CN112572737A - Underwater robot for repairing net cage netting of deep open sea - Google Patents
Underwater robot for repairing net cage netting of deep open sea Download PDFInfo
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- CN112572737A CN112572737A CN202011621251.3A CN202011621251A CN112572737A CN 112572737 A CN112572737 A CN 112572737A CN 202011621251 A CN202011621251 A CN 202011621251A CN 112572737 A CN112572737 A CN 112572737A
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- 238000010008 shearing Methods 0.000 claims abstract description 51
- 230000008439 repair process Effects 0.000 claims abstract description 38
- 210000000078 claw Anatomy 0.000 claims description 56
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- 229920001778 nylon Polymers 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000009966 trimming Methods 0.000 claims description 16
- 210000000707 wrist Anatomy 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 abstract description 5
- 238000011161 development Methods 0.000 abstract description 3
- 238000005520 cutting process Methods 0.000 description 8
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- 230000009471 action Effects 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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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- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Revetment (AREA)
Abstract
The invention discloses a deep and open sea net cage netting repair underwater robot which comprises a robot main body, wherein a main controller, a visual system, a motion system and a power supply system are arranged on the robot main body, the visual system, the motion system and the power supply system are all connected with the main controller, and an underwater net cage netting repair shearing and clamping manipulator and a net cage netting damage repair manipulator are also arranged on the robot main body; the mesh repairing problem is solved in an implementation manner through the cooperative matching of the underwater mesh repairing shearing manipulator and the net cage mesh damage repairing manipulator, so that the mesh repairing becomes a scheme which can be implemented really; the net repairing thread end is transmitted by designing the unique net cage net damage repairing manipulator, the biggest threading difficulty in net repairing is solved, and a foundation is laid for further development of net repairing.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to an underwater robot for repairing net cages and netting of deep and open sea cages.
Background
At present, mariculture has become an industry which makes important contributions to food safety, national economy and trade balance. However, the traditional extensive consumption type fishery production mode leads to serious damage to most of sea ecology, and the problems of serious aquatic organism diseases, worsening of culture environment and the like are caused, so that the healthy and sustainable development of the aquaculture industry is seriously restricted.
The construction of the marine ranch is an important way for the utilization of marine fishery resources and is also a necessary choice for ecological sea and scientific sea. The deep sea ecological aquaculture net cage is used as a main mode of ecological fishery aquaculture, is far away from land and is in a severe environment, the deep sea net cage is easy to damage under the action of natural factors and biological factors such as wind, wave and current and the like, property loss is caused, the traditional net cage repair adopts artificial drainage repair, the danger coefficient is large, and repair can not be carried out under a relatively severe sea condition.
At present, no robot can realize the repair of the broken holes of the net cage, and the technology is still a blank at home and abroad at present. In the existing theoretical scheme, a whole piece of netting is adopted for butt joint and repair, the repair mode only exists in the middle of theory, no actual prototype exists, and when the net is used under the actual working condition, certain problems still exist in theory, such as the problem that butt joint is difficult to control, the repair area can be limited by the area of the carried netting block, the fixing problem of the netting block and the damaged netting, and the like.
Therefore, the underwater robot capable of automatically completing the netting repair is developed to complete the netting repair of the deep sea net cage, and is one of the problems to be solved urgently in the current deep and open sea ecological breeding.
Disclosure of Invention
The invention provides an underwater robot for repairing net cages and netting of deep and open sea cages, which is used for repairing the broken holes of the deep and open sea cages.
