CN104290886A - Underwater fishing robot - Google Patents
Underwater fishing robot Download PDFInfo
- Publication number
- CN104290886A CN104290886A CN201410551345.6A CN201410551345A CN104290886A CN 104290886 A CN104290886 A CN 104290886A CN 201410551345 A CN201410551345 A CN 201410551345A CN 104290886 A CN104290886 A CN 104290886A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- pawl
- singlechip controller
- electromagnetic valve
- wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention discloses an underwater fishing robot, belonging to the technical field of robots. The underwater fishing robot comprises a manipulator, a bottom plate, a high-definition camera, support frames, an LED lamp, a binocular camera, a first airbag, a flange plate, a first air pump, an acrylic cylinder, a main propeller, a singlechip controller, a storage battery, a baffle, a notch, a side propeller, a sliding rail, a slide block, a second claw, a first cylinder, a first solenoid valve, a first supporting plate, a scissors arm, a second solenoid valve, a second cylinder, an expansion stick, a first claw, a mechanical claw, a bracket, a third solenoid valve, a first motor seat, a second supporting plate, a third cylinder, a first motor, a first coupling, a connecting shaft, a shaft sleeve, a mechanical arm, a second motor, a bearing rack, a second coupling, a nut, a lead screw, a long handle, a hook, a second air pump, a connecting rod, a second airbag, a finger clamp, an electric push rod and a connecting block, wherein four support frames are arranged on the bottom plate. The underwater fishing robot disclosed by the invention has the advantages of simple operation, wide motion range and high adaptability.
Description
Technical field
The present invention relates to a kind of underwater salvage robot, belong to robotics.
Background technology
Under-water robot can complete the work that a large amount of mankind cannot complete under water, under-water robot is equipped with camera, controllers can see seabed situation aboard ship or on the bank in real time, Deep Sea Minerals exploitation, underwater construction and many aspects such as military affairs and national defense construction can be widely used in, underwater manipulator and submarine mechanical pawl are the critical components of under-water robot, however the manipulator of existing design and gripper structure comparatively complicated, be unfavorable for operation, range of movement is little, and applicability is poor.In order to solve above-mentioned difficulties, need exploitation a simple to operate, range of movement is wide, adaptable under-water robot.
Summary of the invention
The object of this invention is to provide a kind of underwater salvage robot.
The problem to be solved in the present invention is that the manipulator of existing design and gripper structure are comparatively complicated, and be unfavorable for operation, range of movement is little, the problem that applicability is poor.
For realizing object of the present invention, the technical solution used in the present invention is:
A kind of underwater salvage robot, comprises manipulator, base plate, high-definition camera, bracing frame, LED, binocular camera, first air bag, flange, first air pump, acrylic cylinder, main thruster, singlechip controller, storage battery, baffle plate, breach, side propeller, slide rail, slide block, second pawl, first cylinder, first electromagnetic valve, first support plate, scissor arm, second electromagnetic valve, second cylinder, flexible stick, first pawl, gripper, support, 3rd electromagnetic valve, first motor cabinet, second support plate, 3rd cylinder, first electrical motor, first coupler, adapter shaft, axle sleeve, mechanical arm, second electrical motor, bearing frame, second coupler, screw, leading screw, long handle, hook, second air pump, connecting rod, second air bag, folder refers to, electric pushrod and contiguous block, described base plate installs four bracing frames, each installation acrylic cylinder on adjacent two bracing frames, and each mounting flange in two ends, acrylic cylinder left and right, is positioned at the acrylic cylinder mounted LED lamp of front side, binocular camera and high-definition camera, high-definition camera is downward-sloping installation, binocular camera is that level is installed, the acrylic cylinder being positioned at rear side installs singlechip controller and storage battery, storage battery is connected with singlechip controller by wire, singlechip controller is connected with operating system on the bank by umbilical cables, singlechip controller by wire respectively with LED, binocular camera is connected with high-definition camera, main thruster is arranged on base plate, singlechip controller is connected with main thruster by wire, two the first air bags and two the first air pumps are arranged on base plate, first air bag is connected with the first air pump by tracheae, first air pump is connected with singlechip controller by wire, base plate is each side symmetrical installs baffle plate, baffle plate is provided with two breach, installation side propelling unit on baffle plate, base plate front end installation manipulator, two grippers are respectively installed at two ends, base plate left and right, between two grippers of homonymy, flexible stick is installed, second cylinder piston rod is inclined and mounted on flexible stick right-hand member, second cylinder and flexible stick are 145 ° and install, second cylinder is arranged on the first support plate, first support plate is arranged on the right side of baffle plate, second electromagnetic valve is arranged on the first support plate, second electromagnetic valve is by pipeline and the second cylinders, second electromagnetic valve is connected with singlechip controller by wire.
