CN109533239A - A kind of deep water underwater intelligent operation robot and its control system - Google Patents

A kind of deep water underwater intelligent operation robot and its control system Download PDF

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Publication number
CN109533239A
CN109533239A CN201811424803.4A CN201811424803A CN109533239A CN 109533239 A CN109533239 A CN 109533239A CN 201811424803 A CN201811424803 A CN 201811424803A CN 109533239 A CN109533239 A CN 109533239A
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CN
China
Prior art keywords
shell
horizontal
headlamp
vertical
mounting plate
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
Application number
CN201811424803.4A
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Chinese (zh)
Inventor
康敬东
张婕
李亚稳
侯博
雷润德
丁海林
习小康
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Changan University
Original Assignee
Changan University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Changan University filed Critical Changan University
Priority to CN201811424803.4A priority Critical patent/CN109533239A/en
Publication of CN109533239A publication Critical patent/CN109533239A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087Dual arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, 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
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for

Abstract

The invention discloses a kind of deep water underwater intelligent operation robot and its control systems, it includes columnar shell that deep water underwater intelligent, which operates robot, it is symmetrically mounted on the vertical propeller of housing exterior walls on both sides of the middle and is symmetrically mounted on the horizontal propeller of housing exterior walls rear portion two sides, it further include two hemispheric transparent sealed covers for being mounted on shell both ends, the fairshaped sealing pressure-resistant cabin surrounded by shell and seal closure, it is symmetrically mounted on two headlamps of housing exterior walls front part sides, it is mounted on the sixdegree-of-freedom simulation of headlamp lower end, two shell holders for being mounted on shell lower end and the cable through hole for being located at upper part of the housing;It seals and is equipped with battery, binocular camera, range laser head, gravity centre adjustment mechanism and sensor in pressure-resistant cabin.The present invention has rational design, small in size, and sealing means are simple, and resistance is small and navigation performance is stablized, and is able to achieve underwater stereoscopic observation and underwater salvage operating function.

Description

A kind of deep water underwater intelligent operation robot and its control system
Technical field
The invention belongs to robot fields, and in particular to a kind of deep water underwater intelligent operation robot and its control system.
Background technique
Underwater robot is also known as unmanned remotely controlled submersible vehicle, it be not a people usually imagine have mankind's shape Machine, but one kind moves under water and has certain sensing capability, is controlled using remote control or autonomous operation method, benefit The device of completion underwater operation task is removed with mechanical arm auxiliary people.Continuous exploration with the mankind to marine resources, underwater machine Device people has become the important tool of exploitation ocean.Underwater robot technology is to carry out water-bed detection and one of underwater operation important Technology, underwater robot technology are widely used in archaeology, undersea detection, underwater culture, underwater rescue, underwater science under water and examine Examine, submarine target search etc. fields.That there are volumes is big for existing underwater robot, weight is big, flexibility is poor, manufacture difficulty is big etc. asks Topic, it is difficult to realize big latent deep.
Summary of the invention
It is for the defects in the prior art and insufficient, the present invention provides a kind of deep water underwater intelligent operation robot and its Control system, the defect for overcoming existing underwater robot operating efficiency low.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of deep water underwater intelligent operates robot, including columnar shell, is symmetrically mounted on two in the middle part of housing exterior walls The vertical propeller of side and the horizontal propeller for being symmetrically mounted on housing exterior walls rear portion two sides, further include being mounted on shell both ends Two hemispheric transparent sealed covers, are symmetrically mounted on the fairshaped sealing pressure-resistant cabin surrounded by the shell and seal closure Two headlamps of housing exterior walls front part sides, are mounted on shell lower end at the sixdegree-of-freedom simulation for being mounted on headlamp lower end Two shell holders and be located at the cable through hole of upper part of the housing;
Be equipped in the sealing pressure-resistant cabin: arc battery installing rack on fixed inner wall in the lower part of the housing is mounted on battery Multiple batteries in mounting rack perpendicular to casing center axis and connect the vertical fixation of upper part of the housing inner wall and battery installing rack Plate, the front horizontal mounting plate and rear horizontal for being horizontally arranged at vertical fixed plate front and rear sides and being located above battery installing rack Mounting plate, the binocular camera being mounted on the horizontal mounting plate of front and range laser head are mounted under rear horizontal mounting plate The gravity centre adjustment mechanism and sensor on surface.
The invention also includes following technical characteristics:
Optionally, the gravity centre adjustment mechanism include be vertically fixed on two of rear horizontal mounting plate lower surface it is opposite Lead screw supporting plate is vertically connected with the lead screw being parallel to each other and two straight smooth guide rails, in lead screw between two lead screw supporting plates There is the clump weight cooperated with threads of lead screw with running through on two straight smooth guide rails, the lead screw is pierced by lead screw supporting plate and is connected with The spindle motor being mounted on lead screw supporting plate.
