CN108045532B - Underwater electric mechanical arm operation nacelle and use method thereof - Google Patents
Underwater electric mechanical arm operation nacelle and use method thereof Download PDFInfo
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- CN108045532B CN108045532B CN201711260047.1A CN201711260047A CN108045532B CN 108045532 B CN108045532 B CN 108045532B CN 201711260047 A CN201711260047 A CN 201711260047A CN 108045532 B CN108045532 B CN 108045532B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
The invention discloses an underwater electric mechanical arm operation nacelle and a using method thereof, wherein the operation nacelle comprises a cabin body, the front end of the cabin body is provided with an equipment sealed cabin, and a controller and underwater environment data acquisition equipment are arranged in the equipment sealed cabin; the rear end in the cabin body bottom is equipped with the hatch door that opens to organism right side downside, operation nacelle internally mounted has electric mechanical arm, electric mechanical arm total three freedom of motion, be respectively along the shoulder joint, elbow joint and the wrist joint that lay in proper order of same axis, wrist joint still is provided with the centre gripping type hand claw of an executable action that opens and shuts outward, when the non-operation state, inside the electric mechanical arm wholly withdraws into the operation nacelle, the hatch door was the closed condition this moment, when the operation state, the downward vertical opening of hatch door this moment, electric mechanical arm stretches out the nacelle and begins the operation. The invention can be directly arranged on the body of the autonomous unmanned underwater robot or other small and medium-sized underwater robots.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to an underwater electric mechanical arm operation nacelle and a using method thereof.
Background
At present, ocean energy sources such as submarine oil pipelines, communication optical cables, power cables and the like, communication and power transmission channels (hereinafter collectively referred to as "submarine transmission channels") are in large use. The submarine conveying channel laid on the surface of the seabed is easily attached by sediments such as marine animal carcasses and marine garbage to generate electrochemical and biomass chemical reactions, so that the surface of a metal pipeline is corroded, and the insulating layer of the cable body is cracked, thereby generating damages or faults. Even if the pipeline and cable body are buried, when there is deposit above the laying route, the deposit will be accumulated at the place due to the damage of peripheral ocean current, which will cause great threat for a long time. Therefore, it is necessary to clean the marine sediments around the channel route regularly to ensure the operation safety of the submarine transportation channel.
The best carrier for carrying out the marine sediment cleaning work is an underwater robot, and the mechanical arm is an indispensable operation tool when the underwater robot carries out underwater work. At present, most of the available underwater robots are hydraulic mechanical arms with three to seven degrees of freedom (including opening and closing of the claws). The mechanical arm has excellent waterproof performance and larger load capacity, but the whole weight of the mechanical arm is larger, the mechanical design and assembly are complex, and the manufacturing and maintenance cost is high because a hydraulic driving system is adopted as a power source. Therefore, the mechanical arm can only be applied to a large-size working cable-controlled unmanned underwater Robot (ROV), and a small and medium-sized underwater robot cannot be directly applied, and is particularly not suitable for an autonomous unmanned underwater robot (AUV) without a cable for power supply.
The ROV has slow movement and complex operation, even damages the conveying channel due to improper operation, and needs a large-scale water surface ship to carry out operation assistance, which brings inconvenience to the daily operation and maintenance of the submarine conveying channel. Compared with an ROV (remote operated vehicle), the AUV has the advantages of independent energy, flexibility and the like, has a larger operation range and higher intelligent level, can continuously operate in a deep sea area and autonomously execute a preset task, can be manually put in a small-sized AUV by using a small-sized ship without using special laying equipment, is more suitable for executing the cleaning work of marine sediments, and is an operation device suitable for the AUV by using a motor-driven multi-degree-of-freedom mechanical arm.
The document 'autonomous underwater robot manipulator system motion planning research based on joint limit' proposes an electric mechanical arm which is developed by Shenyang automation research institute of Chinese academy of sciences and can be loaded on a small AUV. The mechanical arm has three degrees of freedom, is small in size and light in weight, the driving motor is directly installed at the joint of the rotating joint, internal wiring and oil-filled sealing are adopted, and large-depth seabed operation can be realized. However, the mechanical arm is integrally installed outside the underwater robot body and cannot be taken into the underwater robot body, so that the navigation performance of the underwater robot is seriously affected.
