CN111891320A - Underwater double-arm robot device system - Google Patents
Underwater double-arm robot device system Download PDFInfo
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- CN111891320A CN111891320A CN202010741359.XA CN202010741359A CN111891320A CN 111891320 A CN111891320 A CN 111891320A CN 202010741359 A CN202010741359 A CN 202010741359A CN 111891320 A CN111891320 A CN 111891320A
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- arm
- finger
- robot
- underwater
- camera body
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000009189 diving Effects 0.000 claims abstract description 13
- 230000000087 stabilizing effect Effects 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims description 15
- 238000010008 shearing Methods 0.000 claims description 14
- 238000005188 flotation Methods 0.000 claims description 12
- 210000000707 wrist Anatomy 0.000 claims description 12
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000005070 sampling Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 108010066114 cabin-2 Proteins 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater double-arm robot device system, which comprises a robot frame body, a double-arm structure and a diving system structure; the robot frame body is integrally in a flat bar block shape and is in a hollow frame structure; a diving system structure is arranged in the robot frame body; the diving system structure drives the robot frame body to dive in water and advance, and a double-arm structure is arranged at the advancing end of the robot frame body to grab and cut underwater objects. The invention provides an underwater double-arm robot device system which can effectively submerge underwater and search or clean underwater.
Description
Technical Field
The invention relates to the field of underwater robots.
Background
The robot is an important component in the modern society, and can replace human beings to complete some things which are difficult to complete by human beings and some things which need repeated labor; the underwater robot can help people to search and clean deeper underwater, so that risks caused by submergence of human beings can be avoided, and the body of the human being can be prevented from being damaged when the underwater robot is used for cleaning underwater objects, so that the underwater robot is more and more widely used.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides an underwater double-arm robot device system which can effectively submerge underwater and search or clean underwater.
The technical scheme is as follows: in order to achieve the purpose, the technical scheme of the invention is as follows:
an underwater double-arm robot device system comprises a robot frame body, a double-arm structure and a diving system structure; the robot frame body is integrally in a flat bar block shape and is in a hollow frame structure; a diving system structure is arranged in the robot frame body; the diving system structure drives the robot frame body to dive in water and advance, and a double-arm structure is arranged at the advancing end of the robot frame body to grab and cut underwater objects.
Further, the robot frame body comprises a side frame; a plurality of through holes are formed in the side frame; the side frames are vertically arranged in parallel, and the bottom ends of the side frames are fixedly connected through a plurality of cross bars; the bottom ends of the plurality of cross bars are clamped with auxiliary cabins through U-shaped clamping bars and are arranged towards one end of the robot frame body in the advancing direction; a sealed cabin is arranged in the middle of the robot frame body along the length direction; two ends of the sealed cabin are respectively stabilized between the side frames through the fixed frames.
Furthermore, a gravity center stabilizing structure is arranged in the sealed cabin; the gravity center stabilizing structure comprises a walking adjusting structure and a matched guide rail structure; the matched guide rail structure is fixed on the inner wall of the sealed cabin and extends along the length direction of the sealed cabin; the adjusting walking structure is arranged on the matching guide rail structure in a sliding mode.
Further, the matching guide rail structure comprises a mounting plate and a guide pillar; the mounting plate is fixedly and transversely arranged on the inner wall of the middle part of the sealed cabin and is vertical to the side frame; the bottom surfaces of two ends of the mounting plate are respectively and fixedly provided with a stable fixing seat; a plurality of embedding holes are formed in the stable fixed seat along the length direction of the mounting plate; two ends of the guide post are respectively embedded into the embedding holes; the stable moving structure is sleeved on the guide post in a sliding manner;
the adjusting walking structure comprises a sliding box body and an adjusting block structure; a plurality of hitch holes are formed in two side walls of the sliding box body; the sliding box body is sleeved on the guide post through the sleeving hole and is connected with the guide post in a sliding mode; a rotating rod is arranged at the symmetrical central shaft of the guide pillars; the rotating rod penetrates through the sliding box body through the looping hole, and the driving device is in driving connection with the rotating rod; an adjusting block structure is fixedly arranged in the sliding box body; the rotary rod runs through in the regulating block structure, just the setting of breaking of regulating block structure internal thread and rotary rod external thread.
Further, the submersible system structure comprises a propeller; the propeller is fixed on a fixed plate on the inner wall of the side frame through a support pipe; a plurality of the whole propeller that is interval end to end hoop setting, and a plurality of vertical propeller propulsion directions orientation are under water, and a plurality of horizontal propeller propulsion directions orientation advance the end towards the robot.
