CN108313241B - Electromagnetic adsorption underwater operation robot based on ROV platform - Google Patents
Electromagnetic adsorption underwater operation robot based on ROV platform Download PDFInfo
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- CN108313241B CN108313241B CN201810216043.1A CN201810216043A CN108313241B CN 108313241 B CN108313241 B CN 108313241B CN 201810216043 A CN201810216043 A CN 201810216043A CN 108313241 B CN108313241 B CN 108313241B
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- steering engine
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- buoyancy
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- fixing piece
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The present invention provides a kind of electromagnetic adsorption arm robots based on ROV platform, it is related to underwater robot field, the present invention is the electromagnetic adsorption arm robot based on ROV platform, robot is walked under water by four electromagnetic adsorption mechanical arms, pass through the image of the figure transmission module Real-time Feedback in cabin, manipulator remotely operates two mechanical arms, realizes underwater operation.Small volume of the present invention, one can carry, convenient for launching work, four propellers realize comprehensive autokinetic movement in water, front is two replaceable work arms, realize quickly movement in water, the ability to work of steady operation, longer-distance cruise is alow carried out by absorption, extends its working time, improves energy utilization rate, due to electromagnetic adsorption ability, task is executed in more complicated waters, pipe detection is can be widely applied to and repairs, in the underwater operations such as hull bottom maintenance.
Description
Technical field
The present invention relates to underwater robot field, especially a kind of underwater based on remotely pilotless aircraft
People.
Background technique
UAV navigation is divided into two kinds at present, and one is remotely pilotless aircraft (Remote Operated
Vehicle, abbreviation ROV), another kind is Autonomous Underwater Vehicle (Autonomous Underwater Vehicle, abbreviation
AUV).Development platform is then UAV navigation at present, i.e. ROV.But underwater unmanned vehicle on the market exists now
More limitation, such as most submarine navigation device only has holder, so that image can only be acquired, can not execute underwater
The tasks such as operation；And the aircraft with mechanical arm is as it largely disappears in the reaction force that mechanical arm generates at work
The power of the calculation resources and propeller that consume controller maintains the stabilization of aircraft, this can consume electric energy, limitation boat significantly
The working time of row device to meet the requirement in long cruise duration, and will lead to that aircraft volume is excessive, and increased costs etc. are asked
Topic.In view of various limitations of UAV navigation on the market at present, start to develop with non-autonomous UAV navigation
It (ROV) is platform, by addition manipulator and the mechanical arm with electromagnetic adsorption function to realize that submarine navigation device quickly cruises
It is very necessary with the technology for stablizing manipulation.
Summary of the invention
For overcome the deficiencies in the prior art, realize that ROV can work long hours under water, the present invention provides one kind to be based on
The electromagnetic adsorption arm robot of ROV platform, this robot small volume, lighter in weight, one can carry, convenient for launching
Work, based on remotely pilotless aircraft, has the ability of omnibearing movable in water, meanwhile, 6 machinery are installed
Arm, front are two replaceable work arms, and in robot surrounding, there are four walking machine arm, walking machine arm tail end dresses
There is electromagnet, to help the stable absorption of climbing robot alow or pipeline.By such design, which be can achieve
Quickly movement in water, the ability to work of steady operation.