Described manipulator comprises support, 3rd electromagnetic valve, first motor cabinet, second support plate, 3rd cylinder, first electrical motor, first coupler, adapter shaft, axle sleeve, mechanical arm, second electrical motor, bearing frame, second coupler, screw, leading screw, long handle, hook, second air pump, connecting rod, second air bag and folder refer to, two support installing are in base plate front end, first motor cabinet is arranged on two supports, first motor cabinet and two supports hinged, first electrical motor is arranged on the first motor cabinet, singlechip controller is connected with the first electrical motor by wire, first electrical motor is connected with adapter shaft by the first coupler, axle sleeve is arranged on adapter shaft, adapter shaft lower end is installed on the robotic arm, second electrical motor is installed on the robotic arm, singlechip controller is connected with the second electrical motor by wire, second electrical motor is connected with leading screw by the second coupler, second coupler is arranged on bearing frame, bearing frame is installed on the robotic arm, screw is arranged on leading screw, long handle is arranged on screw, hook is arranged on long handle lower end, two the second air pumps are installed on the robotic arm, singlechip controller is connected with the second air pump by wire, in mechanical arm, electric pushrod is installed, singlechip controller is connected with electric pushrod by wire, contiguous block is arranged on electric pushrod front end, hinged two connecting rods on contiguous block, the each toggle clamp in each connecting rod lower end refers to, folder refers to that upper end is positioned at mechanical arm, folder refers to that the second air bag is installed in inner side, second air bag is connected with the second air pump by tracheae, under second support plate is arranged on base plate, 3rd electromagnetic valve and the 3rd cylinder are arranged on the second support plate, singlechip controller is connected with the 3rd electromagnetic valve by wire, 3rd electromagnetic valve is by pipeline and the 3rd cylinders, 3rd cylinder piston rod and axle sleeve hinged.
Described gripper comprises slide rail, slide block, second pawl, first cylinder, first electromagnetic valve, scissor arm and the first pawl, under slide rail is hinged on base plate, slide block is arranged on slide rail, under second pawl is arranged on slide block, under first pawl is hinged on base plate, it is inner that first cylinder right-hand member is arranged on the first pawl, it is inner that first cylinder piston rod is arranged on the second pawl, it is inner that first electromagnetic valve is arranged on the first pawl, first cylinder is connected with the first electromagnetic valve by pipeline, first electromagnetic valve is connected with singlechip controller by wire, it is inner that scissor arm left end is arranged on the first pawl, scissor arm left end and the first pawl hinged, it is inner that scissor arm right-hand member is arranged on the second pawl, scissor arm right-hand member and the second pawl hinged, flexible stick left end is arranged on the right side of the second pawl of previous gripper, flexible stick right-hand member is arranged on the left of the first pawl of a rear gripper.
Advantage of the present invention is: main thruster controls the sink-float up and down of this robot, two side propeller control parallel motion directions; When the object that salvaging quality is larger, singlechip controller controls the first air pump to the first airbag aeration, and the first air bag can ensure that robot successfully salvages salvaging thing, finishes the work; The service condition of high-definition camera monitoring manipulator, binocular camera supervisory-controlled robot front, guide course, video system functions earthward operating personal provides realtime graphic under water, and handled easily personnel assign correct work order to robot; Singlechip controller controls electric pushrod and elongates or shortens, and under the drive of connecting rod, two folder sensing both sides separate or draw close, and realize folder and refer to clamp less goods; During goods frangible, singlechip controller to the second airbag aeration, makes folder refer to be not easy to make a mess of goods by the second air pump; When goods is longer chain shape, after folder refers to clamp goods, singlechip controller controls the first electrical motor forward or reverse, enables goods be wound around on the robotic arm; When goods is positioned at elongate cavity or slit, singlechip controller controls the second electrical motor forward or reverse, drives leading screw forward or reverse, screw is moved down along leading screw with long handle, hook is entered in hole or in slit and hooks goods; The piston rod that the energising of singlechip controller control the 3rd electromagnetic valve and power-off control the 3rd cylinder does fore and aft motion, drives adapter shaft lower end to swing forward or backward, realizes the adjustable angle between manipulator and ground, facilitate folder to refer to gripping goods; Second cylinder piston rod is inclined and mounted on flexible stick right-hand member, singlechip controller controls the piston rod that the energising of the second electromagnetic valve and power-off control the second cylinder and does fore and aft motion, the piston rod of the second cylinder promotes flexible stick and is moved to the left or moves right, and realizes four grippers and mutually embraces and firmly embrace the larger goods of weight larger volume; Singlechip controller controls the piston rod that the energising of the first electromagnetic valve and power-off control the first cylinder and does fore and aft motion, second pawl is moved right along with the piston rod of the first cylinder, scissor arm is pulled open, make the distance between the first pawl and the second pawl become large, make gripper be applicable to carrying the goods of different volumes.
