CN107738733A - A kind of underwater salvage manipulator and its application method - Google Patents
A kind of underwater salvage manipulator and its application method Download PDFInfo
- Publication number
- CN107738733A CN107738733A CN201710843976.9A CN201710843976A CN107738733A CN 107738733 A CN107738733 A CN 107738733A CN 201710843976 A CN201710843976 A CN 201710843976A CN 107738733 A CN107738733 A CN 107738733A
- Authority
- CN
- China
- Prior art keywords
- gripper
- telescope motor
- camera
- manipulator
- main body
- 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
- 238000000034 method Methods 0.000 title claims abstract description 8
- 239000003381 stabilizer Substances 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 210000000078 claw Anatomy 0.000 claims description 8
- 230000008450 motivation Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000012800 visualization Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of underwater salvage manipulator and its application method, belong to robotic technology field.The present invention includes display, camera shooting angle regulation rocking bar, gripper reverse keys, gripper closure key, handle, umbilical cables, manipulator main body, rear-fin stabilizer, camera, gripper I, gripper II, telescope motor I and telescope motor II.The present invention is simple in construction, easy to operate；To the adaptable of environment, visualization is high with automatization level and manufacturing cost is low；Underwater salvage can be efficiently used for and treat fishing tool.
Description
Technical field
The present invention relates to a kind of underwater salvage manipulator and its application method, belong to robotic technology field.
Background technology
Because many suspects abandon tool used in crime in water, the material evidence in deep water and complicated aquatic environment at present
Search and salvage are difficult to carry out more.Although the research in terms of deepwater environment search and salvaging has reached one both at home and abroad
Fixed degree, but the gentle visualization of most products Automated water is horizontal low, salvages the design aspect of manipulator also less under water
Ideal, there is a series of problems, such as operation under water that can not be freely and quick movement, in most cases or rely on
Diver, which dives into the water to search, salvages material evidence, therefore considerably increases input and the consuming of time of labour, while diver
Personal safety can not also be protected, so as to reduce clear up a criminal case efficiency.
The content of the invention
In view of the shortcomings of the prior art, the invention provides a kind of underwater salvage manipulator and its application method.
The technical scheme is that：A kind of underwater salvage manipulator, including the regulation of display 1, camera shooting angle
Rocking bar 2, gripper reverse keys 3, gripper closure key 4, handle 5, umbilical cables 6, manipulator main body 7, rear-fin stabilizer 8, camera
10th, gripper I 11, gripper II 12, telescope motor I 13 and telescope motor II 14；
Cradle head controllor, electric machine controller, display 1, camera shooting angle regulation rocking bar 2, machinery are provided with the handle 5
Pawl reverse keys 3, gripper closure key 4 are located on the shell of handle 5, and camera 10 is located at the front end of manipulator main body 7, rear-fin stabilizer 8
Positioned at the rear end of manipulator main body 7, gripper I 11, the one end of telescope motor I 13 are connected respectively with the side of manipulator main body 7 and machinery
Pawl I 11 is located at the lower section of telescope motor I 13, and the other end of telescope motor I 13 is connected with the middle part of gripper I 11, gripper II 12, stretched
The one end of motor II 14 is connected with the opposite side of manipulator main body 7 respectively and gripper II 12 is located at the lower section of telescope motor II 14, is stretched
The other end of motor II 14 is connected with the middle part of gripper II 12, and camera shooting angle regulation rocking bar 2 is controlled by cradle head controllor
The camera 10 being connected with umbilical cables 6 is moved and shown the data that camera 10 gathers by display 1, gripper reverse keys
3 telescope motors I 13 being connected by motor controller controls with umbilical cables 6 and telescope motor II 14 carry out contractile motion, pass through
The contractile motion driving mechanical pawl I 11 and gripper II 12 of telescope motor I 13 and telescope motor II 14 open, gripper closure key
4 telescope motors I 13 being connected by motor controller controls with umbilical cables 6 and telescope motor II 14 carry out stretching routine, pass through
The stretching routine driving mechanical pawl I 11 and gripper II 12 of telescope motor I 13 and telescope motor II 14 close.
The display 1 is high-clear display, and camera 10 is high definition wide-angle camera.