The invention is realized by adopting the following technical scheme: a deep open sea net cage netting repair underwater robot comprises a robot main body, wherein a main controller, a vision system, a motion system and a power supply system are arranged on the robot main body, the vision system, the motion system and the power supply system are all connected with the main controller, and an underwater net cage netting repair shearing and clamping manipulator and a net cage netting damage repair manipulator are further arranged on the robot main body;
the underwater netting repairing and shearing mechanical arm comprises two shearing and clamping mechanical arms, a shearing and clamping mechanical arm joint and a shearing and clamping mechanical claw, wherein the two shearing and clamping mechanical arms are connected through the shearing and clamping mechanical arm joint;
the net cage netting damage repairing manipulator comprises a repairing manipulator claw, a repairing manipulator wrist, a lead screw slide rail system and a repairing opening and closing mechanism, wherein the repairing manipulator claw is arranged on the lead screw slide rail system through the repairing manipulator wrist, and a nylon rope spool is further arranged on one side of the repairing manipulator wrist; the repairing manipulator paw comprises two arc repairing paw base bodies, one end of each repairing paw base body is connected with each other through a meshing gear, and a repairing opening and closing mechanism is connected with the meshing gear so as to control the opening and closing of the repairing manipulator paw;
a jack catch fixing block, a jack catch wire clamping block and a micro cylinder are arranged in one of the repairing paw base bodies, the jack catch fixing block is fixedly arranged at the end part of the repairing paw base body, and the micro cylinder is connected with the jack catch wire clamping block so as to push the jack catch wire clamping block to be close to or far away from the jack catch fixing block; and a jack catch trimming block and a micro-motion cylinder are arranged in the other repairing paw base body, and the micro-motion cylinder is connected with the jack catch trimming block so as to push the jack catch trimming block to be matched with the jack catch fixing block to cut off the nylon rope.
Further, repair the manipulator hand claw and repair and open and shut and install the hand claw mount between the mechanism, repair the mechanism that opens and shuts and include drive gear, driving gear, drive steering wheel and steering wheel mount, the drive steering wheel is installed on the steering wheel mount, and the output shaft of drive steering wheel links to each other with the driving gear, and drive gear meshes with the driving gear mutually, drive gear and the coaxial fixed connection of meshing gear.
Furthermore, a nail-clamping rope-tying mechanical claw and a thread-cutting mechanical claw are arranged on the thread-cutting mechanical claw, the nail-clamping rope-tying mechanical claw is used for realizing knotting and fixing of the netting rope for repairing, and the thread-cutting mechanical claw is used for cutting off the rope.
Compared with the prior art, the invention has the advantages and positive effects that:
the netting repair underwater robot provided by the scheme can realize maintenance and hole-breaking repair of deep and open sea net cages, timely solves the problem that serious yield reduction is caused by escape of aquaculture organisms from the hole-breaking positions of the net cages, and fills up the gap of theoretical analysis of the existing netting repair; the mesh repairing problem is solved in an implementation manner through the cooperative matching of the underwater mesh repairing shearing manipulator and the net cage mesh damage repairing manipulator, so that the mesh repairing becomes a scheme which can be implemented really; the net cage netting damage repairing mechanical arm is designed, the transmission of the netting repairing thread ends can be realized through the mechanical arm, the biggest threading difficulty in net cage mending is solved, and a foundation is laid for further development of net cage mending.
