CN101513735A - Tuck net type manipulator of underwater robot - Google Patents
Tuck net type manipulator of underwater robot Download PDFInfo
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- CN101513735A CN101513735A CNA2009100483114A CN200910048311A CN101513735A CN 101513735 A CN101513735 A CN 101513735A CN A2009100483114 A CNA2009100483114 A CN A2009100483114A CN 200910048311 A CN200910048311 A CN 200910048311A CN 101513735 A CN101513735 A CN 101513735A
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Abstract
The invention relates to a tuck net type manipulator of an underwater robot, which comprises two fixed frames for connecting the underwater robot and a four link type arm mechanism. The manipulator is characterized in that a bearing chock and a bearing therein are respectively fixedly arranged at the lower ends of the two fixed frames; and the two bearings support a roller, one end of which is connected with a net-putting electric motor and the other end thereof is fixedly connected with a frame so as to form a net-putting mechanism. The frame also comprises a stretchable mechanism, a net-stretching mechanism and an arm mechanism; and the arm mechanism hangs a tuck net so as to form a net-off mechanism with the net-stretching mechanism. The invention is controlled based on a precision underwater motor so as to integrally fix the abdomen of the underwater robot in which the arm mechanism is furled normally. When in use, the arm mechanism is forward extended by the stretchable mechanism, the net winding on the arm is put down by the rotation of the net-putting mechanism, an arm linkage mechanism is stretched into squareness by the net-stretching mechanism, and the tuck net hanged on the arm is stretched simultaneously so as to capture objects suspending in water by rotation of the stretchable mechanism or the upward maneuvering and forward maneuvering of the underwater robot. After the objects are taken into dispose region, the arm mechanism is stretched into the net-off position by net-stretching mechanism; therefore, the tuck net filling with the objects can be put down.
Description
Technical field
The present invention relates to a kind of underwater robot manipulator, be specifically related to a kind of tuck net type manipulator of under complicated water environment, catching object based on underwater robot.
Background technology
The anti-terrorism security under water of holding the shallow water area such as bay, river, strand and reservoir, power station, nuclear power station of occasion occupies an important position.Anti-terrorism search under water mainly is to survey the frogman to wait dangerous explosives such as larger object and self-control submarine mine.Because land and bank be by monitor closely, utilize current floating or utilize that flood tide from the downstream and float to the monitoring waters in the water so explosive can only be placed on, even can make the neutral buoyancy object, from floating to the specific region below the water surface from the upstream.Purpose of the present invention is exactly to utilize the job that requires special skills manipulator that is placed on the underwater robot that suspicious object in the water is caught, and prevents to work the mischief and stay complete evidence and clue to detection.
When the gripper type manipulator that underwater robot is equipped with usually grasps target, need accurately catch certain several position of target by the opening and closing of paw, because there is certain water velocity in the waters in monitoring, heavy traffic simultaneously, the boats and ships of various speed and tonnage are movable frequent, wave that strong wind and boats and ships evoke and flow velocity all form significant impact to the pose of underwater robot and manipulator, and coupling is serious between the six-freedom degree of underwater robot, be difficult to timely adjustment, thereby accurately being grasped suspicious object, the gripper type manipulator on it constitutes a serious difficulty, to such an extent as to can't finish the work.Simultaneously, the difference of objective contour size and dimension very easily causes the improper target that may cause of crawl position and dynamics to come off, destroy, and sets off an explosion and the diffusion of dangerous material.
Summary of the invention
The problem and shortage that in operation, exists in view of the gripper type manipulator, the purpose of this invention is to provide a kind of tuck net type manipulator of underwater robot, avoid the accurate location of underwater robot and gripper type manipulator are difficult to realize under complicated current and surge position and attitude and follow the tracks of and grasp, utilize the tuck net type manipulator that is fit to the underwater robot characteristics to finish the task of catching.When using this manipulator, the operation underwater robot arrives target proximity, can see in video system under the situation of target, stretch out manipulator and open the string bag, meet to target or the Renying of operating machines to target, make target object enter the string bag with suitable angle, and gathering network interface, thereby finish the task of catching, and separate net release, be convenient to dispose in the safety zone.The civilian maritime affairs that the present invention also can be applied under the same environment are salvaged.
For achieving the above object, the technical solution adopted in the present invention is as follows:
A kind of tuck net type manipulator of underwater robot.Fixed mount and a four link type arm mechanism of comprising two connection underwater robots, it is characterized in that described two fixed mount lower ends respectively fixedly mount a bearing block and interior bearing thereof respectively, cylinder of these two bearings, one end of this cylinder connects one and puts the net motor, the fixedly connected framework of the other end constitutes and puts net mechanism.Described framework also is equipped with extension means, throw the net mechanism and arm mechanism, is hanging a string bag on the described arm mechanism, constitutes off-grid mechanism with the mechanism of throwing the net.