Further, the diving system structure also comprises an air flotation cavity; the air flotation cavities are fixedly arranged at the tops of the symmetrical side frames; the air flotation cavity is of a hollow cavity structure, and a plurality of notches are formed in the air flotation cavity; the notch penetrates into the robot frame body; the plurality of notches respectively correspond to the blade water outlet ends of the plurality of propellers.
Furthermore, the double-arm structure comprises a four-finger grabbing arm structure and a double-finger cutting arm structure; the four-finger grabbing arm structure and the double-finger cutting arm structure are respectively arranged on the side wall of the fixed frame through the swinging structure; the swing structure comprises a connecting block and a swing shoulder arm; the connecting block is fixed on the side wall of the fixing frame; the bottom of the connecting block is provided with a swinging shoulder arm, and an output shaft of a driving device on the connecting block is in driving connection with the top of the swinging shoulder arm; the swing shoulder arm is respectively connected with the arm ends of the four-finger grabbing arm structure and the two-finger shearing arm structure in a rotating mode.
Furthermore, the four-finger grabbing arm structure and the double-finger cutting arm structure respectively comprise a large arm and a small arm; one end of the large arm is clamped on the swing shoulder arm and is arranged in a rotating mode; the small arm is clamped at the other end of the large arm and is arranged in a rotating mode; the other end of the small arm is gradually reduced;
the four-finger grabbing arm structure further comprises a four-finger structure and a wrist structure; one end of the wrist structure is clamped on the reduced end of the small arm; the other end of the wrist structure is fixedly provided with a four-finger structure; the four-finger structure comprises a fixed disc and an arc-shaped finger; a plurality of embedded grooves are circumferentially fixed on the fixed disc, and one side of the fixed disc, which is far away from the small arm, is provided with a plurality of embedded grooves; the root part of the arc-shaped finger is embedded into the embedding groove and is rotationally arranged; the telescopic column of the power mechanism in the wrist structure penetrates through the fixed disc and is connected with the fixed disc in a sliding manner; a traction ring block is fixedly arranged at the extending end of the telescopic column; a plurality of traction grooves are circumferentially and fixedly arranged on the periphery of the traction ring block; a traction ring is fixed on one side of the root part of the arc-shaped finger facing the telescopic column; the traction ring corresponds to the traction groove and is arranged in a rotating way; the telescopic column drives the traction ring block to pull the traction ring to drive the arc-shaped finger to swing;
the double-finger shear arm structure comprises a shearing structure; cutting structures are arranged at the joint of the fingertips of the two arc-shaped fingers in the shearing structure; the cutting structure comprises a cutting blade; a cutting blade is fixedly arranged on the fingertip of one arc-shaped finger and is arranged along the extension direction of the arc-shaped finger; a matching hole groove is formed in the fingertip of the other arc-shaped finger; when the telescopic column drives the traction ring block to pull the traction ring to drive and the arc-shaped fingers swing to close, the cutting blade is correspondingly embedded into the matching hole groove.
Furthermore, a camera holder structure is arranged on the periphery of the robot frame body; the camera tripod head structure comprises a first tripod head and a second tripod head; the first holder is fixedly arranged at the top of the air floating body, and the searchlighting end of the first holder rotates annularly; the plurality of second cloud platforms are fixedly arranged on the side edge of the robot frame body, and the searchlighting ends of the second cloud platforms swing in an arc shape;
the first cloud platform and the second cloud platform respectively comprise an installation base, a camera body and an L-shaped reversing installation base; the camera body is arranged on a rotating table on the mounting base; the power device is in driving connection with the rotating platform; the two side walls of the camera body are fixedly provided with a stabilizing table, and the L-shaped reversing mounting seat is transversely fixed on the stabilizing table through bolts and rotates along with the camera body; the side, far away from the camera body, of the L-shaped reversing mounting base is provided with another rotating table, and the rotating table is provided with another camera body;
the mounting base of the first holder is fixed at the top of the air floating body; the camera body searchlighting end on the L-shaped reversing mounting seat in the first cloud deck rotates automatically and faces the water surface, and the camera body searchlighting end on the L-shaped reversing mounting seat in the longitudinal direction rotates in the circumferential direction and faces the periphery;
a stabilizing plate is fixedly arranged on one side wall of the mounting base of the second holder; the second cloud deck is symmetrically fixed on two side walls of the robot frame body through the stabilizing plates; the camera body searchlighting end of the L-shaped reversing mounting seat in the second cloud deck transversely swings in an arc shape and faces underwater, and the camera body searchlighting end of the L-shaped reversing mounting seat in the longitudinal direction swings in an arc shape and faces a side edge.