Accompanying drawing explanation
Fig. 1 is a kind of underwater salvage robot of the present invention integral structure figure;
Fig. 2 is manipulator enlarged diagram;
Fig. 3 is mechanical arm cut-away view;
Fig. 4 is gripper enlarged diagram;
In figure: 1, manipulator 2, base plate 3, high-definition camera 4, bracing frame 5, LED 6, binocular camera 7, first air bag 8, flange 9, first air pump 10, acrylic cylinder 11, main thruster 12, singlechip controller 13, storage battery 14, baffle plate 15, breach 16, side propeller 17, slide rail 18, slide block 19, second pawl 20, first cylinder 21, first electromagnetic valve 22, first support plate 23, scissor arm 24, second electromagnetic valve 25, second cylinder 26, flexible stick 27, first pawl 28, gripper 29, support 30, 3rd electromagnetic valve 31, first motor cabinet 32, second support plate 33, 3rd cylinder 34, first electrical motor 35, first coupler 36, adapter shaft 37, axle sleeve 38, mechanical arm 39, second electrical motor 40, bearing frame 41, second coupler 42, screw 43, leading screw 44, long handle 45, hook 46, second air pump 47, connecting rod 48, second air bag 49, folder refers to 50, electric pushrod 51 contiguous block.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
A kind of underwater salvage robot of the present invention, comprises manipulator 1, base plate 2, high-definition camera 3, bracing frame 4, LED 5, binocular camera 6, first air bag 7, flange 8, first air pump 9, acrylic cylinder 10, main thruster 11, singlechip controller 12, storage battery 13, baffle plate 14, breach 15, side propeller 16, slide rail 17, slide block 18, second pawl 19, first cylinder 20, first electromagnetic valve 21, first support plate 22, scissor arm 23, second electromagnetic valve 24, second cylinder 25, flexible stick 26, first pawl 27, gripper 28, support 29, 3rd electromagnetic valve 30, first motor cabinet 31, second support plate 32, 3rd cylinder 33, first electrical motor 34, first coupler 35, adapter shaft 36, axle sleeve 37, mechanical arm 38, second electrical motor 39, bearing frame 40, second coupler 41, screw 42, leading screw 43, long handle 44, hook 45, second air pump 46, connecting rod 47, second air bag 48, folder refers to 49, electric pushrod 50 and contiguous block 51, described base plate 2 installs four bracing frames 4, each installation acrylic cylinder 10 on adjacent two bracing frames 4, and each mounting flange 8 in acrylic cylinder about 10 two ends, is positioned at acrylic cylinder 10 mounted LED lamp 5 of front side, binocular camera 6 and high-definition camera 3, high-definition camera 3 is downward-sloping installation, binocular camera 6 is level installation, high-definition camera 3 monitors the service condition of manipulator 1, binocular camera 6 supervisory-controlled robot front, guide course, video system functions earthward operating personal provides realtime graphic under water, and handled easily personnel assign correct work order to robot, the acrylic cylinder 10 being positioned at rear side installs singlechip controller 12 and storage battery 13, storage battery 13 is connected with singlechip controller 12 by wire, singlechip controller 12 is connected with operating system on the bank by umbilical cables, singlechip controller 12 by wire respectively with LED 5, binocular camera 6 is connected with high-definition camera 3, main thruster 11 is installed on a base plate 2, singlechip controller 12 is connected with main thruster 11 by wire, main thruster 11 controls the sink-float up and down of this robot, two the first air bags 7 and two the first air pumps 9 are installed on a base plate 2, first air bag 7 is connected with the first air pump 9 by tracheae, first air pump 9 is connected with singlechip controller 12 by wire, when the object that salvaging quality is larger, singlechip controller 12 controls the first air pump 9 and inflates to the first air bag 7, first air bag 7 can ensure that robot successfully salvages salvaging thing, finish the work, base plate 2 is each side symmetrical installs baffle plate 14, baffle plate 14 is provided with two breach 15, on on the bank available or ship, the rope of winch or chain hitch the breach 15 on baffle plate 14, this robot is transferred in water, installation side propelling unit 16, two side propeller 16 control parallel motion directions on baffle plate 14, base plate 2 front end installation manipulator 1, two grippers 28 are respectively installed at base plate about 2 two ends, between two grippers 28 of homonymy, flexible stick 26 is installed, second cylinder 25 piston rod is inclined and mounted on flexible stick 26 right-hand member, second cylinder 25 is installed in 145 ° with flexible stick 26, second cylinder 25 is arranged on the first support plate 22, first support plate 22 is arranged on the right side of baffle plate 14, second electromagnetic valve 24 is arranged on the first support plate 22, second electromagnetic valve 24 is connected with the second cylinder 25 by pipeline, second electromagnetic valve 24 is connected with singlechip controller 12 by wire, singlechip controller 12 controls the piston rod that the energising of the second electromagnetic valve 24 and power-off control the second cylinder 25 and does fore and aft motion, the piston rod of the second cylinder 25 promotes flexible stick 26 and is moved to the left or moves right, realize four grippers 28 mutually to embrace and firmly embrace the larger goods of weight larger volume, high-definition camera 3, LED 5, binocular camera 6, singlechip controller 12, main thruster 11, side propeller 16 and electric pushrod 50 are all prior aries, directly commercially can buy acquisition, main thruster 11, side propeller 16 and electric pushrod 50 are all built-in motor structures.
