CN113978668A - Underwater fishing robot with high-degree-of-freedom mechanical arm - Google Patents
Underwater fishing robot with high-degree-of-freedom mechanical arm Download PDFInfo
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- CN113978668A CN113978668A CN202111230576.3A CN202111230576A CN113978668A CN 113978668 A CN113978668 A CN 113978668A CN 202111230576 A CN202111230576 A CN 202111230576A CN 113978668 A CN113978668 A CN 113978668A
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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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
本发明涉及机器人技术领域，提供一种具有高自由度机械臂的水下捕捞机器人，包括：机器人主体、抓取机构、驱动机构和控制器；所述机器人主体包括：上舱、下舱和主体框架，上舱和下舱之间通过主体框架进行连接；所述抓取机构安装在机器人主体前端右侧；所述驱动机构包括：四组水平面推进器以及四组垂直面推进器；四组水平面推进器在下舱的四周呈环形分布；四组垂直面推进器在上舱的两侧两两对称分布；所述控制器包括：控制箱、控制臂和零浮力线缆，所述控制箱通过零浮力线缆与机器人上舱连接。本发明结构合理、使用方便、适应能力强、应用范围广、稳定性好。
The invention relates to the technical field of robots, and provides an underwater fishing robot with a high degree of freedom mechanical arm, comprising: a robot body, a grasping mechanism, a driving mechanism and a controller; the robot body includes: an upper cabin, a lower cabin and a main body frame, the upper cabin and the lower cabin are connected by the main frame; the grabbing mechanism is installed on the right side of the front end of the robot main body; the driving mechanism includes: four groups of horizontal plane thrusters and four groups of vertical plane thrusters; four groups of horizontal plane thrusters The propellers are distributed in a ring around the lower cabin; four sets of vertical plane propellers are symmetrically distributed on both sides of the upper cabin; the controller includes: a control box, a control arm and a zero buoyancy cable, and the control box passes through the zero buoyancy cable. The buoyancy cable is connected to the upper cabin of the robot. The invention has reasonable structure, convenient use, strong adaptability, wide application range and good stability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an underwater fishing robot with a high-freedom mechanical arm.
Background
The sea is the origin of life, and not only abundant natural resources are stored in the sea, but also a plurality of unknown beautiful scenes are available. The ocean occupies more than two thirds of the total area of the earth, and has great exploration value and development potential. But the human body cannot freely move in the sea due to the self-condition limitation of the human body. In the sea cucumber culture industry, sea cucumber fishers have the problems of high technical requirements, hard work, inevitable occupational diseases such as arthritis and the like, and although income is high, fewer people are willing to be put into the work. The advent of underwater vehicles has well addressed this conflict. Underwater vehicles are generally classified into Manned Underwater Vehicles (MUVs) and Unmanned Underwater Vehicles (UUVs), which can be further classified into remote-controlled underwater Robots (ROVs) and autonomous underwater robots (AUVs). The remote control underwater robot has the advantages of sufficient power, flexible movement, high operation efficiency and the like, and can be widely applied to the sea cucumber fishing industry.
The existing underwater fishing robot mainly has a single-degree-of-freedom mechanical arm type and a pipeline suction type. The single-degree-of-freedom mechanical arm type underwater fishing machine is small in size and mass, underwater motion is relatively flexible, the single-degree-of-freedom mechanical arm is high in fishing efficiency, but the single-degree-of-freedom mechanical arm is greatly influenced by water flow in the sea and is difficult to meet operation requirements in deeper water areas, the single-degree-of-freedom mechanical arm can only carry out fishing operation on a flat seabed and is limited by the size of the robot, the number of marine products which can be carried by the single-degree-of-freedom mechanical arm is small, and the overall operation efficiency is influenced. The pipeline suction type underwater fishing machine has the advantages of large volume and mass, relatively low motion flexibility and small influence of water flow, can perform underwater fishing operation in a deep sea area, sucks marine products on a seabed through a pipeline, has high working efficiency, and is extremely easy to cause irreversible damage to the seabed. Meanwhile, the single-degree-of-freedom mechanical arm type and pipeline suction type underwater catching robot are difficult to finely catch easily damaged marine products, and the damage of the marine products is probably caused in the catching process, so that the value of the underwater catching robot is reduced.
