CN113211484B - Underwater surrounding device - Google Patents

Underwater surrounding device Download PDF

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Publication number
CN113211484B
CN113211484B CN202110493341.7A CN202110493341A CN113211484B CN 113211484 B CN113211484 B CN 113211484B CN 202110493341 A CN202110493341 A CN 202110493341A CN 113211484 B CN113211484 B CN 113211484B
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China
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connecting rod
adsorption
adsorption surface
mechanical arm
underwater
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CN113211484A (en
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言淳恺
蒋欣越
汤紫洋
杨慧
华亮
顾菊平
施可昕
郭九榕
周亮亮
王力予
刘旺朋
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Nantong University
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Nantong University
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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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/727—Offshore wind turbines

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of underwater robots, in particular to an underwater embracing device which comprises a control mechanism and an executing mechanism connected with the control mechanism, wherein the executing mechanism comprises four three-degree-of-freedom mechanical arms, the left side and the right side of the executing mechanism are respectively and symmetrically provided with two three-degree-of-freedom mechanical arms, and the tail end of each three-degree-of-freedom mechanical arm is provided with an adsorption mechanism; the control mechanism is used for issuing an encircling instruction to the execution mechanism; the execution mechanism is used for responding to the encircling instruction issued by the control mechanism; the adsorption mechanism is used for realizing efficient adsorption on the target structural part. The invention realizes the control of the mechanical arm through the servo motor controller to complete the encircling adsorption action; the invention can be operated independently, and can also be carried on an underwater maintenance robot, and the underwater maintenance robot can complete the underwater operation by cooperating with the robot through communication of a formulated control protocol; the invention can carry out the underwater embracing operation fully automatically and stably.

Description

Underwater surrounding device
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater embracing device.
Background
China continuously promotes the development and deployment of marine equipment such as offshore wind power and offshore drilling platforms, and the underwater supporting structural member of the marine equipment is in water for a long time and is easy to corrode by the ocean, so that potential safety hazards are caused.
With the continuous development of marine resource exploitation to deep sea, the depth of water in which marine equipment underwater structural members are located is increased, the manual maintenance mode can not meet industrial application requirements any more, and the underwater maintenance robot is produced at will, but as part of the marine equipment underwater structural members are erected on the seabed through pile legs and pile shoes, the underwater maintenance robot is easily influenced by underflow during operation and is difficult to keep relatively static with a target structural member for maintenance operation.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an underwater embracing device which can be independently operated and can also be mounted on an underwater maintenance robot, and can be used for completing underwater operation in cooperation with the robot through communication of a formulated control protocol.
In order to achieve the purpose, the invention adopts the following technical scheme:
an underwater encircling device comprises a control mechanism and an execution mechanism connected with the control mechanism, wherein the execution mechanism comprises four three-degree-of-freedom mechanical arms, the left side and the right side of the execution mechanism are respectively and symmetrically provided with two three-degree-of-freedom mechanical arms, and the tail end of each three-degree-of-freedom mechanical arm is provided with an adsorption mechanism; the control mechanism is used for issuing an encircling instruction to the execution mechanism; the execution mechanism is used for responding to the encircling instruction issued by the control mechanism; the adsorption mechanism is used for realizing efficient adsorption on a target structural part.
Preferably, control mechanism includes the control mechanism casing, matches the apron of locating on the control mechanism casing and locates the inside control box of control mechanism casing, the bilateral symmetry of control box respectively is equipped with two arm connecting seats, be equipped with four first counter bores and four first screw on the apron respectively, four first counter bores are used for connecting apron and control mechanism casing, four first screw is used for embracing the device under water and is connected with the robot under water.
The control box is composed of a watertight electronic cabin and twelve mechanical arm watertight wiring terminals, and the twelve mechanical arm watertight wiring terminals are all eight-core aviation connector female heads.
