallelogram connecting rod mechanism;

the second clamping jaw, the second V-shaped connecting rod, the first connecting rod, the second connecting rod and the clamping jaw support form a parallelogram connecting rod mechanism;

the first V-shaped connecting rod and the second V-shaped connecting rod are driving parts, the first clamping jaw and the second clamping jaw are side link rods, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are driven parts, and the clamping jaw support is a frame; the first clamping jaw and the second clamping jaw do translational motion in a plane; one end of the first V-shaped connecting rod and one end of the second V-shaped connecting rod are connected with the pushing block through a first crank and a second crank respectively; all connecting rods in the tail end paw structure unit are connected through clearance fit by using a locating pin and a hole, so that the connection of rotating pairs capable of rotating mutually among the connecting rods is ensured.

2. A deep sea robot assembly according to claim 1, characterized in that:

the assembly further comprises a paw opening and closing degree of freedom realizing unit;

the paw opening and closing degree of freedom realizing unit comprises a push rod gear shaft, a six-stage large gear, a connecting key, a push rod, a thread block, a first supporting cover, a sixth gear shaft, a six-stage small gear, a connecting rod seat, an anti-rotation pin, a directional groove, a second double-row bearing, a third sleeve, a fourth sleeve and a second supporting cover;

One end of the push rod gear shaft is provided with a fourth sleeve, a second double-row bearing and a third sleeve from the six-stage big gear downwards in sequence, the third sleeve and the fourth sleeve are respectively used for axially positioning the six-stage big gear and the second double-row bearing, and the fourth sleeve is also used for axially positioning the push rod gear shaft;

the second double-row bearing can prevent the push rod gear shaft from tilting left and right to swing;

a sixth-stage pinion on the sixth gear shaft is meshed with a sixth-stage bull gear on the push rod gear shaft to carry out gear transmission;

the connecting ends of the sixth gear shaft and the fourth gear shaft are connected through a connecting shaft disc, so that the connecting ends can rotate together, the sixth gear shaft is a simply supported beam, and the other end of the sixth gear shaft is connected to the first supporting cover through a bearing;

the push rod gear shaft is connected with the six-level large gear on the push rod gear shaft in a shaft sleeve mode;

the thread blocks are connected with the push rod gear shaft through thread pairs, so that the rotation of the push rod gear shaft can be converted into the up-and-down movement of the thread blocks;

the connecting key connects the thread block and the push rod into a whole;

the push rod is a hollow part, the anti-rotation pin and the push rod are integrally manufactured, and the anti-rotation pin and the first support cover interact with each other through an axial directional groove on the first support cover, so that the push rod moves along with the threaded block;

The tail end paw structure unit is connected with the paw opening and closing degree of freedom implementation unit through the pushing block, the pushing rod in the paw opening and closing degree of freedom implementation unit is converted into opening and closing motions of the first clamping jaw and the second clamping jaw in the tail end paw structure unit, and then the opening and closing degree of freedom of the paw is achieved.

3. A deep sea robot assembly according to claim 2, characterized in that:

the assembly further comprises a paw integral rotation freedom degree realizing unit;

the paw integral rotation freedom degree realizing unit comprises a first sleeve, a second sleeve, a five-stage large gear, a first double-row bearing, a fifth gear shaft, a five-stage small gear, an upper end cover and a flat key;

the connecting ends of the fifth gear shaft and the fourth gear shaft are connected through a connecting shaft disc, so that the fifth gear shaft and the fourth gear shaft can rotate together, and the other end of the fifth gear shaft is positioned on the upper end cover in order to enable the fifth gear shaft to be a simply supported beam;

a fifth-stage pinion and a fifth-stage bull gear on the fifth gear shaft are meshed with each other to carry out gear transmission;

a second sleeve, a five-stage large gear, a first sleeve, a first double-row bearing and an upper end cover are sequentially arranged from a sleeve fixing hole of the clamping jaw support upwards; the first sleeve and the second sleeve are respectively used for axially positioning the fifth gear shaft and the first double-row bearing;

The first double-row bearing outer ring and the upper end cover are installed in an interference fit manner, so that the outer ring is prevented from rotating;

the circumferential positioning of the fifth gear shaft is fixed on the clamping jaw support through a flat key so as to realize that the clamping jaw support can rotate together with the fifth gear shaft;

the tail end paw structure unit is connected with the paw integral rotation freedom degree realization unit through a flat key, and the rotation of the five-stage large gear is converted into the rotation of the clamping jaw support in the tail end paw structure unit, so that the paw integral rotation freedom degree is realized.