A kind of application method of underwater salvage manipulator, it is characterised in that：Manipulator main body 7 is put into water, camera
Shooting angle adjusts the camera 10 that rocking bar 2 is connected by cradle head controllor control with umbilical cables 6 and moves and adopt camera 10
The data of collection are shown by display 1, the underwater picture that user of service shows according to display 1, are searched for and are judged work to be salvaged
Tool 9, when finding to need to salvage disembarkation, user of service presses gripper reverse keys 3, and telescope motor I 13, which shrinks, pulls gripper I
11, telescope motor II 14, which shrinks, pulls gripper II 12, opens gripper and be located to treat the top position of fishing tool 9, then
User of service presses gripper closure key 4, the elongated motivation machinery claw I 11 of telescope motor I 13, the elongated motivation of telescope motor II 14
Machinery claw II 12, close manipulator and capture to treat fishing tool 9, last user of service pulls umbilical cables 6 to draw manipulator main body 7
Go out the water surface, press the gripper of gripper reverse keys 3 opening, fishing tool 9 is treated in taking-up.
The beneficial effects of the invention are as follows：
1st, portable underwater salvaging robot manipulator structure is simple, easy to operate.
2nd, to the adaptable of environment, visualization is high with automatization level and manufacturing cost is low.
3rd, the present invention can be efficiently used for underwater salvage and treat fishing tool.
Brief description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the left view of the present invention；
Each label in figure：1- displays, 2- cameras shooting angle regulation rocking bar, 3- gripper reverse keys, 4- grippers closure
Key, 5- handles, 6- umbilical cables, 7- manipulator main bodys, 8- rear-fin stabilizers, 9- treat fishing tool, 10- cameras, 11- grippers I,
12- grippers II, 13- telescope motors I, 14- telescope motors II.
Embodiment
With reference to the accompanying drawings and examples, the invention will be further described, but present disclosure be not limited to it is described
Scope.
Embodiment 1：As shown in Figure 1-2, a kind of underwater salvage manipulator, including the regulation of display 1, camera shooting angle
Rocking bar 2, gripper reverse keys 3, gripper closure key 4, handle 5, umbilical cables 6, manipulator main body 7, rear-fin stabilizer 8, camera
10th, gripper I 11, gripper II 12, telescope motor I 13 and telescope motor II 14；
Cradle head controllor, electric machine controller, display 1, camera shooting angle regulation rocking bar 2, machinery are provided with the handle 5
Pawl reverse keys 3, gripper closure key 4 are located on the shell of handle 5, and camera 10 is located at the front end of manipulator main body 7, rear-fin stabilizer 8
Positioned at the rear end of manipulator main body 7, gripper I 11, the one end of telescope motor I 13 are connected respectively with the side of manipulator main body 7 and machinery
Pawl I 11 is located at the lower section of telescope motor I 13, and the other end of telescope motor I 13 is connected with the middle part of gripper I 11, gripper II 12, stretched
The one end of motor II 14 is connected with the opposite side of manipulator main body 7 respectively and gripper II 12 is located at the lower section of telescope motor II 14, is stretched
The other end of motor II 14 is connected with the middle part of gripper II 12, and camera shooting angle regulation rocking bar 2 is controlled by cradle head controllor
The camera 10 being connected with umbilical cables 6 is moved and shown the data that camera 10 gathers by display 1, gripper reverse keys
3 telescope motors I 13 being connected by motor controller controls with umbilical cables 6 and telescope motor II 14 carry out contractile motion, pass through
The contractile motion driving mechanical pawl I 11 and gripper II 12 of telescope motor I 13 and telescope motor II 14 open, gripper closure key
4 telescope motors I 13 being connected by motor controller controls with umbilical cables 6 and telescope motor II 14 carry out stretching routine, pass through
The stretching routine driving mechanical pawl I 11 and gripper II 12 of telescope motor I 13 and telescope motor II 14 close.
It is high-clear display it is possible to further set the display 1, camera 10 is high definition wide-angle camera.