Preferably, twelve servo motor controllers and an industrial personal computer are arranged inside the watertight electronic cabin, the twelve servo motor controllers are used for driving servo motors in the three-degree-of-freedom mechanical arm to move, the industrial personal computer is used for controlling the three-degree-of-freedom mechanical arm to move and communicating with the underwater robot, and the industrial personal computer communicates with the servo motor controllers through a Modbus protocol and communicates with the underwater robot through a TCP/IP protocol.
Preferably, each three-degree-of-freedom mechanical arm comprises a mechanical arm base, a first connecting rod, a first connecting flange, a first power mechanism, a second connecting rod, a second power mechanism, a second connecting flange, a third connecting rod, a third power mechanism, a third connecting flange and a tail end execution mechanism connecting rod.
The mechanical arm base is connected with a mechanical arm connecting seat in the control mechanism through four second counter bores, one end of the first connecting rod is fixed on the mechanical arm base, the other end of the first connecting rod is provided with a first power mechanism, a power output shaft of the first power mechanism is meshed with the first connecting flange, and the first power mechanism is used for outputting power to the second connecting rod.
One end of the second connecting rod is connected with the first connecting rod through a first connecting flange, a second power mechanism is arranged at the other end of the second connecting rod, a power output shaft of the second power mechanism is meshed with the second connecting flange, and the second power mechanism is used for outputting power to the third connecting rod.
One end of the third connecting rod is connected with the second connecting rod through a second connecting flange, a third power mechanism is arranged at the other end of the third connecting rod, a power output shaft of the third power mechanism is meshed with the third connecting flange, and the third power mechanism is used for outputting power to the tail end actuating mechanism connecting rod.
And the tail end actuating mechanism connecting rod is connected with the adsorption mechanism through a third counter bore.
Preferably, the length of the second connecting rod is greater than that of the first connecting rod, the length of the third connecting rod is greater than that of the first connecting rod, and the length of the third connecting rod is less than that of the second connecting rod.
Preferably, the first power mechanism, the second power mechanism and the third power mechanism are the same, the first power mechanism comprises a servo motor, an incremental photoelectric encoder arranged on one side of the servo motor and a power output shaft arranged on the other side of the servo motor, a servo motor wiring terminal is arranged at the top of the servo motor, the servo motor wiring terminal is an eight-core aviation connector male connector, and the servo motor wiring terminal is connected with the mechanical arm watertight wiring terminal through a watertight cable.
Preferably, the adsorption mechanism is connected with a tail end actuating mechanism connecting rod in the three-degree-of-freedom mechanical arm through a fourth screw hole, an arc adsorption surface is arranged at the bottom of the adsorption mechanism, and a sucker array is arranged on the arc adsorption surface; the top of the adsorption mechanism is provided with an adsorption mechanism gas transmission pipeline which is connected with the air extractor.
The number of the sucker arrays is twenty one, and each sucker array is a bionic sucker group formed by thirty-six bionic suckers.
Preferably, the bionic sucker comprises a bionic sucker outer wall, a bionic sucker air suction pipeline, a first adsorption surface, a cross-shaped groove, a second adsorption surface, a herringbone groove, a third adsorption surface and a linear groove;
the outer wall of the bionic sucker is arranged on the outer side of the bionic sucker, and the thickness of the outer wall of the bionic sucker is slightly smaller than the thickness of the first adsorption surface, the second adsorption surface and the third adsorption surface;
the bionic sucker air suction pipeline is arranged at the central position of the bionic sucker, and the thickness of the bionic sucker air suction pipeline is slightly smaller than the thickness of the first adsorption surface, the second adsorption surface, the third adsorption surface and the outer wall of the bionic sucker;
the first adsorption surface is a circular ring, the thickness of the first adsorption surface is greater than that of the bionic sucker air suction pipe, and the thickness of the first adsorption surface is less than that of the second adsorption surface; a plurality of cross-shaped grooves are formed in the first adsorption surface and are uniformly distributed in a circumferential shape;
the second adsorption surface is a circular ring, the thickness of the second adsorption surface is greater than that of the first adsorption surface, and the thickness of the second adsorption surface is less than that of the third adsorption surface; the second adsorption surface is provided with a plurality of herringbone grooves which are uniformly distributed in a circumferential shape;
the third adsorption surface is a circular ring, the thickness of the third adsorption surface is larger than that of the second adsorption surface, a plurality of linear grooves are arranged on the third adsorption surface, and the linear grooves are uniformly distributed in a circumferential manner.
