CN110641660B - Underwater operation robot for marine product fishing - Google Patents
Underwater operation robot for marine product fishing Download PDFInfo
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- CN110641660B CN110641660B CN201910997741.4A CN201910997741A CN110641660B CN 110641660 B CN110641660 B CN 110641660B CN 201910997741 A CN201910997741 A CN 201910997741A CN 110641660 B CN110641660 B CN 110641660B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 115
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 42
- 210000002310 elbow joint Anatomy 0.000 claims description 22
- 210000000323 shoulder joint Anatomy 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 8
- 235000014102 seafood Nutrition 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000002146 bilateral effect Effects 0.000 description 4
- 230000003592 biomimetic effect Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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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
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an underwater robot, in particular to an underwater operation robot for marine product fishing. In order to solve the problems of great control difficulty and the like when the existing underwater robot carries out marine product fishing, the underwater operation robot comprises a rack and a robot body, wherein the robot body is fixed on the rack: the propeller thruster is used for providing power for the underwater operation robot so as to drive the underwater operation robot to move underwater; the bionic wave fin propeller is used for adjusting the posture of the underwater operation robot so that the underwater robot can conveniently grab marine products; the mechanical arm comprises a driving mechanism, a transmission mechanism and a gripper, and the driving mechanism drives the gripper to execute gripping operation through the transmission mechanism; the controller can control the propeller thruster and the bionic wave fin thruster to drive and adjust the posture of the underwater operation robot, and control the mechanical arm to execute corresponding grabbing operation. The invention realizes the quick tour and the stable posture adjustment at low speed of the rack body in a hybrid driving mode.
Description
Technical Field
The invention relates to an underwater robot, in particular to an underwater operation robot for marine product fishing.
Background
With the development and utilization of marine resources, Autonomous Underwater Vehicle (AUV) technology has gained more and more attention. In order to be able to further carry out autonomous underwater work tasks, underwater vehicle-working arm systems (UVMS) have been developed considerably. Underwater operations are realized by carrying underwater mechanical arms on an autonomous underwater vehicle, for example: salvaging underwater articles, opening and closing valves and the like. At present, marine products are mainly fished by means of working tools carried by divers. The fishing of diver's marine product has the limitation, and the diver can not be in long-time operation under water on the one hand, has some divers' place that can't reach in the other hand sea area, restriction diver's underwater operation space.
Although underwater work has received increasing attention, the fishing of seafood by underwater robots is still under investigation. The fishing of underwater marine products presents a number of difficulties, on one hand, the environment of the culture sea area is complex, and the movement of the underwater operation robot is hindered. On the other hand, identifying marine products underwater by vision also faces many challenges. The traditional underwater operation machine based on propeller propulsion has a large weight (more than 100 kg), the propeller propulsion has a large control difficulty in a low-speed state, and a large-sized underwater operation robot is not suitable for fishing marine products in a shallow water area.
Therefore, the present invention proposes a robot for underwater operation for marine product fishing to solve the above problems.
Disclosure of Invention
In order to solve the problems in the prior art, namely the problem that the control difficulty is high when the existing underwater robot carries out marine product fishing and the like, the invention provides an underwater operation robot for marine product fishing, which comprises a rack and a robot body, wherein the robot body comprises: the propeller is used for providing power for the underwater operation robot to drive the underwater operation robot to move underwater; a bionic wave fin propeller for adjusting the posture of the underwater operation robot so that the underwater robot can conveniently grab marine products; the mechanical arm comprises a driving mechanism, a transmission mechanism and a gripper, wherein the driving mechanism drives the gripper to execute gripping operation through the transmission mechanism; a controller capable of controlling the propeller thruster to drive the underwater operation robot, simultaneously controlling the bionic wave fin thruster to adjust the posture of the underwater operation robot, and controlling the driving mechanism to enable the gripper to execute corresponding gripping operation.
In the above preferred embodiment of the marine product fishing oriented underwater operation robot, the propeller propellers include a first propeller and a second propeller arranged in a horizontal direction for providing forward and backward thrust, and a third propeller and a fourth propeller arranged in a vertical direction for providing upward and downward thrust; the first propeller thruster and the second propeller thruster are fixed on the rack through a first bracket; the third propeller thruster and the fourth propeller thruster are fixed on the rack through a second support.