Furthermore, the motion trail of the longitudinal camera body searchlighting end of the L-shaped reversing mounting seat in the symmetrical second cloud deck is wholly elliptical, the motion directions of the longitudinal camera bodies of the L-shaped reversing mounting seat in the symmetrical second cloud deck are the same when the longitudinal camera bodies are positioned on the same axis of the ellipse, and the speed of the longitudinal camera body searchlighting end of the camera body close to the side frame side wall is higher than that of the longitudinal camera body far away from the side frame side wall.
Has the advantages that: the underwater object underwater detection device can quickly submerge underwater and correspondingly accurately sample or clean underwater objects after underwater exploration; including but not limited to the following technical effects:
1) one of the two arms is of a four-finger structure, and the other arm is of a double-finger structure; the two finger structures can also grab the object, so that the two finger structures can be matched with each other to efficiently search underwater and sample or clear underwater and the like;
2) a track structure is formed between the guide post and the stable mounting seat in the gravity center adjusting structure in the sealed cabin, and the stable moving structure runs on the track structure; thereby adjusting the balance of the center of gravity in the advancing direction of the robot; the robot can be ensured to move forward stably.
Drawings
FIG. 1 is a diagram of a robotic device system architecture;
FIG. 2 is a schematic diagram of an auxiliary compartment;
FIG. 3 is a view showing a structure of a center of gravity stabilization;
FIG. 4 is a view showing a structure of adjusting walking;
FIG. 5 is a block diagram of a submersible system;
FIG. 6 is a view of a four finger gripper arm configuration;
FIG. 7 is a four-finger structure diagram;
FIG. 8 is a view of a double finger cutting arm configuration;
FIG. 9 is a cut-away view of the structure;
FIG. 10 is a first pan/tilt head configuration view;
FIG. 11 is a second pan/tilt head configuration view;
fig. 12 is a schematic diagram of the motion trajectory of the camera body in the second pan-tilt structure.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in figures 1-12: an underwater double-arm robot device system comprises a robot frame body 1, a double-arm structure 2 and a diving system structure 3; the robot frame body 1 is integrally in a flat bar block shape, and the robot frame body 1 is in a hollow frame structure; a diving system structure 3 is arranged in the robot frame body 1; the diving system structure 3 drives the robot frame body 1 to dive in water and advance, and the advancing end of the robot frame body 1 is provided with a double-arm structure 2 for grabbing and shearing underwater objects. The diving system structure 3 drives the robot frame body 1 and the double-arm structure 2 to dive underwater, and the double-arm structure 2 can grab underwater objects so as to achieve the purpose of sampling or cleaning.
The robot frame body 1 comprises a side frame 11; a plurality of through holes 111 are formed in the side frame 11, so that water flow is facilitated, and resistance is reduced; the side frames 11 are vertically arranged in parallel, and the bottom ends of the side frames 11 are fixedly connected through a plurality of cross bars 14; the bottom ends of the plurality of cross bars 14 are clamped with auxiliary cabins 15 through U-shaped clamping bars 16 and are arranged towards one end of the robot frame body 1 in the advancing direction; a sealed cabin 12 is arranged along the middle part of the length direction of the robot frame body 1; the two ends of the sealed cabin 12 are respectively stabilized between the side frames 11 through a fixed frame 13. The auxiliary cabins 15 are symmetrically arranged along the length direction of the cross bars 14, the weight of the bottom of the robot is larger than that of the top of the robot, the gravity center of the robot is relatively stable, the robot cannot easily turn on one side, and the auxiliary cabins 15 are arranged at one end in the advancing direction of the robot, so that the head of the robot tends to incline and advance downwards in the advancing process, and the robot is convenient to dive.
A gravity center stabilizing structure 4 is arranged in the sealed cabin 12; the gravity center stabilizing structure 4 comprises a walking adjusting structure 6 and a matched guide rail structure 41; the matched guide rail structure 41 is fixed on the inner wall of the sealed cabin 12 and extends along the length direction of the sealed cabin 2; the adjusting walking structure 6 is slidably arranged on the matching guide rail structure 41. When the robot travels underwater, if the front end or the rear end of the robot tilts up; therefore, the searching work of the robot is influenced; when the front end of the robot is tilted or the rear end of the robot is tilted, the walking structure 6 is adjusted to slide to the tilted end on the matched guide rail structure 41, so that the gravity center of the robot is balanced, and the robot can normally and stably run underwater.