Preferably, the surfaces of the cross-shaped groove, the herringbone groove and the linear groove are rough surfaces; the materials of the first adsorption surface, the second adsorption surface, the third adsorption surface, the cross-shaped groove, the herringbone groove and the linear groove are all silica gel and have good elasticity.
In addition, the working process of the underwater embracing device provided by the invention is as follows: the control mechanism issues an encircling instruction, the execution mechanism responds to the instruction, the four three-freedom-degree mechanical arms drive the first power mechanism, the second power mechanism and the third power mechanism to rotate to a set angle according to a given angle value, and the first connecting rod, the second connecting rod and the third connecting rod move to specified positions under the transmission of the power mechanisms and the connecting flange to drive the adsorption mechanism to move to the near surface of a target structural member to construct a closed space, so that a laminating operation flow is realized; then the vacuum machine extracts the surface substances of the sucker through a bionic sucker air suction pipeline and an adsorption mechanism gas transmission pipeline; the first adsorption surface, the second adsorption surface and the third adsorption surface are affected by pressure difference and attached to the target structural member, and the encircling operation process is ended.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has an independent control mechanism, can be arranged at one side of the underwater robot and is matched with the robot to work or is operated independently.
2. The invention has four three-degree-of-freedom mechanical arms, and the tail ends of the four three-degree-of-freedom mechanical arms are provided with adsorption mechanisms, so that the invention can be used for surrounding pipelines with different diameters and offshore wind turbine pile foundations, and is also suitable for surrounding operation of other types of structural members with irregular surfaces.
3. The bionic sucker array is arranged at the tail end of the adsorption mechanism, the adsorption contact area is enlarged and the adsorption force is improved by additionally arranging the groove with the rough surface, and the optimal adsorption pose is selected by matching the three-degree-of-freedom mechanical arm, so that the effectiveness of encircling operation is obviously improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a control mechanism according to the present invention;
FIG. 3 is a schematic structural diagram of a three-degree-of-freedom manipulator according to the present invention;
FIG. 4 is a schematic structural view of a first power mechanism according to the present invention;
FIG. 5 is a schematic view of the adsorption mechanism of the present invention;
FIG. 6 is a schematic structural view of the bionic sucker of the present invention.
In the figure: 10-a control mechanism, 11-an actuating mechanism, 20-a cover plate, 21-a first counter bore, 22-a first screw hole, 23-a control box, 24-a mechanical arm watertight wiring terminal, 25-a mechanical arm connecting seat, 26-a second screw hole, 27-a control mechanism shell, 28-a watertight electronic cabin, 30-a mechanical arm base, 31-a second counter bore, 32-a first connecting rod, 33-a first connecting flange, 34-a first power mechanism, 35-a second connecting rod, 36-a second power mechanism, 37-a second connecting flange, 38-a third connecting rod, 39-a third power mechanism, 310-a third connecting flange, 311-a tail end actuating mechanism connecting rod, 312-an adsorption mechanism, 313-a third counter bore, 40-a servo motor, 41-an incremental photoelectric encoder, 42-servo motor wiring terminal, 43-third screw hole, 44-power output shaft, 50-fourth screw hole, 51-sucker array, 52-adsorption mechanism gas transmission pipeline, 53-bionic sucker group, 54-arc adsorption surface, 60-bionic sucker outer wall, 61-bionic sucker gas suction pipeline, 62-first adsorption surface, 63-cross groove, 64-second adsorption surface, 65-herringbone groove, 66-third adsorption surface, 67-linear groove and 68-bionic sucker.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, and thus the scope of the present invention is more clearly defined. The embodiments described herein are only a few embodiments of the present invention, rather than all embodiments, and all other embodiments that can be derived by one of ordinary skill in the art without inventive faculty based on the embodiments described herein are intended to fall within the scope of the present invention.