In a preferred embodiment of the above marine product fishing-oriented underwater operation robot, the bionic wave fin propeller includes a first bionic wave fin propeller and a second bionic wave fin propeller arranged in a horizontal direction; the first bionic wave fin propeller and the second bionic wave fin propeller are fixed on the rack through bolts respectively.
In a preferred embodiment of the above marine product fishing oriented underwater operation robot, the mechanical arm further comprises a waist joint connecting plate and a waterproof barrel, the waist joint connecting plate is used for fixing the mechanical arm to the frame, and the waterproof barrel is internally provided with the driving mechanism; the upper end of the waterproof barrel is provided with a sealing cover, the sealing cover is provided with a first gear and a second gear meshed with the first gear, the first gear is fixed on the waist joint connecting plate, and the second gear is connected with the driving mechanism; the lower end of the waterproof barrel is provided with a ball bearing, and the transmission mechanism is connected between the ball bearing and the hand grip; the driving mechanism can drive the second gear to rotate along the first gear so as to drive the waterproof barrel to rotate, and therefore the hand grab is driven to rotate through the transmission mechanism.
In the above preferred embodiment of the underwater operation robot for marine product fishing, the driving mechanism includes a waist joint steering gear, and the waist joint steering gear is used for driving the second gear to rotate so as to drive the waterproof barrel to rotate.
In the above preferred embodiment of the underwater operation robot for marine product fishing, a left bearing seat and a right bearing seat are arranged at a shoulder joint below the ball bearing, the transmission mechanism includes a first transmission bevel gear arranged between the left bearing seat and the right bearing seat, a second transmission bevel gear engaged with the first transmission bevel gear, and a first rotating shaft connected with the second transmission bevel gear, the first rotating shaft is connected with a large arm connecting rod through a shoulder joint fixing member, the driving mechanism further includes a shoulder joint steering gear for driving the first transmission bevel gear to drive the first rotating shaft to rotate, and thus drive the large arm connecting rod to swing.
In a preferred embodiment of the robot for underwater operation of marine product fishing, the transmission mechanism further includes a third transmission bevel gear disposed between the left bearing seat and the right bearing seat, a first idler gear engaged with the third transmission bevel gear, and a fourth transmission bevel gear engaged with the first idler gear, the fourth transmission bevel gear is fixedly connected to a second rotating shaft located in the upper arm connecting rod, a lower end of the second rotating shaft is connected to a fifth transmission bevel gear at an elbow joint, the fifth transmission bevel gear is engaged with a sixth transmission bevel gear, the sixth transmission gear is connected to a lower arm connecting rod through an elbow joint fixing member, and the elbow joint fixing member is fixed to a fixing portion at the elbow joint; the driving mechanism further comprises an elbow joint steering gear, the elbow joint steering gear is used for driving the third transmission bevel gear to drive the second rotating shaft to rotate, and then the small arm connecting rod is driven to swing.
In a preferred embodiment of the robot for underwater operation of marine product fishing, the transmission mechanism further includes a seventh transmission bevel gear disposed between the left bearing seat and the right bearing seat, a second idle gear meshed with the seventh transmission bevel gear, and an eighth transmission bevel gear meshed with the second idle gear, the eighth transmission bevel gear is fixedly connected with a third rotating shaft, the lower end of the third rotating shaft is connected with a ninth transmission bevel gear at an elbow joint, the ninth transmission bevel gear is meshed with a tenth transmission bevel gear, the tenth transmission bevel gear is fixedly connected with a first connecting rod, the first connecting rod is hinged with a second connecting rod, and the tail end of the second connecting rod is in a rack structure; the hand grip comprises a left hand grip and a right hand grip, a left hand grip gear is arranged on the left hand grip, a right hand grip gear is arranged on the right hand grip, and the rack at the tail end of the second connecting rod is respectively meshed with the left hand grip gear and the right hand grip gear; the driving mechanism further comprises a gripper steering gear, and the gripper steering gear is used for driving the seventh transmission bevel gear to drive the third rotating shaft to rotate so as to drive the second connecting rod to move and further drive the left gripper and the right gripper to open and close relatively.
