CN104960652A - Underwater operation robot and working method thereof - Google Patents
Underwater operation robot and working method thereof Download PDFInfo
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- CN104960652A CN104960652A CN201510350732.8A CN201510350732A CN104960652A CN 104960652 A CN104960652 A CN 104960652A CN 201510350732 A CN201510350732 A CN 201510350732A CN 104960652 A CN104960652 A CN 104960652A
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- 239000010410 layer Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 4
- 241000251468 Actinopterygii Species 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 239000011229 interlayer Substances 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 239000000565 sealant Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
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- 238000005286 illumination Methods 0.000 claims description 2
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- 230000005540 biological transmission Effects 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 2
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Abstract
The invention discloses an underwater operation robot and a working method thereof. The underwater operation robot consists of a robot body, a pusher, an air bag, a balancing device and mechanical operation arms, wherein the advance, the backstep, the sinking, the floating, the ascending, the descending, and the left-right horizontal turning actions of the robot are realized through the pusher; the gravity of the robot is balanced through the air bag, so that the working load of propellers is relieved; through the balancing device, the robot is guaranteed to be always in a balancing state during action; underwater operation is realized through the mechanical operation arms. According to the underwater operation robot disclosed by the invention, the robot body has three degrees of freedom, so that the robot can realize advance and backstep, ascending and descending, and horizontal turn, and the position of the robot body can be adjusted according to the change of the gravity of the robot, so that the robot is balanced. The mechanical operation arms can perform flexible bending and grasping, so that underwater operation is realized.
Description
Technical field
The present invention relates to under-water robot.
Background technology
The technical development of Abroad in Recent Years under-water robot is rapid, and technical merit is higher.But major part is all for military affairs, civilian is less.And be used for seafari greatly, underwater work less, salvage article as the bottom and gather the natural resourcess etc. such as seabed ore.
Due to the particularity of operating environment, have very large difference with the application of land, developing withstanding corrosion, compact conformation, the underwater salvage device of stable performance or system becomes problem demanding prompt solution.
Summary of the invention
In order to solve the mechanization problem of underwater work, the present invention proposes a kind of robot of under-water operation.
Its technical scheme is:
A kind of under-water operation robot, is made up of robot fuselage, pusher, air bag, balancing device and manipulator; Wherein:
(1) the robot fuselage described in is welded by angle steel, fuselage totally divides three layers, bottom is can allow fish for the pin bracing frame that robotic station stands in the bottom, interlayer is the main body rack for installing pusher, balancing device, manipulator, and top layer is the assistant support for installing air bag;
(2) air bag described in is used for the gravity of balanced robot, alleviates the live load of screw propeller; Air bag middle part is provided with groove, is fixed on fuselage assistant support by groove bullion buckle; Air bag is injection molded by chemical materials;
(3) pusher described in is made up of the vertical spin oar of the front propeller forward of two front sides, the after screw backwards of two rear sides and a vertical direction, and five screw propellers are driven by DC servo motor respectively; Wherein front propeller and after screw are distributed in the both sides, front and back of fuselage, and DC servo motor is fixed by bolts on four bearings respectively, and four bearings are fixed by bolts on the main body rack of robot fuselage respectively; Front and back screw propeller is with speed forward and backward or anti-, that rotating forward can realize robot advance or retrogressing, and the screw propeller differential speed rotation of the left and right sides can realize the horizontal turn of robot; Vertical spin oar is positioned at robot body nodal point place, can realize the sink-float lifting of robot during rotating; Be arranged on bottom DC servo motor on the disk of main body rack, top is nested in the circular hole square plate of fuselage assistant support;
(4) balancing device described in, for regulating the balance of the machine person in water, makes to be unlikely during robot mass centre changing to topple over; Balancing device is a cross straight line slide unit, and cross straight line slide unit is sealed in seal casing, and seal casing is fixed by bolts on the main body rack of robot fuselage; Cross straight line slide unit it comprise vertical slide unit and horizontal slide unit; Vertical slide unit is provided with feed rod, vertical straight flow servo motor and ball-screw, is provided with slide block by feed rod, and vertical straight flow servo motor drives ball screw turns, and ball-screw band movable slider moves forward and backward; Horizontal slide unit is provided with feed rod, horizontal DC servo motor and ball-screw, is provided with slide block by feed rod, and horizontal DC servo motor drives ball screw turns, ball-screw band movable slider sway; Vertical slide unit is fixed on slide block, thus forms entirety with horizontal slide unit; When Arm expanding or when retracting, move or move forward after the slide block on fore-and-aft direction, when a manipulator left side is stretched or the right side is stretched, slide block is right back to be moved or left back moving makes robot again be in new state of equilibrium under water.