The invention patent CN 104858891B provides an underwater three-degree-of-freedom mechanical arm, wherein the shell of each section of arm is in a cylindrical shape, the internal space of the shell is fully utilized, the structure is compact, and the weight of the whole structure is reduced. However, the mechanical structure of the mechanical arm is complex, the mechanical arm cannot be taken into the underwater robot body, the navigation performance of the underwater robot can be affected, and the mechanical arm does not have a power supply and a control system and cannot be directly installed on the existing underwater robot body.
Therefore, there is a need for a small, lightweight, retractable, low power consumption robotic arm system that can be mounted directly to the AUV body for use.
Disclosure of Invention
The invention provides an underwater electric mechanical arm operation nacelle and a using method thereof, aiming at solving the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
an underwater electric mechanical arm operation nacelle comprises a nacelle body, wherein an equipment sealed cabin is arranged at the front end of the nacelle body, and a controller and underwater environment data acquisition equipment are arranged in the equipment sealed cabin;
the rear end in the cabin body bottom is provided with a cabin door which is opened towards the lower right side of the machine body, an electric mechanical arm is installed inside the operation cabin, the electric mechanical arm has three freedom degrees of motion, namely a shoulder joint, an elbow joint and a wrist joint which are sequentially distributed along the same axis, a clamping type paw capable of executing opening and closing actions is further arranged outside the wrist joint, when the electric mechanical arm is in a non-operation state, the electric mechanical arm is integrally retracted into the interior of the operation cabin, the cabin door is in a closed state at the moment, when the electric mechanical arm is in an operation state, the cabin door is vertically opened downwards at the moment, and the electric mechanical arm extends.
Furthermore, the electric mechanical arm is of a rigid joint type serial structure and comprises a mechanical arm base, a shoulder joint, a big arm, an elbow joint, a small arm, a wrist cabin and a paw which are sequentially connected.
Furthermore, the electric mechanical arm can only extend in a vertical plane and does not have lateral rotation freedom, and the extending direction of the electric mechanical arm is adjusted through the body direction adjustment of the underwater robot.
Furthermore, the mechanical arm base is vertically and downwards installed inside the operation nacelle and serves as a fixing base of the electric mechanical arm, the mechanical arm base is of a pressure-resistant sealing structure, and a shoulder joint driving motor, an elbow joint driving motor and other transmission mechanism parts are installed inside the mechanical arm base.
Furthermore, the large arm is connected with the mechanical arm base through a shoulder joint, a shoulder joint rotating shaft is driven by a shoulder joint driving motor arranged inside the mechanical arm base through gear transmission, pitching motion of the large arm is achieved, the large arm is of a cuboid structure with a hollow middle part, and meanwhile, a nylon chain for elbow joint transmission is arranged in the hollow structure of the large arm.
Furthermore, the small arm and the large arm are connected through an elbow joint, and an elbow joint rotating shaft is driven by an elbow joint driving motor arranged on the mechanical arm base through chain transmission so as to realize pitching motion of the small arm.
The gripper assembled by the electric mechanical arm is a two-finger translation clamping type gripper and comprises fingers, parallel connecting rods, a lead screw, a sliding block and a connecting angle piece, the gripper driving motor drives the gripper to open and close through lead screw transmission, the gripper driving motor drives the lead screw to rotate so that the sliding block moves on the lead screw in a reciprocating mode and drives the parallel connecting rod mechanism to enable the fingers to translate, the fingers are loosened when the sliding block slides forwards, the gripper opens, the fingers are clamped when the sliding block slides backwards, and the gripper closes.
Further, the inner side of the finger is provided with insections.
Preferably, the insection is of a wavy line type.
Furthermore, the equipment sealed cabin is provided with a transparent glass cover, an underwater camera and an LED strong light are arranged in the transparent glass cover, the underwater camera is vertically and downwards fixedly installed inside the operation nacelle and shot through the transparent glass cover, and the shooting and illumination visual angles completely cover the maximum range of the electric mechanical arm paw which can be touched.
Further, the controller comprises a control computer and a motor driver, the control computer controls the switch of the underwater camera and the LED floodlight, video information shot by the underwater camera is collected and uploaded to the motor mechanical arm controller located on the mother ship on the water surface through an umbilical cable, the control computer receives action instruction information downloaded by the mechanical arm controller through the umbilical cable, and the corresponding motor driver is controlled to enable each joint of the electric mechanical arm to move so as to execute operation actions.
