CN113753208A

CN113753208A - Novel underwater double-mechanical-arm operation robot

Info

Publication number: CN113753208A
Application number: CN202111179701.2A
Authority: CN
Inventors: 赵亮; 徐鹏
Original assignee: Zhejiang Ocean University ZJOU
Current assignee: Zhejiang Ocean University ZJOU
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2021-12-07

Abstract

The invention discloses a novel underwater double-mechanical-arm operation robot which comprises side plates, wherein an upper main plate and a lower main plate are installed between the two side plates in a matched mode, a watertight cabin is installed on the surface of the upper main plate in a matched mode, a vertical propulsion device is fixedly connected to the upper surface of the upper main plate, a horizontal propulsion device is fixedly connected to the lower surface of the upper main plate, high-brightness LED lamps are symmetrically and fixedly connected to the upper surface of the lower main plate, two waterproof brushless motors are fixedly connected to the upper surface of the lower main plate beside the two high-brightness LED lamps, the output ends of the two waterproof brushless motors are fixedly connected with waterproof steering engines, and buoyancy blocks are symmetrically installed on the surfaces of the side plates.

Description

Novel underwater double-mechanical-arm operation robot

Technical Field

The invention relates to the technical field of robots, in particular to a novel underwater double-mechanical-arm operation robot.

Background

With the increasing ocean engineering, the underwater operation needs to be more and more. Complex and dangerous subsea environments are difficult to confront with relying only on manpower and simple diving equipment. Underwater robots can replace people to perform various subsea operations. The underwater robot is the only equipment capable of working in deep sea environment at present, plays an important role in marine environment monitoring, marine resource exploration and marine scientific research, and puts higher and more urgent requirements on the underwater robot technology along with the acceleration of the marine development process.

The existing underwater robot is invented to be mostly single in relative structure, carved with functions and high in manufacturing cost, and therefore a novel underwater double-mechanical-arm operation robot is provided.

Disclosure of Invention

The invention aims to provide a novel underwater double-mechanical-arm operation robot to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a novel robot is operated to duplex arm under water, includes the curb plate, two mainboard and lower mainboard are installed in the cooperation between the curb plate, the surface coordination of going up the mainboard installs the watertight cabin, the vertical advancing device of last fixed surface of going up the mainboard is connected with, the lower fixed surface of going up the mainboard is connected with horizontal advancing device, the last symmetric fixedly connected with hi-lite LED lamp of upper surface of mainboard down, the mainboard upper surface is located the other waterproof brushless motor of fixedly connected with of two hi-lite LED lamps down, and waterproof brushless motor has two, waterproof brushless motor's the waterproof steering wheel of output fixedly connected with, buoyancy piece is installed to the surface symmetry of curb plate.

Preferably, a plurality of tenon connecting notches are formed in the surface of the side plate, and the upper main plate and the lower main plate are mounted in a matched mode with the plurality of tenon connecting notches.

Preferably, the surface of the side plate is fixedly connected with an ear plate.

Preferably, the watertight cabin is fixedly connected with the upper main board through screws.

Preferably, the surface of the watertight compartment is provided with a plurality of wiring through holes.

Preferably, the horizontal propulsion device comprises a first mounting frame and a first vector thruster, the first mounting frame is symmetrically and fixedly connected to the lower surface of the upper main plate, and the first vector thruster is fixedly connected to the surface of the first mounting frame.

Preferably, the vertical propulsion device comprises a second mounting frame and a second vector thruster, the second mounting frame is symmetrically and fixedly connected to the upper surface of the upper main plate, and the second vector thruster is fixedly connected to the surface of the second mounting frame.

Preferably, the surface of the lower main board is provided with a plurality of sliding grooves;

preferably, two first spreader, two are installed in the surface symmetry cooperation of curb plate fixedly connected with second spreader between the first spreader, the inside symmetry sliding connection of first spreader has movable post, the both ends of activity post are the first connecting block of fixedly connected with and second connecting block respectively, the surface cover of activity post is equipped with the spring, the both ends of spring respectively with first connecting block and first spreader fixed connection.

Preferably, two the symmetry is provided with the drum between the curb plate, the axis of rotation is installed in the inside rotation of drum, the fixed surface of axis of rotation is connected with the impeller, the one end fixedly connected with energy collection module of impeller is kept away from to the axis of rotation, energy collection module rotates with the curb plate to be connected, the fixed surface of curb plate is connected with the arc, the arc wall has been seted up on the surface of arc, the rotor plate is installed in the rotation of surface of arc, the one end fixedly connected with rotation post of arc is kept away from to the rotor plate, the rotation post rotates the installation with the curb plate, rotation post and drum fixed connection.