Disclosure of Invention
The invention mainly solves the technical problems that the underwater fishing robot in the prior art is limited in application and cannot finish fine fishing while the seabed is protected, and provides the underwater fishing robot with the mechanical arm with high degree of freedom.
The invention provides an underwater fishing robot with a high-degree-of-freedom mechanical arm, which comprises: the robot comprises a robot main body, a grabbing mechanism, a driving mechanism and a controller;
the robot main body includes: the upper cabin and the lower cabin are connected through the main body frame;
snatch mechanism and install on robot main part front end right side, it includes to snatch mechanism: the mechanical claw comprises a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine, a sixth steering engine, a first support arm, a second support arm, a third support arm, a mechanical claw, a support plate and a main body fixing plate; a first transmission gear is sleeved on an output shaft of the first steering engine and meshed with a first driven gear, and the first driven gear is connected with the supporting plate; the supporting plate is connected with the first supporting arm through a second driving transmission gear and a second driven gear; the first support arm is connected with the second support arm through a third steering engine; the second support arm is connected with the third support arm through a fourth steering engine; the mechanical claw is connected with the third support arm through a fifth steering engine; the main body fixing plate is fixed on the first steering engine; the grabbing mechanism is connected with the main body frame through a main body fixing plate;
the drive mechanism includes: four groups of horizontal plane thrusters and four groups of vertical plane thrusters; the four groups of horizontal plane propellers are annularly distributed around the lower cabin; the four groups of vertical plane propellers are symmetrically distributed on two sides of the upper cabin in pairs;
the horizontal plane propeller and the vertical plane propeller respectively comprise: the propeller protection device comprises a propeller motor, a propeller protection cover and a propeller base; a motor driving shaft of the propeller motor is connected with the propeller; the propeller protective cover, the propeller motor and the propeller base are connected; the propeller base is connected to the main body frame;
the controller includes: the robot control system comprises a control box, a control arm and a zero-buoyancy cable, wherein the control box is connected with the upper cabin of the robot through the zero-buoyancy cable.
Preferably, the main body frame includes: the propeller fixing plate comprises a first side plate, a second side plate, a first middle plate, a second middle plate, a first propeller fixing plate, a second propeller fixing plate, a third propeller fixing plate, a fourth propeller fixing plate, a front connecting plate and a rear connecting plate;
the two ends of the front connecting plate, the rear connecting plate, the first middle plate and the second middle plate are respectively connected with the first side plate and the second side plate through corner pieces; the first propeller fixing plate, the second propeller fixing plate, the third propeller fixing plate and the fourth propeller fixing plate are connected with the first side plate, the second side plate, the first middle plate and the second middle plate through corner pieces respectively.
Preferably, the upper cabin and the lower cabin are connected through a first middle plate and a second middle plate in the main body frame;
cabin plates and cabin body fixing plates are arranged at two ends of the upper cabin and the lower cabin, and the cabin plates and the cabin bodies are tightly connected by filling rubber sealing rings and sealing grease;
the upper cabin and the lower cabin are connected with the first middle plate and the second middle plate through cabin body fixing plates, and the cabin body fixing plates are connected to the upper cabin and the lower cabin through screws in a fastening mode and are fixed to the inner sides of the first middle plate and the second middle plate.
Preferably, the method further comprises the following steps: the detection mechanism is arranged on the periphery of the robot main body;
the detection mechanism includes: the device comprises an attitude sensor, an illuminating mechanism, a photographic image collecting mechanism and a depth sensor, wherein the attitude sensor, the illuminating mechanism, the image collecting mechanism and the depth sensor are respectively and electrically connected with a controller;
the image acquisition mechanism includes: the device comprises a front camera, a rear camera, a left camera and a right camera;
the illumination mechanism includes: the front searchlight, the rear searchlight, the left searchlight and the right searchlight are respectively adjacent to the cameras on the same side;
the attitude sensor is sealed by epoxy resin and fixed above the upper cabin; the depth sensor is fixed on a cabin plate at the rear end of the upper cabin.
Preferably, the propeller motor is a dc brushless motor.
Preferably, the controller is electrically connected to an external control computer via a communication interface.
