CN104960652B - Underwater operation robot and working method thereof - Google Patents
Underwater operation robot and working method thereof Download PDFInfo
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- CN104960652B CN104960652B CN201510350732.8A CN201510350732A CN104960652B CN 104960652 B CN104960652 B CN 104960652B CN 201510350732 A CN201510350732 A CN 201510350732A CN 104960652 B CN104960652 B CN 104960652B
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- 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
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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 underwater robot.
Background technology
Abroad in Recent Years underwater robot technology quickly grows, and technical merit is higher.But major part is all used for military affairs, civilian
It is less.And be mostly used for seafari, underwater work it is less, it is such as water-bed to salvage article and collection seabed Ore is provided naturally
Source etc..
Due to the particularity of working environment, have very big difference with the application of land, develop corrosion-resistant, compact conformation,
The underwater salvage device of stable performance or system have become problem demanding prompt solution.
The content of the invention
In order to solve the problems, such as the mechanization of underwater work, the present invention proposes a kind of robot of underwater performance.
Its technical scheme is：
A kind of underwater performance robot, is made up of robot fuselage, pusher, air bag, bascule and manipulator；
Wherein：
(1) the robot fuselage described in is welded by angle steel, and fuselage totally divides three layers, and bottom is the machine of fishing for that can allow
Device people stands in water-bed foot bracing frame, and intermediate layer is the main body for installing pusher, bascule, manipulator
Frame, top layer is the assistant support for installing air bag；
(2) air bag described in is used for the gravity of balanced robot, mitigates the live load of propeller；Air bag middle part
Groove is provided with, is fixed on fuselage assistant support by groove bullion buckle；Air bag is molded by chemical materials；
(3) pusher described in by the front propeller forward of two front sides, the rear screw shaft backwards of two rear sides and
The vertical spin oar composition of one vertical direction, five propellers are driven respectively by DC servo motor；Wherein front propeller and
Rear screw shaft is distributed in the both sides in front and back of fuselage, and DC servo motor is respectively bolted on four bearings, four bearings
It is respectively bolted on the main body rack of robot fuselage；In front and back propeller with speed forward and backward or it is anti-, rotating forward can be real
The advance or retrogressing of existing robot, the propeller differential speed rotation of the left and right sides can realize the horizontal turn of robot；Vertical spiral shell
Rotation oar is located at robot body nodal point, and the sink-float lifting of robot can be realized during rotating；Pacify DC servo motor bottom
It is mounted on the disk of main body rack, top is nested in the circular hole square plate of fuselage assistant support；
(4) bascule described in is used to adjust balance of the machine person in water, when making robot mass centre changing not
Cause in toppling over；Bascule is a cross straight line slide unit, and cross straight line slide unit is sealed in seal box, and seal box is solid with bolt
It is scheduled on the main body rack of robot fuselage；Cross straight line slide unit it include vertical slide unit and horizontal slide unit；Set on vertical slide unit
There are feed rod, vertical DC servo motor and ball-screw, slide block is provided with by feed rod, vertical DC servo motor drives ball wire
Thick stick is rotated, and ball-screw band movable slider is moved forward and backward；Horizontal slide unit is provided with feed rod, horizontal DC servo motor and ball wire
Thick stick, by feed rod slide block is provided with, and horizontal DC servo motor drives ball screw turns, ball-screw band movable slider or so to move
It is dynamic；Vertical slide unit is fixed on slide block, so as to form entirety with horizontal slide unit；When Arm expanding or retraction, fore-and-aft direction
On slide block after move or move forward, when a mechanical hand left side is stretched or the right side is stretched, slide block the right side after move or it is left back move cause robot under water again
It is secondary in new poised state.
In order to observe working environment under water, in robot, front fuselage is provided with searchlight.
(5) manipulator described in, is made up of robot base, large arm, forearm and opening and closing paw, pedestal and large arm
Between using large arm bending joint connect；Connected using forearm bending joint between large arm and forearm, forearm and opening and closing paw are solid
Fixed connection, so as to realize big brachiocylloosis, little brachiocylloosis, paw opening and closing three degree of freedom.
Convenient in order to change mechanical hand, above-mentioned robot base is connected with main body rack using mutual alias, can be with root
According to need change mechanical hand.