Drawings
Fig. 1 is a schematic view of the overall structure of the robot according to the embodiment of the present invention;
FIG. 2 is a schematic view of the arrangement of the main body thruster according to the embodiment of the present invention;
FIG. 3 is a schematic top view of the robot of the present invention;
FIG. 4 is a schematic view of an underwater netting repair shearing and clamping robot of the present invention;
FIG. 5 is a schematic view of a knot rope fixing needle of the present invention;
fig. 6 is a schematic view of a mechanical hand for repairing damaged netting of a net cage according to the present invention;
FIG. 7 is a cross-sectional view of the inside of a manipulator claw for repairing netting in accordance with an embodiment of the present invention;
FIG. 8 is a schematic view of an opening and closing mechanism of a mesh repairing manipulator according to an embodiment of the present invention;
FIG. 9 is a schematic view of the position of a mesh repairing manipulator paw relative to mesh repairing during the working process of the mesh repairing manipulator paw;
FIG. 10 is a schematic view of a netting repair process according to an embodiment of the present invention;
FIG. 11 is a partial schematic view of a shear clamp gripper according to the present invention;
1. a mechanical hand for repairing damaged net cage; 2. the underwater netting repair shearing and clamping manipulator; 3. a horizontal thruster; 4. a vertical thruster; 5. a rear camera; 6. a fixed support; 7. sealing the cabin; 8. a front camera system; 9. a lower frame; 10. an upper frame; 11. sealing the cabin; 12. fixing a bracket; 13. shearing and clamping mechanical claws; 14. a clipping mechanical arm; 15. a shearing and clamping manipulator joint; 16. a rope tying fixing needle; 17. repairing the manipulator paw; 18. repairing the wrist of the manipulator; 19. a nylon cord spool; 20. a lead screw slide rail system; 21. repairing the opening and closing mechanism; 22. a clamping jaw fixing block; 23. a clamping jaw wire clamping block; 24. a claw thread trimming block; 25. a micro-motion cylinder; 26. repairing the paw matrix; 27. a meshing gear; 28. a drive gear; 29. a driving gear; 30. driving a steering engine; 31. a steering engine fixing frame; 32. a paw fixing frame; 33. a nail clamping and rope tying mechanical claw; 34. and (5) shearing mechanical claws.
Detailed Description
In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and thus, the present invention is not limited to the specific embodiments disclosed below.
The embodiment provides a deep and open sea box with a net netting repair underwater robot, including the robot main part, is equipped with main control unit, visual system, motion and electrical power generating system in the robot main part, and visual system, motion and electrical power generating system all link to each other with main control unit, visual system including the high definition that is used for observing the environment camera under water and the lamp under water that is used for the illumination under water motion including the propeller that is used for the adjustment of robot position appearance and moves about, main control unit sets up in the control sealed cabin, electrical power generating system sets up in the power sealed cabin. In order to realize the netting repair work, the robot main body is specially designed with an underwater netting repair shearing mechanical arm and a net cage netting damage repair mechanical arm which are both connected with a main controller, and the two mechanical arms are mutually matched to finish the net cage netting repair work together, and the repair principle of the scheme is explained in detail with reference to the attached figures 1-10.
In this embodiment, the underwater netting repairing and clipping manipulator 2 is mainly responsible for tying and clipping nylon ropes (which may be any netting rope material, the most widely nylon ropes, nylon is taken as an example in this embodiment) in the netting repairing process, wherein the tying is performed by using a knotting device similar to a stapler; the thread cutting is a thread cutting device which is driven by a steering engine and is similar to scissors. The mechanical arm for repairing the damaged netting of the net cage is mainly responsible for threading and shearing in the process of repairing the netting.
Referring to fig. 1-3, the vision system includes a top rotary platform, a rear camera 5 (rear top high-definition underwater camera) and a front camera system 8 (front high-definition camera and lighting integrated camera system) disposed on the top rotary platform, and a top high-definition underwater camera integrated pan-tilt system, wherein the top rotary platform is disposed on the robot main body through a rotation axis, and can rotate on the horizontal plane to drive the top high-definition underwater camera and the built-in lighting lamp to rotate, so as to obtain the images of the underwater robot in four directions, including an image processing module and a lighting lamp capable of rotating around 55 ° and 60 ° around, and its viewing angle can cover the front of the robot, and is mainly used for short-distance observation and analysis. And the vision system completes tasks such as underwater environment recognition, net cage broken hole detection and the like according to the pictures acquired by the two cameras.
The motion system mainly comprises 4 transverse thrusters and 4 vertical thrusters, as shown in fig. 2 and 3, the 4 horizontal thrusters are arranged at a certain angle, and the robot can rotate and translate on the horizontal plane by controlling the 4 horizontal thrusters. The 4 vertical thrusters are vertically arranged, the force generated during working is perpendicular to the robot main body, and the robot can rotate and translate on a vertical plane by controlling the 4 vertical thrusters. The 8 propellers are controlled in different modes, so that the pose and the motion form of the robot can be changed, and the robot can complete the motion in different modes.