Optionally, the horizontal propeller is connected with water by the horizontal propeller anchor ear covered on horizontal propeller outer wall Flushconnection block, horizontal connection block pass through the first shell anchor ear covered on housing exterior walls and are fixed on housing exterior walls;It is described vertical Propeller passes through the vertical propeller anchor ear covered on vertical propeller outer wall and is connected with vertical link block, and vertical link block passes through The second shell anchor ear covered on housing exterior walls is fixed on housing exterior walls;The headlamp is by covering on headlamp outer wall Headlamp anchor ear is connected with headlamp link block, and headlamp link block, which passes through the third shell anchor ear covered on housing exterior walls, to be fixed On housing exterior walls.
Optionally, the shell holder is mounted on first shell anchor ear and third shell anchor ear by connecting plate;
The central axis of the horizontal propeller and the centerline axis parallel of shell, the horizontal connection block are class rectangle knot Structure, two opposite side walls of horizontal connection block are arcwall, and one of arcwall is close to housing exterior walls, another arcwall It is close to the outer wall of horizontal propeller;The upper bottom surface hollow out of the horizontal connection block, and the side of the upper bottom surface of horizontal connection block Edge is respectively fixedly connected with the end of first shell anchor ear;
The central axis of the vertical propeller and the central axis upright of shell, the vertical link block are class rectangle knot Structure, two opposite side walls of vertical link block are arcwall, and one of arcwall is close to housing exterior walls, another arcwall It is close to the outer wall of vertical propeller;Former and later two side wall hollow outs of the vertical link block, and the upper bottom surface of vertical link block It is respectively fixedly connected with the end of second shell anchor ear;
The central axis of the headlamp and the centerline axis parallel of shell, the headlamp link block are U-like shape structure, Headlamp is mounted between two side plates of headlamp link block, and the bottom plate outer wall of headlamp link block is arcuate structure, to It is close to housing exterior walls, the outer wall of two side plates of the headlamp link block is respectively fixedly connected with the end of third shell anchor ear.
Optionally, the sixdegree-of-freedom simulation includes the shoulder that headlamp lower end is fixed on by connection sheet, in shoulder On be hinged with the large arm that can be horizontally rotated, be hinged in large arm can vertical rotating forearm, forearm front end is connected with wrist, in wrist Three finger electromagnetism grippers are installed in portion.
Optionally, the three fingers electromagnetism pawl includes the folding disk for connecting wrist, is vertically equipped with and is set in folding disk center The telescopic folding pull rod of spring, hingedly there are three three be hinged on folding disk by three connecting rods for the folding pull rod Finger;When work, electromagnetic actuation folding disk makes to open and close pull rod stretching, so that passing through connecting rod pulls three finger collective closures; After power-off, electromagnet separation, folding pull rod restores initial position under the elastic force effect of spring and is collapsible into folding disk, passes through Connecting rod pushes three fingers to open.
Optionally, the holder bracket for the U-shaped that can be horizontally rotated is installed, in holder bracket on the front horizontal mounting plate Be equipped on lower plate holder bracket can be driven to rotate in the horizontal plane horizontally rotate steering engine;
The video camera mounting plate perpendicular to casing center axis, video camera peace are connected on a side plate of holder bracket The binocular camera is installed on the antetheca of loading board, two surveys are installed on the video camera mounting plate of binocular camera two sides Away from laser head;
An abutting parallel with a side wall of the holder bracket is vertically equipped on the rear wall of video camera mounting plate And the connecting plate being rotatably connected, it is also vertically set on the rear wall of video camera mounting plate there are two another with the holder bracket The steering engine fixed plate of the parallel abutting of a side wall, is equipped with vertical rotating steering engine in the steering engine fixed plate, described vertical to turn The side wall for the holder bracket that dynamic steering engine is close to it is rotatably connected.
Optionally, the battery is cylindrical structure, the central axis of each battery and the central axis of battery installing rack In parallel, and each battery is formed by arc along battery installing rack and arranges;In the battery installing rack and rear horizontal mounting plate Lower surface between be vertically connected with curved support plate, to support rear horizontal mounting plate, during the curved support plate is located at The lower section of heart adjustment mechanism;The housing exterior walls top is equipped with handle.
Optionally, O shape gasket, two O-ring seals and side wall are successively arranged between the end and seal closure of the shell If there are two the columnar connection rings of toroidal cavity;Two O-ring seals are installed tightly to two circular ring shapes of connection ring In groove;It is cased within one week on the outside of seal closure annular guard ring, guard circle is successively by seal closure, connection ring, two O-ring seals It is tightly compacted with O shape gasket and be fixed on the end of shell;Waterproof coating is coated in the guard circle inner wall;To prevent seawater Into sealing pressure-resistant cabin;
Watertight case is installed in the cable through hole, is successively sealed on watertight case and is equipped with watertight connection ring and weather proof receptacle, For making cable seal communication seals pressure-resistant cabin.