In a preferred embodiment of the above marine product fishing-oriented underwater operation robot, the underwater operation robot further comprises a vision device, the vision device comprising: the monocular camera is fixed to the upper part of the rack through a fixing support and is used for providing a large visual field range for the underwater operation robot; the binocular camera is also fixed to the upper part of the rack through a fixing bracket and is used for positioning the three-dimensional coordinates of the marine product to be grabbed; the controller can control the propeller thruster, the bionic wave fin thruster and the driving mechanism to execute corresponding operations according to the signals acquired by the vision device.
In a preferred embodiment of the underwater operation robot for marine product fishing, the underwater operation robot further comprises a throwing basket, wherein the throwing basket is fixed below the rack and used for containing marine products grabbed by the grabbing hand; and/or, the controller includes the box body, the box body is fixed the upper end of frame, industrial computer, electricity accent module and power module have been placed to the box body in.
The underwater operation robot realizes quick tour and stable posture adjustment at low speed of the machine frame body through the propeller thruster and the bionic wave fin thruster. Particularly, the advancing, retreating and turning motions of the underwater operation robot on the horizontal plane and the ascending and descending motions of the vertical plane can be realized by utilizing the larger propelling force of the propeller, so that the underwater operation robot can realize the purposes of quick tour and approaching to marine products; the bionic fin propeller has the advantages that the stable propelling force is utilized, so that the posture of the horizontal plane of the underwater operation robot can be stably adjusted, and the robot has a proper posture for grabbing marine products. In other words, the underwater operation robot can realize quick grabbing of marine products through the coordinated control of the propeller thruster and the bionic wave fin thruster. In addition, the marine product of complex environment's snatchs can be realized to light-weighted underwater mechanical arm, has reduced the disturbance that causes the frame body. Further can realize the discernment and the location of marine product under water through vision device, improve the efficiency of snatching of marine product under water.
Drawings
Fig. 1 is an exploded schematic view of the overall construction of an underwater operation robot of the present invention;
FIG. 2 is a rear view of the underwater work robot of the present invention;
fig. 3 is a schematic view of the overall structure of a robot arm of the underwater operation robot of the present invention;
FIG. 4 is a schematic view showing the internal structure of the upper half of the robot arm of the underwater work robot of the present invention;
fig. 5 is an internal structural view of a middle portion of a robot arm of the underwater operation robot of the present invention;
fig. 6 is a schematic view showing an internal structure of a gripper portion of a robot arm of the underwater operation robot of the present invention;
fig. 7 is a schematic view of the internal structure of the underwater operation robot of the present invention.
Reference numerals:
1-a frame; 2-propeller thruster; a1 — first propeller; a 2-second propeller; a 3-third propeller; a 4-fourth propeller; 3-bionic wave fin propeller; b1-a first bionic wave fin propeller; b2-a second bionic wave fin propeller; 4-a mechanical arm 4; 5-a controller; 6-connecting plates; 70-fixing the bracket; 71-monocular camera; 72-binocular camera; 721-a first eyepiece; 722-a second eyepiece; 8-throwing in a basket; 21-a first scaffold; 22-a second support;
41-waist joint connecting plate; 42-waterproof bucket; 431-waist joint steering gear; 432-shoulder joint steering gear; 433-elbow joint steering engine; 434-gripper steering engines; 44-a sealing cover; 45-ball bearings; 46-left bearing seat; 47-right bearing seat; 401-big arm link; 402-a small arm link; 49-hand grip; 491-left hand grip; 4911; a left gripper gear; 492-right hand grip; 4921-right hand grip gear; 51-a cartridge; 52-an industrial personal computer; 53-an electric regulation module; 54-a power supply module;
48-1 — first drive bevel gear; 48-2-second drive bevel gear; 48-3-third drive bevel gear; 48-4-fourth drive bevel gear; 48-5-fifth drive bevel gear; 48-6-sixth drive bevel gear; 48-7-seventh drive bevel gear; 48-8-eighth drive bevel gear; 48-9-ninth drive bevel gear; 48-10-tenth drive bevel gear; 48-11-first idler; 48-12-second idler; 48-21-first axis of rotation; 48-22-second axis of rotation; 48-31-shoulder joint fixation; 48-32-elbow fixation; 48-33-fixation section; 48-41-first link; 48-42-second link.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