The technical solution adopted by the present invention to solve the technical problems is as follows:
Electromagnetic adsorption arm robot based on ROV platform, including acrylic board cabin, control module, figure transmission module,
Battery, floating block shell, buoyant mass, the first connection bent plate, the second connection bent plate, buoyancy plate, connecting lateral plate, underwater searchlight, just
Propeller, counterpropeller, two work arms and four electromagnetic adsorption mechanical arms；
Robot front-rear direction is set as longitudinal axis, longitudinal arrangement before and after two of them buoyancy plate is left side buoyancy plate,
Longitudinal arrangement before and after other two buoyancy plate, is right side buoyancy plate, and the first connection bent plate lies across left side buoyancy plate and the right side in front
Between the buoyancy plate of side, and it is connected by screw with two buoyancy plates for being located at front, the left side that the second connection bent plate is located behind
Between buoyancy plate and right side buoyancy plate, and it is connected by screw with two buoyancy plates being located behind,
Wherein acrylic board cabin is cylindrical shape, and the head in acrylic board cabin is streamlined, control module and battery
It is connected by supply lines, and control module and battery are fixed on the inside in acrylic board cabin together, wherein control module controls
Robot motion, battery are powered, and figure transmission module is connected by screw with the head in acrylic board cabin, are placed in acrylic
The inside in the streamlined space in plate cabin, figure transmission module are connected with control module by data line, Real-time Feedback underwater robot
Forward image；
Acrylic board cabin is longitudinally disposed to the centre of left side buoyancy plate and right side buoyancy plate, is fixed on first by screw
The top of bent plate and the second connection bent plate is connected, and the first connection bent plate is located at the lower section on acrylic board cabin head, second connects
The lower section that bent plate is located at acrylic board cabin tail portion is connect,
Wherein the section of the first connection bent plate and the second connection bent plate is curved profile, which is minor arc, and first
The center of circle of the section circle in arc and the acrylic board cabin of connection bent plate and the second connection bent plate is overlapped, i.e., first connect bent plate with
Outer arcuate on the inside of the arcwall face of second connection bent plate with acrylic board cabin fits closely；
Before and after the left side in two buoyancy plates between the first right-handed screw paddle is installed, pacify before and after the right side between two buoyancy plates
Fill the first counterpropeller, and the central axis of the first right-handed screw paddle and the first counterpropeller is each perpendicular to buoyancy plate plane, first
Right-handed screw paddle is fixed by screw with robot left connecting lateral plate, and the first counterpropeller passes through screw and the right connecting lateral plate of robot
Fixed, second right-handed screw paddle is placed in the lower part of robot right rear side buoyancy plate by screw, and second right-handed screw paddle is with after
Side right side buoyancy plate is vertical, i.e., the centerline axis parallel of second right-handed screw paddle is in the plane of buoyancy plate, second counterpropeller
It is located at robot left back buoyancy plate lower part by screw, second counterpropeller is vertical with left rear side buoyancy plate, i.e., and second
The centerline axis parallel of counterpropeller is in buoyancy plate plane, and totally four propellers pass through two right-handed screw paddles with two counterpropellers
The underwater exercise of vectored thrust control ROV；
Two work arms are installed respectively below the left and right buoyancy plate in front, two work arms pass through screw
It is connected with buoyancy plate before the left and right of robot；One electromagnetic adsorption mechanical arm is installed respectively in the outside of four buoyancy plates, i.e.,
An electromagnetic adsorption mechanical arm, and four machines are installed in the left side of buoyancy plate and the right side of two right side buoyancy plates respectively on the left of in the of two
Tool arm is symmetrical to the left and right along manipulator shaft, is mounted on robot two sides；
Two underwater searchlights are powered by acrylic cabin interior battery, and are vertically fixed under the first connection bent plate
The side left and right sides and bilateral symmetry, underwater searchlighting lamp axes is parallel with the axis in acrylic board cabin, carries out underwater lighting.
A buoyant mass is respectively placed above four buoyancy plates, buoyant mass provides buoyancy, and buoyant enclosure closes buoyant mass, and
Buoyant enclosure shape be it is streamlined, buoyant enclosure is connect by screw with buoyancy plate flat thread, is clasped above buoyancy plate floating
Power block plays the role of fixed buoyancy block.
In left side, connecting lateral plate is connected by the left side of two blocks of buoyancy plates with screw with two blocks of buoyancy plates, in two pieces of right side buoyancy
Connecting lateral plate is also connected by the right side of plate with screw with two blocks of buoyancy plates, and the artificial rigidity of entire machine is whole.
The electromagnetic adsorption mechanical arm includes four U-shaped fixing pieces, four steering engines, three U-shaped connectors, electromagnetism bottom
Seat, electromagnet and shock-proof spring, fixing piece U-shaped for four, four steering engines, three U-shaped connectors are numbered, i.e. U respectively