A kind of application method of underwater salvage manipulator, it is characterised in that：Manipulator main body 7 is put into water, camera
Shooting angle adjusts the camera 10 that rocking bar 2 is connected by cradle head controllor control with umbilical cables 6 and moves and adopt camera 10
The data of collection are shown by display 1, the underwater picture that user of service shows according to display 1, are searched for and are judged work to be salvaged
Tool 9, when finding to need to salvage disembarkation, user of service presses gripper reverse keys 3, and telescope motor I 13, which shrinks, pulls gripper I
11, telescope motor II 14, which shrinks, pulls gripper II 12, opens gripper and be located to treat the top position of fishing tool 9, then
User of service presses gripper closure key 4, the elongated motivation machinery claw I 11 of telescope motor I 13, the elongated motivation of telescope motor II 14
Machinery claw II 12, close manipulator and capture to treat fishing tool 9, last user of service pulls umbilical cables 6 to draw manipulator main body 7
Go out the water surface, press the gripper of gripper reverse keys 3 opening, fishing tool 9 is treated in taking-up.
Underwater salvage manipulator is handled a case for personnel in charge of the case：After reaching material evidence search waters, manipulator main body 7 is put into
In water, the camera 10 that camera shooting angle regulation rocking bar 2 is connected by cradle head controllor control with umbilical cables 6 moves and will
The data that camera 10 gathers show that high definition wide-angle camera can gather underwater picture to greatest extent, do by display 1
The underwater picture that case personnel show according to high-clear display 1, search for and judge doubtful material evidence（Treat fishing tool 9）, work as discovery
Need to salvage disembarkation when being further analyzed the doubtful material evidence of identification, personnel in charge of the case presses gripper reverse keys 3, telescope motor I
13 shrink pulling gripper I 11, telescope motor II 14 shrinks and pulls gripper II 12, open manipulator and are located at doubtful material evidence
Top position, then personnel in charge of the case press gripper closure key 4, the elongated motivation machinery claw I 11 of telescope motor I 13, telescope motor
II 14 elongated motivation machinery claws II 12, close manipulator and capture doubtful material evidence, last personnel in charge of the case pulls umbilical cables 6 machine
Tool hand main body 7 pulls out the water surface, presses the manipulator of gripper reverse keys 3 opening, takes out doubtful material evidence and treat further to analyze and identify.
Above in conjunction with accompanying drawing to the present invention embodiment be explained in detail, but the present invention be not limited to it is above-mentioned
Embodiment, can also be before present inventive concept not be departed from those of ordinary skill in the art's possessed knowledge
Put that various changes can be made.
Claims (3)
- A kind of 1. underwater salvage manipulator, it is characterised in that：Including display（1）, camera shooting angle regulation rocking bar（2）、 Gripper reverse keys（3）, gripper closure key（4）, handle（5）, umbilical cables（6）, manipulator main body（7）, rear-fin stabilizer（8）、 Camera（10）, gripper I（11）, gripper II（12）, telescope motor I（13）With telescope motor II（14）；The handle（5）It is interior to be provided with cradle head controllor, electric machine controller, display（1）, camera shooting angle regulation rocking bar （2）, gripper reverse keys（3）, gripper closure key（4）Positioned at handle（5）On shell, camera（10）Positioned at manipulator main body （7）Front end, rear-fin stabilizer（8）Positioned at manipulator main body（7）Rear end, gripper I（11）, telescope motor I（13）One end respectively with Manipulator main body（7）Side connects and gripper I（11）Positioned at telescope motor I（13）Lower section, telescope motor I（13）The other end with Gripper I（11）Middle part connects, gripper II（12）, telescope motor II（14）One end respectively with manipulator main body（7）Opposite side Connection and gripper II（12）Positioned at telescope motor II（14）Lower section, telescope motor II（14）The other end and gripper II（12）In Portion connects, camera shooting angle regulation rocking bar（2）Pass through cradle head controllor control and umbilical cables（6）The camera of connection（10） Move and by camera（10）The data of collection pass through display（1）It has been shown that, gripper reverse keys（3）Pass through electric machine controller control System and umbilical cables（6）The telescope motor I of connection（13）With telescope motor II（14）Contractile motion is carried out, passes through telescope motor I （13）With telescope motor II（14）Contractile motion driving mechanical pawl I（11）With gripper II（12）Open, gripper closure key （4）Pass through motor controller controls and umbilical cables（6）The telescope motor I of connection（13）With telescope motor II（14）Carry out stretching, extension fortune It is dynamic, pass through telescope motor I（13）With telescope motor II（14）Stretching routine driving mechanical pawl I（11）With gripper II（12）Close Close.