The underwater fishing robot with the high-freedom-degree mechanical arm comprises a robot main body, a grabbing mechanism, a driving mechanism, a detection mechanism and a controller, can finish underwater movement of the underwater robot, and can be well adapted to a complex seabed environment and finish marine product fishing work in the complex seabed environment by matching with the high-freedom-degree mechanical arm. The whole volume and the quality of the robot are larger, the robot can bear larger water flow impact and is suitable for the fishing operation in deeper sea areas. The main body frame of the robot adopts an aluminum alloy plate with an optimized structure, can meet the emphasis requirement in a deep sea water environment of 100 meters, reduces the stress area in water flow as far as possible while ensuring the strength and stability, and can ensure stable operation in deeper sea areas. The grabbing mechanism is designed into a mechanical arm with five degrees of freedom, and marine products can be more accurately fished aiming at the complex seabed environment. The driving mechanism consists of four propellers in the horizontal direction and four propellers in the vertical direction, and can provide strong motion capability for the robot and stably complete the motion of six degrees of freedom. The detection mechanism is provided with various sensors, can detect the environment of the robot in four directions in real time, and can detect the actual movement direction and the depth of the robot in water flow. The underwater fishing robot with the high-freedom-degree mechanical arm can keep good operation in a complex seabed environment, can finish high-precision fishing for marine products while adapting to the complex seabed environment, obviously improves the fishing efficiency of the marine products, is not easy to cause damage to the marine products, is not easy to damage the seabed, ensures the stable operation of the robot in a deeper sea area due to larger volume and quality, can realize flexible movement by remote control through the controller, and can finish high-efficiency marine product fishing operation in the complex seabed environment.
Drawings
FIG. 1 is a perspective view of an underwater fishing robot body having a high degree of freedom robot arm provided by the present invention;
FIG. 2 is a body view of an underwater fishing robot body having a robot arm with a high degree of freedom provided by the present invention;
FIG. 3 is a perspective view of an underwater fishing robot grabbing mechanism with a high degree of freedom robotic arm provided by the present invention;
FIG. 4 is a body diagram of an underwater fishing robot grabbing mechanism with a high degree of freedom mechanical arm provided by the present invention;
FIG. 5 is a perspective view of the underwater fishing robot propulsor provided by the present invention having a high degree of freedom mechanical arm;
fig. 6 is a main body view of the underwater fishing robot propeller having the high degree-of-freedom robot arm provided by the present invention.
The technical features are indicated by the reference numbers in the drawings:
1. putting the cabin; 2. descending the cabin; 3. a deck board; 4. a first side plate; 5. a rear connecting plate; 6. a second side plate; 7. a front connecting plate; 8. a first intermediate plate; 9. a cabin body fixing plate; 10. a second intermediate plate; 11. a horizontal plane thruster; 12. a vertical plane thruster; 13. a propeller fixing plate; 14. a first steering engine; 15. a second steering engine; 16. a third steering engine; 17. a fourth steering engine; 18. a fifth steering engine; 19. a sixth steering engine; 20. a first support arm; 21. a second support arm; 22. a third support arm; 23. a gripper; 24. a support plate; 25. a first driven gear; 26. a second transmission gear; 27. a second driven gear; 28. a first drive gear; 29. a propeller motor; 30. a propeller; 31. a propeller protective cover; 32. a motor drive shaft; 33. a propeller base.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
As shown in fig. 1 to 2, an underwater fishing robot having a robot arm with a high degree of freedom according to an embodiment of the present invention includes: the robot comprises a robot main body, a grabbing mechanism, a driving mechanism and a controller.
The robot main body includes: the device comprises an upper cabin 1, a lower cabin 2 and a main body frame, wherein the upper cabin 1 and the lower cabin 2 are connected through the main body frame.
The main body frame includes: a first side plate 4, a second side plate 6, a first middle plate 8, a second middle plate 10, a first propeller fixing plate 13, a second propeller fixing plate, a third propeller fixing plate, a fourth propeller fixing plate, a front connecting plate 7 and a rear connecting plate 5; the two ends of the front connecting plate 7, the rear connecting plate 5, the first middle plate 8 and the second middle plate 10 are respectively connected with the first side plate 4 and the second side plate 6 through corner pieces; the first propeller fixing plate 13, the second propeller fixing plate, the third propeller fixing plate and the fourth propeller fixing plate are connected with the first side plate 4, the second side plate 6, the first middle plate 8 and the second middle plate 10 through corner pieces respectively. The main body frame is made of 6061 aluminum alloy with the thickness of 8mm, all parts are connected through stainless steel corner connectors, and a handle is reserved on the upper portion of the main body frame to facilitate carrying; through holes can be formed in all components of the main body frame, the hole digging mode can be determined by adopting a topology optimization method, the area of the frame is reduced as much as possible on the premise of ensuring the original strength, the water flow passing performance of the robot main body is improved, the impact force of water flow on the robot main body is reduced, and the underwater fishing robot can keep stable fishing operation in a deep sea area.