A method for using an underwater electric mechanical arm operation pod comprises fixedly connecting the operation pod below an underwater robot body through screws, inserting an umbilical cable into a cable interface of the operation pod for locking, accommodating an electric mechanical arm in the operation pod, manually arranging the underwater robot after completing a standby navigation inspection, enabling the underwater robot to enter a routing inspection state when sailing to the upper part of a submarine conveying channel, sailing along the channel route at a slow speed and at a high speed in a straight line, enabling an operator to vertically and downwards observe the channel route through an underwater camera, enabling the underwater robot to hover at a high position above a sediment if finding that the sediment is accumulated, enabling an operation pod door to be vertically opened downwards, enabling the electric mechanical arm to extend out from the interior of the operation pod to enter a cleaning operation state, and enabling the underwater robot to sail to one side of the channel route along an ocean current direction after a paw successfully clamps ocean sediment, after the underwater robot is far away from the channel route, the electric mechanical arm loosens the paw to enable the sediment to fall on the sea bottom again, the underwater robot sails to the position above the channel route again to carry out subsequent cleaning operation, when the cleaning operation is finished, the mechanical arm operator controls the electric mechanical arm to withdraw the interior of the operation nacelle, the cabin door is closed, the cable interface is unlocked, the umbilical cable is separated from the operation nacelle, and meanwhile the underwater robot enters a recovery program.
Compared with the prior art, the invention has the beneficial effects that:
(1) can be directly installed and used. The invention adopts the mounting form of the externally hung operation nacelle, can use screws to directly and fixedly connect the mounting base of the operation nacelle with the lower part of the underwater robot body, and can also be mounted on one side of the underwater robot body when necessary. And the operation nacelle is connected with an external power supply and a controller, the structure and the control system of the existing underwater robot do not need to be changed, and the universality of the operation nacelle is improved.
(2) The sailing performance is not affected. The operation pod is of a streamline structure, and the electric mechanical arm can be contained in the operation pod during non-operation, so that the navigation performance of the underwater robot is not affected.
(3) Simple structure and light weight. The underwater pressure-resistant closed structure is mostly a thick metal shell, the weight of the system can be greatly increased, and considering the size of a carrying carrier, the seabed operation depth (not more than 300m) and the weight of a cleaning object (generally not more than 5kg), the underwater pressure-resistant closed structure adopts an open structure except an equipment sealed cabin for placing electronic equipment, a mechanical arm base for placing a driving motor and a wrist cabin, and a large amount of aluminum alloy and nylon plastics are used, so that the overall weight is reduced, the sealing problem is reduced, and the underwater pressure-resistant closed structure is convenient to install and use for more types of underwater robots.
(4) And chain transmission is adopted. The power transmission from the elbow joint driving motor to the elbow joint adopts nylon plastic chain transmission, and the chain transmission can realize long-distance transmission, so that the elbow joint driving motor is installed in the mechanical arm base instead of being installed at the elbow joint rotating shaft, so that the rotating moment and the motion inertia borne by the shoulder joint are reduced, the load bearing capacity of the mechanical arm is increased, and the structural design strength of the large arm can be reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a side view (retracted state) of the electric robot arm working pod;
fig. 2 is a side view (extended state) of the electric robot arm work pod;
fig. 3 is a top view of the electric robot arm work pod (retracted state);
wherein: 1. the underwater robot comprises an underwater robot, 2, an operation pod, 3, a mounting base, 4, an equipment sealed cabin, 5, a transparent glass cover, 6, a cabin door, 7, a controller, 8, an underwater camera, 9, an LED highlight lamp, 10, a cable interface, 11, a communication cable, 12, a mechanical arm base, 13, a shoulder joint driving motor, 14, an elbow joint driving motor, 15, a shoulder joint, 16, a big arm, 17, a nylon chain, 18, an elbow joint, 19, a small arm, 20, a wrist cabin, 21, a wrist joint driving motor, 22, a paw driving motor, 23, a wrist joint, 24 and a paw.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
As introduced in the background art, in the prior art, a mechanical arm can only be applied to a large-size working cable-controlled unmanned underwater Robot (ROV), and a small and medium-sized underwater robot cannot be directly applied, and is particularly not suitable for an autonomous unmanned underwater robot (AUV) without a cable for power supply. In order to solve the technical problems, the application provides an underwater electric mechanical arm operation nacelle which can be directly installed on an autonomous unmanned underwater robot (AUV) or other small and medium-sized underwater robot bodies for use.