Type fixing piece is respectively designated as the U-shaped fixing piece of the first steering engine, the U-shaped fixing piece of the second steering engine, the U-shaped fixing piece of third steering engine and the 4th
The U-shaped fixing piece of steering engine, steering engine are respectively designated as the first steering engine, the second steering engine, third steering engine and the 4th steering engine, U-shaped connector point
It is not named as the U-shaped connector of the second steering engine, the U-shaped connector of third steering engine and the 4th U-shaped connector of steering engine, the first steering engine are U-shaped solid
Determine part and be connected by screw to the plane on buoyancy plate, the first steering engine is connected by screw and the U-shaped fixing piece of the first steering engine, the first rudder
For the axis of machine in the open side of the U-shaped fixing piece of the first steering engine, the first steering engine steering wheel and the U-shaped fixing piece of the second steering engine are solid by screw
Even, the second steering engine is connected by screw and the U-shaped fixing piece of the second steering engine, and the rotary shaft of the second steering engine and the axis of the first steering engine are mutual
Vertically, the second steering engine steering wheel is connected by screw with the U-shaped connector of the second steering engine, the opening side axle of the U-shaped connector of the second steering engine
To axial parallel with the second steering engine, the U-shaped connector of the second steering engine is fixedly connected with the U-shaped fixing piece of third steering engine by screw, the
Three steering engines are connected by screw and the U-shaped fixing piece of third steering engine, and the rotary shaft of third steering engine is opened with the U-shaped connector of the second steering engine
Mouthful side axle is to being mutually perpendicular to, and third steering engine steering wheel is connected by screw with the U-shaped connector of third steering engine, the U-shaped connection of third steering engine
The open side of part is axial axial parallel with third steering engine, and the U-shaped connector of third steering engine and the 4th U-shaped fixing piece of steering engine pass through spiral shell
Nail is fixedly connected with, and the 4th steering engine is connected by screw and the 4th U-shaped fixing piece of steering engine, the rotary shaft and third steering engine U of the 4th steering engine
The open side of type connector is axially mutually perpendicular to, and the 4th steering engine steering wheel is connected by screw with the 4th U-shaped connector of steering engine, and the 4th
The open side of the U-shaped connector of steering engine is axial axial parallel with the 4th steering engine, and the 4th U-shaped connector of steering engine passes through with electromagnetic base
Screw is fixedly connected with, and electromagnetic base is connected by activity riveting with three electromagnet, and three electromagnet are located under electromagnetic base plane
Side, and using the geometric center of electromagnetic base plane as the center of circle, it is uniformly distributed on a concentric circles, each electromagnet and shock-absorbing bullet
It is connected between spring by screw, is connected between the other end and electromagnetic base of shock-proof spring by screw, form electromagnet contact
The buffer system of absorption, thus an electromagnetic adsorption mechanical arm is completed in building.
When electromagnetic adsorption arm robot based on ROV platform works, the figure transmission module in acrylic board cabin is anti-in real time
Image is presented, manipulator operates two mechanical arms, and underwater operation can be realized.
The work arm is five axis freedom degrees, and the 4th freedom degree front end is replaceable manipulator.
Motor drives cleaning brush to carry out underwater cleaning in the work arm；
Steering engine in the work arm drives gripper to be grabbed under water.
The beneficial effects of the present invention are the electromagnetic adsorption arm robots based on ROV platform, and small volume, one can
To carry, convenient for launching work, four propellers realize comprehensive autokinetic movement in water.Meanwhile steering engine and structural member group
At mechanical arm, front is two replaceable work arms, in robot surrounding there are four walking machine arm, walking machine
Arm tail end is equipped with electromagnet, to help the stable absorption of climbing robot alow or pipeline.Pass through such design, the robot
It may be implemented quickly to move in water, the ability to work of steady operation.In view of electromagnetic adsorption compares the power that propeller promotes
It is lower, longer-distance cruise can alow be carried out by absorption, extend its working time, improve energy utilization rate.Together
When since it is with electromagnetic adsorption ability, task can be executed in more complicated waters, can be widely applied to pipe detection
It repairs, in the underwater operations such as hull bottom maintenance.
Detailed description of the invention
Fig. 1 is that the present invention is based on the electromagnetic adsorption underwater operation robot upper schematic diagrams of ROV platform.
Fig. 2 is that the present invention is based on regard schematic diagram under the electromagnetic adsorption underwater operation robot of ROV platform.
Fig. 3 is that the present invention is based on the electromagnetic adsorption underwater operation robot interior organigrams of ROV platform.
Fig. 4 is that the present invention is based on the electromagnetic adsorption underwater operation robots of ROV platform to adsorb mechanical arm schematic diagram.
Fig. 5 is that the present invention is based on the electromagnetic adsorption underwater operation robot stereoscopic schematic diagrams of ROV platform.