Referring first to fig. 1, fig. 1 is an exploded view of the overall structure of an underwater operation robot of the present invention. As shown in fig. 1, the underwater operation robot of the present invention includes a frame 1, and a propeller 2, a bionic fin propeller 3, a robot arm 4, and a controller 5 fixed to the frame 1. The propeller thruster 2 is used for providing power for the underwater operation robot to drive the underwater operation robot to move underwater; the bionic wave fin propeller 3 is used for adjusting the posture of the underwater operation robot so that the underwater robot can conveniently grab marine products; the mechanical arm 4 comprises a driving mechanism, a transmission mechanism and a gripper, wherein the driving mechanism drives the gripper to execute gripping operation through the transmission mechanism (the specific structure of the mechanical arm 4 is further described below); the controller 5 can control the propeller thruster 2 to drive the underwater operation robot, simultaneously control the bionic fin thruster 3 to adjust the posture of the underwater operation robot, and control the driving mechanism to make the gripper perform the corresponding gripping operation. The underwater operation robot designed by the invention adopts a hybrid driving mode (namely, the propeller thruster 2 and the bionic wave fin thruster 3 are used for hybrid driving), so that the advancing, retreating and turning motions of the underwater operation robot on a horizontal plane and the ascending and descending motions of a vertical plane can be realized by using the larger propelling force of the propeller thruster 2, and the purposes of quick tour and marine product approaching of the underwater operation robot are realized; the stable posture of the horizontal plane of the underwater operation robot can be stably adjusted by utilizing the stable propelling force of the bionic waving fin propeller 3, so that the robot has a proper posture for grabbing marine products. In other words, the underwater operation robot can realize quick grabbing of marine products through the coordinated control of the propeller thruster 2 and the bionic wave fin thruster 3.
As an example, the propeller thruster 2 of the present invention is provided in four, and the biomimetic wave fin thruster 3 is provided in two. Specifically, referring to fig. 2, fig. 2 is a rear view of the underwater operation robot of the present invention. As shown in fig. 2, the propeller 2 of the present invention includes a first propeller a1 and a second propeller a2 arranged in a horizontal direction for providing forward and backward thrust, and a third propeller A3 and a fourth propeller a4 arranged in a vertical direction for providing upward and downward thrust. The first propeller thruster A1 and the second propeller thruster A2 are arranged in a bilateral symmetry mode, and the third propeller thruster A3 and the fourth propeller thruster A4 are also arranged in a bilateral symmetry mode. The first propeller a1 and the second propeller a2 may advance (e.g., provide forward thrust at the same time), retreat (e.g., provide backward thrust at the same time), or turn (e.g., one provides forward thrust, one provides backward thrust) the underwater working robot in a horizontal direction, and the third propeller A3 and the fourth propeller a4 may raise (e.g., provide upward thrust at the same time) or dive (e.g., provide downward thrust at the same time) the underwater working robot in a vertical direction. Thereby the underwater operation robot realizes the purposes of fast tour and approaching to marine products. As a specific embodiment, referring back to fig. 1, the first propeller a1 and the second propeller a2 are fixed to the frame 1 by a first bracket 21; the third propeller A3 and the fourth propeller a4 are fixed to the frame 1 by a second bracket 22.
With continued reference to fig. 2, the biomimetic wave fin propulsion 3 includes a first biomimetic wave fin propeller B1 and a second biomimetic wave fin propeller B2 arranged in the horizontal direction. The first bionic wave fin propeller B1 and the second bionic wave fin propeller B2 are arranged in a bilateral symmetry mode. Two bionic wave fins arranged in bilateral symmetry push the robot to adjust the posture of the underwater operation robot, so that the underwater operation robot obtains a stable and appropriate posture to grab marine products. As a specific embodiment, referring back to fig. 1, the first bionic wave fin propeller B1 and the second bionic wave fin propeller B2 are respectively fixed to the frame 1 by bolts. Specifically, threaded holes can be formed in the two bionic wave fin propellers 3, then the two bionic wave fin propellers 1 are arranged in holes matched with the threaded holes, and the bionic wave fin propellers 3 are fixed to the frame 1 through bolts.