Specifically, the sensor is attitude transducer, to acquire robot posture in water and center of gravity data;? Sonar is also equipped on the shell 1.
The present invention also provides a kind of deep water underwater intelligents to operate robot control system, including the deep water underwater intelligent Robot is operated, further includes the cable being sealingly mounted in cable through hole, the ground control case of connection cables and connection ground behaviour Control the video glass of case;It is underwater that control signal, power supply and the order of ground control case be transferred to the deep water by cable Intelligent operation robot, and the video image and sensing that robot acquires are operated by deep water underwater intelligent described in cable reception Device data;Ground control case is by the transmission of video images received to video glass.
Compared with prior art, the present invention beneficial has the technical effect that
(I) the present invention has rational design, small in size, and sealing means are simple, and resistance is small and navigation performance is stablized, and is able to achieve underwater Stereopsis and underwater salvage operating function.
(II) each component layouts are reasonable inside sealing pressure-resistant cabin of the invention, and space utilization rate is high, stability is good, can pass through Two transparent sealed covers of front and back end are observed;The movement to be realized of underwater robot include sink-float, promote, it is traversing, rotation and Compound motion.Wherein, advancing movement is most important, and the present invention selects the propeller of types of propellers as underwater robot Propeller, propeller propulsion are the propulsion modes that minisub is widely used, and paddle rotates in water, and blade is on one side backward Helicoid;After the present invention selects the vertical propeller for being symmetrically mounted on housing exterior walls on both sides of the middle and is symmetrically mounted on housing exterior walls The horizontal propeller of portion two sides, two vertical propellers are used to adjust the floating and dive campaign of underwater robot, two levels Propeller passes through the revolving speed of controlled level propeller, makes two levels for adjusting front and back and rotary motion, underwater robot The revolving speed of propeller is different, the direction of the movement of underwater robot may be implemented, and four propellers are mounted in the outer of robot Portion is conducive to the layout of internal modules, and space structure is rationally distributed, and appearance is clean and tidy, and four propellers can meet certainly just By the requirement spent, and it is preferable to the protection of LED light and binocular camera.
Gravity centre adjustment mechanism of the invention uses spindle motor, and structure is simple, is equipped with straight smooth guide rail and plays guiding mesh , cooperated by spindle motor and lead screw, can accurately adjust center of gravity, underwater robot is made to be in the working condition of balance.
The bottom arc surface of battery installing rack of the invention and the bottom of inner walls are fixed by way of gluing, battery It is fixedly connected between the upper end of mounting rack and the inner wall of shell by fixedly connected part, battery and battery peace in the present invention The laying mode shelved both is able to satisfy power reguirements, is also beneficial to other component and is arranged in sealing pressure-resistant cabin.
(III) mounting means of vertical fixed plate of the invention, front horizontal mounting plate and rear horizontal mounting plate will not be broken The internal structure of bad shell can be integrally removed or placed into, and be convenient for adjustment and installation, compact-sized, easy to process and combination installation;Its In, it is fixedly connected between rear horizontal mounting plate and the inner wall of shell by fixedly connected part.
In the present invention, four threaded holes are processed on video camera mounting plate, by video camera pressing plate by binocular camera It is mounted on video camera mounting plate, because video camera is the robot head position under water for observing ambient conditions Hole identical with steering engine position of mounting hole is horizontally rotated is processed on the front horizontal mounting plate set, and will be horizontally rotated by screw Steering engine is fixed with front horizontal mounting plate, therefore, when horizontally rotating steering engine at work, drives video camera mounting plate and holder Holder pivots complete holder rotary motion, drive camera shooting by the vertical rotating steering engine rotation being mounted on video camera mounting plate Tilt-top movement is completed in the rotation of machine mounting plate.
Sixdegree-of-freedom simulation of the invention, to joint drive, avoids the design of waterproof sealing using waterproof steering engine, and And waterproof steering engine structure is simple, small in size, light weight.Therefore selection waterproof steering engine drives joint of mechanical arm.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is main view of the invention.
Fig. 3 is left view of the invention.
Fig. 4 is right view of the invention.
Fig. 5 is rearview of the invention.
Fig. 6 is the structural schematic diagram sealed in pressure-resistant cabin that the present invention removes front sealing cover.
Fig. 7 is the structural schematic diagram sealed in pressure-resistant cabin that the present invention removes rear seal cover.