4. A deep sea robot assembly according to claim 3, characterized in that: the assembly further comprises a reduction mechanism unit;

the speed reducing mechanism unit comprises a first motor, a second motor, a third supporting cover, a first gear set, a second gear set, a fourth gear shaft, a fourth gear, a second gear shaft, a second gear pinion, a second gear big gear, a third gear shaft, a third gear pinion, a third gear big gear, a first gear shaft and a first gear small gear; the first gear set and the second gear set have the same structure;

the first motor controls the second gear set, the second motor controls the first gear set, the fourth gear shaft is meshed with the third gear shaft, the third gear shaft is meshed with the second gear shaft, and the second gear shaft is meshed with the first gear shaft;

Each gear shaft in the speed reducing mechanism unit is connected with the gear of the gear shaft in the speed reducing mechanism unit in the shaft sleeve mode, and the gear shafts are installed in the simply supported beam installation mode;

the output gear shaft of the first gear set is fixedly connected with the fifth gear shaft of the input gear shaft in the paw integral rotation freedom degree realizing unit through coaxial connection, so that the rotation of the second motor in the speed reducing mechanism unit can be transmitted to the paw integral rotation freedom degree realizing unit;

the output gear shaft of the second gear set is fixedly connected with the sixth gear shaft of the output gear shaft in the jaw opening and closing degree of freedom implementation unit through coaxial connection, and rotation of the first motor in the speed reduction mechanism unit can be transmitted to the jaw opening and closing degree of freedom implementation unit.

5. A deep sea robot gripper, characterized in that the assembly according to claim 4 is applied, and,

applying a robot frame support unit;

the manipulator frame support unit comprises an upper end cover, a first support cover, a second support cover, a third support cover, a manipulator shell, a first motor base, a first support table, a second motor base, a second support table, a first support block, a third support table and a second support block;

The upper end cover is two symmetrical half bodies so as to facilitate the installation of the first double-row bearing inside; the upper end cover is fixed into a whole by screws through third threaded holes uniformly distributed on the manipulator shell;

the first support cover is fixed on the manipulator shell through a screw hole on the second support block by a small screw; the second supporting cover is fixed on the manipulator shell through threaded holes on the second supporting table and the third supporting table by using screws; the third supporting cover is fixed on the manipulator shell through the first supporting table and the threaded holes on the first supporting block by using screws;

the first supporting table is used for increasing the rigidity of the third supporting cover and reducing deformation;

a placing space for the first motor and the second motor is arranged between the third supporting cover and the bottom of the manipulator shell; a speed reducing mechanism unit is arranged between the third support cover and the second support cover, a paw opening and closing degree of freedom realizing unit is arranged between the second support cover and the first support cover, and a paw integral rotation degree of freedom realizing unit is arranged between the first support cover and the upper end cover;

the gripper opening and closing degree of freedom realizing unit and the gripper integral rotation degree of freedom realizing unit are arranged in a central symmetry manner in the manipulator shell (14);

the first gear set and the second gear set are arranged in a central symmetry manner inside the manipulator shell;

The mechanical deep sea robot paw can realize two degrees of freedom of opening and closing of the paw and integral rotation of the paw, the degree of freedom of opening and closing is realized by virtue of a first motor, and the degree of freedom of integral rotation is realized by virtue of a second motor;

the first motor outputs power to a sixth gear shaft through a second gear set in the speed reducing mechanism unit, then the power is transmitted to the push block through the paw opening and closing degree of freedom realizing unit, and the push rod pushes the push block to move up and down, so that the opening and closing of the paw are realized;

the second motor outputs power to the fifth gear shaft through the first gear set, and then the power is transmitted to the clamping jaw support through the clamping jaw integral rotation freedom degree realizing unit, so that integral rotation of the clamping jaw is realized; the push block is connected with the push rod through the first bearing, so that the push block rotates by itself to ensure that the push rod is static, and the interference problem of two degrees of freedom is solved.

6. The deep sea robot hand according to claim 5, wherein:

the deep sea robot gripper further comprises an electric connector module;

the electrical connector module comprises a plug and a socket; the plug and the socket have the same internal structure, and are sequentially provided with a static sealing unit, a dynamic sealing unit and an internal and external pressure balancing unit;

The manipulator shell and a flange plate on the socket shell in the electric connector module are connected into a whole through bolts;

the first motor and the second motor share five lead-out cable wires which are respectively two signal wires, two power wires and a public ground wire, and the five cable wires respectively come out from two threading holes at the bottom of the manipulator shell and are connected to five socket pins;

the static sealing unit comprises a first O-shaped ring, a second O-shaped ring, a socket shell, a plug shell, a first isolation piston thin end, a second isolation piston and a second isolation piston thin end;

the first O-shaped ring and the second O-shaped ring are respectively placed in O-shaped ring grooves at the front sections of the socket shell and the plug shell and respectively contact with the first isolation piston and the second isolation piston, so that the sealing effect on pressure oil can be achieved on the internal energy, and the sealing effect on seawater can be achieved on the external energy; the first isolation piston fine end and the second isolation piston fine end are in interference fit with the inside of the socket shell and the plug shell, so that pressure oil and seawater can be sealed;

the dynamic sealing unit comprises a plug shell, a socket shell, a first spring, a first isolating column, a second spring, a socket back seat, a plug back seat, a first reciprocating pin, a second reciprocating pin, a first curved groove, a second curved groove, a socket contact pin, a first isolating piston, a second isolating piston and a plug contact pin, wherein the first isolating piston is provided with a first isolating piston thick end and a first isolating piston thin end, and the second isolating piston is provided with a second isolating piston thin end and a second isolating piston thick end;