Described manipulator large arm is a big arm cylinder；Described large arm bending joint is the bottom peace in big arm cylinder
Equipped with large arm bending electric machine, a large arm transverse axis is crossed in large arm barrel bottom, and large arm bending electric machine drives a pair of meshing bevel gear, cone
Gear driven large arm transverse axis is rotated, and large arm transverse axis two ends are provided with U-shaped frame by bearing, and U-shaped frame bottom is fixed on mechanical hand base
On seat, big arm cylinder is fixed on U-shaped frame, when large arm bending electric machine is rotated, drives large arm to do flexure operation.
Described Work machine arm is a little arm cylinder；Described forearm bending joint is in big arm cylinder internal upper part peace
Equipped with forearm bending electric machine, a forearm transverse axis is crossed on large arm barrel top, and forearm bending electric machine drives a pair of meshing bevel gear, cone
Gear driven forearm transverse axis is rotated, and swinging mounting is provided with forearm transverse axis, and little arm cylinder is fixed on swinging mounting, when the little crook of the arm
When bent motor is rotated, forearm is driven to do flexure operation.
Described opening and closing paw is made up of tubular paw bearing with cover, paw support and paw；Described steering wheel is mounted in
Forearm end is fixed in above-mentioned paw bearing and together, paw opening and closing axle, paw opening and closing axle and paw are connected with steering wheel axle
Flap junction is provided with angular contact ball bearing, and paw opening and closing axle is provided with external screw thread and nut piece；Described paw support is fixed
On paw support seat cover, two paws are hinged with paw support, pull bar has been respectively articulated with two paws, two pull bars are common
It is hinged on above-mentioned nut piece, when steering wheel is rotated, drives paw to do opening and closing action；
Above-mentioned large arm bending electric machine and forearm bending electric machine adopts DC servo motor.
Further, described assistant support is made with sheet material, and middle hollow out is welded on main body into square grid one by one
On frame.
Further, it is that all propellers of protection are not destroyed by underwater obstacles, around described propeller protective cover is provided with.
Further, it is that all DC servo motors of protection do not receive water enchroachment (invasion), protective cover is equipped with DC servo motor.
Further, described paw is designed as quadric chain.
Further, for the steering wheel waterproof of opening and closing paw, paw bearing is provided with sealing ring, angular contact with little arm cylinder contact surface
Sealing shroud is provided with ball bearing.
Further, for large arm bending electric machine and forearm bending electric machine waterproof, the closed at both ends of big arm cylinder, in large arm transverse axis
Fluid sealant is scribbled with the two ends exposure of forearm transverse axis.
The present invention underwater performance robot method of work be：Underwater performance robot is put in water, starts different positions
The propeller put, realizes retrogressing, horizontal turn and the lifting of underwater performance robot；When front side two propellers rotate forward, after
Underwater performance robot advances under water operation when two propellers of side are inverted；When the reversion of two propellers, the rear side of front side
Two propellers rotate forward underwater performance robot fall back under water when being just capable of achieving；When front left side and the spiral of right lateral side
When the propeller of oar rotating forward, left rear side and forward right side is inverted, underwater performance robot right turn operation under water when being capable of achieving；When
When the propeller of the propeller reversion, left rear side and forward right side of front left side and right lateral side is rotated forward, underwater performance machine when being capable of achieving
People's left steering operation under water；When the propeller rotating of vertical direction, the lifting of underwater performance robot just can be realized；
By video acquisition, on the bank operating personnel is according to working environment under water and target object situation, the corresponding moving line of selection；
If under water dark is switched on illuminator；When it is determined that after target object, close all propellers, making underwater performance robot
Steadily stand at the bottom；If run into undercurrent or other water-bed wild effects, corresponding propeller and control are opened
Slide block movement processed, makes underwater performance robot in balance；By video, the manipulator of underwater performance robot is manipulated,
Coordinated by the action of large arm, forearm and opening and closing paw, target object is implemented to capture；After having captured object, robot body
Center of gravity have offset, by adjustment device, the center of gravity for making underwater performance robot turns again to vertical spin oar
On axle center.
The underwater performance robot of the present invention, fuselage has three degree of freedom, it is possible to achieve forward-reverse, lifting, level
Turn round, it is possible to which the balance of itself is achieved according to the position of the change adjustment fuselage of the center of gravity of robot.Manipulator
Can flexibly be bent and be captured, be realized underwater performance.