The structure of the robot arm of the present invention will be described in further detail with reference to fig. 3 to 6. Fig. 3 is a schematic view of the overall structure of a robot arm of the underwater operation robot of the present invention; FIG. 4 is a schematic view showing the internal structure of the upper half of the robot arm of the underwater work robot of the present invention; fig. 5 is an internal structural view of a middle portion of a robot arm of the underwater operation robot of the present invention; fig. 6 is a schematic view showing an internal structure of a gripper portion of a robot arm of the underwater work robot of the present invention.
As shown in fig. 3-6, the robot arm 4 includes an upper half portion including a waist joint connecting plate 41 and a waterproof barrel 42, the waist joint connecting plate 41 is used for fixing the robot arm 4 to the rack 1, and a driving mechanism is disposed in the waterproof barrel 42; a sealing cover 44 is arranged at the upper end of the waterproof barrel 42, a first gear 441 and a second gear 442 meshed with the first gear 441 are arranged on the sealing cover 44, the first gear 441 is fixed on the waist joint connecting plate 41, and the second gear 442 is connected with a waist joint steering engine 431; the lower end of the waterproof barrel 42 is provided with a ball bearing 45, and the transmission mechanism is connected between the ball bearing 45 and the hand grip 46.
The driving mechanism comprises a waist joint steering engine 431, the waist joint steering engine 431 is used for driving the second gear to rotate, the second gear 442 is fixedly arranged on the sealing cover 44 and meshed with the first gear 441, and the first gear 441 is fixed on the waist joint connecting plate 41, so that when power output by the waist joint steering engine 431 is transmitted to the second gear 442, the second gear 442 rotates around the first gear 441 and drives the waterproof barrel 42 to rotate.
A left bearing seat 46 and a right bearing seat 47 are arranged at the shoulder joint below the ball bearing 45, the transmission mechanism comprises a first transmission bevel gear 48-1 arranged between the left bearing seat 46 and the right bearing seat 47, a second transmission bevel gear 48-2 meshed with the first transmission bevel gear 48-1 and a first rotating shaft 48-21 connected with the second transmission bevel gear 48-2, and the first rotating shaft 48-21 is connected with a big arm connecting rod 48-41 through a shoulder joint fixing piece 48-31. The driving mechanism further comprises a shoulder joint steering gear 432, the shoulder joint steering gear 432 is used for driving the first transmission bevel gear 48-1 to rotate, the first transmission bevel gear 48-1 drives the second transmission bevel gear 48-2 meshed with the first transmission bevel gear to rotate, the second transmission bevel gear 48-2 drives the first rotating shaft 48-21 fixedly connected with the second transmission bevel gear to rotate, and the first rotating shaft 48-21 drives the large arm connecting rod 401 fixedly connected with the first rotating shaft to swing. Wherein the first rotation shaft 48-21 is connected between the left and right bearing housings 46 and 47 and is rotatable with respect to the left and right bearing housings 46 and 47.
Further, the transmission mechanism further includes a third transmission bevel gear 48-3 disposed between the left bearing housing 46 and the right bearing housing 47, a first idle gear 48-11 engaged with the third transmission bevel gear 48-3, and a fourth transmission bevel gear 48-4 engaged with the first idle gear 48-11. The fourth transmission bevel gear 48-4 is fixedly connected with the second rotating shaft 48-22 positioned in the big arm connecting rod 401, the lower end of the second rotating shaft 48-22 is connected with the fifth transmission bevel gear 48-5 at the elbow joint, the fifth transmission bevel gear 48-5 is meshed with the sixth transmission bevel gear 48-6, the sixth transmission bevel gear 48-6 is connected with the small arm connecting rod 402 through the elbow joint fixing piece 48-32, and the elbow joint fixing piece 48-32 is fixed on the fixing part 48-33 at the elbow joint. The driving mechanism further comprises an elbow joint steering gear 433, the elbow joint steering gear 433 is used for driving a third transmission bevel gear 48-3 to rotate, the third transmission bevel gear 48-3 drives a first idle gear 48-11 meshed with the third transmission bevel gear to rotate, the first idle gear 48-11 drives a fourth transmission bevel gear 48-4 meshed with the first idle gear to rotate, the fourth transmission bevel gear 48-4 drives a second rotating shaft 48-22 to rotate, the second rotating shaft 48-22 drives a fifth transmission bevel gear 48-5 connected with the second rotating shaft to rotate, the fifth transmission bevel gear 48-5 drives a sixth transmission bevel gear 48-6 meshed with the fifth transmission bevel gear to rotate, and the sixth transmission bevel gear 48-6 drives the small arm connecting rod 402 to swing.