In figure, 1- acrylic board cabin；2- control module；3- figure transmission module；4- battery；5- floating block shell；6- buoyant mass；
The connection bent plate of 7- first；The connection bent plate of 8- second；9- buoyancy plate；10- connecting lateral plate；The underwater searchlight of 11-；The first steering engine of 12- U
Type fixing piece；The first steering engine of 13-；The U-shaped fixing piece of the second steering engine of 14-；The second steering engine of 15-；The U-shaped connector of the second steering engine of 16-；
The U-shaped fixing piece of 17- third steering engine；18- third steering engine；The U-shaped connector of 19- third steering engine；The 4th U-shaped fixing piece of steering engine of 20-；
The 4th steering engine of 21-；The 4th U-shaped connector of steering engine of 22-；23- electromagnetic base；24- electromagnet；25- shock-proof spring；26- right-handed screw
Paddle；27- counterpropeller；28- work arm.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Electromagnetic adsorption arm robot based on ROV platform, including acrylic board cabin, control module, figure transmission module,
Battery, floating block shell, buoyant mass, the first connection bent plate, the second connection bent plate, buoyancy plate, connecting lateral plate, underwater searchlight, just
Propeller, counterpropeller, two work arms and four electromagnetic adsorption mechanical arms；
Robot front-rear direction is set as longitudinal axis, longitudinal arrangement before and after two of them buoyancy plate is left side buoyancy plate,
Longitudinal arrangement before and after other two buoyancy plate, is right side buoyancy plate, and the first connection bent plate lies across left side buoyancy plate and the right side in front
Between the buoyancy plate of side, and it is connected by screw with two buoyancy plates for being located at front, the left side that the second connection bent plate is located behind
Between buoyancy plate and right side buoyancy plate, and it is connected by screw with two buoyancy plates being located behind,
Wherein acrylic board cabin is cylindrical shape, and the head in acrylic board cabin is streamlined, control module and battery
It is connected by supply lines, and control module and battery are fixed on the inside in acrylic board cabin together, wherein control module controls
Robot motion, battery are powered, and figure transmission module is connected by screw with the head in acrylic board cabin, are placed in acrylic
The inside in the streamlined space in plate cabin, figure transmission module are connected with control module by data line, Real-time Feedback underwater robot
Forward image；
Acrylic board cabin is longitudinally disposed to the centre of left side buoyancy plate and right side buoyancy plate, is fixed on first by screw
The top of bent plate and the second connection bent plate is connected, and the first connection bent plate is located at the lower section on acrylic board cabin head, second connects
The lower section that bent plate is located at acrylic board cabin tail portion is connect,
Wherein the section of the first connection bent plate and the second connection bent plate is curved profile, which is minor arc, and first
The center of circle of the section circle in arc and the acrylic board cabin of connection bent plate and the second connection bent plate is overlapped, i.e., first connect bent plate with
Outer arcuate on the inside of the arcwall face of second connection bent plate with acrylic board cabin fits closely；
Before and after the left side in two buoyancy plates between the first right-handed screw paddle is installed, pacify before and after the right side between two buoyancy plates
Fill the first counterpropeller, and the central axis of the first right-handed screw paddle and the first counterpropeller is each perpendicular to buoyancy plate plane, first
Right-handed screw paddle is fixed by screw with robot left connecting lateral plate, and the first counterpropeller passes through screw and the right connecting lateral plate of robot
Fixed, second right-handed screw paddle is placed in the lower part of robot right rear side buoyancy plate by screw, and second right-handed screw paddle is with after
Side right side buoyancy plate is vertical, i.e., the centerline axis parallel of second right-handed screw paddle is in the plane of buoyancy plate, second counterpropeller
It is located at robot left back buoyancy plate lower part by screw, second counterpropeller is vertical with left rear side buoyancy plate, i.e., and second
The centerline axis parallel of counterpropeller is in buoyancy plate plane, and totally four propellers pass through two right-handed screw paddles with two counterpropellers
The underwater exercise of vectored thrust control ROV；
Two work arms are installed respectively below the left and right buoyancy plate in front, two work arms pass through screw
It is connected with buoyancy plate before the left and right of robot；One electromagnetic adsorption mechanical arm is installed respectively in the outside of four buoyancy plates, i.e.,
An electromagnetic adsorption mechanical arm, and four machines are installed in the left side of buoyancy plate and the right side of two right side buoyancy plates respectively on the left of in the of two
Tool arm is symmetrical to the left and right along manipulator shaft, is mounted on robot two sides；
Two underwater searchlights are powered by acrylic cabin interior battery, and are vertically fixed under the first connection bent plate
The side left and right sides and bilateral symmetry, underwater searchlighting lamp axes is parallel with the axis in acrylic board cabin, carries out underwater lighting.
A buoyant mass is respectively placed above four buoyancy plates, buoyant mass provides buoyancy, and buoyant enclosure closes buoyant mass, and
Buoyant enclosure shape be it is streamlined, buoyant enclosure is connect by screw with buoyancy plate flat thread, is clasped above buoyancy plate floating
Power block plays the role of fixed buoyancy block.
In left side, connecting lateral plate is connected by the left side of two blocks of buoyancy plates with screw with two blocks of buoyancy plates, in two pieces of right side buoyancy
Connecting lateral plate is also connected by the right side of plate with screw with two blocks of buoyancy plates, and the artificial rigidity of entire machine is whole.