Fig. 8 is the overall structure diagram of gravity centre adjustment mechanism of the invention.
Fig. 9 is the scheme of installation of binocular camera of the invention and range laser head.
Figure 10 is the scheme of installation of the vertical fixed plate of the present invention, front horizontal mounting plate and rear horizontal mounting plate.
Figure 11 is holder supporting structure schematic diagram of the invention.
Figure 12 is the structural schematic diagram of video camera mounting plate of the invention.
Each label indicates in figure are as follows: 1- shell, the vertical propeller of 2-, 3- horizontal propeller, 4- seal closure, 5- sealing pressure resistance Cabin, 6- headlamp, 7- sixdegree-of-freedom simulation, 8- cable;
11- shell holder, 12- cable through hole, 13- first shell anchor ear, 14- second shell anchor ear, 15- third shell are embraced Hoop, 16- handle;
The vertical propeller anchor ear of 21-, the vertical link block of 22-;
31- horizontal propeller anchor ear, 32- horizontal connection block;
51- battery installing rack, 511- battery, the vertical fixed plate of 52-, the front 53- horizontal mounting plate, 54- rear horizontal peace Loading board, 55- binocular camera, 56- range laser head, 57- gravity centre adjustment mechanism;
531- holder bracket, 532- horizontally rotate steering engine, 533- video camera mounting plate, 534- vertical rotating steering engine;
571- lead screw supporting plate, 572- lead screw, 573- straight smooth guide rail, 574- clump weight, 575- spindle motor;
61- headlamp anchor ear, 62- headlamp link block;
71- shoulder, 72- large arm, 73- forearm, 74- wrist, 75- tri- refer to electromagnetism gripper;
751- opens and closes disk, and 752- opens and closes pull rod, 753- connecting rod, 754- finger.
Specific embodiment
In compliance with the above technical solution, specific embodiments of the present invention are given below, it should be noted that the present invention not office It is limited to following specific embodiments, all equivalent transformations made on the basis of the technical solutions of the present application each falls within protection model of the invention It encloses.The present invention is described in further details below with reference to embodiment.
Embodiment 1:
As shown in Fig. 1 to 12, the present embodiment provides a kind of deep water underwater intelligents to operate robot, including columnar shell 1, it is symmetrically mounted on the vertical propeller 2 of 1 outer wall on both sides of the middle of shell and is symmetrically mounted on the level of 1 external rear wall two sides of shell Propeller 3 further includes two hemispheric transparent sealed covers 4 for being mounted on 1 both ends of shell, is enclosed by the shell 1 and seal closure 4 At fairshaped sealing pressure-resistant cabin 5, be symmetrically mounted on 1 outer wall front part sides of shell two headlamps 6, be mounted on headlamp The sixdegree-of-freedom simulation 7 of 6 lower ends, two shell holders 11 for being mounted on 1 lower end of shell and the cable for being located at 1 top of shell are logical Hole 12;Be equipped in the sealing pressure-resistant cabin 5: the arc battery installing rack 51 that is fixed in 1 lower inner wall of shell is mounted on battery Multiple batteries 511 in mounting rack 51, perpendicular to 1 central axis of shell and connection 1 upper inside wall of shell and battery installing rack 51 Vertical fixed plate 52, the front that is horizontally arranged at vertical 52 front and rear sides of fixed plate and is located at the top of battery installing rack 51 it is horizontal Mounting plate 53 and rear horizontal mounting plate 54, the binocular camera 55 and range laser head being mounted on front horizontal mounting plate 53 56, the gravity centre adjustment mechanism 57 and sensor of 54 lower surface of rear horizontal mounting plate are mounted on.The present invention has rational design, volume Small, sealing means are simple, and resistance is small and navigation performance is stablized, and are able to achieve underwater stereoscopic observation and underwater salvage operating function;This Each component layouts are reasonable inside the sealing pressure-resistant cabin of invention, and space utilization rate is high, stability is good, can be by two of front and back end thoroughly Bright seal closure observation;The movement to be realized of underwater robot includes sink-float, propulsion, traversing, rotation and compound motion.Wherein, Advancing movement is most important, propeller of the propeller of present invention selection types of propellers as underwater robot, propeller Propulsion is the propulsion mode that minisub is widely used, and paddle rotates in water, and blade is helicoid on one side backward;The present invention Selection is symmetrically mounted on the vertical propeller of housing exterior walls on both sides of the middle and is symmetrically mounted on the level of housing exterior walls rear portion two sides Propeller, two vertical propellers are used to adjust the floating and dive campaign of underwater robot, and two horizontal propellers are for adjusting Section front and back and rotary motion, underwater robot pass through the revolving speed of controlled level propeller, make the revolving speed of two horizontal propellers The direction of the movement of underwater robot may be implemented in difference, and four propellers are mounted in the outside of robot, are conducive to inside The layout of modules, space structure is rationally distributed, and appearance is clean and tidy, and four propellers can meet the requirement of freedom degree just, and And it is preferable to the protection of LED light and binocular camera.