Compared with the prior art, the invention has the beneficial effects that:

the integral frame material is a nylon plate, various fasteners are made of aluminum alloy materials, and anti-corrosion coatings are sprayed on the fasteners, so that the integral frame material is high in structural strength, light in weight, low in manufacturing cost, good in anti-corrosion performance and long in service life, parts can be replaced conveniently, secondary processing of the plate is facilitated, and conditions are created for independent development while basic function requirements of the underwater robot are met;

structurally, firstly, the connection mode of the main board and the side board of the underwater robot is the combination of tenon joint and screw fixation, the main side boards with different specifications can be automatically disassembled, replaced and combined to meet different requirements of users while the structure is stable and the strength is ensured, secondly, a first vector propeller and a second vector propeller are respectively installed in the horizontal direction and the vertical direction, a plurality of installation holes can be opened on the surface of the upper main board, the installation holes are matched and installed with a first installation frame and a second installation frame, the relative positions of the first vector propeller and the second vector propeller in the structure can be adjusted, the underwater robot is in a suspension state when running in water, the influence of the traditional structure on the service life of the robot is avoided, secondly, a crawler-type ear board structure for retraction is added, the robot can be conveniently put in and recovered in cooperation with other structures, the labor is saved, in addition, a redundant space structure between the upper main board and the lower main board and various chutes on the lower main board, the underwater instrument is convenient for people to install different underwater instruments according to different requirements. The buoyancy block structure on the side plate can be flexibly installed and detached according to the relation between the gravity and the buoyancy of the robot;

on the basis of meeting the basic functions of an underwater robot such as advancing and sinking, floating, changing the direction, illuminating and grabbing a real object, different devices are effectively additionally arranged according to different requirements of underwater operation, so that the underwater robot has different additional functions, for example, a liquid acquisition and component analysis device is additionally arranged, so that the underwater robot has an environment monitoring function; the sonar and the signal acquisition device are additionally arranged, so that the device has the function of searching and fishing.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a second schematic view of the overall structure of the present invention;

FIG. 3 is a schematic view of a first cross post and a side plate of the present invention;

FIG. 4 is a schematic view of the structure of the rotating plate and the arc-shaped slot.

In the figure: 1. a side plate; 2. an upper main board; 3. a lower main board; 4. a watertight compartment; 5. a vertical propulsion device; 6. a horizontal propulsion device; 7. a high brightness LED lamp; 8. a waterproof brushless motor; 9. a waterproof steering engine; 10. a buoyancy block; 11. tenon connecting notches; 12. an ear plate; 13. a wiring through hole; 14. a first mounting bracket; 15. a first vector thruster; 16. a second mounting bracket; 17. a second vector thruster; 18. a chute; 19. a first cross-post; 20. a second cross-post; 21. a movable post; 22. a second connecting block; 23. a spring; 24. a first connection block; 25. a cylinder; 26. a rotating shaft; 27. an impeller; 28. an energy harvesting module; 29. an arc-shaped plate; 30. an arc-shaped slot; 31. a rotating plate; 32. the post is rotated.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 4, the present invention provides a technical solution: the utility model provides a novel robot for underwater double-mechanical-arm operation, includes curb plate 1, two mainboard 2 and lower mainboard 3 are installed in the cooperation between the curb plate 1, go up mainboard 2's surface cooperation and install watertight cabin 4, go up the vertical advancing device 5 of last fixed surface of mainboard 2 and be connected with horizontal advancing device 6 to the lower fixed surface of going up mainboard 2, the last symmetrical fixedly connected with hi-lite LED lamp 7 of last mainboard 3 down, the mainboard 3 upper surface is located the other waterproof brushless motor 8 of fixedly connected with of two hi-lite LED lamps 7 down, and waterproof brushless motor 8 has two, waterproof brushless motor 8's the waterproof steering wheel 9 of output fixedly connected with, buoyancy piece 10 is installed to the surface symmetry of curb plate 1.

A plurality of falcon connect notch 11 has been seted up on the surface of curb plate 1, go up mainboard 2 and lower mainboard 3 and all install with a plurality of falcon connect notch 11 cooperation, guarantee that curb plate 1 and last mainboard 2 and install stably down between the mainboard 3.

The surface of the side plate 1 is fixedly connected with an ear plate 12, and the structural ear plate 12 structure for retraction of the robot side plate 1 can adapt to hooks of underwater robots generally on the market, so that relevant personnel can conveniently release and retract the hooks.

The watertight cabin 4 is fixedly connected with the upper main board 2 through screws, so that the watertight cabin 4 can be conveniently mounted and dismounted.

The surface of the watertight cabin 4 is provided with a plurality of wiring through holes 13 for wiring.