Referring to fig. 1 to 6, an underwater embracing device includes a control mechanism 10 and an executing mechanism 11 connected to the control mechanism 10, where the executing mechanism 11 includes four three-degree-of-freedom mechanical arms, two three-degree-of-freedom mechanical arms are symmetrically disposed on left and right sides of the executing mechanism 11, and an adsorbing mechanism 312 is disposed at a tail end of each three-degree-of-freedom mechanical arm; the control mechanism 10 is used for issuing an encircling instruction to the execution mechanism 11; the executing mechanism 11 is used for responding to an encircling instruction issued by the control mechanism 10; the adsorption mechanism 312 is used to achieve efficient adsorption of the target structure.
Specifically, referring to fig. 2, the control mechanism includes a control mechanism housing 27, a cover plate 20 disposed on the control mechanism housing 27 in a matching manner, and a control box 23 disposed inside the control mechanism housing 27, two mechanical arm connecting seats 25 are respectively disposed on two sides of the control box 23 in a symmetrical manner, wherein a second screw hole 26 is disposed on each mechanical arm connecting seat 25, four first counter bores 21 and four first screw holes 22 are respectively disposed on the cover plate 20, the four first counter bores 21 are circumferentially distributed and used for connecting the cover plate 20 and the control mechanism housing 27, the four first screw holes 22 are circumferentially distributed and smaller than the circumference of the first counter bores 21, and the four first screw holes 22 are used for connecting the underwater embracing device with the underwater robot.
The control box 23 is composed of a watertight electronic cabin 28 and twelve mechanical arm watertight wiring terminals 24, the twelve mechanical arm watertight wiring terminals 24 are eight-core aviation connector female heads, and the twelve mechanical arm watertight wiring terminals 24 are symmetrically distributed on two sides of the outer surface of the control box 23 by taking a central axis of the watertight electronic cabin 28 as an axis.
Twelve servo motor controllers and an industrial personal computer are arranged in the watertight electronic cabin 28, the twelve servo motor controllers are used for driving servo motors in the three-degree-of-freedom mechanical arm to move, the industrial personal computer is used for controlling the three-degree-of-freedom mechanical arm to move and communicating with the underwater robot, and the industrial personal computer communicates with the servo motor controllers through a Modbus protocol and communicates with the underwater robot through a TCP/IP protocol.
Specifically, referring to fig. 3, each of the three-degree-of-freedom mechanical arms includes a mechanical arm base 30, a first connecting rod 32, a first connecting flange 33, a first power mechanism 34, a second connecting rod 35, a second power mechanism 36, a second connecting flange 37, a third connecting rod 38, a third power mechanism 39, a third connecting flange 310, and a tail end actuator connecting rod 311.
The thickness of the mechanical arm base 30 is eight millimeters, the material is aluminum alloy, four second counter bores 31 are formed in the surface of the mechanical arm base 30, the four second counter bores 31 are distributed circumferentially, and the mechanical arm base 30 is connected with the mechanical arm connecting seat 25 in the control mechanism 10 through the four second counter bores 31.
One end of the first connecting rod 32 is fixed on the mechanical arm base 30, the other end of the first connecting rod 32 is provided with a first power mechanism 34, a power output shaft 44 of the first power mechanism 34 is meshed with the first connecting flange 33, and the first power mechanism 34 is used for outputting power to the second connecting rod 35.
One end of the second connecting rod 35 is connected with the first connecting rod 32 through a first connecting flange 33, the other end of the second connecting rod 35 is provided with a second power mechanism 36, a power output shaft 44 of the second power mechanism 36 is meshed with a second connecting flange 37, and the second power mechanism 36 is used for outputting power to a third connecting rod 38.
One end of the third connecting rod 38 is connected with the second connecting rod 35 through a second connecting flange 37, a third power mechanism 39 is arranged at the other end of the third connecting rod 38, a power output shaft 44 of the third power mechanism 39 is meshed with a third connecting flange 310, and the third power mechanism 39 is used for outputting power to a tail end actuating mechanism connecting rod 311.