In order to observe working environment under water, at robot front fuselage, search lamp is installed.
(5) manipulator described in, is made up of robot base, large arm, forearm and opening and closing paw, adopts large arm bending joint to connect between pedestal and large arm; Adopt forearm bending joint to connect between large arm and forearm, forearm is fixedly connected with opening and closing paw, thus realizes large brachiocylloosis, little brachiocylloosis, paw opening and closing three degree of freedom.
Convenient in order to change manipulator, above-mentioned robot base and main body rack adopt and exchange interface and be connected, and can change manipulator as required.
Described manipulator large arm is a large arm cylinder; Described large arm bending joint is that bottom is provided with large arm bending electric machine in large arm cylinder, a large arm transverse axis is crossed in large arm barrel bottom, large arm bending electric machine drives pair of meshing finishing bevel gear cuter, finishing bevel gear cuter drives large arm transverse axis to rotate, large arm transverse axis two ends are provided with U-shaped frame by bearing, are fixed in robot base bottom U-shaped frame, and large arm cylinder is fixed on U-shaped frame, when large arm bending electric machine rotates, large arm is driven to do flexure operation.
Described Work machine arm is a forearm cylinder; Described forearm bending joint is provided with forearm bending electric machine at large arm cylinder internal upper part, a forearm transverse axis is crossed on large arm barrel top; forearm bending electric machine drives pair of meshing finishing bevel gear cuter; finishing bevel gear cuter drives forearm transverse axis to rotate; forearm transverse axis is provided with swinging mounting; forearm cylinder is fixed on swinging mounting, when forearm bending electric machine rotates, drives forearm to do flexure operation.
Described opening and closing paw is made up of tubular paw bearing, paw support and paw with cover; Described steering wheel is contained in above-mentioned paw bearing and is also fixed on forearm end together, and steering wheel axle is connected with paw opening and closing axle, paw opening and closing axle and paw support seat cover junction are provided with angular contact ball bearing, and paw opening and closing axle is provided with outside thread and nut piece; Described paw support is fixed on paw support seat cover, paw support is hinged with two paws, and two paws are hinged with pull bar respectively, and two pull bars are hinged on above-mentioned nut piece jointly, when steering wheel rotates, drives paw to do opening and closing action;
Above-mentioned large arm bending electric machine and forearm bending electric machine adopt DC servo motor.
Further, described assistant support sheet material is made, and middle hollow out becomes square grid one by one, and is welded on main body rack.
Further, for protecting all screw propellers not destroy by underwater obstacles, around described screw propeller, protective case is provided with.
Further, for protecting all DC servo motor not by water enchroachment (invasion), DC servo motor is equipped with protective case.
Further, described paw is designed to four-bar linkage.
Further, in order to the steering wheel waterproof of opening and closing paw, paw bearing and forearm cylinder contact surface are provided with seal ring, and angular contact ball bearing place is provided with sealing shroud.
Further, in order to large arm bending electric machine and forearm bending electric machine waterproof, the closed at both ends of large arm cylinder, scribbles sealant at large arm transverse axis and two ends exposure place of forearm transverse axis.