As shown in figure 8, in the present embodiment, gravity centre adjustment mechanism 57 includes being vertically fixed under rear horizontal mounting plate 54 The opposite lead screw supporting plate 571 of two of surface, is vertically connected with the lead screw 572 being parallel to each other between two lead screw supporting plates 571 With two straight smooth guide rails 573, run through to have being threadedly engaged on lead screw 572 and two straight smooth guide rails 573 with lead screw 572 Clump weight 574, the lead screw 572 is pierced by lead screw supporting plate 571 and is connected with the spindle motor being mounted on lead screw supporting plate 571 575.Gravity centre adjustment mechanism of the invention uses spindle motor, and structure is simple, is equipped with straight smooth guide rail and plays guiding purpose, leads to Spindle motor and lead screw cooperation are crossed, center of gravity can be accurately adjusted, underwater robot is made to be in the working condition of balance.
Specifically, horizontal propeller 3, which passes through the horizontal propeller anchor ear 31 covered on 3 outer wall of horizontal propeller, is connected with water Flushconnection block 32, horizontal connection block 32 are fixed on 1 outer wall of shell by covering in the first shell anchor ear 13 on 1 outer wall of shell; The vertical propeller 2 passes through the vertical propeller anchor ear 21 covered on vertical 2 outer wall of propeller and is connected with vertical link block 22, Vertical link block 22 is fixed on 1 outer wall of shell by covering in the second shell anchor ear 14 on 1 outer wall of shell;The headlamp 6 It is connected with headlamp link block 62 by covering the headlamp anchor ear 61 on 6 outer wall of headlamp, headlamp link block 62 passes through set It is fixed on 1 outer wall of shell in the third shell anchor ear 15 on 1 outer wall of shell.
More specifically, shell holder 11 is mounted on first shell anchor ear 13 and third shell anchor ear 15 by connecting plate; The central axis of horizontal propeller 3 and the centerline axis parallel of shell 1, the horizontal connection block 32 is class rectangle structure, horizontal Two opposite side walls of link block 32 are arcwall, and one of arcwall is close to 1 outer wall of shell, another arcwall is close to The outer wall of horizontal propeller 3;The upper bottom surface hollow out of the horizontal connection block 32, and the side of the upper bottom surface of horizontal connection block 32 Edge is respectively fixedly connected with the end of first shell anchor ear 13;The central axis of vertical propeller 2 and the central axis of shell 1 hang down Directly, the vertical link block 22 is class rectangle structure, and two opposite side walls of vertical link block 22 are arcwall, one of them Arcwall is close to 1 outer wall of shell, another arcwall is close to the outer wall of vertical propeller 2;The front and back of the vertical link block 22 Two side walls hollow out, and the upper bottom surface of vertical link block 22 is respectively fixedly connected with the end of second shell anchor ear 14;Headlamp 6 Central axis and shell 1 centerline axis parallel, the headlamp link block 62 is U-like shape structure, and headlamp 6 is mounted on photograph Between two side plates of bright lamp link block 62, the bottom plate outer wall of headlamp link block 6 is arcuate structure, to be close to outside shell 1 Wall, the outer wall of two side plates of the headlamp link block 62 are respectively fixedly connected with the end of third shell anchor ear 15.
In the present embodiment, sixdegree-of-freedom simulation 7 includes the shoulder 71 that 6 lower end of headlamp is fixed on by connection sheet, The large arm 72 that can be horizontally rotated is hinged on shoulder 71, be hinged in large arm 72 can vertical rotating forearm 73,73 front end of forearm It is connected with wrist 74, three finger electromagnetism grippers 75 are installed on wrist 74.Sixdegree-of-freedom simulation of the invention uses anti-water rudder Machine avoids the design of waterproof sealing to joint drive, and waterproof steering engine structure is simple, small in size, light weight.Therefore it selects Waterproof steering engine drives joint of mechanical arm.
Specifically, three refer to that electromagnetism pawl 75 includes the folding disk 751 of connection wrist 74, vertically it is equipped at folding 751 center of disk It is set with the telescopic folding pull rod 752 of spring, hingedly there are three hinged by three connecting rods 753 for the folding pull rod 752 Three fingers 754 on folding disk 751;When work, electromagnetic actuation folding disk 751 makes to open and close the stretching of pull rod 752, thus logical It crosses connecting rod 753 and pulls three 754 collective closures of finger;After power-off, electromagnet separation, folding pull rod 752 is made in the elastic force of spring It is collapsible into folding disk 751 with lower recovery initial position, pushes three fingers to open by connecting rod 753.