Described manipulator 1 comprises support 29, 3rd electromagnetic valve 30, first motor cabinet 31, second support plate 32, 3rd cylinder 33, first electrical motor 34, first coupler 35, adapter shaft 36, axle sleeve 37, mechanical arm 38, second electrical motor 39, bearing frame 40, second coupler 41, screw 42, leading screw 43, long handle 44, hook 45, second air pump 46, connecting rod 47, second air bag 48 and folder refer to 49, two supports 29 are arranged on base plate 2 front end, first motor cabinet 31 is arranged on two supports 29, first motor cabinet 31 and two supports 29 hinged, first electrical motor 34 is arranged on the first motor cabinet 31, singlechip controller 12 is connected with the first electrical motor 34 by wire, first electrical motor 34 is connected with adapter shaft 36 by the first coupler 35, when goods is longer chain shape, folder refer to 49 clamp goods after, singlechip controller 12 controls the first electrical motor 34 forward or reverse, goods is enable to be wrapped on mechanical arm 38, axle sleeve 37 is arranged on adapter shaft 36, adapter shaft 36 lower end is arranged on mechanical arm 38, second electrical motor 39 is arranged on mechanical arm 38, singlechip controller 12 is connected with the second electrical motor 39 by wire, second electrical motor 39 is connected with leading screw 43 by the second coupler 41, second coupler 41 is arranged on bearing frame 40, bearing frame 40 is arranged on mechanical arm 38, screw 42 is arranged on leading screw 43, long handle 44 is arranged on screw 42, hook 45 is arranged on long handle 44 lower end, when goods is positioned at elongate cavity or slit, singlechip controller 12 controls the second electrical motor 39 forward or reverse, drive leading screw 43 forward or reverse, screw 42 is moved down along leading screw 43 with long handle 44, hook 45 is entered in hole or in slit and hooks goods, two the second air pumps 46 are arranged on mechanical arm 38, singlechip controller 12 is connected with the second air pump 46 by wire, in mechanical arm 38, electric pushrod 50 is installed, singlechip controller 12 is connected with electric pushrod 50 by wire, contiguous block 51 is arranged on electric pushrod 50 front end, hinged two connecting rods 47 on contiguous block 51, the each toggle clamp in each connecting rod 47 lower end refers to 49, folder refers to that 49 upper ends are positioned at mechanical arm 38, singlechip controller 12 controls electric pushrod 50 and elongates or shortens, under the drive of connecting rod 47, two folders refer to 49 to both sides separately or draw close, realize folder and refer to that 49 clamp less goods, folder is installed the second air bag 48, second air bag 48 inside referring to 49 and is connected with the second air pump 46 by tracheae, and during goods frangible, singlechip controller 12 is inflated to the second air bag 48 by the second air pump 46, and folder is referred to, and 49 are not easy to make a mess of goods, second support plate 32 is arranged on base plate 2 times, 3rd electromagnetic valve 30 and the 3rd cylinder 33 are arranged on the second support plate 32, singlechip controller 12 is connected with the 3rd electromagnetic valve 30 by wire, 3rd electromagnetic valve 30 is connected with the 3rd cylinder 33 by pipeline, 3rd cylinder 33 piston rod and axle sleeve 37 hinged, axle sleeve 37 can avoid the 3rd cylinder 33 to rotate together along with adapter shaft 36, the piston rod that the energising of controller control the 3rd electromagnetic valve 30 and power-off control the 3rd cylinder 33 does fore and aft motion, adapter shaft 36 lower end is driven to swing forward or backward, realize the adjustable angle between manipulator 1 and ground, folder is facilitated to refer to 49 gripping goods.