Under-water operation robot method of work of the present invention is: under-water operation robot is put into water, starts the screw propeller of diverse location, realizes the retrogressing of under-water operation robot, horizontal turn and lifting; Two screw propellers when front side rotate forward, two screw propellers reversions of rear side time under-water operation robot to advance under water operation; The under-water operation robot fall back under water when two screw propeller reversions of front side, two screw propellers of rear side rotate forward and just can realize; When the screw propeller of front left side and right lateral side rotate forward, the screw propeller reversion of left rear side and forward right side time, when can realize under-water operation robot under water right steering run; When the screw propeller of the screw propeller reversion of front left side and right lateral side, left rear side and forward right side rotates forward, when can realize under-water operation robot under water left steering run; When the screw propeller rotating of vertical direction, the lifting of under-water operation robot just can be realized; By video acquisition, operating personnel is according to working environment under water and object situation on the bank, selects corresponding moving line; If light secretly just opens illumination equipment under water; After determining object, close all screw propellers, make under-water operation robot steadily stand on the bottom; If when running into the wild effect at undercurrent or other bottoms, open corresponding screw propeller and control slide block movement, making under-water operation robot be in balance; By video, the manipulator of manipulation under-water operation robot, is coordinated by the action of large arm, forearm and opening and closing paw, implements to capture to object; After having captured object, the center of gravity of robot body can offset to some extent, by adjustment device, the center of gravity of under-water operation robot is got back on the axle center of vertical spin oar again.
Under-water operation robot of the present invention, fuselage has three degree of freedom, can realize forward-reverse, lifting, horizontal turn, and can achieve the balance of self according to the position of the change adjustment fuselage of the center of gravity of robot.Manipulator can bend flexibly and capture, and realizes under-water operation.
Accompanying drawing explanation
Fig. 1 is integral structure front view of the present invention.
Fig. 2 is the theory structure birds-eye view of balancing device.
Fig. 3 is the cutaway view of arm.
Fig. 3 .1 is large arm bending joint structure cutaway view.
Fig. 3 .2 is forearm bending joint structure cutaway view.
Fig. 3 .3 is the structure cutaway view of paw section.
Accompanying drawing illustrates: 101-pin bracing frame, 102-pedestal, 103-front propeller, 104-large arm, 105-search lamp, 106-forearm, 107-opening and closing paw, 108-vertical spin oar, 109-air bag, 110-assistant support, 111-after screw, 112-protective case, 113-seal casing, 114-disk, 115-main body rack, 116-forearm bending joint, 117-large arm bending joint;
1061-forearm cylinder, 1161-forearm bending electric machine, 1162-coupler, 1163-transmission shaft, 1164-forearm engagement finishing bevel gear cuter, 1165-forearm transverse axis, 1166-swinging mounting, 1171-large arm cylinder, 1172-large arm bending electric machine, 1173-large arm coupler, 1174-large arm transmission shaft, 1175-large arm engagement finishing bevel gear cuter, 1176-large arm transverse axis, 1177-U type frame, 1071-seal ring, 1072-paw bearing, 1073-angular contact ball bearing, 1074-sealing shroud, 1075-paw support, 1076-pull bar, 1077-steering engine seat, 1078-steering wheel, 1079,-paw opening and closing axle, 10710,-nut piece, 10711-paw,
The vertical slide unit of 201-, the vertical feed rod of 202-, the vertical ball-screw of 203-, 204-vertical straight flow servo motor, the horizontal DC servo motor of 205-, the horizontal ball-screw of 206-, the vertical slide block of 207-, 208-transverse slider, the horizontal feed rod of 209-, the horizontal slide unit of 210-.
Detailed description of the invention
As shown in Figure 1, a kind of under-water operation robot, is made up of robot fuselage, pusher, air bag, balancing device, manipulator;
Described robot fuselage is welded by angle steel, fuselage totally divides three layers, bottom is can allow fish for the pin bracing frame 101 that robotic station stands in the bottom, interlayer is the main body rack 115 for installing pusher, balancing device, manipulator, and top layer is the assistant support 110 for installing air bag 109; Assistant support 110 is made with sheet material, and middle hollow out becomes square grid one by one, and is welded on main body rack 115.