The electromagnetic adsorption mechanical arm includes four U-shaped fixing pieces, four steering engines, three U-shaped connectors, electromagnetism bottom
Seat, electromagnet and shock-proof spring, fixing piece U-shaped for four, four steering engines, three U-shaped connectors are numbered, i.e. U respectively
Type fixing piece is respectively designated as the U-shaped fixing piece of the first steering engine, the U-shaped fixing piece of the second steering engine, the U-shaped fixing piece of third steering engine and the 4th
The U-shaped fixing piece of steering engine, steering engine are respectively designated as the first steering engine, the second steering engine, third steering engine and the 4th steering engine, U-shaped connector point
It is not named as the U-shaped connector of the second steering engine, the U-shaped connector of third steering engine and the 4th U-shaped connector of steering engine, the first steering engine are U-shaped solid
Determine part and be connected by screw to the plane on buoyancy plate, the first steering engine is connected by screw and the U-shaped fixing piece of the first steering engine, the first rudder
For the axis of machine in the open side of the U-shaped fixing piece of the first steering engine, the first steering engine steering wheel and the U-shaped fixing piece of the second steering engine are solid by screw
Even, the second steering engine is connected by screw and the U-shaped fixing piece of the second steering engine, and the rotary shaft of the second steering engine and the axis of the first steering engine are mutual
Vertically, the second steering engine steering wheel is connected by screw with the U-shaped connector of the second steering engine, the opening side axle of the U-shaped connector of the second steering engine
To axial parallel with the second steering engine, the U-shaped connector of the second steering engine is fixedly connected with the U-shaped fixing piece of third steering engine by screw, the
Three steering engines are connected by screw and the U-shaped fixing piece of third steering engine, and the rotary shaft of third steering engine is opened with the U-shaped connector of the second steering engine
Mouthful side axle is to being mutually perpendicular to, and third steering engine steering wheel is connected by screw with the U-shaped connector of third steering engine, the U-shaped connection of third steering engine
The open side of part is axial axial parallel with third steering engine, and the U-shaped connector of third steering engine and the 4th U-shaped fixing piece of steering engine pass through spiral shell
Nail is fixedly connected with, and the 4th steering engine is connected by screw and the 4th U-shaped fixing piece of steering engine, the rotary shaft and third steering engine U of the 4th steering engine
The open side of type connector is axially mutually perpendicular to, and the 4th steering engine steering wheel is connected by screw with the 4th U-shaped connector of steering engine, and the 4th
The open side of the U-shaped connector of steering engine is axial axial parallel with the 4th steering engine, and the 4th U-shaped connector of steering engine passes through with electromagnetic base
Screw is fixedly connected with, and electromagnetic base is connected by activity riveting with three electromagnet, and three electromagnet are located under electromagnetic base plane
Side, and using the geometric center of electromagnetic base plane as the center of circle, it is uniformly distributed on a concentric circles, each electromagnet and shock-absorbing bullet
It is connected between spring by screw, is connected between the other end and electromagnetic base of shock-proof spring by screw, form electromagnet contact
The buffer system of absorption, thus an electromagnetic adsorption mechanical arm is completed in building.
When electromagnetic adsorption arm robot based on ROV platform works, the figure transmission module in acrylic board cabin is anti-in real time
Image is presented, manipulator operates two mechanical arms, and underwater operation can be realized.
The work arm is five axis freedom degrees, and the 4th freedom degree front end is replaceable manipulator.
Motor drives cleaning brush to carry out underwater cleaning in the work arm；
The gripper that steering engine in the work arm drives is grabbed under water.
Cruise motion process:
Control module output signal drives four propeller combination rotations, and then propeller is driven to generate thrust difference, control
System realizes submarine navigation device lifting, forward-reverse, left and right turning motion.
(1) move vertically: aircraft total body density is less than water, bubbles through the water column when propeller does not work.It is moving vertically
When, two propeller turning directions of central axis straight up are on the contrary, to balance its course torque to fuselage, while increase by two
The output power of propeller increases its revolving speed so that total pulling force increases, when total pulling force is enough to overcome the weight of complete machine, navigates
Row device leaves the water surface and vertically declines；Conversely, reduce the output power of two motors simultaneously, aircraft then vertical ascent, until floating
In the water surface, vertical movement is realized.
(2) move forward and backward: for aircraft when moving forward and backward, two motor steerings of central axis horizontally forward are on the contrary, with flat
Weigh its reaction torque to fuselage, prevents fuselage from deflecting, and the forward movement of aircraft is realized by draining backward, by forward
Draining realize aircraft movement backward.Revolving speed by changing propeller realizes the control to forward-reverse speed.