In a typical embodiment of the present application, as shown in fig. 1, an underwater electric manipulator operation pod is provided, in order to reduce the influence on the navigation performance of the streamline type underwater robot, the operation pod is designed into a rectangular parallelepiped structure with front and rear oval transition shapes, and is installed below the underwater robot body, so that the operation pod can be conveniently disassembled.
The top of the operation nacelle is provided with a mounting base which can be directly fixedly connected with the lower part of the underwater robot body by using screws.
The front end of the operation nacelle is provided with an equipment sealed cabin, and the inside of the equipment sealed cabin is provided with a controller, an underwater camera, an LED strong light and other non-waterproof pressure-resistant equipment. The underwater camera and the LED high-light lamp are shot through the transparent glass cover at the front end of the bottom of the operation nacelle.
The rear end in the bottom of the operation nacelle is provided with a nacelle door which is opened towards the lower right side of the machine body, and an electric mechanical arm is arranged in the operation nacelle. When the underwater robot is in a non-operation state, the cabin door is in a closed state at the moment, and the electric mechanical arm is integrally retracted into the operation nacelle, so that the navigation of the underwater robot is not obviously influenced. In the operation state, the cabin door is opened vertically downwards, and the electric mechanical arm extends out of the nacelle to start operation.
Electric mechanical arm
The electric mechanical arm is of a rigid joint type series structure, and only adopts a local sealing design for reducing the manufacturing and assembling difficulty and the overall structure weight. The main body part of the electric mechanical arm comprises a mechanical arm base, a shoulder joint, a big arm, an elbow joint, a small arm, a wrist cabin, a paw and the like.
The electric mechanical arm has 3 motion degrees of freedom, namely a shoulder joint, an elbow joint and a wrist joint, and is also provided with a clamping type paw capable of executing opening and closing actions. In order to avoid the lateral rotating moment to cause the underwater robot to generate body rollover, the mechanical arm is not provided with lateral rotating freedom, so that the electric mechanical arm can only extend in a plane vertical to the underwater robot body, and the extending direction of the electric mechanical arm is adjusted through body direction adjustment of the underwater robot.
The mechanical arm base is vertically and downwards installed inside the operation nacelle and serves as a fixed base of the electric mechanical arm. The mechanical arm base is of a pressure-resistant sealing structure, and a shoulder joint driving motor, an elbow joint driving motor and other transmission mechanism parts are installed in the mechanical arm base.
The large arm is connected with the mechanical arm base through a shoulder joint. The shoulder joint rotating shaft is driven by a shoulder joint driving motor arranged in the mechanical arm base through gear transmission so as to realize pitching motion of the large arm. In order to reduce the weight, the large arm is made of aluminum alloy materials and is designed into a cuboid structure with a hollow middle part, and meanwhile, a nylon chain for elbow joint transmission is arranged in the hollow structure of the large arm.
The small arm and the large arm are connected through an elbow joint. The elbow joint rotating shaft is driven by an elbow joint driving motor arranged on the mechanical arm base through chain transmission so as to realize pitching motion of the small arm. The chain transmission can realize the long-distance transmission from the shoulder joint to the elbow joint, the transmission power is high, the efficiency is high, the work is reliable, and therefore the elbow joint driving motor can be installed in the mechanical arm base instead of being installed at the elbow joint rotating shaft, so that the rotating moment and the motion inertia borne by the shoulder joint are reduced, the load bearing capacity of the electric mechanical arm is improved, and the structural design strength of the large arm can be reduced. Because the moment born by the elbow joint is smaller than that of the shoulder joint, and the stress of the sprocket teeth driven by the chain is more uniform than that of the gear, the nylon plastic sprocket with lighter weight and the nylon plastic chain matched with the nylon plastic sprocket can be selected. The nylon plastic transmission chain has light weight, low noise, corrosion resistance, no need of lubrication, low precision requirement on processing and installation and more convenient disassembly and assembly. In addition, the small arm is also made of aluminum alloy and is designed into a cuboid structure with a hollow middle part.