Described air bag 109, for the gravity of balanced robot, alleviates the live load of screw propeller; Air bag 109 middle part is provided with fluted, is fixed on fuselage assistant support 110 by groove bullion buckle; Air bag is injection molded by chemical materials;
Described pusher is made up of the vertical spin oar 108 of two front propellers 103, two forward after screw 111 backwards and a vertical direction, and five screw propellers are driven by DC servo motor respectively; Wherein front propeller 103 and after screw 111 are distributed in the both sides, front and back of fuselage, DC servo motor is fixed by bolts on four bearings respectively, wherein, the DC servo motor of both sides is fixed by bolts on motor support base respectively, and four bearings are fixed by bolts on the main body rack 115 of robot fuselage respectively; Be arranged on bottom the straight vertical flow servo motor of vertical spin oar 108 on the disk 114 of main body rack 115, top is nested in the circular hole square plate of fuselage assistant support 110; Before and after screw propeller with speed just (instead) anti-(just) turn can realize the advance (retrogressing) of robot, the screw propeller differential speed rotation of the left and right sides can realize the horizontal turn of robot; Vertical spin oar 108 is positioned at robot body nodal point place, can realize the sink-float lifting of robot during rotating.
For protecting all screw propellers not destroy by underwater obstacles, around screw propeller, be provided with protective case 112.
For protecting all DC servo motor to be equipped with protective case, wherein rear side DC servo motor is provided with seal casing 113.
As shown in Figure 2, described balancing device, for regulating the balance of the machine person in water, makes to be unlikely during robot mass centre changing to topple over; Balancing device is a cross straight line slide unit, and cross straight line slide unit is sealed in seal casing, and seal casing is fixed by bolts on the main body rack 115 of robot fuselage; Cross straight line slide unit it comprise vertical slide unit 201 and horizontal slide unit 210; Vertical slide unit 201 is provided with vertical feed rod 202, vertical straight flow servo motor 204 and vertical ball-screw 203, vertical slide block 207 is provided with by vertical feed rod 202, vertical straight flow servo motor 204 drives vertical ball-screw 203 to rotate, and vertical ball-screw 203 drives vertical slide block 207 to move forward and backward; Horizontal slide unit 210 is provided with horizontal feed rod 209, horizontal DC servo motor 205 and horizontal ball-screw 206, transverse slider 208 is provided with by horizontal feed rod 209, horizontal DC servo motor 205 drives horizontal ball-screw 206 to rotate, and horizontal ball-screw 206 drives transverse slider 208 sway; Vertical slide unit 201 is being fixed on transverse slider 208, thus forms entirety with horizontal slide unit 210; When Arm expanding or when retracting, move after the vertical slide block 207 on fore-and-aft direction or move forward, when a manipulator left side is stretched or the right side is stretched, transverse slider 208 moves to right or moves to right and makes robot again be in new state of equilibrium under water.
In order to observe working environment under water, at robot front fuselage, search lamp 105 is installed.
As shown in Figure 3, described manipulator, is made up of robot base 102, large arm 104, forearm 106 and opening and closing paw 107, adopts large arm bending joint 117 to connect between pedestal 102 and large arm 104; Adopt forearm bending joint 116 to connect between large arm 104 and forearm 106, forearm 106 is fixedly connected with opening and closing paw 107, thus realizes large brachiocylloosis, little brachiocylloosis, paw opening and closing three degree of freedom.
Convenient in order to change manipulator, above-mentioned robot base 102 and main body rack 115 adopt and exchange interface and be connected, and can change manipulator as required.