The mesh repairing of the net cage is completed by matching the underwater mesh repairing shearing manipulator 2 with the mesh damage repairing manipulator 1. As shown in fig. 4, the underwater netting repairing and shearing manipulator 2 is a multi-degree-of-freedom manipulator, can complete accurate and rapid positioning of any point in space, and comprises two shearing and clamping mechanical arms 14, a shearing and clamping mechanical arm joint 15 and a shearing and clamping mechanical claw 13, wherein the two shearing and clamping mechanical arms 14 are connected through the shearing and clamping mechanical arm joint 15, one end of the shearing and clamping mechanical arm 14 is installed on a robot main body through the shearing and clamping mechanical arm joint 15, and the shearing and clamping mechanical claw 13 is arranged at the other end of the shearing and clamping mechanical arm 14; as shown in fig. 11, the clipping and clamping gripper 13 is provided with a clipping and knotting gripper 33 and a trimming gripper 34, which are respectively used for realizing the knotting (using a stapler-like mechanism) and trimming (using a scissors-like structure) functions; the front end of the mechanical claw 33 (utilizing a stapler-like mechanism) can be used for knotting and fixing the nylon rope repaired by the fishing net; the thread cutting gripper 34 (scissors-like structure) is used to cut the nylon rope in preparation for the next working cycle. The whole shearing and clamping manipulator is controlled by a steering engine, the manipulator has six degrees of freedom, wherein four degrees of freedom are responsible for the motion of the manipulator, namely three rotations of a shearing and clamping manipulator joint 15 controlled by the steering engine and three rotations of a shearing and clamping manipulator claw 13; two degrees of freedom are working degrees of freedom, including the nailing degree of freedom of the rope tying device and the trimming degree of freedom of trimming, the two degrees of freedom are controlled by a steering engine, and the control of six degrees of freedom of the whole manipulator is controlled by a main controller so as to coordinate the work of repairing the manipulator.
As shown in fig. 6, the mechanical hand 1 for repairing damaged netting of a net cage has 5 degrees of freedom, which can clamp, cut, open and close the mechanical hand claw, rotate integrally the mechanical hand, and advance and retreat integrally the mechanical hand, and comprises a repairing mechanical hand claw 17, a repairing mechanical hand wrist 18, a screw slide rail system 20 and a repairing opening and closing mechanism 21, wherein the repairing mechanical hand claw 17 is installed on the screw slide rail system 20 through the repairing mechanical hand wrist 18, one side of the repairing mechanical hand wrist 18 is also provided with a nylon cord reel 19, the repairing mechanical hand claw 17 comprises two arc repairing hand claw substrates 26 similar to a clip shape, one end of the repairing hand claw substrates 26 is connected through a meshing gear 27, and the repairing opening and closing mechanism 21 is connected with the meshing repairing gear 27 to control the opening and closing of the repairing mechanical hand claw 17; as shown in fig. 7 and 8, a claw fixing block 22, a claw wire clamping block 23 and a micro cylinder are arranged in one of the repairing claw substrates 26, the claw fixing block 22 is fixedly arranged at an end of the repairing claw substrate 26, and the micro cylinder and the claw wire clamping block 23 push the claw wire clamping block 23 to approach or depart from the claw fixing block 22; a jack catch trimming block 24 and a micro-motion cylinder 25 are arranged in the other repairing paw base body 26, and the micro-motion cylinder 25 is connected with the jack catch trimming block 24 so as to push the jack catch trimming block 24 to be matched with the jack catch fixing block 22 to trim a nylon rope; with continued reference to fig. 7 and 8, a paw fixing frame 32 is installed between the repairing manipulator paw 17 and the repairing opening and closing mechanism 21, the repairing opening and closing mechanism 21 comprises a driving gear 28, a driving gear 29, a driving steering gear 30 and a steering gear fixing frame 31, the driving steering gear 30 is installed on the steering gear fixing frame 31, an output shaft of the driving steering gear 30 is connected with the driving gear 29, the driving gear 28 is meshed with the driving gear 29, the driving gear 28 is coaxially and fixedly connected with the meshed gear 27, the driving steering gear 30 is driven to control the driving gear 29 to drive the driving gear 28 to move, the driving gear 28 is used for controlling the meshed gear 27 to move, and the opening and closing of the repairing manipulator.