Further, the transmission mechanism further includes a seventh transmission bevel gear 48-7 disposed between the left bearing housing 46 and the right bearing housing 47, a second idle gear 48-12 engaged with the seventh transmission bevel gear 48-7, and an eighth transmission bevel gear 48-8 engaged with the second idle gear 48-12. The eighth transmission bevel gear 48-8 is fixedly connected with a third rotating shaft (located in the upper arm connecting rod 401 and not shown in the figure), the lower end of the third rotating shaft is connected with a ninth transmission bevel gear 48-9 at the elbow joint, the ninth transmission bevel gear 48-9 is meshed with a tenth transmission bevel gear 48-10, the tenth transmission bevel gear 48-10 is fixedly connected with a first connecting rod 48-41, the first connecting rod 48-41 is hinged with a second connecting rod 48-42, and the tail end of the second connecting rod 48-42 is in a rack structure. The hand grip 49 of the robot arm 4 comprises a left hand grip 491 and a right hand grip 492, the left hand grip 491 is provided with a left hand grip gear 4911, the right hand grip 492 is provided with a right hand grip gear 4921, and racks at the tail ends of the second connecting rods 48 to 42 are respectively meshed with the left hand grip gear 4911 and the right hand grip gear 4921.
The driving mechanism further comprises a gripper steering gear 434, the gripper steering gear 434 is used for driving a seventh transmission bevel gear 48-7 to rotate, the seventh transmission bevel gear 48-7 drives a second idle gear 48-12 meshed with the seventh transmission bevel gear to rotate, the second idle gear 48-12 drives an eighth transmission bevel gear 48-8 meshed with the seventh idle gear to rotate, the eighth transmission bevel gear 48-8 drives a third rotating shaft connected with the eighth transmission bevel gear to rotate, the third rotating shaft drives a ninth transmission bevel gear 48-9 connected with the ninth transmission bevel gear to rotate, the ninth transmission bevel gear 48-9 drives a tenth transmission bevel gear 48-10 connected with the ninth transmission bevel gear to rotate, the tenth transmission bevel gear 48-10 drives a first connecting rod 48-41 and a second connecting rod 48-42 hinged with the first connecting rod 48-41 to move, and further, a gear at the tail end of the second connecting rod 48-42 drives a left gripper gear 11 and a right gripper gear 4921 meshed with the second connecting rod, thereby realizing the opening and closing of the hand grip.
As mentioned above, the manipulator 4 of the present invention has the driving mechanism disposed in the waterproof barrel 42, so as to prevent water from entering the driving mechanism during underwater operation of the manipulator, thereby affecting the performance of the driving mechanism. The driving mechanism respectively carries out power transmission through the matching among the bevel gears, the idle gears and the rotating shafts through the corresponding bevel gears of the waist joint steering engine 431, the shoulder joint steering engine 432, the elbow joint steering engine 433 and the gripper steering engine 434 so as to realize the swinging of the big arm connecting rod 401 and the small arm connecting rod 402 and the opening and closing of the gripper, and therefore the mechanical arm can flexibly control the gripping of marine products. In addition, in order to fix the robot 4 more firmly, referring back to fig. 1, the robot 4 is further fixed to the frame 1 by the connecting plate 6, which can further increase the stability of the robot 4.
In a particular embodiment, with continued reference to fig. 1, the underwater work robot of the present invention further includes a vision device including a monocular camera 71 and a binocular camera 72. Wherein, the monocular camera 71 is fixed on the upper part of the frame 1 through a fixing bracket 70 and is used for providing a large visual field range for the underwater operation robot; the binocular camera 72 includes a first eyepiece 721 and a second eyepiece 722, and the binocular camera 72 is also fixed to the upper portion of the frame 1 by a fixing bracket 70 for positioning the three-dimensional coordinates of the seafood to be grabbed. So, can wait to snatch the three-dimensional coordinate of marine product through the accurate discernment of vision device and location at the in-process of underwater operation robot operation, controller 5 can carry out corresponding operation according to signal control propeller 2, bionical undulant fin propeller 3 and the actuating mechanism that this vision device acquireed to the marine product is snatched to the underwater operation robot, thereby improves the efficiency that marine product was snatched to the underwater operation robot.