Horizontal thrust unit 6 includes first mounting bracket 14 and first vector propeller 15, go up the first mounting bracket 14 of lower surface symmetry fixedly connected with of mainboard 2, the first vector propeller 15 of fixed surface of first mounting bracket 14 can be adjusted the position of first mounting bracket 14 and second mounting bracket 16 according to actual circumstances, is convenient for promote and turn to, and underwater robot buoyancy is greater than its gravity under the normal condition, and consequently if this underwater robot sinks, drives individual vertical direction second vector propeller 17 as the case may be.

The vertical propulsion device 5 comprises a second mounting frame 16 and a second vector thruster 17, the second mounting frame 16 is symmetrically and fixedly connected to the upper surface of the upper main plate 2, the second vector thruster 17 is fixedly connected to the surface of the second mounting frame 16, and the second vector thruster 17 is decelerated or closed correspondingly to the vertical direction if floating is needed.

The surface of the lower main board 3 is provided with a plurality of sliding grooves 18, and the surplus space between the structure of the upper main board 2 of the robot and the structure of the lower main board 3 of the robot can adjust and fix various underwater detection instruments or other equipment subjected to watertight treatment through the sliding grooves 18 on the structure of the lower main board 3 of the robot according to actual needs.

Two first spreader 19, two is installed in the surperficial symmetry cooperation of curb plate 1 fixedly connected with second spreader 20 between the first spreader 19, the inside symmetry sliding connection of first spreader 19 has movable post 21, the both ends difference first connecting block of fixedly connected with 24 and second connecting block 22 of movable post 21, the surface cover of movable post 21 is equipped with spring 23, spring 23's both ends respectively with first connecting

block

24 and 19 fixed connection of first spreader, utilize spring 23's elasticity effect, when installing various equipment, second connecting block 22 with place the plane contact, can guarantee whole stability of placing.

The cylinder 25 is symmetrically arranged between the two side plates 1, the rotating shaft 26 is rotatably arranged in the cylinder 25, the impeller 27 is fixedly connected to the surface of the rotating shaft 26, the energy collecting module 28 is fixedly connected to one end, away from the impeller 27, of the rotating shaft 26, the energy collecting module 28 is rotatably connected to the side plates 1, the arc-shaped plate 29 is fixedly connected to the surface of the side plates 1, the arc-shaped groove 30 is formed in the surface of the arc-shaped plate 29, the rotating plate 31 is rotatably arranged on the surface of the arc-shaped groove 30, the rotating column 32 is fixedly connected to one end, away from the arc-shaped groove 30, of the rotating plate 31, the rotating column 32 is rotatably arranged with the side plates, the rotating column 32 is fixedly connected to the cylinder 25, and when the whole body moves underwater, water flows out from the other end of the cylinder 25 through the impeller 27 to drive the impeller 27 to rotate and further drive the rotating shaft 26 to rotate, the energy is collected by the energy collecting module 28, the energy collecting module 28 is similar to an electric power collecting and storing mechanism in the existing hydroelectric power generation system in structure, the working principle is the same, power can be supplied for the whole body, and along with the whole movement, the rotating plate 31 rotates along the arc-shaped groove 30 to adapt to the whole movement direction.