The matching guide rail structure 41 comprises a mounting plate 411 and a guide pillar 413; the mounting plate 411 is fixedly and transversely arranged on the inner wall of the middle part of the sealed cabin 12, and the mounting plate 411 is vertical to the side frame 11; the bottom surfaces of two ends of the mounting plate 411 are respectively and fixedly provided with a stable fixing seat 414; a plurality of fitting holes 415 are formed in the stationary holder 414 along the length direction of the mounting plate 411; two ends of the guide post 413 are respectively embedded into the embedding holes 415; the stable moving structure 6 is slidably sleeved on the guide post 413; the sealed cabin 12 is positioned in the middle of the robot, and the center of gravity of the robot can be well ensured to be stable by arranging the center of gravity stabilizing structure 4 in the middle of the sealed cabin 12; the stable fixed seat 414 and the guide post 413 on the mounting plate 411 form a track structure, so that the adjusting walking structure 6 can slide back and forth on the formed track structure to ensure the stability of the center of gravity of the robot during the traveling; the robot can work better under water.
The adjusting walking structure 6 comprises a sliding box body 61 and an adjusting block structure 62; a plurality of hitch holes 611 are formed in two side walls of the sliding box body 61; the sliding box body 61 is sleeved and connected on the guide post 413 through a sleeving and connecting hole 611 in a sliding manner; a rotating rod 621 is arranged at the symmetrical central axis of the guide posts 413; the rotating rod 621 penetrates through the sliding box 61 through the looping hole 611, and the driving device is in driving connection with the rotating rod 621; an adjusting block structure 62 is fixedly arranged in the sliding box body 61; the rotating rod 621 penetrates through the adjusting block structure 62, and the internal thread of the adjusting block structure 62 is meshed with the external thread of the rotating rod 621. When the driving device drives the rotating rod 621 to rotate forward and backward, the adjusting block structure 62 is matched with the rotating rod 621, the adjusting block structure 62 can drive the bearing box body 61 to slide on the guide post 413 together, and the adjusting block structure 62 slides to different positions to increase the weight at the position, so that the center of gravity balance of the robot in the advancing direction in the advancing process can be effectively adjusted, and the robot can stably advance and search.
The submerged system structure 3 comprises a propeller 33; the propeller 33 is fixed on a fixing plate 332 on the inner wall of the side frame 11 through a bracket tube 331; a plurality of the whole propeller 33 that is interval end to end ring sets up, and a plurality of vertical propellers 33 propulsion direction orientation is under water, and a plurality of horizontal propellers 33 propulsion direction orientation robot front end. The vertical propeller 33 is propelled downwards, the transverse propeller is propelled forwards, so that the robot is inclined downwards and advances towards the underwater, and when the power of the transverse propeller at one side of the robot is weakened, the power of the transverse propeller at the other side of the robot is strong, so that the robot can turn; and searching underwater in multiple ranges.
The submerged system structure 3 further comprises an air flotation chamber 32; the air flotation cavities 32 are fixedly arranged at the tops of the symmetrical side frames 11; the air flotation cavity 32 is a hollow cavity structure, and a plurality of notches 321 are formed in the air flotation cavity 32; the notch 321 penetrates into the robot frame body 1; the plurality of notches 321 correspond to blade water outlet ends of the plurality of propellers 5, respectively. The rivers of the paddle output of propeller 33 of being convenient for flow towards the top, and the robot just can move towards the below like this, and rivers can be smooth upwards flow, can effectively slow down the resistance of rivers to the robot like this.
The double-arm structure 2 comprises a four-finger grabbing arm structure 21 and a double-finger cutting arm structure 22; the four-finger grabbing arm structure 21 and the double-finger cutting arm structure 22 are respectively arranged on the side wall of the fixed frame 13 through a swinging structure 23; the swing structure 23 comprises a connecting block 231 and a swing shoulder arm 232; the connecting block 231 is fixed on the side wall of the fixing frame 13; a swinging shoulder arm 232 is arranged at the bottom of the connecting block 231, and an output shaft of a driving device on the connecting block 231 is in driving connection with the top of the swinging shoulder arm 232; the swing shoulder arm 232 is respectively connected with the arm ends of the four-finger grabbing arm structure 21 and the two-finger shearing arm structure 22 in a rotating mode. When the robot moves underwater, the four-finger grabbing arm structure 21 can grab underwater objects, and the double-finger cutting arm structure 22 can cut off parts connected to the outside of the objects, so that grabbing is facilitated; or the object can be cut by the double-finger cutting arm structure 22 to reach the size of the volume which can be grabbed by the four-finger grabbing arm structure 21, and then the object can be grabbed by the four-finger grabbing arm structure 21; can be beneficial to sampling underwater objects or cleaning underwater sundries and the like.