Preferably, with continued reference to fig. 1, the underwater operation robot of the present invention further includes a basket 8, the basket 8 being fixed below the frame 1 for holding seafood gripped by the gripper. As an example, the basket 8 may be in the form of a circular basin with an open top, which may be welded to the underside of the frame 1 to facilitate gripping of the gripped seafood into the basket 8.
The controller 5 of the present invention can automatically control the underwater operation robot, and can also control the underwater operation robot by receiving the control signal of the remote controller. As an example, referring to fig. 7, fig. 7 is a schematic view of an internal structure of an underwater operation robot of the present invention. As shown in fig. 7, the controller 5 of the present invention includes a box 51, and the box 51 is fixed to the upper end of the frame 1. An industrial personal computer 52, an electric regulation module 53 and a power supply module 54 are arranged in the box body 51. The specific control circuit of the controller 5 will not be described in detail here, and those skilled in the art can design the control circuit flexibly according to the actual situation.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (5)
1. An underwater operation robot for marine product fishing, comprising a frame and a plurality of underwater operation robots fixed to the frame, wherein:
the propeller is used for providing power for the underwater operation robot to drive the underwater operation robot to move underwater; the propeller thrusters comprise a first propeller thruster and a second propeller thruster which are arranged along the horizontal direction and used for providing forward and backward thrust, and a third propeller thruster and a fourth propeller thruster which are arranged along the vertical direction and used for providing up-down thrust, wherein the first propeller thruster and the second propeller thruster are arranged in a left-right symmetrical mode, and the third propeller thruster and the fourth propeller thruster are arranged in a left-right symmetrical mode;
a bionic wave fin propeller for adjusting the posture of the underwater operation robot so that the underwater robot can conveniently grab marine products; the bionic wave fin propeller comprises a first bionic wave fin propeller and a second bionic wave fin propeller which are arranged along the horizontal direction, and the first bionic wave fin propeller and the second bionic wave fin propeller are arranged symmetrically left and right;
the first propeller thruster and the third propeller thruster are arranged below the first bionic wave fin thruster, and the second propeller thruster and the fourth propeller thruster are arranged below the second bionic wave fin thruster;
the mechanical arm comprises a driving mechanism, a transmission mechanism and a gripper, wherein the driving mechanism drives the gripper to execute gripping operation through the transmission mechanism; the mechanical arm further comprises a waist joint connecting plate and a waterproof barrel, the waist joint connecting plate is used for fixing the mechanical arm to the rack, and the driving mechanism is arranged in the waterproof barrel; the upper end of the waterproof barrel is provided with a sealing cover, the sealing cover is provided with a first gear and a second gear meshed with the first gear, the first gear is fixed on the waist joint connecting plate, and the second gear is connected with the driving mechanism; the lower end of the waterproof barrel is provided with a ball bearing, and the transmission mechanism is connected between the ball bearing and the hand grip; the driving mechanism can drive the second gear to rotate along the first gear so as to drive the waterproof barrel to rotate, so that the transmission mechanism drives the hand grip to rotate; the driving mechanism comprises a waist joint steering engine, and the waist joint steering engine is used for driving the second gear to rotate so as to drive the waterproof barrel to rotate; a left bearing seat and a right bearing seat are arranged at the shoulder joint below the ball bearing; the transmission mechanism comprises a first transmission bevel gear arranged between the left bearing seat and the right bearing seat, a second transmission bevel gear meshed with the first transmission bevel gear, a first rotating shaft connected with the second transmission bevel gear, a third transmission bevel gear, a first idle gear meshed with the third transmission bevel gear, a fourth transmission bevel gear meshed with the first idle gear, a seventh transmission bevel gear, a second idle gear meshed with the seventh transmission bevel gear and an eighth transmission bevel gear meshed with the second idle gear; the first rotating shaft is connected with the large arm connecting rod through a shoulder joint fixing piece; the fourth transmission bevel gear is fixedly connected with a second rotating shaft positioned in the big arm connecting rod, the lower end of the second rotating shaft