The end actuator connecting rod 311 is connected with the adsorption mechanism 312 through the third counter bore 313, the end actuator connecting rod 311 does not have a separate power mechanism, and the adsorption mechanism 312 can realize efficient adsorption of a target structural member.
The length of the second link 35 is greater than the length of the first link 32, the length of the third link 38 is greater than the length of the first link 32, and the length of the third link 38 is less than the length of the second link 35.
Specifically, referring to fig. 4, the first power mechanism 34, the second power mechanism 36 and the third power mechanism 39 are the same, the first power mechanism 34 includes a servo motor 40, an incremental photoelectric encoder 41 disposed on one side of the servo motor 40, and a power output shaft 44 disposed on the other side of the servo motor 40, a servo motor terminal 42 is disposed at the top of the servo motor 40, the servo motor terminal 42 is an eight-core aviation connector male connector, and the servo motor terminal 42 is connected to the arm watertight terminal 24 through a watertight cable. Meanwhile, the same side of the power output shaft 44 is provided with four third screw holes 43, and the four third screw holes 43 are circumferentially distributed by taking the power output shaft 44 as a circle center; and each power mechanism is connected with each connecting rod in the mechanical arm through a third screw hole 43 to realize fixation.
In this embodiment, referring to fig. 5, the adsorption mechanism 312 is connected to the end actuator connecting rod 311 in the three-degree-of-freedom mechanical arm through a fourth screw hole 50, an arc adsorption surface 54 is disposed at the bottom of the adsorption mechanism 312, and a suction cup array 51 is disposed on the arc adsorption surface 54; twenty-one sucker arrays 51 are provided, and each sucker array 51 is formed by thirty-six bionic suckers 68 to form a bionic sucker group 53; the top of the adsorption mechanism 312 is provided with an adsorption mechanism air pipeline 52, and the adsorption mechanism air pipeline 52 is connected with an air extractor, so that a vacuum environment required by the bionic suction cup 68 in adsorption is realized.
Specifically, referring to fig. 6, the bionic sucker 68 includes a bionic sucker outer wall 60, a bionic sucker suction pipeline 61, a first adsorption surface 62, a cross-shaped groove 63, a second adsorption surface 64, a herringbone groove 65, a third adsorption surface 66 and a straight-line-shaped groove 67;
the bionic sucker outer wall 60 is arranged on the outer side of the bionic sucker 68, and the thickness of the bionic sucker outer wall 60 is slightly smaller than the thickness of the first adsorption surface 62, the second adsorption surface 64 and the third adsorption surface 66;
the bionic sucker air suction pipeline 61 is arranged at the center of the bionic sucker 68, and the thickness of the bionic sucker air suction pipeline 61 is slightly smaller than the thickness of the first adsorption surface 62, the second adsorption surface 64, the third adsorption surface 66 and the outer wall 60 of the bionic sucker;
the first adsorption surface 62 is a circular ring, the thickness of the first adsorption surface 62 is greater than that of the bionic sucker suction pipe 61, and the thickness of the first adsorption surface 62 is less than that of the second adsorption surface 64; a plurality of cross-shaped grooves 63 are formed in the first adsorption surface 62, and the plurality of cross-shaped grooves 63 are uniformly distributed in a circumferential shape;
the second adsorption surface 64 is a circular ring, the thickness of the second adsorption surface 64 is greater than that of the first adsorption surface 62, and the thickness of the second adsorption surface 64 is less than that of the third adsorption surface 66; the second adsorption surface 64 is provided with a plurality of herringbone grooves 65, and the herringbone grooves 65 are uniformly distributed in a circumferential shape;
the third adsorption surface 66 is a circular ring, the thickness of the third adsorption surface 66 is greater than that of the second adsorption surface 64, a plurality of linear grooves 67 and a plurality of linear grooves 67 are formed in the third adsorption surface 66, and the linear grooves 67 are uniformly distributed in a circumferential manner.
Preferably, the surfaces of the cross-shaped groove 63, the herringbone groove 65 and the in-line groove 67 are rough surfaces; the first adsorption surface 62, the second adsorption surface 64, the third adsorption surface 66, the cross-shaped groove 63, the herringbone groove 65 and the linear groove 67 are all made of silica gel and have good elasticity.