The wrist cabin is arranged at the tail end of the forearm, is in a rectangular box shape, is of a pressure-resistant sealing structure made of aluminum alloy, and is internally provided with a wrist joint driving motor and a paw driving motor in parallel and a wrist joint connected with the paw. The wrist joint rotating shaft is driven by a wrist joint driving motor through gear transmission so as to realize the pitching motion of the paw.
In order to simplify the design and reduce the weight, the joint motion of the electric mechanical arm is not controlled by a position, only controlled by a rotary switch, and controlled by an operator in real time according to the submarine video image information shot by an underwater camera, so that no potentiometer or encoder is arranged at the shoulder joint, the elbow joint and the wrist joint.
The gripper assembled by the electric mechanical arm is a two-finger translation clamping type gripper, and has simple structure and reliable action. The paw consists of fingers, parallel connecting rods, a lead screw, a sliding block, a connecting corner piece and other parts, and the main parts are made of nylon plastics due to the operation requirement and weight limitation. The opening and closing actions of the paw are driven by a paw driving motor through screw transmission. The paw driving motor drives the lead screw to rotate, so that the slide block moves on the lead screw in a reciprocating mode, and the parallel connecting rod mechanism is driven to enable the fingers to move in a translation mode. When the sliding block slides forwards, the fingers are loosened, the paw generates an opening action, when the sliding block slides backwards, the fingers clamp, and the paw generates a closing action. The inner side of the finger is provided with a wave-shaped insection to ensure the stability of the object to be clamped.
Image pickup apparatus
The underwater camera and the LED strong light are arranged in an equipment sealed cabin at the front end of the operation nacelle. The underwater robot is used for cleaning marine sediments, and the cleaning object needs to be distinguished by human eyes and the electric mechanical arm is controlled by an operator to execute corresponding operation actions. The underwater camera provides necessary video image support for cleaning operation of an operator. The LED high-light lamp provides enough illumination for the underwater camera.
In order to simplify the structural design, the underwater camera and the LED high-light lamp are vertically and downwards fixedly installed inside the operation pod, the camera is shot through the transparent glass cover, only the route condition of an ocean conveying channel within a certain angle under the operation pod is shot, and the shooting and illumination visual angles completely cover the maximum range which can be touched by a hand claw of the electric mechanical arm.
Controller
The controller of the electric mechanical arm is arranged in the equipment sealed cabin at the front end of the operation nacelle. The controller mainly comprises a control computer, a motor driver and the like. The control computer controls the switches of the underwater camera and the LED strong light lamp on the one hand, collects video information shot by the underwater camera and uploads the video information to the motor mechanical arm controller of the mother ship on the water surface through the umbilical cable, and necessary video images are provided for operators to carry out cleaning operation. On the other hand, the control computer receives action instruction information transmitted by the mechanical arm controller through the umbilical cable, and controls the corresponding motor driver to enable each joint of the electric mechanical arm to move so as to execute operation actions. Therefore, man-machine interaction between an operator and the electric mechanical arm is realized.
Cable interface
A cable interface is a device for connecting and disconnecting an umbilical. Because most autonomous unmanned underwater robots (AUVs) are not connected with a mother ship on the water surface through an umbilical cable, the AUVs cannot provide abundant energy support for the electric mechanical arm due to relatively limited energy reserve of the storage battery, so that the joint of the electric mechanical arm cannot rotate vigorously or the underwater operation time of the underwater robot is greatly reduced. In addition, the underwater acoustic communication speed is limited, and only a low-speed motion control instruction can be transmitted by using the underwater acoustic communication equipment, so that clear submarine video images cannot be transmitted in real time. Thus, the underwater robotic arm work pod of the present invention is equipped with an interface to an external umbilical.
When the underwater robot carries the operation nacelle with the electric mechanical arm, one end of the umbilical cable connected to the mechanical arm manipulator of the mother ship on the water surface can be connected with the operation nacelle through the cable interface. The umbilical cable has the advantages of zero buoyancy, compression resistance, tensile resistance, bending resistance, corrosion resistance and the like, and the underwater robot is in a low-speed navigation state or a hovering state in water during cleaning operation, so that the umbilical cable cannot obviously influence the navigation motion of the underwater robot. Besides providing enough electric energy supply for the electric mechanical arm operation pod, the umbilical cable has a data transmission rate of several Mbps to dozens of Mbps, so that high-quality video images can be transmitted in real time, and an electric mechanical arm movement instruction sent by the mechanical arm controller can be received, so that an operator can timely learn the routing condition of a submarine conveying channel and perform operation movement control on the electric mechanical arm.