The holder bracket 531 for the U-shaped that can be horizontally rotated is installed on front horizontal mounting plate 53, in holder bracket 531 Be equipped on lower plate holder bracket can be driven to rotate in the horizontal plane horizontally rotate steering engine 532;The one of holder bracket 531 It is connected with the video camera mounting plate 533 perpendicular to casing center axis on a side plate, is installed on the antetheca of video camera mounting plate 533 The binocular camera 55 installs two range laser heads on the video camera mounting plate 533 of 55 two sides of binocular camera 56;An abutting parallel with a side wall of the holder bracket 531 is vertically equipped on the rear wall of video camera mounting plate 533 And the connecting plate being rotatably connected, also vertically set on the rear wall of video camera mounting plate 533 there are two with the holder bracket 531 The parallel abutting of another side wall steering engine fixed plate, vertical rotating steering engine 534, institute are installed in the steering engine fixed plate The side wall for stating the holder bracket 531 that vertical rotating steering engine 534 is close to it is rotatably connected.In the present invention, installed in video camera Four threaded holes are processed on plate, binocular camera is mounted on video camera mounting plate by video camera pressing plate, because of camera shooting Machine is to process for observing ambient conditions, therefore under water on the front horizontal mounting plate of robot head position and water The identical hole of steering engine position of mounting hole is moved in flat turn, will be horizontally rotated steering engine by screw and be fixed with front horizontal mounting plate, therefore, When horizontally rotating steering engine at work, video camera mounting plate and holder holder pivots are driven, holder rotary motion is completed, passes through The vertical rotating steering engine rotation being mounted on video camera mounting plate drives video camera mounting plate rotation, completes tilt-top movement.
Battery 511 in the present embodiment is cylindrical structure, central axis and the battery installing rack 51 of each battery 511 Centerline axis parallel, and each battery 511 is formed by arc along battery installing rack 51 and arranges;In 51 He of battery installing rack Curved support plate is vertically connected between the lower surface of rear horizontal mounting plate 54, to support rear horizontal mounting plate 54, institute State the lower section that curved support plate is located at adjustment mechanism of center 57;The 1 outer wall top of shell is equipped with handle 16.Battery of the invention The bottom arc surface of mounting rack and the bottom of inner walls are fixed by way of gluing, the upper end of battery installing rack and shell It is fixedly connected between inner wall by fixedly connected part, the laying mode of battery and battery installing rack in the present invention can expire Sufficient power reguirements are also beneficial to other component and are arranged in sealing pressure-resistant cabin.
The mounting means of vertical fixed plate of the invention, front horizontal mounting plate and rear horizontal mounting plate will not destroy shell The internal structure of body can be integrally removed or placed into, and be convenient for adjustment and installation, compact-sized, easy to process and combination installation;Wherein, It is fixedly connected between rear horizontal mounting plate and the inner wall of shell by fixedly connected part.
As a preferred solution, it is close that O shape gasket, two O shapes are successively arranged between the end of shell 1 and seal closure 4 Seal and side wall set the columnar connection ring there are two toroidal cavity;Two O-ring seals are installed tightly to connection ring In two toroidal cavities;Be cased within one week annular guard ring in the outside of seal closure 4, guard circle successively by seal closure 4, connection ring, Two O-ring seals and O shape gasket are tightly compacted and be fixed on the end of shell 1;Waterproof is coated in the guard circle inner wall to apply Layer, to prevent seawater from entering sealing pressure-resistant cabin 5;Watertight case is installed in cable through hole 12, successively seals and is equipped on watertight case Watertight connection ring and weather proof receptacle, for making cable 8 seal communication seals pressure-resistant cabin 5.
Specifically, the sensor is attitude transducer, to acquire robot posture in water and center of gravity data;? Sonar is also equipped on the shell 1.
Embodiment 2:
On the basis of embodiment 1, the present embodiment provides a kind of deep water underwater intelligents to operate robot control system, including The deep water underwater intelligent of embodiment 1 operates robot, further includes the cable 8 being sealingly mounted in cable through hole 12, connection cables 8 Ground control case and connection ground control case video glass;By cable 8 by the control signal of ground control case, power supply and Order is transferred to deep water underwater intelligent operation robot, and receives deep water underwater intelligent by cable 8 and operate robot acquisition Video image and sensing data;Ground control case is by the transmission of video images received to video glass.