Specifically, the upper cabin 1 and the lower cabin 2 are connected through a first middle plate 8 and a second middle plate 10 in the main body frame. Two ends of the upper cabin 1 and the lower cabin 2 are respectively provided with a cabin plate 3 and a cabin body fixing plate 9, and the cabin plates 3 and the cabin body are tightly connected by filling rubber sealing rings and sealing grease; the upper cabin 1 and the lower cabin 2 are connected with the first middle plate 8 and the second middle plate 10 through the cabin body fixing plate 9, and the cabin body fixing plate 9 is connected on the upper cabin 1 and the lower cabin 2 through screws and fixed on the inner sides of the first middle plate 8 and the second middle plate 10.
The upper cabin 1 is mainly used for control and communication, the upper cabin 1 is used as an industrial personal computer room, and a first control mechanism is arranged in the upper cabin 1; the first control mechanism includes: the system comprises a first microcomputer, a first single chip microcomputer, a first power supply module, a first lighting lamp power supply, a first water pressure sensor, a first attitude sensor, a first temperature and humidity sensor and a first water inlet detection circuit; the first single chip microcomputer adopts a stm32f407 single chip microcomputer, the first single chip microcomputer is communicated with a first microcomputer through a USB-to-TTL serial port module for controlling data transmission, is communicated with the first microcomputer through an ST-Link downloader for firmware upgrade, controls a constant current output value of a first lighting lamp power supply through an analog signal to control the brightness of an outdoor lighting mechanism, controls the angle of an upper cabin 1 external steering engine through a PWM signal, reads a first water pressure sensor MS5837-30BA on a rear end cover of a cabin body through IIC to obtain the current depth and the external water temperature of the robot, reads a first attitude sensor WT through a serial port to obtain the current course angle, pitch angle and roll angle of the robot, reads a first temperature and humidity sensor SHT30 through the IIC to collect the temperature and humidity in the upper cabin 1, reads a first water inlet detection circuit through the analog signal to detect whether the upper cabin 1 enters water or not, and transmits the data to the first microcomputer. The water inlet detection circuit is composed of an electrode type water sensor and a divider resistor, the electrode type water sensor has the advantages of being simple in structure, easy to install, low in price and the like, the electrode type water sensor is installed at the bottom of the cabin, when water enters the cabin, the resistance between two electrodes of the sensor is reduced by the water immersion resistor, the voltage of an output end is reduced, and the single chip microcomputer can obtain water inlet information through the change of output end analog voltage.
The lower cabin 2 is mainly used for driving a propeller, and a second control mechanism is arranged in the lower cabin 2; the second control mechanism includes: the system comprises a first singlechip, a first USB concentrator, a first power supply module, a first electric regulator, a first voltage and current acquisition circuit, a first energy absorption circuit, a second temperature and humidity sensor and a second water inlet detection circuit; the second singlechip adopts stm32f407 singlechip, and the second singlechip is connected with the first USB concentrator through a USB-to-TTL serial port module and an ST-Link downloader as a main control device of the second control mechanism, and the first USB concentrator is connected with a first microcomputer of the upper cabin 1 by using a USB cable. The second single chip microcomputer receives the target value of the rotating speed of each propeller sent by the first control mechanism, collects the current value of the rotating speed of each propeller through the first electric controller, obtains the size of an accelerator to be adopted by each propeller through PID algorithm calculation, and outputs the accelerator to the electric controller in a PWM mode to form closed-loop control of the rotating speed of the propeller, so that the rotating speed of the propeller can be stabilized at the target rotating speed; the temperature and the humidity in the lower cabin 2 are collected by reading the second temperature and humidity sensor SHT30 through the IIC, whether the lower cabin 2 is filled with water or not is detected by reading the second water inlet detection circuit through an analog signal, and the power supply voltage and the consumed current of the first electric regulation are obtained by reading the first voltage and current collection circuit through the IIC. The first voltage and current acquisition circuit adopts an ADS1115 chip, and acquires voltage values through a sampling resistance current value of 0.375m omega and a divider resistance. The second singlechip returns the information to the first microcomputer of the upper cabin for summary processing; the first energy absorption circuit arranged in the lower cabin 2 is used for preventing a power supply from being damaged by high electromotive force generated when the forward and reverse rotation of the propeller motor is rapidly switched, the rotating kinetic energy of the propeller motor is absorbed by using a capacitor, and the improvement of the power supply voltage is inhibited, and a mode of connecting 30 aluminum electrolytic capacitors of 35v10000 mu F in parallel is adopted to reduce the internal resistance and improve the instant energy absorption capacity.