- 2. underwater salvage manipulator according to claim 1, it is characterised in that：The display（1）For high-clear display, Camera（10）For high definition wide-angle camera.
- 3. a kind of method that underwater salvage manipulator using described in claim 1 or 2 is used, it is characterised in that：By machine Tool hand main body（7）It is put into water, camera shooting angle regulation rocking bar（2）Pass through cradle head controllor control and umbilical cables（6）Even The camera connect（10）Move and by camera（10）The data of collection pass through display（1）It has been shown that, user of service is according to display Device（1）The underwater picture of display, searches for and judges to treat fishing tool（9）, when finding to need to salvage disembarkation, user of service presses Gripper reverse keys（3）, telescope motor I（13）Shrink and pull gripper I（11）, telescope motor II（14）Shrink and pull gripper Ⅱ（12）, gripper is opened and is located at and treat fishing tool（9）Top position, then user of service press gripper closure key （4）, telescope motor I（13）Elongated motivation machinery claw I（11）, telescope motor II（14）Elongated motivation machinery claw II（12）, make machine Tool hand, which is closed and captured, treats fishing tool（9）, last user of service's pulling umbilical cables（6）Manipulator main body（7）Pull out the water surface, Press gripper reverse keys（3）Gripper is opened, and fishing tool is treated in taking-up（9）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843976.9A CN107738733A (en) | 2017-09-19 | 2017-09-19 | A kind of underwater salvage manipulator and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843976.9A CN107738733A (en) | 2017-09-19 | 2017-09-19 | A kind of underwater salvage manipulator and its application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107738733A true CN107738733A (en) | 2018-02-27 |
Family
ID=61236019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710843976.9A Pending CN107738733A (en) | 2017-09-19 | 2017-09-19 | A kind of underwater salvage manipulator and its application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107738733A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789689A (en) * | 2019-10-09 | 2020-02-14 | 苏州德君环卫服务有限公司 | Adjustable fixing device for salvaging underwater sediments and fixing method thereof |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09509911A (en) * | 1994-03-10 | 1997-10-07 | アンスティテュー、フランセ、ド、ルシェルシュ、プール、レクスプロワタシオン、ド、ラ、メール−イフレメール | How to Recover Shipwreck Cargo |
| CN104372816A (en) * | 2014-11-17 | 2015-02-25 | 浙江机电职业技术学院 | Multifunctional riverway cleaning machine |
| CN204642104U (en) * | 2015-05-22 | 2015-09-16 | 云南卡索实业有限公司 | Material evidence fishing device under a kind of intelligent water |
| CN204681508U (en) * | 2015-05-27 | 2015-09-30 | 昆明理工大学 | One is material evidence searcher under water |
| CN205916309U (en) * | 2016-08-01 | 2017-02-01 | 昆明理工大学 | Crawler -type complex environment material evidence search under water fishing robot |
| CN106628056A (en) * | 2016-10-20 | 2017-05-10 | 昆明理工大学 | Robot for searching for and fishing physical evidence in deep water environment |
-
2017
- 2017-09-19 CN CN201710843976.9A patent/CN107738733A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09509911A (en) * | 1994-03-10 | 1997-10-07 | アンスティテュー、フランセ、ド、ルシェルシュ、プール、レクスプロワタシオン、ド、ラ、メール−イフレメール | How to Recover Shipwreck Cargo |
| CN104372816A (en) * | 2014-11-17 | 2015-02-25 | 浙江机电职业技术学院 | Multifunctional riverway cleaning machine |
| CN204642104U (en) * | 2015-05-22 | 2015-09-16 | 云南卡索实业有限公司 | Material evidence fishing device under a kind of intelligent water |
| CN204681508U (en) * | 2015-05-27 | 2015-09-30 | 昆明理工大学 | One is material evidence searcher under water |
| CN205916309U (en) * | 2016-08-01 | 2017-02-01 | 昆明理工大学 | Crawler -type complex environment material evidence search under water fishing robot |
| CN106628056A (en) * | 2016-10-20 | 2017-05-10 | 昆明理工大学 | Robot for searching for and fishing physical evidence in deep water environment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789689A (en) * | 2019-10-09 | 2020-02-14 | 苏州德君环卫服务有限公司 | Adjustable fixing device for salvaging underwater sediments and fixing method thereof |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180227 |