As shown in Fig. 3 .1, described manipulator large arm 104 is large arm cylinders 1171, described large arm bending joint 117 is that bottom is provided with large arm bending electric machine 1172 in large arm cylinder 1171, a large arm transverse axis 1176 is crossed in large arm cylinder 1171 wall bottom, large arm bending electric machine 1172 is connected with large arm transmission shaft 1174 by large arm coupler 1173, large arm transmission shaft 1174 and large arm transverse axis 1176 install a pair large arm engagement finishing bevel gear cuter 1175, large arm bending electric machine 1172 drives large arm transverse axis 1176 to rotate, large arm transverse axis 1176 two ends are provided with U-shaped frame 1177 by bearing, be fixed on bottom U-shaped frame 1177 in robot base 102, large arm cylinder 1171 is fixed on U-shaped frame 1177, when large arm bending electric machine 1172 rotates, large arm 104 is driven to do flexure operation.
As shown in Figure 3 .2, described forearm 106 is forearm cylinders 1061, described forearm bending joint 116 is provided with forearm bending electric machine 1161 at large arm cylinder 1171 internal upper part, a forearm transverse axis 1165 is crossed on large arm cylinder 1171 wall top, forearm bending electric machine 1161 is connected with transmission shaft 1163 by coupler 1162, transmission shaft 1163 and forearm transverse axis 1165 install a pair forearm engagement finishing bevel gear cuter 1164, forearm bending electric machine 1161 drives forearm transverse axis 1165 to rotate, forearm transverse axis 1165 is provided with swinging mounting 1166, forearm cylinder 1061 is fixed on swinging mounting 1166, when forearm bending electric machine 1161 rotates, forearm 106 is driven to do flexure operation.
In order to large arm bending electric machine 1172 and forearm bending electric machine 1161 waterproof, the closed at both ends of large arm cylinder 1171, scribbles sealant respectively at large arm transverse axis 1176 and forearm transverse axis 1165 two ends exposure place.
As shown in Fig. 3 .3, described opening and closing paw 107 is made up of tubular paw bearing 1072 with cover, steering wheel 1078, paw support 1075, paw 10711; Described steering wheel 1078 is contained in above-mentioned paw bearing 1072 li and is fixed on forearm cylinder 1061 end together, and wherein steering wheel 1078 is fixed by steering engine seat 1077; Steering wheel 1078 is connected with paw opening and closing axle 1079, paw opening and closing axle 1079 and paw bearing 1072 cover junction and are provided with angular contact ball bearing 1073, and paw opening and closing axle 1079 is provided with outside thread and nut piece 10710; Described paw support 1075 is fixed on paw bearing 1072 and covers, paw support 1075 is hinged with two paws 10711, two paws 10711 are hinged with pull bar 1076 respectively, two pull bars 1076 are hinged on above-mentioned nut piece 10710 jointly, when steering wheel 1078 rotates, paw 10711 is driven to do opening and closing action.As seen from the figure, paw 10711 is designed to four-bar linkage.In order to steering wheel 1078 water, paw bearing 1072 and forearm cylinder 1061 contact surface are provided with seal ring 1071, and angular contact ball bearing 1073 place is provided with sealing shroud 1074.
Above-mentioned large arm bending electric machine 1172 and forearm bending electric machine 1161 adopt DC servo motor.
Under the instruction of this specification sheets, the variation pattern such as what those skilled in the art can make apparently such as replaces, increase, minimizing, should be considered to fall into protection scope of the present invention equally.