In the working process, as shown in fig. 10, a nylon rope is arranged above the mechanical hand 1 for repairing the damaged netting of the net cage, the nylon rope passes through a nylon rope through hole on the side surface of the claw base body (26) of the mechanical hand for repairing the netting by a nylon rope spool 19 and enters the front end of the claw of the mechanical hand 1 for repairing the damaged netting of the net cage, and the end of the rope is clamped by a claw trimming block 24 and a claw fixing block 22; at the moment, the damaged position of the netting starts to be captured through the camera, the power system is controlled to reach the designated working position, power positioning is carried out, and repairing work is started;
then the repairing manipulator claw 17 is controlled by the repairing opening and closing mechanism 21 to open, the screw-slide rail system 20 feeds, and the two arc repairing manipulator claw matrixes 26 of the repairing manipulator claw 17 are respectively fed into the perfect meshes on the periphery of the meshes to be repaired (as the position relation of fig. 9, two squares in the figure are sectional views of the repairing manipulator claw matrixes 26). After the mesh enters, the steering gear 30 is driven to drive the driving gear 29 to rotate, the driving gear 29 drives the driving gear 28 to rotate, and the driving gear 28 drives the meshing gear 27 to act, so that the netting repair paw substrate 26 is closed. It should be noted here that the actual size of the whole space where the claw thread trimming block is located is generally smaller than 12mm, that is, the upper half space where the nylon rope is located is only 6mm or even smaller, and the space is extremely small, and in addition, most of the nylon ropes of deep sea cages are formed by nylon threads and copper wires in a mixed weaving mode (biological adhesion reduction), and the nylon ropes have enough rigidity, so that the positions of rope ends can be effectively kept unchanged, and normal wire end handover work is ensured.
After the repair paw base body 26 is closed, the thread end of the nylon rope is loosened from the paw clipping block 24 and the paw fixing block 22, the thread end is clamped by the paw clamping block 23 and the paw fixing block 22, the thread end exchange is completed, then the paw is opened in the same way, the damaged netting is withdrawn, and at the moment, a sewing nylon rope is pulled out between the damaged netting. Then the repairing manipulator claw 17 is closed again, the shearing clamp mechanical claw 13 of the underwater netting repairing shearing manipulator 2 clamps the two nylon ropes which are already closed, the nylon ropes move away from the net cage netting damage repairing manipulator 2 to be tensioned, when the nylon ropes are tensioned to be proper in tightness, the shearing clamp mechanical claw 13 of the underwater netting repairing shearing manipulator 2 fixes the knot rope fixing needle 16 on the two nylon ropes to complete the knotting of the nylon ropes, and then the shearing clamp mechanical claw 13 of the underwater netting repairing shearing manipulator 2 shears the two nylon ropes at the rear end of the knot.