The socket contact pin, the socket back seat and the socket shell are sealed together by glue, and the socket back seat is a solidified solid glue block used for fixing the socket contact pin and sealing the interior of the socket;

five first isolating columns are fixed in the first isolating piston and are exposed from the thick end of the first isolating piston, and the first isolating columns are in non-contact with the socket pins with a space therebetween so as to achieve the effect of isolating and sealing;

the first reciprocating pin is fixed on the thin end of the first isolation piston; when the first isolation piston and the second isolation piston are mutually extruded to move backwards, the first reciprocating pin and the first curved groove on the socket shell are mutually interacted, so that the first isolation piston can be driven to move backwards and rotate at the same time;

the internal and external pressure balance unit of the electric connector comprises pressure oil, a cavity, a first isolation piston thick end and a second isolation piston thick end; the pressure oil is filled in the cavity so as to balance the high water pressure in the external deep sea;

the thick end of the first isolation piston, the thick end of the second isolation piston and the inner wall of the plug and the socket are in clearance fit installation, so that pressure oil can flow left and right in the cavity;

the thin end of the first isolation piston in the static sealing unit is integrated with the thick end of the first isolation piston in the dynamic sealing unit, so that the two units can synchronously play a sealing role, namely, when the plug and the socket are mutually plugged, the thin end of the first isolation piston in the static sealing unit moves backwards in a spiral manner, the thick end of the first isolation piston in the dynamic sealing unit is pushed to move forwards and backwards, and the pressure oil of the internal and external pressure balancing unit flows forwards and backwards due to the fact that the thick end of the first isolation piston moves forwards and backwards, so that high water pressure in the deep sea outside is balanced all the time.

7. The deep sea robot hand of claim 6, wherein:

the plug and the socket also comprise a self-locking unlocking unit;

the self-locking unlocking unit comprises a third motor, a seventh gear shaft, a seven-stage pinion, a first locking buckle, a second locking buckle, a third locking buckle, a first buckle base, a second buckle base, a straightening plate, a third buckle base, a guide groove, a guide pin, a locking ring rack, a locking ring lug and a fixing block;

the self-locking unlocking unit adopts a guide alignment structure, an encircling type claw structure and a rotatable clamping ring structure;

the guide alignment structure consists of a guide pin and a guide groove, so that the self-locking unlocking mechanism can be accurately aligned;

the encircling type clamping jaw structure consists of a first locking buckle, a second locking buckle, a third locking buckle, a first buckle base, a second buckle base, a straightening plate and a third buckle base;

the rotatable snap ring structure comprises a third motor, a locking ring, a fixed block and a seventh gear shaft; the third motor is directly embedded into a motor clamping seat of the socket shell, a seventh gear shaft is connected with the third motor through a motor disc, and a seven-stage pinion on the seventh gear shaft is fixedly connected with a shaft in a shaft sleeve manner; the seven-stage pinion is meshed with a locking ring rack on the locking ring for transmission, so that the rotation of the locking ring is controlled by a third motor; the locking ring is axially fixed by two fixing blocks uniformly distributed on the periphery of the socket shell;

The first buckle base, the second buckle base, the straightening plate and the third buckle base are uniformly distributed outside the front section of the plug shell; the first locking buckle, the second locking buckle, the third locking buckle, the first buckle base, the second buckle base and the third buckle base are correspondingly connected through positioning pins and are connected by adopting revolute pairs, so that the first locking buckle, the second locking buckle and the third locking buckle can correspondingly rotate relative to the first buckle base, the second buckle base and the third buckle base;

the guide slot opens into the socket housing, and the guide pin is machined based on the plug housing.

8. The deep sea robot hand of claim 7, wherein:

the plug and the socket also comprise a conductive metal rod connection mode unit;

the conductive metal rod connection mode unit comprises a first rubber block, a first beryllium copper sheet, a first beryllium copper block, a second rubber block, a second beryllium copper sheet and a second beryllium copper block;

the first beryllium copper block and the second beryllium copper block are respectively connected to the first excluder column and the second excluder column through threaded connection, so that the first beryllium copper sheet and the second beryllium copper sheet can be conveniently replaced after being damaged;

the first beryllium copper sheet and the second beryllium copper sheet are respectively connected with the first beryllium copper block and the second beryllium copper block in an integrated manner; the first rubber block and the second rubber block are respectively wrapped on the first beryllium copper sheet and the second beryllium copper sheet; the first beryllium copper sheet and the second beryllium copper sheet are respectively embedded into the first rubber block and the second rubber block.