(3) left and right turning motion: aircraft is in left and right turning motion, the two motor steering phases of central axis horizontally forward
Instead, by generating a course torque and pusher while balancing its pitching torque to fuselage with the rotation of different rotating speeds
Power realizes the steering of aircraft, and the speed and radius of steering are determined by two absolute revolving speeds of propeller with relative rotation speed, absolutely turns
Speed is bigger, and speed is faster, and the bigger turning radius of relative rotation speed is smaller.
It is as follows to adsorb the course of work:
Each steering engine of control module output signal, electromagnetic adsorption mechanical arm and work arm moves, and controls mechanical arm
Spatial position, realize that electromagnetic adsorption mechanical arm is bonded the electromagnet of each base surface, pass through control electromagnet magnetic force and realize electricity
Magnetic suck, working arm realizes that someone of working arm manipulates work under the cooperation that figure passes after electromagnetic adsorption is stablized.
(1) hull bottom absorption movement: because of aircraft very little for hull bottom, the absorption of hull bottom is similar and plane
Absorption, firstly, aircraft passes through near three-dimensional space motion to the pre- absorption position of boat bottom, at this point, the first steering engine rotates,
Remaining steering engine is locked, makes above entire mechanical arm throw about device, and the first steering engine is locked, the rotation of the second steering engine horizontal by-
60 degree or so angles, third steering engine and itself axial plane parallel direction are locked.With the 4th steering engine by predetermined rotation horizontal by -30
Left and right angle is spent, realizes the entire electromagnetic adsorption mechanical arm posture parallel with aircraft main body horizontal plane at electromagnetic adsorption end.This
When, it first allows the electromagnet of the first two or latter two electromagnetic adsorption mechanical arm to be powered and increases magnetic-adsorption in hull bottom, meanwhile, propeller
Revolving speed reduce, reduce posture resistance when remaining two mechanical arms absorption, it is dynamic that another two electromagnetic adsorption mechanical arm carries out posture
The fine tuning of work, electromagnet, which is powered, increases magnetic-adsorption in hull bottom, due to the slight curvature of adsorption plane and the control error of mechanical arm
The shock-proof spring realization connected by each electromagnet makes up.Revolution speed of propeller further decreases after the completion of absorption, cooperative mechanical arm
Complete the stabilization of posture in aircraft water.Predetermined work can be carried out by control working arm at this time.To from adsorbed state into
Enter and needs first to promote two revolution speed of propeller of central axis straight up to cruise motion process, later, electromagnetic adsorption machine
Tool arm disengages one by one, realizes that aircraft is more smoothly detached from hull bottom.When aircraft needs planar movement, by two ipsilateral machines
Tool arm disengages, and another two mechanical arm realizes the position of aircraft by the first steering engine, the second steering engine, the angulation change of third steering engine
Change is set, two absorption mechanical arms are locked, another two mechanical arm makes corresponding position change, adsorbed, and two sides successively move, real
Existing aircraft is mobile.
(2) pipeline absorption movement: because the adjoining dimensions of pipeline and aircraft, aircraft are the equal of to the absorption of pipeline
The lesser curved surface absorption of one radius of curvature, firstly, aircraft passes through the pre- absorption position above three-dimensional space motion to pipeline
Near, at this point, the first steering engine rotates, remaining steering engine is locked, makes below entire mechanical arm throw about device, the first steering engine lock
Extremely, for the rotation of the second steering engine horizontal by -60 degree left and right angles, third steering engine itself axial plane parallel direction is locked.With the 4th rudder
Machine, horizontal by -60 degree left and right angles, realizes entire electromagnetic adsorption mechanical arm at electromagnetic adsorption end and navigation by predetermined rotation
The posture encircled is presented in device main body.At this point, first allow the first two electromagnetic adsorption mechanical arm electromagnet be powered increase magnetic-adsorption in
Pipeline, meanwhile, the revolving speed adjustment of propeller keeps the course axis of aircraft parallel with conduit axis, another two electromagnetic adsorption
Mechanical arm carries out the fine tuning of posture movement, and electromagnet, which is powered, increases magnetic-adsorption in pipeline, due to adsorption plane slight curvature and
The shock-proof spring realization that the control error of mechanical arm is connected by each electromagnet makes up.Revolution speed of propeller is further after the completion of absorption
It reduces, cooperative mechanical arm completes the stabilization of posture in aircraft water.Predetermined work can be carried out by control working arm at this time.If
Cruise motion process is entered from adsorbed state, need first to promote two revolution speed of propeller of central axis straight up,
Later, electromagnetic adsorption mechanical arm disengages one by one, realizes that aircraft is more smoothly detached from pipeline.When aircraft needs planar movement,
Two ipsilateral mechanical arms are disengaged, another two mechanical arm is changed by the first steering engine, the angle of the second steering engine, third steering engine
Become, realize the position change of aircraft, lock two absorption mechanical arms, another two mechanical arm makes corresponding position change, inhaled
Attached, two sides successively move, and realize that aircraft is mobile.