The four-finger grabbing arm structure 21 and the double-finger cutting arm structure 22 respectively comprise a large arm 221 and a small arm 222; one end of the large arm 221 is clamped on the swing shoulder arm 232 and is rotatably arranged; the small arm 222 is clamped at the other end of the large arm and is arranged in a rotating mode; the other end of the small arm 222 gradually decreases; the large arm 221 and the small arm 222 can be retracted or extended and the opposite can be folded by the mutual cooperation of the rotating devices among the swing shoulder arm 232, the large arm 221 and the small arm 222; the shearing device is convenient to be matched with and grab and shear an object.
The four-finger grasping arm structure 21 further comprises a four-finger structure 5 and a wrist structure 211; one end of the wrist structure 211 is clamped to the reduced end of the forearm 222; the other end of the wrist structure 211 is fixedly provided with a four-finger structure 5; the four-finger structure 5 comprises a fixed disc 51 and arc-shaped fingers 52; a plurality of embedding grooves 53 are fixed on the fixed disc 51 in the circumferential direction and are far away from the side of the small arm 222; the root part of the arc-shaped finger 52 is embedded into the embedding groove 53 and is rotatably arranged; the telescopic column of the power mechanism in the wrist structure 211 penetrates through the fixed disc 51 and is connected in a sliding manner; a traction ring block 54 is fixedly arranged at the extending end of the telescopic column; a plurality of traction grooves 541 are circumferentially and fixedly arranged on the periphery of the traction ring block 54; a traction ring 55 is fixed on one side of the root of the arc finger 52 facing the telescopic column; the pulling ring 55 is correspondingly embedded in the pulling groove 541 and is rotatably arranged; the telescopic column drives the traction ring block 54 to pull the traction ring 55 to drive the arc-shaped finger 52 to swing; when the telescopic column of the driving mechanism drives the traction ring block 54 and the traction ring 55 to be pulled back or pushed, the root of the arc-shaped finger 52 rotates in the embedding groove 53; the corresponding pulling loop 55 rotates within the pulling groove 541; this causes the tip of the arcuate finger 52 to swing outwardly or inwardly by a certain angle; and the plurality of arc-shaped fingers 52 correspondingly fold or unfold to grasp the object.
The double fingerlift arm structure 22 includes a shear structure 24; cutting structures 56 are arranged at the fingertip joint parts of the two arc-shaped fingers 52 in the shearing structure 24; the cutting structure 56 includes a cutting blade 561; a cutting blade 561 is fixedly arranged on the fingertip of one of the arc-shaped fingers 52 and is arranged along the extending direction of the arc-shaped finger 52, so that the cutting is convenient; a matching hole groove 562 is formed in the fingertip of the other arc-shaped finger 52; when the telescopic column drives the traction ring block 54 to pull the traction ring 55 to drive the arc-shaped finger 52 to swing and approach, the cutting blade 561 is correspondingly embedded into the matching hole 562. Similarly, when the telescopic column of the driving mechanism drives the traction ring block 54 and the traction ring 55 to be pulled back or pushed, the root of the arc-shaped finger 52 rotates in the embedding groove 53; the corresponding pulling loop 55 rotates within the pulling groove 541; this causes the tip of the arcuate finger 52 to swing outwardly or inwardly by a certain angle; so that the two curved fingers 52 of the shearing mechanism 24 are correspondingly close together or far apart; the four-finger structure 5 can be matched to cut the object, so that the object can be better grabbed, and the object is prevented from being too large and difficult to grab; when the shearing structure 24 needs to shear an object, the two arc-shaped fingers 52 of the shearing structure 24 are close to the shearing end of the object, and then the fingertips of the two arc-shaped fingers 52 are pulled back to be close to each other; the cutting blade 561 is inserted into the fitting hole 562 to cut the object; meanwhile, the arc-shaped structures in the middle of the two arc-shaped fingers 52 can clamp objects, so that the sampling or cleaning is facilitated.