As shown in fig. 3 to 4, the gripping mechanism is installed at the right side of the front end of the robot main body, and the gripping mechanism includes: the device comprises a first steering engine 14, a second steering engine 15, a third steering engine 16, a fourth steering engine 17, a fifth steering engine 18, a sixth steering engine 19, a first support arm 20, a second support arm 21, a third support arm 22, a mechanical claw 23, a support plate 24 and a main body fixing plate; a first transmission gear 28 is sleeved on an output shaft of the first steering engine 14, the first transmission gear 28 is meshed with a first driven gear 25, and the first driven gear 25 is connected with the supporting plate 24; the support plate 24 is connected with the first support arm 20 through a second driving transmission gear 26 and a second driven gear 27; the first support arm 20 is connected with the second support arm 21 through a third steering engine 16; the second support arm 21 is connected with the third support arm 22 through a fourth steering engine 17; the mechanical claw 23 is connected with the third support arm 22 through a fifth steering engine 18; the main body fixing plate is fixed on the first steering engine 14; the grabbing mechanism is connected with the main body frame through a main body fixing plate;
according to the grabbing mechanism, the mechanical arm main body is designed as a coordinate type mechanical arm, so that the grabbing mechanism has good obstacle avoidance performance, can cope with underwater complex environments, and can finish accurate and efficient fishing on the premise of ensuring the integrity and no damage of marine products; the mechanical arm of the grabbing mechanism mainly adopts aluminum alloy as a support, a waterproof steering engine D30 is used at a joint for controlling the angle, and holes are dug in the mechanical arm to reduce the weight and the water flow resistance; snatch mechanism gripper 23 and adopt the aluminum alloy claw body, through waterproof steering wheel D30 control angle that opens and shuts, increase the elasticity blend stop from top to bottom at the claw body to prevent to grab and get the thing and drop, the elasticity material can prevent to destroy and grab the thing simultaneously.
The drive mechanism includes: four sets of horizontal plane thrusters 11 and four sets of vertical plane thrusters 12; the four groups of horizontal plane propellers are annularly distributed around the lower cabin 2; four groups of vertical plane propellers 12 are symmetrically distributed on two sides of the upper cabin 1;
as shown in fig. 5 to 6, the horizontal plane thruster and the vertical plane thruster respectively include: a thruster motor 29, a propeller 30, a propeller protective cover 31, and a thruster base 33; a motor driving shaft 32 of the thruster motor 29 is connected with a propeller 30; the propeller protective cover 31, the propeller motor 29 and the propeller base 33 are connected; the thruster mount 33 is attached to the main body frame. The propeller motor 29 is a dc brushless motor.
In the embodiment, the driving mechanism comprises eight groups of propellers, and the underwater fishing robot can have six degrees of freedom of motion including swaying, surging, heaving, rolling, pitching and yawing through different thrust combinations of different propellers; the propeller motor 29 is prevented from being in direct contact with seawater by sealing the brushless motor in the shell, can work in turbid seawater for a long time, and is subjected to waterproof sealing treatment by connecting three framework oil seals in series between the motor driving shaft 32 and the propeller protective cover 31; the positions of the propeller 30 and the propeller protective cover 31 of the propeller can be optimized through an experimental method, the working efficiency of the propeller is improved on the premise that the strong force and the mechanism do not interfere with each other, and the single group of propellers can provide 120N of propelling force.