Claims (10)

1. a kind of deep water underwater intelligent operates robot, including columnar shell (1), it is symmetrically mounted in shell (1) outer wall The vertical propeller (2) of portion two sides and the horizontal propeller (3) for being symmetrically mounted on shell (1) external rear wall two sides, feature exists In further including two hemispheric transparent sealed covers (4) for being mounted on shell (1) both ends, by the shell (1) and seal closure (4) the fairshaped sealing pressure-resistant cabin (5) that surrounds, two headlamps (6) for being symmetrically mounted on shell (1) outer wall front part sides, Be mounted on the sixdegree-of-freedom simulation (7) of headlamp (6) lower end, be mounted on shell (1) lower end two shell holders (11) and It is located at the cable through hole (12) on shell (1) top;
It is equipped in sealing pressure-resistant cabin (5): being fixed on arc battery installing rack (51) in shell (1) lower inner wall, installation Multiple batteries (511) in battery installing rack (51), perpendicular to shell (1) central axis and connection shell (1) upper inside wall With the vertical fixed plate (52) of battery installing rack (51), be horizontally arranged at vertical fixed plate (52) front and rear sides and be located at battery and pacify It shelves front horizontal mounting plate (53) and rear horizontal mounting plate (54) above (51), be mounted on front horizontal mounting plate (53) On binocular camera (55) and range laser head (56), the centre of gravity adjustment machine for being mounted on rear horizontal mounting plate (54) lower surface Structure (57) and sensor.
2. deep water underwater intelligent as described in claim 1 operates robot, which is characterized in that the gravity centre adjustment mechanism (57) Two including being vertically fixed on rear horizontal mounting plate (54) lower surface opposite lead screw supporting plates (571), in two lead screw branch The lead screw (572) being parallel to each other and two straight smooth guide rails (573) are vertically connected between plate (571), in lead screw (572) and Through there is the clump weight (574) being threadedly engaged with lead screw (572) on two straight smooth guide rails (573), the lead screw (572) is worn Lead screw supporting plate (571) and it is connected with the spindle motor (575) being mounted on lead screw supporting plate (571) out.
3. deep water underwater intelligent as described in claim 1 operates robot, which is characterized in that the horizontal propeller (3) is logical It crosses the horizontal propeller anchor ear (31) covered on horizontal propeller (3) outer wall and is connected with horizontal connection block (32), horizontal connection block (32) it is fixed on shell (1) outer wall by covering in the first shell anchor ear (13) on shell (1) outer wall;The vertical propeller (2) vertical link block (22) are connected with by the vertical propeller anchor ear (21) covered on vertical propeller (2) outer wall, vertically connected Block (22) are connect to be fixed on shell (1) outer wall by covering in the second shell anchor ear (14) on shell (1) outer wall;The headlamp (6) headlamp link block (62), headlamp link block are connected with by the headlamp anchor ear (61) covered on headlamp (6) outer wall (62) it is fixed on shell (1) outer wall by covering in the third shell anchor ear (15) on shell (1) outer wall.
4. deep water underwater intelligent as claimed in claim 3 operates robot, which is characterized in that the shell holder (11) passes through Connecting plate is mounted on first shell anchor ear (13) and third shell anchor ear (15);
The central axis of the horizontal propeller (3) and the centerline axis parallel of shell (1), the horizontal connection block (32) are class Rectangular configuration, two opposite side walls of horizontal connection block (32) are arcwall, and one of arcwall is close to shell (1) outside Wall, another arcwall are close to the outer wall of horizontal propeller (3);The upper bottom surface hollow out of the horizontal connection block (32), and water The edge of the upper bottom surface of flushconnection block (32) is respectively fixedly connected with the end of first shell anchor ear (13);
The central axis of the vertical propeller (2) and the central axis upright of shell (1), the vertical link block (22) are class Rectangular configuration, two opposite side walls of vertical link block (22) are arcwall, and one of arcwall is close to shell (1) outside Wall, another arcwall are close to the outer wall of vertical propeller (2);Former and later two side wall hollow outs of the vertical link block (22), And the upper bottom surface of vertical link block (22) is respectively fixedly connected with the end of second shell anchor ear (14);
The central axis of the headlamp (6) and the centerline axis parallel of shell (1), the headlamp link block (62) are class U Shape structure, headlamp (6) are mounted between two side plates of headlamp link block (62), outside the bottom plate of headlamp link block (6) Wall is arcuate structure, and to be close to shell (1) outer wall, the outer wall of two side plates of the headlamp link block (62) is fixed respectively Connect the end of third shell anchor ear (15).
5. deep water underwater intelligent as described in claim 1 operates robot, which is characterized in that the sixdegree-of-freedom simulation It (7) include the shoulder (71) that headlamp (6) lower end is fixed on by connection sheet, being hinged on shoulder (71) can horizontally rotate Large arm (72), be hinged in large arm (72) can vertical rotating forearm (73), forearm (73) front end is connected with wrist (74), in wrist Three finger electromagnetism grippers (75) are installed in portion (74).