When the cleaning operation is finished or the situation that the cable is wound by an underwater obstacle occurs, the cable interface can be unlocked through an instruction, so that the umbilical cable is separated from the operation nacelle, and the underwater robot enters a recovery procedure or is in time out of trouble. And the umbilical cable separated from the operation pod is withdrawn by the mother ship on the water surface.
Application method
The invention adopts the installation form of the externally hung operation nacelle, belongs to an auxiliary operation system additionally arranged on the body of the underwater robot, does not need to change the self structure and the control system of the existing underwater robot, and increases the universality of the operation nacelle. Therefore, when performing the cleaning operation, the navigation control of the underwater robot and the motion control of the electric robot arm are performed separately. The navigation instruction of the underwater robot is sent by an underwater robot control platform of the mother ship on the water surface and is transmitted to a motion control system of the underwater robot through underwater acoustic communication, the motion control instruction of the electric mechanical arm is sent by a mechanical arm controller of the mother ship on the water surface through an umbilical cable, the two systems are not affected with each other, but two operators are required to respectively operate the two control systems to mutually cooperate to complete underwater cleaning operation.
Before cleaning operation is carried out, the water surface auxiliary mother ship sails to the position above a submarine conveying channel route, the electric mechanical arm operation nacelle is fixedly connected to the position below the underwater robot body through screws (figure 1), an umbilical cable is inserted into a cable interface of the operation nacelle to be locked, and the electric mechanical arm is accommodated in the operation nacelle.
After the standby navigation inspection is completed, the underwater robot is manually laid, an operator of the underwater robot sends a navigation instruction to the underwater robot on an underwater robot control platform through underwater acoustic communication, when the underwater robot navigates to the position above a submarine conveying channel, the underwater robot enters an inspection state and navigates at a slow speed and at a constant height along the position above a channel route. At the moment, the manipulator operator vertically observes the channel route downwards through the underwater camera, and if the sediment accumulation condition is found, the robot operator is informed to control the underwater robot to hover at a fixed height above the sediment. After the underwater robot body is stabilized, the cabin door of the operation nacelle is opened downwards vertically, and the electric mechanical arm extends out of the interior of the operation nacelle and enters a cleaning operation state (figure 2). Although the underwater robot is in a static and stable state, the underwater robot is influenced by ocean tide lateral acting force and stretching action of the electric mechanical arm, and can have certain influence on the stability of the body of the underwater robot, so that an operator of the underwater robot needs to adjust the posture of the body in real time by using an auxiliary propeller of the underwater robot, and a stable operation platform is provided for the electric mechanical arm.
After the electric mechanical arm paw successfully clamps and clamps ocean sediments, a mechanical arm operator informs the robot operator to control the underwater robot to sail to one side of the channel route along the ocean current direction. After the route is far away from the channel, the electric mechanical arm releases the paw, so that the sediment falls on the seabed again. Ocean current action can cause the sediment to be gradually far away from the channel route, and no longer pose a threat to the submarine transportation channel. At the moment, the underwater robot sails to the upper part of the channel route again to carry out subsequent cleaning operation.