Switch block by its both sides fixedly connected ship and resell on another market hinged with described framework; Fixedly connected one an of output shaft that is fixedly mounted on the stretching, extension motor on the described framework stretches driving gear, and described stretching, extension driving gear is fixed on the stretching, extension driven gear of described switch block one end on shipping and reselling on another market and is meshed with one; Described arm mechanism is installed on the described switch block.
Above-mentioned arm mechanism is: the near-end of a pair of head end arm is fixedlyed connected with the arm rotating shaft respectively, and described arm rotating shaft and described switch block are rotationally connected; The other end of head end arm (far-end) is hinged by pin in the middle of a pair of arm with the near-end of a pair of terminal arm respectively.The hinged place, head end arm 16 far-ends are the top of arm 19 near-ends endways, and terminal arm 19 near-ends are in the top of head end arm 17 far-ends.The far-end of described a pair of terminal arm is hinged by the terminal pin of an arm.
The above-mentioned mechanism of throwing the net is: the motor of throwing the net that is fixedly mounted on described switch block bottom surface, fix the driving gear of throwing the net on its output shaft, this throw the net driving gear and the driven gear engagement of throwing the net, this driving gear of throwing the net is fixedlyed connected with the arm rotating shaft respectively with the driven gear of throwing the net, and the arm rotating shaft is to be connected with the near-end fixed vertical of a pair of described head end arm respectively.The mechanism of throwing the net outwards rotates 45 respectively when spending with the head end arm, and the string bag opens and is square.
The described string bag is to hang on four head ropes by a networking pocket link, and one of described two head ropes is separately fixed at described head end arm far-end, and one of described two head ropes in addition is separately fixed at terminal arm far-end.Described four head ropes) pass one group of head rope link that hangs on described four arm stage casings in the middle of, the other end hangs with separates network sale.Be fixed on terminal arm far-end two head ropes separate the 110 degree arc chutes that described terminal arm 18 near-ends and described head end arm 17 far-ends are passed in network sale respectively, sit and to be inserted in the separating in the mesh of described head end arm 16 far-ends and terminal arm 19 near-ends; The degree arc chute of 110 on the described switch block intermediate layer is passed in the network sale of separating that is fixed on two head ropes of head end arm far-end respectively, and seat is inserted in separating in the mesh of described head end arm near-end.When described arm mechanism is thrown the net and rotated, describedly separate network sale and rotate with respect to tiny arc chute with separating mesh.During off-grid, the mechanism of throwing the net outwards turns to 55 respectively when spending with the head end arm, separating mesh overlaps with the macropore of arc chute, because object is subjected to the impact and the heavy effect of net bottom bob of fluid in the described string bag, describedly separate network sale and from the macropore of arc chute, come off, make one of the head rope come off, the string bag link that hangs on the head rope comes off from the head rope in succession, and the string bag and object are wherein put down.
The present invention has following conspicuous outstanding substantive distinguishing features and remarkable advantage compared with prior art:
Manipulator of the present invention has four link type arm mechanism, extension means, puts the net mechanism and the mechanism of throwing the net, and based on accurate submersible machine control, overall fixed is installed in the underwater robot belly, and arm mechanism also draws the belly in robot at ordinary times.During use, with 180 ° of the whole revolutions of arm mechanism, make it extend to the place ahead by extension means; Then, put net mechanism arm mechanism is rotated a few, the string bag that is wound on the arm is put down; Then, it is square by the mechanism of throwing the net four connecting rods of arm mechanism to be flared to, and the string bag that then hangs on the arm opens thereupon, by extension means arm mechanism is rotated again, or is made progress, forward by underwater robot, catches the object that is suspended in the water; Last underwater robot brings to disposal area with object, and the mechanism of throwing the net opens arm mechanism to the off-grid position, and the string bag that object can will be housed puts down.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the upward view of Fig. 1.
Fig. 3 is the right view of Fig. 1.
Fig. 4 is an arm mechanism stretching, extension structural representation forwards among Fig. 1.
Fig. 5 is the vertical view when arm mechanism is thrown the net among Fig. 4.
Fig. 6 is the part drawing of switch block 8, and Fig. 7 is the vertical view of Fig. 6, and Fig. 8 is the cutaway view of Fig. 6, can see 110 degree arc chutes.Fig. 9 is Fig. 6 left view.
Figure 10 is the part drawing of head end arm 16, can see far-end 110 degree arc chutes and near-ends separate mesh.
Figure 11 is terminal arm 18 carry string bag figure, and 22 1 of the head ropes are fixed on far-end, and the other end hangs with separates network sale, passes 110 degree arc chutes of near-end, is seated in separating in the mesh of head end arm 16 far-ends.Hung on the arm by a networking guiding principle link in the middle of the head rope 22, the string bag 25 is hung on the head rope by string bag link.