Description of the drawings
Fig. 1 is the overall structure front view of the present invention.
Fig. 2 is the theory structure top view of bascule.
Fig. 3 is the sectional view of arm.
Fig. 3 .1 are large arm bending joint structure sectional view.
Fig. 3 .2 are forearm bending joint structure sectional view.
Fig. 3 .3 are the structure sectional view of paw section.
Description of the drawings：101- foot bracing frames, 102- pedestals, 103- front propellers, 104- large arm, 105- searchlights, 106-
Forearm, 107- opening and closing paws, 108- vertical spin oars, 109- air bags, 110- assistant supports, 111- rear screw shafts, 112- protective covers,
113- seal boxs, 114- disks, 115- main body racks, 116- forearm bending joints, 117- large arm bending joints；
The little arm cylinders of 1061-, 1161- forearm bending electric machines, 1162- shaft couplings, 1163- power transmission shafts, 1164- forearms engagement cone
Gear, 1165- forearm transverse axis, 1166- swinging mountings, the big arm cylinders of 1171-, 1172- large arm bending electric machines, 1173- large arm shaft couplings
Device, 1174- large arm power transmission shafts, 1175- large arm engagement bevel gear, 1176- large arm transverse axis, 1177-U type frame, 1071- sealing rings,
1072- paw bearings, 1073- angular contact ball bearings, 1074- sealing shrouds, 1075- paw supports, 1076- pull bars, 1077- steering wheels
Seat, 1078- steering wheels, 1079 ,-paw opening and closing axle, 10710 ,-nut piece, 10711- paws；
The vertical slide units of 201-, the vertical feed rods of 202-, the vertical ball-screws of 203-, the vertical DC servo motors of 204-, 205-
Horizontal DC servo motor, the horizontal ball-screws of 206-, the vertical slide blocks of 207-, 208- transverse sliders, the horizontal feed rods of 209-, 210-
Horizontal slide unit.
Specific embodiment
As shown in figure 1, a kind of underwater performance robot, by robot fuselage, pusher, air bag, bascule, working rig
Tool handss are constituted；
Described robot fuselage is welded by angle steel, and fuselage totally divides three layers, and bottom fishes for robot to allow
Stand in water-bed foot bracing frame 101, intermediate layer is the main body rack for installing pusher, bascule, manipulator
115, top layer is the assistant support 110 for installing air bag 109；Assistant support 110 is made with sheet material, and middle hollow out is into square one by one
Grid, and be welded on main body rack 115.
Described air bag 109 is used for the gravity of balanced robot, mitigates the live load of propeller；The pars intermedia of air bag 109
Position is provided with fluted, is fixed on fuselage assistant support 110 by groove bullion buckle；Air bag is by chemical materials injection
Into；
Described pusher is by two front propellers forward 103, two rear screw shaft 111 backwards and a Vertical Square
To vertical spin oar 108 constitute, five propellers are driven respectively by DC servo motor；Wherein front propeller 103 and rear spiral shell
Rotation oar 111 is distributed in the both sides in front and back of fuselage, and DC servo motor is respectively bolted on four bearings, wherein rear both sides
DC servo motor be respectively bolted on motor support base, four bearings are respectively bolted to robot fuselage
On main body rack 115；The vertical DC servo motor bottom of vertical spin oar 108 is arranged on the disk 114 of main body rack 115
On, top is nested in the circular hole square plate of fuselage assistant support 110；In front and back propeller turns to realize with speed just (anti-) anti-(just)
The advance (retrogressing) of robot, the propeller differential speed rotation of the left and right sides can realize the horizontal turn of robot；Vertical spin
Oar 108 is located at robot body nodal point, and the sink-float lifting of robot can be realized during rotating.
To protect all propellers not destroyed by underwater obstacles, protective cover 112 is provided with around propeller.
To protect all DC servo motors to be equipped with protective cover, wherein rear side DC servo motor is provided with seal box 113.