6. deep water underwater intelligent as claimed in claim 5 operates robot, which is characterized in that described three refer to electromagnetism pawl (75) packet The folding disk (751) for including connection wrist (74) is vertically equipped with the telescopic folding for being set with spring at folding disk (751) center Pull rod (752), hingedly there are three three be hinged in folding disk (751) by three connecting rods (753) for folding pull rod (752) A finger (754);When work, electromagnetic actuation folding disk (751) makes to open and close pull rod (752) stretching, to pass through connecting rod (753) Pull three finger (754) collective closures;After power-off, it is extensive under the elastic force effect of spring to open and close pull rod (752) for electromagnet separation Multiple initial position is collapsible into folding disk (751), pushes three fingers to open by connecting rod (753).
7. deep water underwater intelligent as described in claim 1 operates robot, which is characterized in that the front horizontal mounting plate (53) the holder bracket (531) for the U-shaped that can be horizontally rotated is installed on, energy band is installed on holder bracket (531) lower plate What dynamic holder bracket rotated in the horizontal plane horizontally rotates steering engine (532);
It is connected with the video camera mounting plate (533) perpendicular to casing center axis on a side plate of holder bracket (531), takes the photograph The binocular camera (55) are installed, the video camera in binocular camera (55) two sides is pacified on the antetheca of camera mounting plate (533) Two range laser heads (56) are installed in loading board (533);
It is vertically equal with a side wall of the holder bracket (531) equipped with one on the rear wall of video camera mounting plate (533) Row is close to and the connecting plate that is rotatably connected, also vertically set on the rear wall of video camera mounting plate (533) there are two with the cloud The steering engine fixed plate of the parallel abutting of another side wall of platform bracket (531) is equipped with vertical turn in the steering engine fixed plate Dynamic steering engine (534), the side wall for the holder bracket (531) that the vertical rotating steering engine (534) is close to it are rotatably connected.
8. deep water underwater intelligent as described in claim 1 operates robot, which is characterized in that the battery (511) is cylinder Shape structure, the central axis of each battery (511) and the centerline axis parallel of battery installing rack (51), and each battery (511) edge Battery installing rack (51) be formed by arc arrangement;Under the battery installing rack (51) and rear horizontal mounting plate (54) Curved support plate is vertically connected between surface, to support rear horizontal mounting plate (54), during the curved support plate is located at The lower section of heart adjustment mechanism (57);
Shell (1) the outer wall top is equipped with handle (16).
9. deep water underwater intelligent as described in claim 1 operates robot, which is characterized in that the end of the shell (1) and Be successively arranged between seal closure (4) O shape gasket, two O-ring seals and side wall set it is columnar there are two toroidal cavity Connection ring;Two O-ring seals are installed tightly in two toroidal cavities of connection ring;It covers within one week on the outside of seal closure (4) There is annular guard ring, guard circle is successively tightly compacted and solid by seal closure (4), connection ring, two O-ring seals and O shape gasket It is scheduled on the end of shell (1);It is coated with waterproof coating in the guard circle inner wall, to prevent seawater from entering sealing pressure-resistant cabin (5);
Watertight case is installed on the cable through hole (12), is successively sealed on watertight case and is equipped with watertight connection ring and weather proof receptacle, For making cable (8) to seal communication seals pressure-resistant cabin (5).
10. a kind of deep water underwater intelligent operates robot control system, which is characterized in that including any right of claim 1 to 9 It is required that the deep water underwater intelligent operates robot, it further include the cable (8) being sealingly mounted on cable through hole (12), connection The ground control case of cable (8) and the video glass of connection ground control case;The control of ground control case is believed by cable (8) Number, power supply and order be transferred to the deep water underwater intelligent operation robot, and receive the deep water water by cable (8) The video image and sensing data of lower intelligent operation robot acquisition;Ground control case by the transmission of video images received to Video glass.
CN201811424803.4A 2018-11-27 2018-11-27 A kind of deep water underwater intelligent operation robot and its control system Pending CN109533239A (en)

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CN201811424803.4A CN109533239A (en) 2018-11-27 2018-11-27 A kind of deep water underwater intelligent operation robot and its control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111361709A (en) * 2020-03-20 2020-07-03 重庆文理学院 Underwater detection fishing robot
CN113247172A (en) * 2021-06-18 2021-08-13 广东科佩克机器人有限公司 Multi-axis robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111361709A (en) * 2020-03-20 2020-07-03 重庆文理学院 Underwater detection fishing robot
CN113247172A (en) * 2021-06-18 2021-08-13 广东科佩克机器人有限公司 Multi-axis robot
CN113247172B (en) * 2021-06-18 2021-09-14 广东科佩克机器人有限公司 Multi-axis robot

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