The specific embodiment
Details are as follows in conjunction with the accompanying drawings for a preferred embodiment of the present invention:
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, this tuck net type manipulator of underwater robot comprises that the fixed mount 2 of two connection underwater robots and one are by the four link type arm mechanism, it is characterized in that described two fixed mount 2 lower ends respectively fixedly mount a bearing block and interior bearing 3 thereof respectively, these two bearings 3 support a cylinder 4, one end of this cylinder 4 connects one and puts net motor 1, the fixedly connected framework 7 of the other end constitutes and puts net mechanism.Extension means also is equipped with in described framework 7 installations, throw the net mechanism and arm mechanism, is hanging a string bag 22 on the described arm mechanism, constitutes off-grid mechanism with the mechanism of throwing the net.
Referring to Fig. 1, Fig. 4, Fig. 6, Fig. 7, Fig. 8, Fig. 9, above-mentioned extension means is: switch block 10 by its both sides fixedly connected ship and resell on another market 8 hinged with described framework 7; Fixedly connected one an of output shaft that is fixedly mounted on the stretching, extension motor 9 on the described framework 7 stretches driving gear 5, and described stretching, extension driving gear 5 is fixed on the stretching, extension driven gear 6 that described switch block 10 1 ends ship and resell on another market on 8 and is meshed with one; Described arm mechanism is installed on the described switch block 10.
Referring to Fig. 5, Figure 10, described arm mechanism is: the near-end of a pair of head end arm 16,17 is fixedlyed connected with arm rotating shaft 12,14 respectively, and described arm rotating shaft 12,14 and described switch block 10 are rotationally connected; The other end (far-end) of head end arm 16,17 is hinged by pin 20 in the middle of a pair of arm with the near-end of a pair of terminal arm 18,19 respectively.The hinged place, head end arm 16 far-ends are the top of arm 19 near-ends endways, and terminal arm 19 near-ends are in the top of head end arm 17 far-ends.The far-end of described a pair of terminal arm 18,19 is hinged by the terminal pin 21 of an arm.
Referring to Fig. 5, Fig. 7, the described mechanism of throwing the net is: the motor 13 of throwing the net that is fixedly mounted on described switch block 10 bottom surfaces, fix the driving gear 15 of throwing the net on its output shaft, these throw the net driving gear 15 and driven gear 11 engagements of throwing the net, this driving gear 15 of throwing the net is fixedlyed connected with arm rotating shaft 14,12 respectively with the driven gear 11 of throwing the net, and arm rotating shaft the 12, the 14th is connected with the near-end fixed vertical of a pair of described head end arm 16,17 respectively.The mechanism of throwing the net outwards rotates 45 respectively when spending with head end arm 16,17, and the string bag 25 opens and is square.
Referring to Fig. 8, Figure 10, Figure 11, the described string bag 25 is to hang on four head ropes 22 by a networking pocket link 24, one of described two head ropes 22 is separately fixed at described head end arm 16,17 far-ends, and one of described two head ropes 22 in addition is separately fixed at terminal arm 18,19 far-ends.Pass one group of head rope link 23 that hangs on described four arms 16,17,18,19 stage casings in the middle of described four head ropes 22, the other end hangs with separates network sale.Be fixed on terminal arm 18,19 far-ends two head ropes 22 separate the 110 degree arc chutes that described terminal arm 18 near-ends and described head end arm 17 far-ends are passed in network sale respectively, sit and to be inserted in the separating in the mesh of described head end arm 16 far-ends and terminal arm 19 near-ends; The degree arc chute of 110 on described switch block 10 intermediate layers is passed in the network sale of separating that is fixed on two head ropes 22 of head end arm 16,17 far-ends respectively, and seat is inserted in separating in the mesh of described head end arm 16,17 near-ends.When described arm mechanism is thrown the net and rotated, describedly separate network sale and rotate with respect to tiny arc chute with separating mesh.During off-grid, the mechanism of throwing the net outwards turns to 55 respectively when spending with head end arm 16,17, separating mesh overlaps with the macropore of arc chute, because object is subjected to the impact and the heavy effect of net bottom bob of fluid in the described string bag 25, describedly separate network sale and from the macropore of arc chute, come off, make 22 1 of the head ropes come off, the string bag link 24 that hangs on the head rope 22 comes off from the head rope 22 in succession, and the string bag and object are wherein put down.
Claims (5)
1. tuck net type manipulator of underwater robot, fixed mount (2) and a four link type arm mechanism of comprising two connection underwater robots, it is characterized in that described two fixed mounts (2) lower end respectively fixedly mounts a bearing block and interior bearing (3) thereof respectively, these two bearings (3) support a cylinder (4), one end of this cylinder (4) connects one and puts net motor (1), the fixedly connected framework of the other end (7) constitutes and puts net mechanism.Described framework (7) also is equipped with extension means, throw the net mechanism and arm mechanism, is hanging a string bag (25) on the described arm mechanism, constitutes off-grid mechanism with the mechanism of throwing the net.