Described gripper 28 comprises slide rail 17, slide block 18, second pawl 19, first cylinder 20, first electromagnetic valve 21, scissor arm 23 and the first pawl 27, slide rail 17 is hinged on base plate 2 times, slide block 18 is arranged on slide rail 17, second pawl 19 is arranged on slide block 18 times, first pawl 27 is hinged on base plate 2 times, it is inner that first cylinder 20 right-hand member is arranged on the first pawl 27, it is inner that first cylinder 20 piston rod is arranged on the second pawl 19, it is inner that first electromagnetic valve 21 is arranged on the first pawl 27, first cylinder 20 is connected with the first electromagnetic valve 21 by pipeline, first electromagnetic valve 21 is connected with singlechip controller 12 by wire, it is inner that scissor arm 23 left end is arranged on the first pawl 27, scissor arm 23 left end and the first pawl 27 hinged, it is inner that scissor arm 23 right-hand member is arranged on the second pawl 19, scissor arm 23 right-hand member and the second pawl 19 hinged, singlechip controller 12 controls the piston rod that the energising of the first electromagnetic valve 21 and power-off control the first cylinder 20 and does fore and aft motion, second pawl 19 is moved right along with the piston rod of the first cylinder 20, scissor arm 23 is pulled open, the distance between the first pawl 27 and the second pawl 19 is made to become large, gripper 28 is made to be applicable to the goods of carrying different volumes, flexible stick 26 left end is arranged on the right side of the second pawl 19 of previous gripper 28, flexible stick 26 right-hand member is arranged on the left of the first pawl 27 of a rear gripper 28, second cylinder 25 piston rod is inclined and mounted on flexible stick 26 right-hand member, singlechip controller 12 controls the piston rod that the energising of the second electromagnetic valve 24 and power-off control the second cylinder 25 and does fore and aft motion, the piston rod of the second cylinder 25 promotes flexible stick 26 and is moved to the left or moves right, realize four grippers 28 mutually to embrace and firmly embrace the larger goods of weight larger volume.
Using method of the present invention: hitch the breach 15 on baffle plate 14 with the rope of winch on the bank or on ship or chain, transfer in water by this robot, main thruster 11 controls the sink-float up and down of this robot, two side propeller 16 control parallel motion directions; When the object that salvaging quality is larger, singlechip controller 12 controls the first air pump 9 and inflates to the first air bag 7, and the first air bag 7 can ensure that robot successfully salvages salvaging thing, finishes the work; High-definition camera 3 monitors the service condition of manipulator 1, binocular camera 6 supervisory-controlled robot front, and guide course, video system functions earthward operating personal provides realtime graphic under water, and handled easily personnel assign correct work order to robot; Singlechip controller 12 controls electric pushrod 50 and elongates or shortens, and under the drive of connecting rod 47, two folders refer to 49 to both sides separately or draw close, and realize folder and refer to that 49 clamp less goods; During goods frangible, singlechip controller 12 is inflated to the second air bag 48 by the second air pump 46, and folder is referred to, and 49 are not easy to make a mess of goods; When goods is longer chain shape, folder refer to 49 clamp goods after, singlechip controller 12 controls the first electrical motor 34 forward or reverse, enables goods be wrapped on mechanical arm 38; When goods is positioned at elongate cavity or slit, singlechip controller 12 controls the second electrical motor 39 forward or reverse, drive leading screw 43 forward or reverse, screw 42 is moved down along leading screw 43 with long handle 44, hook 45 is entered in hole or in slit and hooks goods; Singlechip controller 12 controls the piston rod that the energising of the 3rd electromagnetic valve 30 and power-off control the 3rd cylinder 33 and does fore and aft motion, adapter shaft 36 lower end is driven to swing forward or backward, realize the adjustable angle between manipulator 1 and ground, facilitate folder to refer to 49 gripping goods; Second cylinder 25 piston rod is inclined and mounted on flexible stick 26 right-hand member, singlechip controller 12 controls the piston rod that the energising of the second electromagnetic valve 24 and power-off control the second cylinder 25 and does fore and aft motion, the piston rod of the second cylinder 25 promotes flexible stick 26 and is moved to the left or moves right, and realizes four grippers 28 and mutually embraces and firmly embrace the larger goods of weight larger volume; Singlechip controller 12 controls the piston rod that the energising of the first electromagnetic valve 21 and power-off control the first cylinder 20 and does fore and aft motion, second pawl 19 is moved right along with the piston rod of the first cylinder 20, scissor arm 23 is pulled open, the distance between the first pawl 27 and the second pawl 19 is made to become large, make gripper 28 be applicable to the goods of carrying different volumes, finally with the winch on the bank or on ship, this robot is pulled out the water surface.