The working principle is as follows: the upper surface and the lower surface of the upper main board 2 are provided with a second vector thruster 17 and a second vector thruster 17 through a second mounting frame 16 and a first mounting frame 14, the positions of the first mounting frame 14 and the second mounting frame 16 can be adjusted according to actual circumstances, the underwater robot is convenient to push and steer, the buoyancy of the underwater robot is larger than the gravity of the underwater robot under normal conditions, therefore, if the underwater robot sinks, the second vector thruster 17 in the vertical direction is driven according to the circumstances, otherwise, if the underwater robot floats upwards, the second vector thruster 17 in the vertical direction is decelerated or closed correspondingly, in addition, the horizontal direction movement and the direction adjustment are completed through the closing and different speed driving of the first vector thrusters 15 in the four horizontal directions, the reasonable driving enables the whole underwater robot to be in a suspended state and can steer freely when working in water, and secondly, a controller can be arranged in the watertight cabin 4, the controller is accurately controlled by a computer or other control terminals, the first vector propulsion device, the second vector propulsion device 17, the high-brightness LED lamp 7, the waterproof brushless motor 8 and the waterproof steering engine 9 are connected with the controller through wires, a mechanical arm can be mounted on the surface of the waterproof steering engine 9, and a person on the land can complete control over the underwater robot through wireless connection remote control or cable signal transmission according to requirements. The data line of the controller inside the robot is connected with each underwater instrument exposed in water through the wiring through hole 13 of the watertight cabin 4, the controller is controlled by the instrument, the waterproof brushless motor 8 and the waterproof steering engine 9 are controlled, the mechanical arm support structure and the mechanical arm system can realize the space motion of multiple dimensions, in addition, video monitoring equipment can be installed into the transparent semispherical cover of the watertight cabin 4 according to the requirement, the underwater monitoring and the observation on the road are completed, the lighting system is mainly born by the high-brightness LED lamp 7, the structural ear plate 12 structure for retraction of the robot side plate 1 can adapt to the hook of the underwater robot on the market, the relevant personnel can be conveniently released and recovered, the buoyancy block 10 is assembled according to the requirement, the buoyancy of the underwater robot is increased or reduced, and finally, the surplus space between the upper main plate 2 structure of the robot and the lower main plate 3 structure of the robot can pass through the lower main plate 3 structure of the robot according to the actual requirement The sliding groove 18 is used for adjusting and fixing various underwater detection instruments or other equipment subjected to watertight treatment so as to fully show the application characteristics.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a novel robot is operated to two arms under water, includes curb plate (1), its characterized in that: two mainboard (2) and lower mainboard (3) are installed in the cooperation between curb plate (1), watertight cabin (4) are installed to the surface cooperation of going up mainboard (2), the vertical advancing device (5) of last fixed surface who goes up mainboard (2), the lower fixed surface who goes up mainboard (2) is connected with horizontal advancing device (6), the last symmetrical fixedly connected with hi-lite LED lamp (7) of upper surface of mainboard (3) down, mainboard (3) upper surface is located the other fixedly connected with waterproof brushless motor (8) of two hi-lite LED lamps (7) down, and waterproof brushless motor (8) have two, the output end fixedly connected with of waterproof brushless motor (8) is waterproof steering wheel (9), buoyancy piece (10) are installed to the surface symmetry of curb plate (1).

2. The novel underwater double-mechanical-arm operation robot as claimed in claim 1, wherein: a plurality of falcon notch (11) have been seted up on the surface of curb plate (1), go up mainboard (2) and lower mainboard (3) all with a plurality of falcon notch (11) cooperation installation.

3. The novel underwater double-mechanical-arm operation robot as claimed in claim 1, wherein: the surface of the side plate (1) is fixedly connected with an ear plate (12).

4. The novel underwater double-mechanical-arm operation robot as claimed in claim 3, wherein: the watertight cabin (4) is fixedly connected with the upper main board (2) through screws.

5. The novel underwater double-mechanical-arm operation robot as claimed in claim 1, wherein: the surface of the watertight cabin (4) is provided with a plurality of wiring through holes (13).

6. The novel underwater double-mechanical-arm operation robot as claimed in claim 1, wherein: horizontal advancing device (6) include first mounting bracket (14) and first vector propeller (15), go up the first mounting bracket (14) of lower surface symmetry fixedly connected with of mainboard (2), the fixed surface of first mounting bracket (14) is connected with first vector propeller (15).

7. The novel underwater double-mechanical-arm operation robot as claimed in claim 1, wherein: vertical advancing device (5) include second mounting bracket (16) and second vector propeller (17), the last surface symmetry fixedly connected with second mounting bracket (16) of last mainboard (2), the fixed surface of second mounting bracket (16) is connected with second vector propeller (17).

8. The novel underwater double-mechanical-arm operation robot as claimed in claim 1, wherein: the surface of the lower main plate (3) is provided with a plurality of sliding grooves (18).

9. The novel underwater double-mechanical-arm operation robot as claimed in claim 1, wherein: two first spreader (19), two are installed in the surface symmetry cooperation of curb plate (1) fixedly connected with second spreader (20) between first spreader (19), the inside symmetry sliding connection of first spreader (19) has movable post (21), the both ends difference fixedly connected with first connecting block (24) and second connecting block (22) of activity post (21), the surface cover of activity post (21) is equipped with spring (23), the both ends of spring (23) respectively with first connecting block (24) and first spreader (19) fixed connection.

10. The novel underwater double-mechanical-arm operation robot as claimed in claim 1, wherein: two the symmetry is provided with drum (25) between curb plate (1), axis of rotation (26) are installed in the inside rotation of drum (25), the fixed surface of axis of rotation (26) is connected with impeller (27), one end fixedly connected with energy collection module (28) of impeller (27) are kept away from in axis of rotation (26), energy collection module (28) rotate with curb plate (1) and are connected, the fixed surface of curb plate (1) is connected with arc (29), arc (30) have been seted up on the surface of arc (29), rotor plate (31) are installed in the surface rotation of arc (30), the one end fixedly connected with who keeps away from arc (30) in rotor plate (31) rotates post (32), it rotates the installation with the curb plate to rotate post (32), rotate post (32) and drum (25) fixed connection.