The periphery of the robot frame body 1 is also provided with a camera holder structure 7; the camera head structure 7 comprises a first head 71 and a second head 72; the first cloud deck 71 is fixedly arranged at the top of the air floating body 32, and the searchlighting end of the first cloud deck 71 rotates in the opposite direction; the plurality of second cloud platforms 72 are fixedly arranged on the side edge of the robot frame body 1, and the searchlighting ends of the second cloud platforms 72 swing in an arc shape;
the first cloud platform 71 and the second cloud platform 72 respectively comprise a mounting base 711, a camera body 712 and an L-shaped reversing mounting base 713; the camera body 712 is arranged on a rotating table 714 on a mounting base 711; the power device is in driving connection with the rotating table 714; the two side walls of the camera body 712 are fixedly provided with a stabilizing table 715, and the L-shaped reversing mounting seat 713 is transversely fixed on the stabilizing table 715 through bolts and rotates along with the camera body 712; another rotating table 714 is arranged on one side of the L-shaped reversing mounting seat 713, which is longitudinally far away from the camera body 712, and another camera body 712 is arranged on the rotating table 714; the plurality of camera bodies 712 respectively explore the environment around the robot, so that underwater work can be conveniently carried out and underwater conditions can be known;
the mounting base 711 of the first holder 71 is fixed on the top of the air floating body 32; the searchlighting end of the camera body 712 on the L-shaped reversing mounting seat 713 in the first holder 71 transversely rotates and faces the water surface to observe the situation above the robot, and the searchlighting end of the camera body 712 on the L-shaped reversing mounting seat 713 longitudinally rotates in the circumferential direction and faces the periphery to observe the situation around the robot;
a stabilizing plate 716 is fixedly arranged on one side wall of the mounting base 711 of the second pan/tilt head 72; the second holders 72 are symmetrically fixed on two side walls of the robot frame 1 through the stabilizing plates 716; the camera body 712 on the L-shaped reversing mounting seat 713 in the second pan/tilt head 72 transversely swings in an arc shape at the searchlighting end and faces underwater for observing the condition below the robot, and the camera body 712 on the L-shaped reversing mounting seat 713 in the longitudinal direction swings in an arc shape at the searchlighting end and faces to the side for observing the condition of the side of the robot.
The motion track of the searchlight end of the camera body 712 in the longitudinal direction of the L-shaped reversing installation seat 713 in the symmetrical second pan/tilt 72 is oval as a whole, and the motion directions of the camera bodies 712 in the longitudinal direction of the L-shaped reversing installation seat 713 in the symmetrical second pan/tilt 72 are opposite when the camera bodies 712 are on the same axis of the oval, so that underwater environments in different directions can be observed at the same time, and more and wider visual angles are provided, and the speed of the searchlight end of the camera body 712 approaching the side wall of the side frame 11 is higher than that of the camera body far away from the side wall of the side frame 11, that is, when the two symmetrical camera bodies are at the two end positions of the major axis of the oval, the rotation speed of the camera bodies is fastest, the speed is slowed down when the camera bodies move to the two end positions of the minor axis of the oval, and the speed is; when the camera body 712 moves to a position close to the side frame 11, it needs to be folded back, so that the environment around the position close to the side frame 11 is detected for a plurality of times for a long time, thereby increasing the folding speed, reducing the observation of the position close to the side frame 11, and reducing the speed of the camera body when the camera body is far away from the side frame, so that the environment at the side of the robot can be observed for a long time, and the surrounding environment can be known more clearly.
The foregoing is a preferred embodiment of the present invention and it will be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are intended to be within the scope of the invention.
Claims (10)
1. An underwater dual-arm robotic device system, comprising: comprises a robot frame body (1), a double-arm structure (2) and a diving system structure (3); the robot frame body (1) is integrally in a flat bar block shape, and the robot frame body (1) is in a hollow frame structure; a diving system structure (3) is arranged in the robot frame body (1); the submerging system structure (3) drives the robot frame body (1) to submerge and advance in water, and the advancing end of the robot frame body (1) is provided with a double-arm structure (2) for grabbing and shearing underwater objects.
2. An underwater dual-arm robotic device system according to claim 1, wherein: the robot frame body (1) comprises a side frame (11); a plurality of through holes (111) are formed in the side frame (11); the side frames (11) are vertically arranged in parallel, and the bottom ends of the side frames (11) are fixedly connected through a plurality of cross bars (14); the bottom ends of the plurality of cross bars (14) are provided with auxiliary cabins (15) in a clamping way through U-shaped clamping bars (16), and are arranged towards one end of the robot frame body (1) in the advancing direction; a sealed cabin (12) is arranged in the middle of the robot frame body (1) along the length direction; two ends of the sealed cabin (12) are respectively stabilized between the side frames (11) through the fixed frames (13).