As shown in Fig. 2 described bascule is used to adjust balance of the machine person in water, change robot center of gravity
It is not to topple over during change；Bascule is a cross straight line slide unit, and cross straight line slide unit is sealed in seal box, and seal box is used
It is bolted on the main body rack 115 of robot fuselage；Cross straight line slide unit it include vertical slide unit 201 and horizontal slide unit
210；Vertical slide unit 201 is provided with vertical feed rod 202, vertical DC servo motor 204 and vertical ball-screw 203, by perpendicular
Vertical slide block 207 is provided with to feed rod 202, vertical DC servo motor 204 drives vertical ball-screw 203 to rotate, vertical ball
Leading 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 stroke
Rotate to ball-screw 206, horizontal ball-screw 206 drives transverse slider 208 to move left and right；Vertical slide unit 201 is being fixed on
On transverse slider 208, so as to form entirety with horizontal slide unit 210；It is vertical on fore-and-aft direction when Arm expanding or retraction
After slide block 207 move or move forward, when a mechanical hand left side is stretched or the right side is stretched, transverse slider 208 move to right or move to right so that robot under water
It is again at new poised state.
In order to observe working environment under water, searchlight 105 is installed in robot front fuselage.
As shown in figure 3, described manipulator, by robot base 102, large arm 104, forearm 106 and opening and closing paw
107 compositions, are connected between pedestal 102 and large arm 104 using large arm bending joint 117；Adopt between large arm 104 and forearm 106
Forearm bending joint 116 connects, and forearm 106 is fixedly connected with opening and closing paw 107, so as to realize big brachiocylloosis, little brachiocylloosis, handss
Pawl opening and closing three degree of freedom.
Convenient in order to change mechanical hand, above-mentioned robot base 102 is connected with main body rack 115 using mutual alias,
Mechanical hand can as needed be changed.
As shown in Fig. 3 .1, described manipulator large arm 104 is a big arm cylinder 1171；Described big brachiocylloosis is closed
Section 117 is that bottom is provided with large arm bending electric machine 1172 in big arm cylinder 1171, and it is horizontal that a large arm is crossed in the wall bottom of big arm cylinder 1171
Axle 1176, large arm bending electric machine 1172 is connected with large arm power transmission shaft 1174, large arm power transmission shaft 1174 by large arm shaft coupling 1173
Bevel gears 1175 are engaged with a pair of large arm are installed on large arm transverse axis 1176, large arm bending electric machine 1172 drives 1176 turns of large arm transverse axis
Dynamic, the two ends of large arm transverse axis 1176 are provided with U-shaped frame 1177 by bearing, and the bottom of U-shaped frame 1177 is fixed on robot base 102
On, big arm cylinder 1171 is fixed on U-shaped frame 1177, when large arm bending electric machine 1172 is rotated, drives large arm 104 to do bending dynamic
Make.
As shown in Figure 3 .2, described forearm 106 is a little arm cylinder 1061；Described forearm bending joint 116 is big
The internal upper part of arm cylinder 1171 is provided with forearm bending electric machine 1161, and a forearm transverse axis 1165, forearm are crossed in the wall top of big arm cylinder 1171
Bending electric machine 1161 is connected with power transmission shaft 1163 by shaft coupling 1162, and on power transmission shaft 1163 and forearm transverse axis 1,165 a pair are installed
Forearm engages bevel gear 1164, and forearm bending electric machine 1161 drives forearm transverse axis 1165 to rotate, is provided with forearm transverse axis 1165
Swinging mounting 1166, little arm cylinder 1061 is fixed on swinging mounting 1166, when forearm bending electric machine 1161 is rotated, drives forearm
106 do flexure operation.
For large arm bending electric machine 1172 and the waterproof of forearm bending electric machine 1161, the closed at both ends of big arm cylinder 1171, big
Fluid sealant is coated respectively with arm transverse axis 1176 and the two ends exposure of forearm transverse axis 1165.