After the work is finished, the micro-motion cylinder 25 drives the jaw thread cutting block 24 to cut off the residual nylon rope thread end, and the thread end is clamped with the jaw fixing block 22 again, and the next work cycle is started.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (3)
1. A deep open sea net cage netting repair underwater robot comprises a robot main body, wherein a main controller, a vision system, a motion system and a power supply system are arranged on the robot main body, and the vision system, the motion system and the power supply system are all connected with the main controller, and the deep open sea net cage netting repair underwater robot is characterized in that an underwater net cage netting repair shearing and clamping manipulator (2) and a net cage netting damage repair manipulator (1) are further arranged on the robot main body;
the underwater netting repairing and clamping manipulator (2) comprises two shearing and clamping mechanical arms (14), a shearing and clamping manipulator joint (15) and a shearing and clamping mechanical claw (13), the two shearing and clamping mechanical arms (14) are connected through the shearing and clamping manipulator joint (15), one end of the shearing and clamping mechanical arm (14) is installed on a robot main body through the shearing and clamping manipulator joint (15), and the shearing and clamping mechanical claw (13) is arranged at the other end of the shearing and clamping mechanical arm (14);
the net cage netting damage repairing manipulator (1) comprises a repairing manipulator claw (17), a repairing manipulator wrist (18), a screw rod sliding rail system (20) and a repairing opening and closing mechanism (21), wherein the repairing manipulator claw (17) is installed on the screw rod sliding rail system (20) through the repairing manipulator wrist (18), and a nylon rope spool (19) is further arranged on one side of the repairing manipulator wrist (18); the repairing manipulator paw (17) comprises two arc repairing paw base bodies (26), one end of each repairing paw base body (26) is connected through a meshing gear (27), and a repairing opening and closing mechanism (21) is connected with the meshing gear (27) so as to control the opening and closing of the repairing manipulator paw (17);
a jack catch fixing block (22), a jack catch wire clamping block (23) and a micro cylinder are arranged in one of the repairing paw base bodies (26), the jack catch fixing block (22) is fixedly arranged at the end part of the repairing paw base body (26), and the micro cylinder is connected with the jack catch wire clamping block (23) so as to push the jack catch wire clamping block (23) to be close to or far away from the jack catch fixing block (22); a jack catch trimming block (24) and a micro-motion cylinder (25) are arranged in the other repairing paw base body (26), and the micro-motion cylinder (25) is connected with the jack catch trimming block (24) so as to push the jack catch trimming block (24) to be matched with the jack catch fixing block (22) to trim the nylon rope.
2. The deep open sea cage netting repair underwater robot of claim 1, characterized in that: the repairing manipulator paw (17) and the repairing opening and closing mechanism (21) are provided with a paw fixing frame (32) therebetween, the repairing opening and closing mechanism (21) comprises a driving gear (28), a driving gear (29), a driving steering gear (30) and a steering gear fixing frame (31), the driving steering gear (30) is installed on the steering gear fixing frame (31), an output shaft of the driving steering gear (30) is connected with the driving gear (29), the driving gear (28) is meshed with the driving gear (29), and the driving gear (28) is coaxially and fixedly connected with the meshing gear (27).
3. The deep open sea cage netting repair underwater robot of claim 1, characterized in that: the shearing and clamping mechanical claw (13) is provided with a nail clamping and rope tying mechanical claw (33) and a thread shearing mechanical claw (34), the nail clamping and rope tying mechanical claw (33) is used for realizing the knotting fixation of the netting rope to be repaired, and the thread shearing mechanical claw (34) is used for shearing the rope to be tied.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011621251.3A CN112572737B (en) | 2020-12-30 | 2020-12-30 | Underwater robot for repairing net cage netting of deep open sea |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011621251.3A CN112572737B (en) | 2020-12-30 | 2020-12-30 | Underwater robot for repairing net cage netting of deep open sea |
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| Publication Number | Publication Date |
|---|---|
| CN112572737A true CN112572737A (en) | 2021-03-30 |
| CN112572737B CN112572737B (en) | 2021-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011621251.3A Active CN112572737B (en) | 2020-12-30 | 2020-12-30 | Underwater robot for repairing net cage netting of deep open sea |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277034A (en) * | 2021-05-18 | 2021-08-20 | 江苏科技大学 | Underwater robot for marine product fishing |
| CN113830271A (en) * | 2021-10-21 | 2021-12-24 | 广东海洋大学 | Device for repairing net of deep water net cage |
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