Claims (7)
1. a under-water operation robot, is characterized in that, it by robot fuselage, pusher, air bag, balancing device and manipulator five part form; Wherein:
(1) the robot fuselage described in is welded by angle steel, fuselage totally divides three layers, bottom is can allow fish for the pin bracing frame that robotic station stands in the bottom, interlayer is the main body rack for installing pusher, balancing device, manipulator, and top layer is the assistant support for installing air bag;
(2) pusher described in is made up of the vertical spin oar of the front propeller forward of two front sides, the after screw backwards of two rear sides and a vertical direction, and five screw propellers are driven by DC servo motor respectively; Wherein front propeller and after screw are distributed in the both sides, front and back of fuselage, and DC servo motor is fixed by bolts on four bearings respectively, and four bearings are fixed by bolts on the main body rack of robot fuselage respectively; Front and back screw propeller is with speed forward and backward or anti-, that rotating forward can realize robot advance or retrogressing, and the screw propeller differential speed rotation of the left and right sides can realize the horizontal turn of robot; Vertical spin oar is positioned at robot body nodal point place, can realize the sink-float lifting of robot during rotating; Be arranged on bottom DC servo motor on the disk of main body rack, top is nested in the circular hole square plate of fuselage assistant support;
(3) air bag described in is used for the gravity of balanced robot, alleviates the live load of screw propeller; Air bag middle part is provided with groove, is fixed on fuselage assistant support by groove bullion buckle; Air bag is injection molded by chemical materials;
(4) balancing device described in is a cross straight line slide unit, and cross straight line slide unit is sealed in seal casing, and seal casing is fixed by bolts on the main body rack of robot fuselage; Cross straight line slide unit it comprise vertical slide unit and horizontal slide unit; Vertical slide unit is provided with feed rod, vertical straight flow servo motor and ball-screw, is provided with slide block by feed rod, and vertical straight flow servo motor drives ball screw turns, and ball-screw band movable slider moves forward and backward; Horizontal slide unit is provided with feed rod, horizontal DC servo motor and ball-screw, is provided with slide block by feed rod, and horizontal DC servo motor drives ball screw turns, ball-screw band movable slider sway; Vertical slide unit is fixed on slide block, thus forms entirety with horizontal slide unit; When Arm expanding or when retracting, move or move forward after the slide block on fore-and-aft direction, when a manipulator left side is stretched or the right side is stretched, slide block is right back to be moved or left back moving makes robot again be in new state of equilibrium under water;
(5) manipulator described in, is made up of robot base, large arm, forearm and opening and closing paw, adopts large arm bending joint to connect between pedestal and large arm; Adopt forearm bending joint to connect between large arm and forearm, forearm is fixedly connected with opening and closing paw, thus realizes large brachiocylloosis, little brachiocylloosis, paw opening and closing three degree of freedom; Wherein:
Described manipulator large arm is a large arm cylinder; Described large arm bending joint is that bottom is provided with large arm bending electric machine in large arm cylinder, a large arm transverse axis is crossed in large arm barrel bottom, large arm bending electric machine drives pair of meshing finishing bevel gear cuter, finishing bevel gear cuter drives large arm transverse axis to rotate, large arm transverse axis two ends are provided with U-shaped frame by bearing, are fixed in robot base bottom U-shaped frame, and large arm cylinder is fixed on U-shaped frame, when large arm bending electric machine rotates, large arm is driven to do flexure operation;
Described Work machine arm is a forearm cylinder; Described forearm bending joint is provided with forearm bending electric machine at large arm cylinder internal upper part, a forearm transverse axis is crossed on large arm barrel top; forearm bending electric machine drives pair of meshing finishing bevel gear cuter; finishing bevel gear cuter drives forearm transverse axis to rotate; forearm transverse axis is provided with swinging mounting; forearm cylinder is fixed on swinging mounting, when forearm bending electric machine rotates, drives forearm to do flexure operation;
Described opening and closing paw is made up of tubular paw bearing, paw support and paw with cover; Described steering wheel is contained in above-mentioned paw bearing and is also fixed on forearm end together, and steering wheel axle is connected with paw opening and closing axle, paw opening and closing axle and paw support seat cover junction are provided with angular contact ball bearing, and paw opening and closing axle is provided with outside thread and nut piece; Described paw support is fixed on paw support seat cover, paw support is hinged with two paws, and two paws are hinged with pull bar respectively, and two pull bars are hinged on above-mentioned nut piece jointly, when steering wheel rotates, drives paw to do opening and closing action;
Above-mentioned large arm bending electric machine and forearm bending electric machine all adopt DC servo motor.
2. under-water operation robot as claimed in claim 1, is characterized in that, be provided with search lamp at robot front fuselage.
3. under-water operation robot as claimed in claim 1, is characterized in that, described robot base and main body rack adopt and exchange interface and be connected.