As shown in Fig. 3 .3, described opening and closing paw 107 is by tubular paw bearing 1072, steering wheel 1078, paw with cover
Frame 1075, paw 10711 are constituted；Described steering wheel 1078 is mounted in above-mentioned paw bearing 1072 and is fixed on together little arm cylinder
1061 ends, wherein steering wheel 1078 are fixed by steering engine seat 1077；Paw opening and closing axle 1079, paw are connected with steering wheel 1078
Opening and closing axle 1079 is provided with angular contact ball bearing 1073 with the lid junction of paw bearing 1072, and paw opening and closing axle 1079 is provided with outer spiral shell
Stricture of vagina and nut piece 10710；Described paw support 1075 is fixed on paw bearing 1072 and covers, and is hinged with paw support 1075
Two paws 10711, have been respectively articulated with pull bar 1076 on two paws 10711, two pull bars 1076 are hinged on above-mentioned spiral shell jointly
On parent part 10710, when steering wheel 1078 is rotated, paw 10711 is driven to do opening and closing action.As seen from the figure, paw 10711 is designed
For quadric chain.For the water of steering wheel 1078, paw bearing 1072 is provided with sealing ring 1071, corner connection with the contact surface of little arm cylinder 1061
Sealing shroud 1074 is provided with tactile ball bearing 1073.
Above-mentioned large arm bending electric machine 1172 and forearm bending electric machine 1161 adopts DC servo motor.
Under the teaching of this specification, what those skilled in the art can make obviously such as replaces, increases, subtracting
Variation pattern is waited less, should be considered as equally falling into protection scope of the present invention.
Claims (7)
1. a kind of underwater performance robot, it is characterised in that it is by robot fuselage, pusher, air bag, bascule and work
The part of industry mechanical hand five constitutes；Wherein：
(1) the robot fuselage described in is welded by angle steel, and fuselage totally divides three layers, and bottom fishes for robot to allow
Stand in water-bed foot bracing frame, intermediate layer is the main body rack for installing pusher, bascule, manipulator, top
Layer is the assistant support for installing air bag；
(2) pusher described in is by the front propeller forward of two front sides, the rear screw shaft backwards of two rear sides and one
The vertical spin oar composition of vertical direction, five propellers are driven respectively by DC servo motor；Wherein front propeller and rear spiral shell
Rotation oar is distributed in the both sides in front and back of fuselage, and DC servo motor is respectively bolted on four bearings, four bearings difference
It is fixed by bolts on the main body rack of robot fuselage；In front and back propeller can realize machine with speed forward and backward or anti-, rotating forward
The advance or retrogressing of device people, the propeller differential speed rotation of the left and right sides can realize the horizontal turn of robot；Vertical spin oar
At robot body nodal point, the sink-float lifting of robot can be realized during rotating；DC servo motor bottom is arranged on
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, mitigates the live load of propeller；Air bag middle part is provided with
Groove, is fixed on fuselage assistant support by groove bullion buckle；Air bag is molded by chemical materials；
(4) bascule described in is a cross straight line slide unit, and cross straight line slide unit is sealed in seal box, and seal box is used
It is bolted on the main body rack of robot fuselage；Cross straight line slide unit it include vertical slide unit and horizontal slide unit；It is vertical sliding
Platform is provided with feed rod, vertical DC servo motor and ball-screw, and by feed rod slide block is provided with, and vertical DC servo motor drives
Ball screw turns, ball-screw band movable slider is moved forward and backward；Horizontal slide unit is provided with feed rod, horizontal DC servo motor and rolling
Ballscrew, by feed rod slide block is provided with, and horizontal DC servo motor drives ball screw turns, ball-screw band movable slider or so
It is mobile；Vertical slide unit is fixed on slide block, so as to form entirety with horizontal slide unit；When Arm expanding or retraction, front and back
Move after slide block upwards or move forward, when a mechanical hand left side is stretched or the right side is stretched, move behind the slide block right side or left back shifting causes robot under water
It is again at new poised state；
(5) manipulator described in, is made up of, between pedestal and large arm robot base, large arm, forearm and opening and closing paw
Connected using large arm bending joint；Connected using forearm bending joint between large arm and forearm, forearm and opening and closing paw are fixed and connected
Connect, so as to realize big brachiocylloosis, little brachiocylloosis, paw opening and closing three degree of freedom；Wherein：
Described manipulator large arm is a big arm cylinder；Described large arm bending joint is that bottom is provided with big arm cylinder
A large arm transverse axis is crossed in large arm bending electric machine, large arm barrel bottom, and large arm bending electric machine drives a pair of meshing bevel gear, bevel gear
Large arm transverse axis is driven to rotate, large arm transverse axis two ends are provided with U-shaped frame by bearing, and U-shaped frame bottom is fixed in robot base,