Claims (4)
1. a kind of electromagnetic adsorption arm robot based on ROV platform, it is characterised in that:
Including acrylic board cabin, control module, figure transmission module, battery, floating block shell, buoyant mass, the first connection bent plate, second
Connect bent plate, buoyancy plate, connecting lateral plate, underwater searchlight, right-handed screw paddle, counterpropeller, two work arms and four electricity
Magnetic suck mechanical arm；
Robot front-rear direction is set as longitudinal axis, longitudinal arrangement before and after two of them buoyancy plate is left side buoyancy plate, in addition
Longitudinal arrangement before and after two buoyancy plates is right side buoyancy plate, and the first connection bent plate lies across the left side buoyancy plate in front and right side is floated
Between power plate, and it is connected by screw with two buoyancy plates for being located at front, the left side buoyancy that the second connection bent plate is located behind
Between plate and right side buoyancy plate, and it is connected by screw with two buoyancy plates being located behind,
Wherein acrylic board cabin be cylindrical shape, and the head in acrylic board cabin be it is streamlined, control module passes through with battery
Supply lines is connected, and control module and battery are fixed on the inside in acrylic board cabin together, and wherein control module controls machine
People's movement, battery are powered, and figure transmission module is connected by screw with the head in acrylic board cabin, are placed in acrylic board cabin
The inside of the header stream linear spatial of room, figure transmission module are connected with control module by data line, Real-time Feedback underwater robot
Forward image；
Acrylic board cabin is longitudinally disposed to the centre of left side buoyancy plate and right side buoyancy plate, the first connection is fixed on by screw
The top of bent plate and the second connection bent plate, and the first connection bent plate is located at the lower section on acrylic board cabin head, the second connection is bent
Plate is located at the lower section of acrylic board cabin tail portion,
Wherein the section of the first connection bent plate and the second connection bent plate is curved profile, which is minor arc, and first connects
The center of circle of the arc of bent plate and the second connection bent plate is overlapped with the center of circle of the section in acrylic board cabin circle, i.e., the first connection bent plate
It is fitted closely with the outer arcuate on the inside of the arcwall face of the second connection bent plate with acrylic board cabin；
Before and after the left side in two buoyancy plates between the first right-handed screw paddle is installed, install between two buoyancy plates before and after the right side
One counterpropeller, and the central axis of the first right-handed screw paddle and the first counterpropeller is each perpendicular to buoyancy plate plane, the first positive spiral shell
Rotation paddle is fixed by screw and robot left connecting lateral plate, and the first counterpropeller is consolidated by screw and the right connecting lateral plate of robot
Fixed, second right-handed screw paddle is placed in the lower part of robot right rear side buoyancy plate, second right-handed screw paddle and rear by screw
Right side buoyancy plate is vertical, i.e., for the centerline axis parallel of second right-handed screw paddle in the plane of buoyancy plate, second counterpropeller is logical
It crosses screw and is located at robot left back buoyancy plate lower part, second counterpropeller is vertical with left rear side buoyancy plate, i.e., second anti-
The centerline axis parallel of propeller is in buoyancy plate plane, and totally four propellers pass through arrow for two right-handed screw paddles and two counterpropellers
Measure the underwater exercise of thrust control ROV；
Two work arms are installed respectively below the left and right buoyancy plate in front, two work arms pass through screw and machine
Buoyancy plate is connected before the left and right of device people；One electromagnetic adsorption mechanical arm, i.e., two are installed respectively in the outside of four buoyancy plates
An electromagnetic adsorption mechanical arm is installed on the left side of left side buoyancy plate and the right side of two right side buoyancy plates respectively, and four electromagnetism are inhaled
Attached mechanical arm is symmetrical to the left and right along manipulator shaft, is mounted on robot two sides；
Two underwater searchlights are powered by acrylic cabin interior battery, and are vertically fixed in left below the first connection bent plate
Right two sides and bilateral symmetry, underwater searchlighting lamp axes is parallel with the axis in acrylic board cabin, carries out underwater lighting,
A buoyant mass is respectively placed above four buoyancy plates, buoyant mass provides buoyancy, and buoyant enclosure closes buoyant mass, and buoyancy
Housing profile be it is streamlined, buoyant enclosure is connect by screw with buoyancy plate flat thread, clasp buoyant mass above buoyancy plate,
Play the role of fixed buoyancy block；
In left side, connecting lateral plate is connected by the left side of two blocks of buoyancy plates with screw with two blocks of buoyancy plates, the buoyancy plate two blocks of right side