Claims (3)
1. a underwater salvage robot, comprises manipulator (1), base plate (2), high-definition camera (3), bracing frame (4), LED (5), binocular camera (6), first air bag (7), flange (8), first air pump (9), acrylic cylinder (10), main thruster (11), singlechip controller (12), storage battery (13), baffle plate (14), breach (15), side propeller (16), slide rail (17), slide block (18), second pawl (19), first cylinder (20), first electromagnetic valve (21), first support plate (22), scissor arm (23), second electromagnetic valve (24), second cylinder (25), flexible stick (26), first pawl (27), gripper (28), support (29), 3rd electromagnetic valve (30), first motor cabinet (31), second support plate (32), 3rd cylinder (33), first electrical motor (34), first coupler (35), adapter shaft (36), axle sleeve (37), mechanical arm (38), second electrical motor (39), bearing frame (40), second coupler (41), screw (42), leading screw (43), long handle (44), hook (45), second air pump (46), connecting rod (47), second air bag (48), folder refers to (49), electric pushrod (50) and contiguous block (51), it is characterized in that: upper installation four bracing frames (4) of described base plate (2), the upper each installation acrylic cylinder (10) of adjacent two bracing frames (4), the each mounting flange in acrylic cylinder (10) two ends, left and right (8), are positioned at acrylic cylinder (10) mounted LED lamp (5) of front side, binocular camera (6) and high-definition camera (3), high-definition camera (3) is downward-sloping installation, binocular camera (6) is level installation, the acrylic cylinder (10) being positioned at rear side installs singlechip controller (12) and storage battery (13), storage battery (13) is connected with singlechip controller (12) by wire, singlechip controller is connected with operating system on the bank by umbilical cables, singlechip controller (12) by wire respectively with LED (5), binocular camera (6) is connected with high-definition camera (3), main thruster (11) is arranged on base plate (2), singlechip controller (12) is connected with main thruster (11) by wire, two the first air bags (7) and two the first air pumps (9) are arranged on base plate (2), first air bag (7) is connected with the first air pump (9) by tracheae, first air pump (9) is connected with singlechip controller (12) by wire, base plate (2) is each side symmetrical installs baffle plate (14), baffle plate (14) is provided with two breach (15), the upper installation side propelling unit (16) of baffle plate (14), base plate (2) front end installation manipulator (1), two grippers (28) are respectively installed at base plate (2) two ends, left and right, between two grippers (28) of homonymy, flexible stick (26) is installed, second cylinder (25) piston rod is inclined and mounted on flexible stick (26) right-hand member, second cylinder (25) and flexible stick (26) are installed in 145 °, second cylinder (25) is arranged on the first support plate (22), first support plate (22) is arranged on baffle plate (14) right side, second electromagnetic valve (24) is arranged on the first support plate (22), second electromagnetic valve (24) is connected with the second cylinder (25) by pipeline, second electromagnetic valve (24) is connected with singlechip controller (12) by wire.
2. a kind of underwater salvage robot according to claim 1, it is characterized in that: described manipulator (1) comprises support (29), 3rd electromagnetic valve (30), first motor cabinet (31), second support plate (32), 3rd cylinder (33), first electrical motor (34), first coupler (35), adapter shaft (36), axle sleeve (37), mechanical arm (38), second electrical motor (39), bearing frame (40), second coupler (41), screw (42), leading screw (43), long handle (44), hook (45), second air pump (46), connecting rod (47), second air bag (48) and folder refer to (49), two supports (29) are arranged on base plate (2) front end, first motor cabinet (31) is arranged on two supports (29), first motor cabinet (31) is hinged with two supports (29), first electrical motor (34) is arranged on the first motor cabinet (31), singlechip controller (12) is connected with the first electrical motor (34) by wire, first electrical motor (34) is connected with adapter shaft (36) by the first coupler (35), axle sleeve (37) is arranged on adapter shaft (36), adapter shaft (36) lower end is arranged on mechanical arm (38), second electrical motor (39) is arranged on mechanical arm (38), singlechip controller (12) is connected with the second electrical motor (39) by wire, second electrical motor (39) is connected with leading screw (43) by the second coupler (41), second coupler (41) is arranged on bearing frame (40), bearing frame (40) is arranged on mechanical arm (38), screw (42) is arranged on leading screw (43), long handle (44) is arranged on screw (42), hook (45) is arranged on long handle (44) lower end, two the second air pumps (46) are arranged on mechanical arm (38), singlechip controller (12) is connected with the second air pump (46) by wire, in mechanical arm (38), electric pushrod (50) is installed, singlechip controller (12) is connected with electric pushrod (50) by wire, contiguous block (51) is arranged on electric pushrod (50) front end, upper hinged two connecting rods (47) of contiguous block (51), the each toggle clamp in each connecting rod (47) lower end refers to (49), folder refers to that (49) upper end is positioned at mechanical arm (38), folder refers to that the second air bag (48) is installed in (49) inner side, second air bag (48) is connected with the second air pump (46) by tracheae, under second support plate (32) is arranged on base plate (2), 3rd electromagnetic valve (30) and the 3rd cylinder (33) are arranged on the second support plate (32), singlechip controller (12) is connected with the 3rd electromagnetic valve (30) by wire, 3rd electromagnetic valve (30) is connected with the 3rd cylinder (33) by pipeline, 3rd cylinder (33) piston rod and axle sleeve (37) hinged.