Big arm cylinder is fixed on U-shaped frame, when large arm bending electric machine is rotated, drives large arm to do flexure operation；
Described Work machine arm is a little arm cylinder；Described forearm bending joint is provided with big arm cylinder internal upper part
A forearm transverse axis is crossed on forearm bending electric machine, large arm barrel top, and forearm bending electric machine drives a pair of meshing bevel gear, bevel gear
Drive forearm transverse axis to rotate, swinging mounting is installed on forearm transverse axis, little arm cylinder is fixed on swinging mounting, when little brachiocylloosis electricity
When machine is rotated, forearm is driven to do flexure operation；
Described opening and closing paw is made up of tubular paw bearing with cover, steering wheel, paw support and paw；Described steering wheel is mounted in
Forearm end is fixed in above-mentioned paw bearing and together, paw opening and closing axle, paw opening and closing axle and paw are connected with steering wheel axle
Flap junction is provided with angular contact ball bearing, and paw opening and closing axle is provided with external screw thread and nut piece；Described paw support is fixed
On paw support seat cover, two paws are hinged with paw support, pull bar has been respectively articulated with two paws, two pull bars are common
It is hinged on above-mentioned nut piece, when steering wheel is rotated, drives paw to do opening and closing action；
Above-mentioned large arm bending electric machine and forearm bending electric machine adopts DC servo motor.
2. underwater performance robot as claimed in claim 1, it is characterised in that front fuselage is provided with searchlighting in robot
Lamp.
3. underwater performance robot as claimed in claim 1, it is characterised in that described robot base is adopted with main body rack
Connected with mutual alias.
4. underwater performance robot as claimed in claim 1, it is characterised in that described paw is designed as quadric chain.
5. underwater performance robot as claimed in claim 1, it is characterised in that around described propeller and DC servo electricity
Protective cover is equipped with machine.
6. underwater performance robot as claimed in claim 1, it is characterised in that be provided with little arm cylinder contact surface in paw bearing
Sealing ring, is provided with sealing shroud at angular contact ball bearing；The closed at both ends of big arm cylinder, exposes in large arm transverse axis and forearm transverse axis two ends
Place scribbles fluid sealant.
7. a kind of method of work of underwater performance robot as claimed in claim 1, it is characterised in that by underwater performance machine
People is put in water, starts the propeller of diverse location, realizes retrogressing, horizontal turn and the lifting of underwater performance robot；Currently
Underwater performance robot advances under water operation when two propellers of side are rotated forward, two propellers of rear side are inverted；Work as front side
The reversion of two propellers, two propellers of rear side rotate forward underwater performance robot fall back under water when being just capable of achieving；
When the propeller of the propeller rotating forward, left rear side and forward right side of front left side and right lateral side is inverted, underwater performance machine is capable of achieving
People's right turn operation under water；When the propeller of the propeller reversion, left rear side and forward right side of front left side and right lateral side is rotated forward,
The left steering operation under water of achievable underwater performance robot；When the propeller rotating of vertical direction, water just can be realized
The lifting of lower Work robot；By video acquisition, on the bank operating personnel is according to working environment under water and target object situation,
Select corresponding moving line；If under water dark is switched on illuminator；When it is determined that after target object, closing all spirals
Oar, makes underwater performance robot steadily stand at the bottom；If run into undercurrent or other water-bed wild effects, open
Corresponding propeller and control slide block motion are opened, underwater performance robot is made in balance；By video, underwater performance machine is manipulated
The manipulator of device people, is coordinated by the action of large arm, forearm and opening and closing paw, and target object is implemented to capture；Capture
After object, the center of gravity of robot body has offset, by adjustment device, makes the center of gravity of underwater performance robot again
Return on the axle center of vertical spin oar.
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| CN201510350732.8A CN104960652B (en) | 2015-06-23 | 2015-06-23 | Underwater operation robot and working method thereof |
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| CN201510350732.8A CN104960652B (en) | 2015-06-23 | 2015-06-23 | Underwater operation robot and working method thereof |
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| CN106043631B (en) * | 2016-06-15 | 2017-11-14 | 青岛赶海机器人有限公司 | A kind of manipulator backpack underwater robot |
| CN106628056A (en) * | 2016-10-20 | 2017-05-10 | 昆明理工大学 | Robot for searching for and fishing physical evidence in deep water environment |
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