The underwater fishing robot of the embodiment of the invention further comprises: the detection mechanism is arranged on the periphery of the robot main body; the detection mechanism includes: the device comprises an attitude sensor, an illuminating mechanism, a photographic image collecting mechanism and a depth sensor, wherein the attitude sensor, the illuminating mechanism, the image collecting mechanism and the depth sensor are respectively and electrically connected with a controller; the image acquisition mechanism includes: the device comprises a front camera, a rear camera, a left camera and a right camera; the illumination mechanism includes: the front searchlight, the rear searchlight, the left searchlight and the right searchlight are respectively adjacent to the cameras on the same side; the attitude sensor is sealed by epoxy resin and fixed above the upper cabin 1; the depth sensor is fixed on a cabin plate at the rear end of the upper cabin 1.
In this embodiment, image acquisition mechanism provides real-time image information for the operative employee, and leading camera is single degree of freedom binocular camera, can do the luffing motion to obtain bigger field of vision scope, use the binocular camera can be for later expanding binocular vision location, marine products such as automatic identification sea cucumber, sea urchin, starfish realize automatic fishing and reserve the hardware support. The left side, the right side and the rear side of the robot are respectively provided with a fixed monocular camera for observing the environment, searching marine products and avoiding obstacles. The camera adopts an acrylic transparent box, and the joint of the camera is sealed by silicon rubber and then encapsulated by epoxy resin, so that the camera can be immersed in seawater and normally work; the lighting mechanism adopts 10W LED integrated lamp beads as an auxiliary light source of each camera and is positioned beside the camera. After the lamp beads are coated with the heat-conducting silicone grease, the radiating fins are attached and placed in a transparent acrylic box, and the transparent acrylic box is filled and sealed with transparent epoxy resin.
The controller includes: the robot control system comprises a control box, a control arm and a zero-buoyancy cable, wherein the control box is connected with the robot upper cabin 1 through the zero-buoyancy cable to play a role of remotely controlling the robot. The controller is electrically connected with an external control computer through a communication interface. The connecting part of the zero-buoyancy cable and the robot upper cabin 1 is reinforced by a stainless steel cable. The control box supplies power to the robot through the zero-buoyancy cable, and due to the fact that the cable is wrapped by seawater and has parasitic capacitance, the alternating current transmission mode has large loss, and therefore the direct current transmission mode is adopted, voltage is improved, current can be reduced, loss on the transmission cable is reduced, and the robot is supplied with power by the mode that 220V commercial power is rectified into 311V direct current; the control box adopts a 32A leakage protection switch as a main switch, and as the capacity of a filter capacitor is larger, the switch has very large impact current when being switched on, so that the starting current is reduced, the control box is started by serially connecting a 10 omega resistor, the resistor is automatically short-circuited after being started through a time relay, 220V mains supply is filtered by a KBPC5010 rectifier bridge and a capacitor to form a 311V direct-current power supply, and the power supply of the robot is controlled by an air switch; the control arm carries out analog control on the mechanical arm of the grabbing mechanism through an equal-proportion scaling model, a steering engine at each joint is changed into a potentiometer, a third single chip microcomputer collects output voltage of each potentiometer through an ADC (analog to digital converter) and converts the output voltage into joint angles, the joint angles are sent to a control box single chip microcomputer through a serial port, and a fourth single chip microcomputer of the control box gathers the output voltage and sends the output voltage to a control box microcomputer to be forwarded to the robot; the control box controls the motion of the robot through two self-resetting two-dimensional rockers to obtain a target value of a six-degree-of-freedom motion state of the robot, one rocker provides two degrees of freedom of forward and backward movement and left and right translation, the other rocker provides two degrees of freedom of ascending and descending and left and right rotation, the target values of the two degrees of freedom of left and right swinging and front and back pitching are constantly zero, feedback values of the three degrees of freedom of forward and backward movement, left and right translation and ascending and descending are provided by the rotating speed of a propeller collected by a second single chip microcomputer through a first electric regulation, the feedback values of the three degrees of freedom of left and right rotation, left and right swinging and front and back pitching are provided by a first attitude sensor, and the rotating speed target value of each of 8 propellers is calculated through vector synthesis and a PID algorithm of the motion. Controlling the pitching of the front-view camera through a rocker; the maximum power of the robot, the brightness of an extra-cabin lighting system and the rotation sensitivity are controlled through a knob; controlling whether a mechanical arm power supply is electrified, whether the pitching and rolling closed-loop control is started and whether the yawing closed-loop control is started through a switch; the information is collected by a fourth single chip microcomputer, two mechanical arm control unit serial ports are reserved, the mechanical arm control unit sends the information of each joint of the mechanical arm to the fourth single chip microcomputer through the serial ports, the fourth single chip microcomputer collects all the information and displays the information on a 3.2-inch TFT display screen, the information is convenient to observe and debug and is sent to a control box microcomputer, and the information is sent to the robot through a network by the microcomputer; the control box microcomputer is connected through a 22-inch display screen, the microcomputer runs a Windows 10 system, and images of all camera images of the robot are called through Python and displayed on the display screen.