3. a kind of underwater salvage robot according to claim 1, it is characterized in that: described gripper (28) comprises slide rail (17), slide block (18), second pawl (19), first cylinder (20), first electromagnetic valve (21), scissor arm (23) and the first pawl (27), under slide rail (17) is hinged on base plate (2), slide block (18) is arranged on slide rail (17), under second pawl (19) is arranged on slide block (18), under first pawl (27) is hinged on base plate (2), it is inner that first cylinder (20) right-hand member is arranged on the first pawl (27), it is inner that first cylinder (20) piston rod is arranged on the second pawl (19), it is inner that first electromagnetic valve (21) is arranged on the first pawl (27), first cylinder (20) is connected with the first electromagnetic valve (21) by pipeline, first electromagnetic valve (21) is connected with singlechip controller (12) by wire, it is inner that scissor arm (23) left end is arranged on the first pawl (27), scissor arm (23) left end and the first pawl (27) hinged, it is inner that scissor arm (23) right-hand member is arranged on the second pawl (19), scissor arm (23) right-hand member and the second pawl (19) hinged, flexible stick (26) left end is arranged on the second pawl (19) right side of previous gripper (28), flexible stick (26) right-hand member is arranged on the first pawl (27) left side of a rear gripper (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410551345.6A CN104290886A (en) | 2014-10-17 | 2014-10-17 | Underwater fishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410551345.6A CN104290886A (en) | 2014-10-17 | 2014-10-17 | Underwater fishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104290886A true CN104290886A (en) | 2015-01-21 |
Family
ID=52310892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410551345.6A Pending CN104290886A (en) | 2014-10-17 | 2014-10-17 | Underwater fishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104290886A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647395A (en) * | 2015-02-11 | 2015-05-27 | 江南大学 | Variable-structure mechanical palm |
| CN105501413A (en) * | 2015-12-31 | 2016-04-20 | 重庆楠婧琳科技开发有限公司 | Underwater detecting device |
| CN105523156A (en) * | 2016-01-27 | 2016-04-27 | 浙江海洋学院 | Sea island life-saving equipment |
| CN108681226A (en) * | 2018-05-22 | 2018-10-19 | 中山市方越电子科技有限公司 | Paste seal assemblies and handle box assembling line |
| CN109018266A (en) * | 2018-08-23 | 2018-12-18 | 东莞市凯勒帝数控科技有限公司 | It is a kind of that marine resources detection is with sampling and the auxiliary mankind find out the device of tera incognita |
| CN109050824A (en) * | 2018-07-31 | 2018-12-21 | 河北工业职业技术学院 | Underwater deliverance apparatus |
| CN109371941A (en) * | 2018-10-31 | 2019-02-22 | 东莞润如智能科技有限公司 | A kind of fishing device that water conservancy is wound with anti-water plant |
| CN111268063A (en) * | 2020-01-20 | 2020-06-12 | 上海交通大学 | Underwater grabbing type fishing equipment and method suitable for long columnar equipment |
| CN112278197A (en) * | 2020-10-22 | 2021-01-29 | 吴凯忠 | Saddle type capturing device and capturing method of ocean engineering underwater vehicle |
| CN112357013A (en) * | 2020-11-16 | 2021-02-12 | 广东桂荣永磁新材料科技有限公司 | Strong magnetic salvager |
| CN113733070A (en) * | 2021-09-18 | 2021-12-03 | 江苏三铭智达科技有限公司 | Waterborne intelligent rescue robot and use method thereof |
| CN113997265A (en) * | 2021-10-29 | 2022-02-01 | 中国矿业大学 | Heavy-medium shallow groove dredging device based on machine vision and control method |
| CN114228948A (en) * | 2022-01-12 | 2022-03-25 | 闽江学院 | Auxiliary crane equipment for deep sea fishing |
| CN114291230A (en) * | 2022-01-10 | 2022-04-08 | 房江湖(山东)科技集团有限公司 | Remote control underwater fishing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004065206A1 (en) * | 2003-01-22 | 2004-08-05 | Slobodan Stojic | Manipulating robotized modular system for raising parts of the vessel or equipment from large sea depths |
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| KR20130141158A (en) * | 2012-06-15 | 2013-12-26 | 삼성중공업 주식회사 | Underwater vehicle system |
| CN203652095U (en) * | 2013-12-25 | 2014-06-18 | 浙江海洋学院 | Novel multifunctional underwater robot |
| CN203726496U (en) * | 2014-03-30 | 2014-07-23 | 浙江海洋学院 | Underwater robot for measuring |
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
-
2014
- 2014-10-17 CN CN201410551345.6A patent/CN104290886A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004065206A1 (en) * | 2003-01-22 | 2004-08-05 | Slobodan Stojic | Manipulating robotized modular system for raising parts of the vessel or equipment from large sea depths |
| KR20130141158A (en) * | 2012-06-15 | 2013-12-26 | 삼성중공업 주식회사 | Underwater vehicle system |