3. An underwater dual-arm robotic device system according to claim 2, wherein: a gravity center stabilizing structure (4) is arranged in the sealed cabin (12); the gravity center stabilizing structure (4) comprises a walking adjusting structure (6) and a matched guide rail structure (41); the matched guide rail structure (41) is fixed on the inner wall of the sealed cabin (12) and extends along the length direction of the sealed cabin (2); the adjusting walking structure (6) is arranged on the matching guide rail structure (41) in a sliding mode.
4. An underwater dual-arm robotic device system according to claim 3, wherein: the matching guide rail structure (41) comprises a mounting plate (411) and a guide pillar (413); the mounting plate (411) is fixedly and transversely arranged on the inner wall of the middle part of the sealed cabin (12), and the mounting plate (411) is vertical to the side frame (11); the bottom surfaces of two ends of the mounting plate (411) are respectively and fixedly provided with a stable fixing seat (414); a plurality of embedding holes (415) are formed in the stable fixed seat (414) along the length direction of the mounting plate (411); two ends of the guide post (413) are respectively embedded into the embedding holes (415); the stable moving structure (6) is sleeved on the guide post (413) in a sliding manner;
the adjusting walking structure (6) comprises a sliding box body (61) and an adjusting block structure (62); a plurality of hitch holes (611) are formed in two side walls of the sliding box body (61); the sliding box body (61) is sleeved and connected on the guide post (413) through a sleeving and connecting hole (611) in a sliding mode; a rotating rod (621) is arranged at the symmetrical central shaft of the guide columns (413); the rotating rod (621) penetrates through the sliding box body (61) through the hitch hole (611), and the driving device is in driving connection with the rotating rod (621); an adjusting block structure (62) is fixedly arranged in the sliding box body (61); rotating rod (621) run through in regulating block structure (62), just regulating block structure (62) internal thread sets up with rotating rod (621) external thread grinning.
5. An underwater dual-arm robotic device system according to claim 1, wherein: the submerged system structure (3) comprises a propeller (33); the propeller (33) is fixed on a fixing plate (332) on the inner wall of the side frame (11) through a bracket tube (331); a plurality of propeller (33) are whole to be interval end to end annular setting, and a plurality of vertical propeller (33) propulsion direction orientation is under water, and a plurality of horizontal propeller (33) propulsion direction orientation robot advancing end.
6. An underwater dual-arm robotic device system according to claim 5, wherein: the submerged system structure (3) further comprises an air flotation cavity (32); the air flotation cavity (32) is fixedly arranged at the tops of the symmetrical side frames (11); the air flotation cavity (32) is of a hollow cavity structure, and a plurality of notches (321) are formed in the air flotation cavity (32); the notch (321) penetrates into the robot frame body (1); the plurality of notches (321) respectively correspond to the blade water outlet ends of the plurality of propellers (5).
7. An underwater dual-arm robotic device system according to claim 1, wherein: the double-arm structure (2) comprises a four-finger grabbing arm structure (21) and a double-finger cutting arm structure (22); the four-finger grabbing arm structure (21) and the double-finger cutting arm structure (22) are respectively arranged on the side wall of the fixed frame (13) through a swinging structure (23); the swing structure (23) comprises a connecting block (231) and a swing shoulder arm (232); the connecting block (231) is fixed on the side wall of the fixing frame (13); a swing shoulder arm (232) is arranged at the bottom of the connecting block (231), and an output shaft of a driving device on the connecting block (231) is in driving connection with the top of the swing shoulder arm (232); the swing shoulder arm (232) is respectively connected with the arm ends of the four-finger grabbing arm structure (21) and the two-finger shearing arm structure (22) in a rotating mode.