is connected with a fifth transmission bevel gear at the elbow joint, the fifth transmission bevel gear is meshed with a sixth transmission bevel gear, the sixth transmission bevel gear is connected with the small arm connecting rod through an elbow joint fixing piece, and the elbow joint fixing piece is fixed on a fixing part at the elbow joint; the eighth transmission bevel gear is fixedly connected with a third rotating shaft, the lower end of the third rotating shaft is connected with a ninth transmission bevel gear at the elbow joint, the ninth transmission bevel gear is meshed with a tenth transmission bevel gear, the tenth transmission bevel gear is fixedly connected with a first connecting rod, the first connecting rod is hinged with a second connecting rod, and the tail end of the second connecting rod is of a rack structure;
the hand grip comprises a left hand grip and a right hand grip, a left hand grip gear is arranged on the left hand grip, a right hand grip gear is arranged on the right hand grip, and the rack at the tail end of the second connecting rod is respectively meshed with the left hand grip gear and the right hand grip gear; the driving mechanism further comprises a gripper steering gear, and the gripper steering gear is used for driving the seventh transmission bevel gear to drive the third rotating shaft to rotate so as to drive the second connecting rod to move and further drive the left gripper and the right gripper to open and close relatively;
the driving mechanism further comprises an elbow joint steering engine and a shoulder joint steering engine, and the elbow joint steering engine is used for driving the third transmission bevel gear to drive the second rotating shaft to rotate so as to drive the small arm connecting rod to swing; the shoulder joint steering engine is used for driving the first transmission bevel gear to drive the first rotating shaft to rotate, and therefore the large arm connecting rod is driven to swing;
a controller capable of controlling the propeller thruster to drive the underwater operation robot, simultaneously controlling the bionic wave fin thruster to adjust the posture of the underwater operation robot, and controlling the driving mechanism to enable the gripper to execute corresponding gripping operation.
2. Marine product fishing-oriented underwater operation robot according to claim 1,
the first propeller thruster and the second propeller thruster are fixed on the rack through a first bracket;
the third propeller thruster and the fourth propeller thruster are fixed on the rack through a second support.
3. Marine product fishing-oriented underwater operation robot according to claim 2,
the first bionic wave fin propeller and the second bionic wave fin propeller are fixed on the rack through bolts respectively.
4. A seafood fishing-oriented underwater operation robot as claimed in any of claims 1 to 3, further comprising a vision device comprising:
the monocular camera is fixed to the upper part of the rack through a fixing support and is used for providing a large visual field range for the underwater operation robot;
the binocular camera is also fixed to the upper part of the rack through a fixing bracket and is used for positioning the three-dimensional coordinates of the marine product to be grabbed;
the controller can control the propeller thruster, the bionic wave fin thruster and the driving mechanism to execute corresponding operations according to the signals acquired by the vision device.
5. A seafood salvage-oriented underwater operation robot as claimed in any one of claims 1 to 3, further comprising a drop basket fixed below the frame for receiving seafood grabbed by the grabber; and/or the like and/or,
the controller comprises a box body, the box body is fixed at the upper end of the rack, and an industrial personal computer, an electric regulation module and a power module are placed in the box body.
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| CN112314542B (en) * | 2020-08-06 | 2022-07-26 | 北京工业大学 | Polyhedral paw for catching marine organisms |
| CN114750900A (en) * | 2022-04-12 | 2022-07-15 | 交通运输部上海打捞局 | Underwater posture adjusting device for salvage frame |
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| CN101066022B (en) * | 2007-04-03 | 2012-05-23 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| KR20120071330A (en) * | 2010-12-22 | 2012-07-02 | 삼성중공업 주식회사 | Underwater moving apparatus and moving method thereof |
| CN106926217A (en) * | 2015-12-31 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of micromanipulator |
| CN106585904B (en) * | 2016-12-15 | 2019-01-18 | 南京理工大学 | A kind of robot for water surface cleaner |
| CN207697971U (en) * | 2017-11-06 | 2018-08-07 | 胡钧阳 | A kind of multifunctional bionic underwater robot of wire and wireless mixing control |
| CN108381542B (en) * | 2018-04-04 | 2024-05-28 | 中国科学院自动化研究所 | Hybrid transmission-based underwater mechanical arm |
| CN108945341A (en) * | 2018-08-05 | 2018-12-07 | 贺婷 | A kind of underwater rescue salvaging Biomimetic Fish |
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