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| CN203652095U (en) * | 2013-12-25 | 2014-06-18 | 浙江海洋学院 | Novel multifunctional underwater robot |
| CN203726496U (en) * | 2014-03-30 | 2014-07-23 | 浙江海洋学院 | Underwater robot for measuring |
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647395A (en) * | 2015-02-11 | 2015-05-27 | 江南大学 | Variable-structure mechanical palm |
| CN105501413A (en) * | 2015-12-31 | 2016-04-20 | 重庆楠婧琳科技开发有限公司 | Underwater detecting device |
| CN105523156A (en) * | 2016-01-27 | 2016-04-27 | 浙江海洋学院 | Sea island life-saving equipment |
| CN108681226A (en) * | 2018-05-22 | 2018-10-19 | 中山市方越电子科技有限公司 | Paste seal assemblies and handle box assembling line |
| CN109050824A (en) * | 2018-07-31 | 2018-12-21 | 河北工业职业技术学院 | Underwater deliverance apparatus |
| CN109018266A (en) * | 2018-08-23 | 2018-12-18 | 东莞市凯勒帝数控科技有限公司 | It is a kind of that marine resources detection is with sampling and the auxiliary mankind find out the device of tera incognita |
| CN109371941B (en) * | 2018-10-31 | 2020-12-08 | 南京坤牧有机农业有限公司 | Fishing device for preventing waterweeds from winding |
| CN109371941A (en) * | 2018-10-31 | 2019-02-22 | 东莞润如智能科技有限公司 | A kind of fishing device that water conservancy is wound with anti-water plant |
| CN111268063A (en) * | 2020-01-20 | 2020-06-12 | 上海交通大学 | Underwater grabbing type fishing equipment and method suitable for long columnar equipment |
| CN111268063B (en) * | 2020-01-20 | 2021-04-02 | 上海交通大学 | Underwater grabbing type fishing equipment and method suitable for long columnar equipment |
| CN112278197A (en) * | 2020-10-22 | 2021-01-29 | 吴凯忠 | Saddle type capturing device and capturing method of ocean engineering underwater vehicle |
| CN112357013A (en) * | 2020-11-16 | 2021-02-12 | 广东桂荣永磁新材料科技有限公司 | Strong magnetic salvager |
| CN113733070A (en) * | 2021-09-18 | 2021-12-03 | 江苏三铭智达科技有限公司 | Waterborne intelligent rescue robot and use method thereof |
| CN113733070B (en) * | 2021-09-18 | 2023-01-20 | 江苏三铭智达科技有限公司 | Waterborne intelligent rescue robot and use method thereof |
| CN113997265A (en) * | 2021-10-29 | 2022-02-01 | 中国矿业大学 | Heavy-medium shallow groove dredging device based on machine vision and control method |
| CN114291230A (en) * | 2022-01-10 | 2022-04-08 | 房江湖(山东)科技集团有限公司 | Remote control underwater fishing robot |
| CN114291230B (en) * | 2022-01-10 | 2024-04-09 | 通华大数据科技(烟台)有限公司 | Remotely controlled underwater salvaging robot |
| CN114228948A (en) * | 2022-01-12 | 2022-03-25 | 闽江学院 | Auxiliary crane equipment for deep sea fishing |
| CN114228948B (en) * | 2022-01-12 | 2023-08-18 | 闽江学院 | Auxiliary crane equipment for deep sea salvage |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104290886A (en) | Underwater fishing robot | |
| CN108045532B (en) | Underwater electric mechanical arm operation nacelle and use method thereof | |
| CN103183113B (en) | Underwater robot recovery system and recovery method thereof | |
| CN102139750B (en) | Underwater object lifting device | |
| CN107897137B (en) | Open-frame type omnibearing sea cucumber catching robot | |
| KR101416141B1 (en) | Work support platform and method of underwater robot | |
| CN204056252U (en) | A kind of hull bottom cleaner system | |
| CN104890835A (en) | Submersible vehicle recycling and laying device capable of recycling and laying at two stages | |
| CN110040628B (en) | Submersible vehicle retracting and releasing method | |
| CN204750525U (en) | But device is put to latent ware that two -stage was receive and release recovery cloth | |
| CN112692860A (en) | Underwater grabbing device | |
| CN110001895B (en) | Submersible vehicle winding and unwinding device | |
| CN104374598A (en) | Underwater collection robot | |
| CN104729879B (en) | Underwater sampling system | |
| CN113044172A (en) | Honeycomb AUV cluster laying and recycling system | |
| CN107839859A (en) | A kind of submarine optical fiber cable inspection submarine navigation device and method for inspecting | |
| CN215618134U (en) | Free grabbing device | |
| CN110683000B (en) | System for independently spacing and collecting and releasing ocean navigation ware | |
| CN110104146A (en) | A kind of self-locking underwater robot docking facilities | |
| CN204037852U (en) | A kind of draw off gear of canoe | |
| CN107655721A (en) | A kind of water quality sampling equipment on unmanned environmental monitoring ship | |
| CN209382234U (en) | A kind of underwater long range tunnel detection robot | |
| CN209175243U (en) | A kind of automatic assembly equipment of auto-panorama camera | |
| CN110194254A (en) | Ocean communicates location navigation gripper equipment | |
| CN106043726B (en) | Helicopter electric harpoon grid landing assisting system with self-unlocking function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20170801 |