2. according to the described tuck net type manipulator of underwater robot of claim (1), it is characterized in that described extension means is: a switch block (10) is hinged by fixedly connected shipping and reselling on another market in its both sides (8) and described framework (7); Fixedly connected one an of output shaft that is fixedly mounted on the stretching, extension motor (9) on the described framework (7) stretches driving gear (5), and described stretching, extension driving gear (5) is fixed on the stretching, extension driven gear (6) that described switch block (10) one ends ship and resell on another market on (8) and is meshed with one; Described arm mechanism is installed on the described switch block (10).
3. tuck net type manipulator of underwater robot according to claim 1, it is characterized in that described arm mechanism is: a pair of head end is fixedlyed connected with arm rotating shaft (12,14) respectively in the near-end of arm (16,17), and described arm rotating shaft (12,14) is rotationally connected with described switch block (10); The other end (far-end) of head end arm (16,17) is hinged by pin (20) in the middle of a pair of arm with the near-end of a pair of terminal arm (18,19) respectively.The hinged place, head end arm (16) far-end is the top of arm (19) near-end endways, and terminal arm (19) near-end is in the top of head end arm (17) far-end.The far-end of described a pair of terminal arm (18,19) is hinged by the terminal pin of an arm (21).
4. tuck net type manipulator of underwater robot according to claim 1, it is characterized in that the described mechanism of throwing the net is: the motor of throwing the net (13) that is fixedly mounted on described switch block (10) bottom surface, fix the driving gear of throwing the net (15) on its output shaft, this driving gear of throwing the net (15) and the driven gear of throwing the net (11) engagement, this driving gear of throwing the net (15) and the driven gear of throwing the net (11) respectively with arm rotating shaft (14,12) fixedly connected, and arm rotating shaft (12,14) be respectively with a pair of described head end arm (16,17) near-end fixed vertical connects.The mechanism of throwing the net outwards rotates 45 respectively when spending with head end arm (16,17), and the string bag (25) opens and is square.
5. tuck net type manipulator of underwater robot according to claim 1, it is characterized in that the described string bag (25) is to hang on four head ropes (22) by a networking pocket link (24), one of described two head ropes (22) is separately fixed at described head end arm (16,17) far-end, and one of described two head ropes (22) in addition is separately fixed at terminal arm (18,19) far-end.Pass one group of head rope link (23) that hangs on described four arms (16,17,18,19) stage casing in the middle of described four head ropes (22), the other end hangs with separates network sale.Be fixed on terminal arm (18,19) far-end two head ropes (22) separate the 110 degree arc chutes that described terminal arm (18) near-end and described head end arm (17) far-end are passed in network sale respectively, sit and to be inserted in the separating in the mesh of described head end arm (16) far-end and terminal arm (19) near-end; The degree arc chute of 110 on described switch block (10) intermediate layer is passed in the network sale of separating that is fixed on two head ropes (22) of head end arm (16,17) far-end respectively, and seat is inserted in separating in the mesh of described head end arm (16,17) near-end.When described arm mechanism is thrown the net and rotated, describedly separate network sale and rotate with respect to tiny arc chute with separating mesh.During off-grid, the mechanism of throwing the net outwards turns to 55 respectively when spending with head end arm (16,17), separating mesh overlaps with the macropore of arc chute, because being subjected to the impact and the net bottom of fluid, the interior object of the described string bag (25) weighs down heavy effect, describedly separate network sale and from the macropore of arc chute, come off, make (22) one of the head ropes come off, the string bag link (24) that hangs on the head rope (22) comes off from the head rope (22) in succession, and the string bag and object are wherein put down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100483114A CN101513735B (en) | 2009-03-26 | 2009-03-26 | Tuck net type manipulator of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100483114A CN101513735B (en) | 2009-03-26 | 2009-03-26 | Tuck net type manipulator of underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN101513735A true CN101513735A (en) | 2009-08-26 |
| CN101513735B CN101513735B (en) | 2010-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100483114A Expired - Fee Related CN101513735B (en) | 2009-03-26 | 2009-03-26 | Tuck net type manipulator of underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620188A (en) * | 2022-03-31 | 2022-06-14 | 上海大学 | Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship |
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2009
- 2009-03-26 CN CN2009100483114A patent/CN101513735B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620188A (en) * | 2022-03-31 | 2022-06-14 | 上海大学 | Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship |
| CN114620188B (en) * | 2022-03-31 | 2023-03-14 | 上海大学 | Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship |
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| Publication number | Publication date |
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| CN101513735B (en) | 2010-09-22 |
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Granted publication date: 20100922 Termination date: 20140326 |