8. An underwater dual-arm robotic device system according to claim 7, wherein: the four-finger grabbing arm structure (21) and the double-finger cutting arm structure (22) respectively comprise a large arm (221) and a small arm (222); one end of the large arm (221) is clamped on the swing shoulder arm (232) and is arranged in a rotating mode; the small arm (222) is clamped at the other end of the large arm and is arranged in a rotating mode; the other end of the small arm (222) is gradually reduced;
the four-finger grabbing arm structure (21) further comprises a four-finger structure (5) and a wrist structure (211); one end of the wrist structure (211) is clamped on the reduced end of the small arm (222); the other end of the wrist structure (211) is fixedly provided with a four-finger structure (5); the four-finger structure (5) comprises a fixed disc (51) and arc-shaped fingers (52); a plurality of embedding grooves (53) are fixed on the fixed disc (51) in the circumferential direction, and one side of the fixed disc is far away from the small arm (222); the root part of the arc-shaped finger (52) is embedded into the embedding groove (53) and is arranged in a rotating way; the telescopic column of the power mechanism in the wrist structure (211) penetrates through the fixed disc (51) and is connected with the fixed disc in a sliding manner; a traction ring block (54) is fixedly arranged at the extending end of the telescopic column; a plurality of traction grooves (541) are circumferentially and fixedly arranged on the periphery of the traction ring block (54); a traction ring (55) is fixed on one side of the root part of the arc finger (52) facing the telescopic column; the traction ring (55) corresponds to the traction groove (541) and is arranged in a rotating way; the telescopic column drives the traction ring block (54) to pull the traction ring (55) to drive the arc-shaped finger (52) to swing;
the double fingerlift arm structure (22) includes a shear structure (24); cutting structures (56) are arranged at the fingertip joint positions of two arc-shaped fingers (52) in the shearing structure (24); the cutting structure (56) comprises a cutting blade (561); a cutting blade (561) is fixedly arranged on the fingertip of one arc-shaped finger (52) and is arranged along the extending direction of the arc-shaped finger (52); a finger tip of the other arc-shaped finger (52) is provided with a matching hole groove (562); when the telescopic column drives the traction ring block (54) to pull the traction ring (55) to drive and swing the arc finger (52) to close, the cutting blade (561) is correspondingly embedded into the matching hole groove (562).
9. An underwater dual-arm robotic device system according to claim 1, wherein: a camera holder structure (7) is further arranged on the periphery of the robot frame body (1); the camera head structure (7) comprises a first head (71) and a second head (72); the first cloud platform (71) is fixedly arranged at the top of the air floating body (32), and the searchlighting end of the first cloud platform (71) rotates annularly; the plurality of second cloud platforms (72) are fixedly arranged on the side edge of the robot frame body (1), and the searchlighting ends of the second cloud platforms (72) swing in an arc shape;
the first holder (71) and the second holder (72) respectively comprise a mounting base (711), a camera body (712) and an L-shaped reversing mounting base (713); the camera body (712) is arranged on a rotating table (714) on a mounting base (711); the power device is in driving connection with the rotating platform (714); the two side walls of the camera body (712) are fixedly provided with a stabilizing table (715), and the L-shaped reversing mounting seat (713) is transversely fixed on the stabilizing table (715) through bolts and rotates along with the camera body (712); another rotating table (714) is arranged on one side of the L-shaped reversing mounting seat (713) which is longitudinally far away from the camera body (712), and another camera body (712) is arranged on the rotating table (714);
the mounting base (711) of the first cloud platform (71) is fixed at the top of the air floating body (32); the searchlighting end of a camera body (712) on the transverse direction of an L-shaped reversing mounting seat (713) in the first holder (71) rotates and faces the water surface, and the searchlighting end of the camera body (712) on the longitudinal direction of the L-shaped reversing mounting seat (713) rotates in the circumferential direction and faces the periphery;
a stabilizing plate (716) is fixedly arranged on one side wall of the mounting base (711) of the second pan-tilt (72); the second cloud deck (72) is symmetrically fixed on two side walls of the robot frame body (1) through a stabilizing plate (716); the projection end of the camera body (712) on the L-shaped reversing mounting seat (713) in the second holder (72) transversely swings in an arc shape and faces underwater, and the projection end of the camera body (712) on the L-shaped reversing mounting seat (713) in the longitudinal direction swings in an arc shape and faces to the side.
10. An underwater dual-arm robotic device system according to claim 9, wherein: the motion trail of the longitudinal camera body (712) projection end of the L-shaped reversing mounting seat (713) in the symmetrical second tripod head (72) is oval, the motion directions of the longitudinal camera body (712) of the L-shaped reversing mounting seat (713) in the symmetrical second tripod head (72) are the same when the longitudinal camera body (712) is positioned on the same axis of the oval, and the speed of the projection end of the camera body (712) when approaching the side wall of the side frame (11) is higher than the speed of the longitudinal camera body (712) when departing from the side wall of the side frame (11).
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| CN111891320B (en) | 2022-04-29 |
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Effective date of registration: 20240122 Address after: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Country or region after: China Address before: No.2 Xuefu Middle Road, Weiyang District, Xi'an City, Shaanxi Province, 720021 Patentee before: XI'AN TECHNOLOGICAL University Country or region before: China |