Connecting lateral plate is also connected by right side with screw with two blocks of buoyancy plates, and the artificial rigidity of entire machine is whole；
The electromagnetic adsorption mechanical arm includes four U-shaped fixing pieces, four steering engines, three U-shaped connectors, electromagnetic base, electricity
Magnet and shock-proof spring, fixing piece U-shaped for four, four steering engines, three U-shaped connectors are numbered respectively, i.e., U-shaped solid
Determine part and is respectively designated as the U-shaped fixing piece of the first steering engine, the U-shaped fixing piece of the second steering engine, the U-shaped fixing piece of third steering engine and the 4th steering engine
U-shaped fixing piece, steering engine are respectively designated as the first steering engine, the second steering engine, third steering engine and the 4th steering engine, and U-shaped connector is ordered respectively
The entitled U-shaped connector of second steering engine, the U-shaped connector of third steering engine and the 4th U-shaped connector of steering engine, the U-shaped fixing piece of the first steering engine
It is connected by screw to the plane on buoyancy plate, the first steering engine is connected by screw and the U-shaped fixing piece of the first steering engine, the first steering engine
For axis in the open side of the U-shaped fixing piece of the first steering engine, the first steering engine steering wheel and the U-shaped fixing piece of the second steering engine are connected by screw, the
Two steering engines are connected by screw and the U-shaped fixing piece of the second steering engine, and the rotary shaft of the second steering engine and the axis of the first steering engine are mutually perpendicular to,
Second steering engine steering wheel is connected by screw with the U-shaped connector of the second steering engine, the open side axial direction of the U-shaped connector of the second steering engine and the
The axial direction of two steering engines is parallel, and the U-shaped connector of the second steering engine is fixedly connected with the U-shaped fixing piece of third steering engine by screw, third steering engine
It is connected by screw and the U-shaped fixing piece of third steering engine, the opening side axle of the rotary shaft of third steering engine and the U-shaped connector of the second steering engine
To being mutually perpendicular to, third steering engine steering wheel is connected by screw with the U-shaped connector of third steering engine, and the U-shaped connector of third steering engine is opened
To axial parallel with third steering engine, the U-shaped connector of third steering engine and the 4th U-shaped fixing piece of steering engine pass through screw and mutually consolidate for mouthful side axle
Even, the 4th steering engine is connected by screw and the 4th U-shaped fixing piece of steering engine, the rotary shaft and the U-shaped connection of third steering engine of the 4th steering engine
The open side of part is axially mutually perpendicular to, and the 4th steering engine steering wheel is connected by screw with the 4th U-shaped connector of steering engine, the 4th steering engine U
The open side of type connector is axial axial parallel with the 4th steering engine, and the 4th U-shaped connector of steering engine and electromagnetic base pass through screw
It being fixedly connected with, electromagnetic base is connected by activity riveting with three electromagnet, and three electromagnet are located at below electromagnetic base plane, and
Using the geometric center of electromagnetic base plane as the center of circle, be uniformly distributed on a concentric circles, each electromagnet and shock-proof spring it
Between by screw be connected, between the other end and electromagnetic base of shock-proof spring by screw be connected, formed electromagnet Contact-sorption
Buffer system, thus building complete an electromagnetic adsorption mechanical arm；
When electromagnetic adsorption arm robot based on ROV platform works, the figure transmission module Real-time Feedback figure in acrylic board cabin
Picture, manipulator operate two work arms, and underwater operation can be realized.
2. the electromagnetic adsorption arm robot according to claim 1 based on ROV platform, it is characterised in that:
The work arm is five axis freedom degrees, and the 4th freedom degree front end is replaceable manipulator.
3. the electromagnetic adsorption arm robot according to claim 1 based on ROV platform, it is characterised in that:
Motor drives cleaning brush to carry out underwater cleaning in the work arm.
4. the electromagnetic adsorption arm robot according to claim 1 based on ROV platform, it is characterised in that:
Steering engine in the work arm drives gripper to be grabbed under water.
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| CN201810216043.1A CN108313241B (en) | 2018-03-16 | 2018-03-16 | Electromagnetic adsorption underwater operation robot based on ROV platform |
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| CN201810216043.1A CN108313241B (en) | 2018-03-16 | 2018-03-16 | Electromagnetic adsorption underwater operation robot based on ROV platform |
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