In addition, the working process of the underwater embracing device provided by the invention is as follows: the control mechanism 10 issues an encircling instruction, the execution mechanism 11 responds to the instruction, the four three-degree-of-freedom mechanical arms drive the first power mechanism 34, the second power mechanism 36 and the third power mechanism 39 to rotate to a set angle according to a given angle value, the first connecting rod 32, the second connecting rod 35 and the third connecting rod 38 move to an appointed position under the transmission of the power mechanisms and the connecting flanges, the adsorption mechanism 312 is driven to move to the position close to the surface of a target structural member, a closed space is constructed, a laminating operation process is achieved, and a closed space is constructed; then, the vacuum machine realizes a near vacuum environment on the surface of the bionic sucker 68 through the bionic sucker air suction pipeline 61 and the adsorption mechanism air conveying pipeline 52, and extracts substances on the surface of the sucker; the first adsorption surface 62, the second adsorption surface 64 and the third adsorption surface 66 are affected by the pressure difference and attached to the target structural member, and the encircling operation process is ended.
In conclusion, the underwater embracing device provided by the invention can be arranged on any surface of an underwater maintenance robot, and can meet the requirement of the underwater maintenance robot on the adsorption of a target structural member from multiple angles; in addition, the underwater embracing device provided by the invention is provided with an independent control mechanism, does not need to occupy the computational power resource of a robot, is provided with four completely independent three-degree-of-freedom mechanical arms, and can realize efficient and stable embracing on the surface of an irregular structural member by adjusting the embracing angle of the mechanical arms.
The description and practice of the disclosure herein will be readily apparent to those skilled in the art from consideration of the specification and understanding, and may be modified and modified without departing from the principles of the disclosure. Therefore, modifications or improvements made without departing from the spirit of the invention should also be considered as the protection scope of the invention.

Claims (5)

1. An underwater embracing device comprises a control mechanism and an executing mechanism connected with the control mechanism, and is characterized in that the executing mechanism comprises four three-degree-of-freedom mechanical arms, the left side and the right side of the executing mechanism are respectively and symmetrically provided with two three-degree-of-freedom mechanical arms, and the tail end of each three-degree-of-freedom mechanical arm is provided with an adsorbing mechanism;
the control mechanism is used for issuing an encircling instruction to the execution mechanism;
the execution mechanism is used for responding to the encircling instruction issued by the control mechanism;
the adsorption mechanism is used for realizing efficient adsorption on a target structural part;
the control mechanism comprises a control mechanism shell, a cover plate and a control box, wherein the cover plate is arranged on the control mechanism shell in a matched mode, the control box is arranged inside the control mechanism shell, two mechanical arm connecting seats are symmetrically arranged on two sides of the control box respectively, four first counter bores and four first screw holes are formed in the cover plate respectively, the four first counter bores are used for connecting the cover plate and the control mechanism shell, and the four first screw holes are used for connecting the underwater embracing device with the underwater robot;
the control box is composed of a watertight electronic cabin and twelve mechanical arm watertight connecting terminals, and the twelve mechanical arm watertight connecting terminals are eight-core aviation connector female heads;
twelve servo motor controllers and an industrial personal computer are arranged in the watertight electronic cabin, the twelve servo motor controllers are used for driving servo motors in the three-degree-of-freedom mechanical arm to move, the industrial personal computer is used for controlling the three-degree-of-freedom mechanical arm to move and communicating with the underwater robot, and the industrial personal computer communicates with the servo motor controllers through a Modbus protocol and communicates with the underwater robot through a TCP/IP protocol;
each three-degree-of-freedom mechanical arm comprises a mechanical arm base, a first connecting rod, a first connecting flange, a first power mechanism, a second connecting rod, a second power mechanism, a second connecting flange, a third connecting rod, a third power mechanism, a third connecting flange and a tail end execution mechanism connecting rod;