When the cleaning operation is finished, the mechanical arm operator controls the electric mechanical arm to retract the interior of the operation nacelle, closes the cabin door, and unlocks the cable interface to separate the umbilical cable from the operation nacelle. Meanwhile, the underwater robot operator controls the underwater robot to enter a recovery procedure.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (5)
1. An underwater electric mechanical arm operation nacelle is characterized in that: the underwater environment data acquisition device comprises a cabin body, wherein an equipment sealed cabin is arranged at the front end of the cabin body, and a controller and underwater environment data acquisition equipment are arranged in the equipment sealed cabin; the pod is equipped with an interface for connecting an external umbilical cable; the rear end in the bottom of the cabin body is provided with a cabin door which is opened towards the lower right side of the machine body, an electric mechanical arm is arranged in the operation cabin, the electric mechanical arm has three freedom degrees of motion, namely a shoulder joint, an elbow joint and a wrist joint which are sequentially distributed along the same axis, a clamping type paw capable of executing opening and closing actions is further arranged outside the wrist joint, when the electric mechanical arm is in a non-operation state, the electric mechanical arm is integrally retracted into the operation cabin, the cabin door is in a closed state at the moment, when the electric mechanical arm is in an operation state, the cabin door is vertically opened downwards, and the electric mechanical arm extends out of the cabin; the appearance of the operation nacelle is designed into a cuboid structure with transitional front and back ellipses;
the electric mechanical arm is of a rigid joint type serial structure and comprises a mechanical arm base, a shoulder joint, a big arm, an elbow joint, a small arm, a wrist cabin and a paw which are connected in sequence; the electric mechanical arm can only extend in a vertical plane, does not have lateral rotational freedom, and the extending direction of the electric mechanical arm is adjusted by adjusting the body direction of the underwater robot; the large arm is connected with the mechanical arm base through a shoulder joint, a shoulder joint rotating shaft is driven by a shoulder joint driving motor arranged in the mechanical arm base through gear transmission, so that pitching motion of the large arm is realized, the large arm is of a cuboid structure with a hollow middle part, and meanwhile, a nylon chain for elbow joint transmission is arranged in the hollow structure of the large arm; the small arm is connected with the large arm through an elbow joint, and an elbow joint rotating shaft is driven by an elbow joint driving motor arranged on a mechanical arm base through chain transmission so as to realize pitching motion of the small arm;
the controller comprises a control computer and a motor driver, the control computer controls the switch of the underwater camera and the LED floodlight, video information shot by the underwater camera is collected and uploaded to the motor mechanical arm controller located on the mother ship on the water surface through an umbilical cable, the control computer receives action instruction information downloaded by the mechanical arm controller through the umbilical cable, and the corresponding motor driver is controlled to enable each joint of the electric mechanical arm to move so as to execute operation actions.
2. The underwater robotic arm work pod of claim 1, wherein: the mechanical arm base is vertically and downwards installed inside the operation nacelle and serves as a fixing base of the electric mechanical arm, the mechanical arm base is of a pressure-resistant sealing structure, and a shoulder joint driving motor, an elbow joint driving motor and other transmission mechanism parts are installed inside the mechanical arm base.
3. The underwater robotic arm work pod of claim 1, wherein: the gripper assembled by the electric mechanical arm is a two-finger translation clamping type gripper and comprises fingers, parallel connecting rods, a lead screw, a sliding block and a connecting angle piece, the gripper driving motor drives the gripper to open and close through lead screw transmission, the gripper driving motor drives the lead screw to rotate so that the sliding block moves on the lead screw in a reciprocating mode and drives the parallel connecting rod mechanism to enable the fingers to translate, the fingers are loosened when the sliding block slides forwards, the gripper opens, the fingers are clamped when the sliding block slides backwards, and the gripper closes.
4. The underwater robotic arm work pod of claim 1, wherein: the equipment sealed cabin is provided with a transparent glass cover, an underwater camera and an LED strong light are arranged in the transparent glass cover, the underwater camera is vertically and downwards fixedly installed inside the operation nacelle and shot through the transparent glass cover, and the shooting and illumination visual angles completely cover the maximum range which can be touched by a hand claw of the electric mechanical arm.
5. A use method of an underwater electric mechanical arm operation nacelle is characterized in that: an operation pod as claimed in any one of claims 1 to 4 is fixedly connected below the body of the underwater robot through screws, an umbilical cable is inserted into a cable interface of the operation pod to be locked, an electric mechanical arm is accommodated in the operation pod, after the inspection of the operation pod is finished, the underwater robot is manually deployed, when the underwater robot sails to the position above a submarine conveying channel, the underwater robot enters a routing inspection state, sails along a slowly-fixed-high straight line above the channel route, the channel route is vertically and downwards observed through an underwater camera, if the accumulation of sediments is found, the underwater robot is suspended at a fixed height above the sediments, a cabin door of the operation pod is downwards and vertically opened, the electric mechanical arm extends out from the interior of the operation pod to enter a cleaning operation state, after a paw successfully clamps the ocean sediments, the underwater robot sails to one side of the channel route along the ocean current direction, and after the underwater robot leaves the channel route, and when the cleaning operation is finished, the electric mechanical arm is controlled to withdraw the interior of the operation nacelle, the cabin door is closed, the cable interface is unlocked, the umbilical cable is separated from the operation nacelle, and the underwater robot is recovered at the same time.
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Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
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