4. under-water operation robot as claimed in claim 1, it is characterized in that, described paw is designed to four-bar linkage.
5. under-water operation robot as claimed in claim 1, is characterized in that, be equipped with protective case around described screw propeller He in DC servo motor.
6. under-water operation robot as claimed in claim 1, it is characterized in that, be provided with seal ring at paw bearing and forearm cylinder contact surface, angular contact ball bearing place is provided with sealing shroud; The closed at both ends of large arm cylinder, scribbles sealant at large arm transverse axis and two ends exposure place of forearm transverse axis.
7. a method of work for under-water operation robot as claimed in claim 1, is characterized in that, under-water operation robot is put into water, starts the screw propeller of diverse location, realizes the retrogressing of under-water operation robot, horizontal turn and lifting; Two screw propellers when front side rotate forward, two screw propellers reversions of rear side time under-water operation robot to advance under water operation; The under-water operation robot fall back under water when two screw propeller reversions of front side, two screw propellers of rear side rotate forward and just can realize; When the screw propeller of front left side and right lateral side rotate forward, the screw propeller reversion of left rear side and forward right side time, can realize under-water operation robot under water right steering run; When the screw propeller of the screw propeller reversion of front left side and right lateral side, left rear side and forward right side rotates forward, can realize under-water operation robot under water left steering run; When the screw propeller rotating of vertical direction, the lifting of under-water operation robot just can be realized; By video acquisition, operating personnel is according to working environment under water and object situation on the bank, selects corresponding moving line; If light secretly just opens illumination equipment under water; After determining object, close all screw propellers, make under-water operation robot steadily stand on the bottom; If when running into the wild effect at undercurrent or other bottoms, open corresponding screw propeller and control slide block movement, making under-water operation robot be in balance; By video, the manipulator of manipulation under-water operation robot, is coordinated by the action of large arm, forearm and opening and closing paw, implements to capture to object; After having captured object, the center of gravity of robot body can offset to some extent, by adjustment device, the center of gravity of under-water operation robot is got back on the axle center of vertical spin oar again.
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| CN109176545B (en) * | 2018-09-20 | 2021-10-26 | 河南工程学院 | Underwater exploration robot |
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| CN109436704A (en) * | 2018-11-14 | 2019-03-08 | 沈阳慧远自动化设备有限公司 | A kind of ultrahigh speed underloading air transport system |
| CN109366481A (en) * | 2018-12-21 | 2019-02-22 | 核动力运行研究所 | A kind of device suitable for underwater narrow space crawl foreign matter |
| CN109794929A (en) * | 2019-03-27 | 2019-05-24 | 海南科雷特科技有限公司 | Deepwater work zero-g Linear telescopic manipulator |
| CN109794929B (en) * | 2019-03-27 | 2024-03-08 | 海南科雷特科技有限公司 | Zero gravity linear telescopic manipulator for deepwater operation |
| CN110253616A (en) * | 2019-07-19 | 2019-09-20 | 杭州原位智能科技有限公司 | A kind of single-degree-of-freedom underwater electric manipulator |
| CN111618838A (en) * | 2019-11-11 | 2020-09-04 | 沈阳工业大学 | Snatch manipulator |
| CN112357028A (en) * | 2020-11-16 | 2021-02-12 | 江苏科技大学 | Aircraft for detecting underwater plants |
| CN112357028B (en) * | 2020-11-16 | 2022-03-11 | 江苏科技大学 | Aircraft for detecting underwater plants |
| CN112429181A (en) * | 2020-11-26 | 2021-03-02 | 山东大学 | Attitude compensation coupler suitable for underwater vehicle-manipulator system and working method thereof |
| CN112429181B (en) * | 2020-11-26 | 2021-09-21 | 山东大学 | Attitude compensation coupler suitable for underwater vehicle-manipulator system and working method thereof |
| CN113319870A (en) * | 2021-06-26 | 2021-08-31 | 浙江量大智能科技有限公司 | Polishing robot |
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