the mechanical arm base is connected with a mechanical arm connecting seat in the control mechanism through four second counter bores, one end of the first connecting rod is fixed on the mechanical arm base, the other end of the first connecting rod is provided with a first power mechanism, a power output shaft of the first power mechanism is meshed with the first connecting flange, and the first power mechanism is used for outputting power to the second connecting rod;
one end of the second connecting rod is connected with the first connecting rod through a first connecting flange, the other end of the second connecting rod is provided with a second power mechanism, a power output shaft of the second power mechanism is meshed with the second connecting flange, and the second power mechanism is used for outputting power to a third connecting rod;
one end of the third connecting rod is connected with the second connecting rod through a second connecting flange, the other end of the third connecting rod is provided with a third power mechanism, a power output shaft of the third power mechanism is meshed with the third connecting flange, and the third power mechanism is used for outputting power to the tail end execution mechanism connecting rod;
the tail end actuating mechanism connecting rod is connected with the adsorption mechanism through a third counter bore;
the length of the second connecting rod is greater than that of the first connecting rod, the length of the third connecting rod is greater than that of the first connecting rod, and the length of the third connecting rod is less than that of the second connecting rod;
the first power mechanism, the second power mechanism and the third power mechanism are all the same, the first power mechanism comprises a servo motor, an incremental photoelectric encoder arranged on one side of the servo motor and a power output shaft arranged on the other side of the servo motor, a servo motor wiring terminal is arranged at the top of the servo motor and is an eight-core aviation connector male head, and the servo motor wiring terminal is connected with a mechanical arm watertight wiring terminal through a watertight cable.
2. The underwater embracing device according to claim 1, wherein the adsorption mechanism is connected with a tail end actuating mechanism connecting rod in the three-degree-of-freedom mechanical arm through a fourth screw hole, an arc adsorption surface is arranged at the bottom of the adsorption mechanism, and a sucker array is arranged on the arc adsorption surface; the top of the adsorption mechanism is provided with an adsorption mechanism gas transmission pipeline which is connected with an air extractor.
3. An underwater embracing device according to claim 2, wherein the number of said suction cup arrays is twenty-one, and each of said suction cup arrays comprises thirty-six bionic suction cups to form a bionic suction cup group.
4. The underwater embracing device according to claim 3, wherein the bionic sucker comprises a bionic sucker outer wall, a bionic sucker suction pipeline, a first adsorption surface, a cross-shaped groove, a second adsorption surface, a herringbone groove, a third adsorption surface and a linear groove;
the outer wall of the bionic sucker is arranged on the outer side of the bionic sucker, and the thickness of the outer wall of the bionic sucker is slightly smaller than the thickness of the first adsorption surface, the second adsorption surface and the third adsorption surface;
the bionic sucker air suction pipeline is arranged at the central position of the bionic sucker, and the thickness of the bionic sucker air suction pipeline is slightly smaller than the thickness of the first adsorption surface, the second adsorption surface, the third adsorption surface and the outer wall of the bionic sucker;
the first adsorption surface is a circular ring, the thickness of the first adsorption surface is larger than that of the bionic sucker air suction pipe, and the thickness of the first adsorption surface is smaller than that of the second adsorption surface; a plurality of cross-shaped grooves are formed in the first adsorption surface and are uniformly distributed in a circumferential shape;
the second adsorption surface is a circular ring, the thickness of the second adsorption surface is greater than that of the first adsorption surface, and the thickness of the second adsorption surface is less than that of the third adsorption surface; the second adsorption surface is provided with a plurality of herringbone grooves which are uniformly distributed in a circumferential shape;
the third adsorption face is a circular ring, the thickness of the third adsorption face is larger than that of the second adsorption face, a plurality of linear grooves are formed in the third adsorption face, and the linear grooves are evenly distributed in a circumferential mode.
5. An underwater embracing device according to claim 4, wherein the surfaces of the cross-shaped groove, the herringbone groove and the in-line groove are rough surfaces; the materials of the first adsorption surface, the second adsorption surface, the third adsorption surface, the cross-shaped groove, the herringbone groove and the linear groove are all silica gel and have good elasticity.
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