The underwater fishing robot of the invention has the following working principle: an operator controls the underwater fishing robot with the high-freedom-degree mechanical arm through the controller, and the robot finishes the motion of the swaying, surging, heaving, swaying, pitching, yawing and grabbing mechanisms and the information acquisition and display of the detection mechanism according to instructions. The underwater fishing robot with the high-freedom-degree mechanical arm is communicated with the controller through a serial port, an operator sends a related control command to the underwater fishing robot through related operation on the control box, the upper cabin 1 of the underwater fishing robot receives the related command and resolves the related command into a control signal, and the related propeller and the steering engine move according to the command, so that the purpose of controlling the underwater fishing robot to move is achieved. The underwater fishing robot with the high-freedom-degree mechanical arm is provided with eight groups of propellers, four groups of propellers are respectively arranged on a horizontal plane and a vertical plane, and the robot can complete the motion with six degrees of freedom. The detection mechanism of the underwater fishing robot transmits an information acquisition instruction to the upper cabin by the controller when acquiring information, the upper cabin 1 starts to acquire information of each sensor after receiving the corresponding instruction and uploads the information to the controller, and the information is graphically displayed by a display screen of the controller, so that real-time, visual and accurate image, depth and motion direction information is provided for an operator, and marine product fishing is realized.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some or all technical features may be made without departing from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An underwater fishing robot having a high degree of freedom mechanical arm, comprising: the robot comprises a robot main body, a grabbing mechanism, a driving mechanism and a controller;
the robot main body includes: the device comprises an upper cabin (1), a lower cabin (2) and a main body frame, wherein the upper cabin (1) and the lower cabin (2) are connected through the main body frame;
snatch mechanism and install on robot main part front end right side, it includes to snatch mechanism: the device comprises a first steering engine (14), a second steering engine (15), a third steering engine (16), a fourth steering engine (17), a fifth steering engine (18), a sixth steering engine (19), a first support arm (20), a second support arm (21), a third support arm (22), a mechanical claw (23), a support plate (24) and a main body fixing plate; a first transmission gear (28) is sleeved on an output shaft of the first steering engine (14), the first transmission gear (28) is meshed with a first driven gear (25), and the first driven gear (25) is connected with the supporting plate (24); the supporting plate (24) is connected with the first support arm (20) through a second driving transmission gear (26) and a second driven gear (27); the first support arm (20) is connected with the second support arm (21) through a third steering engine (16); the second support arm (21) is connected with the third support arm (22) through a fourth steering engine (17); the mechanical claw (23) is connected with the third support arm (22) through a fifth steering engine (18); the main body fixing plate is fixed on a first steering engine (14); the grabbing mechanism is connected with the main body frame through a main body fixing plate;
the drive mechanism includes: four groups of horizontal plane propellers (11) and four groups of vertical plane propellers (12); the four groups of horizontal plane propellers are annularly distributed around the lower cabin (2); the four groups of vertical plane propellers are symmetrically distributed on two sides of the upper cabin (1) in pairs;
the horizontal plane propeller and the vertical plane propeller respectively comprise: a propeller motor (29), a propeller (30), a propeller protective cover (31) and a propeller base (33); a motor driving shaft (32) of the propeller motor (29) is connected with the propeller (30); the propeller protective cover (31), the propeller motor (29) and the propeller base (33) are connected; the propeller base (33) is connected to the main body frame;
the controller includes: the robot upper cabin control system comprises a control box, a control arm and a zero-buoyancy cable, wherein the control box is connected with the robot upper cabin (1) through the zero-buoyancy cable.
2. The underwater fishing robot having a high degree of freedom robot arm of claim 1, wherein the main body frame includes: the propeller fixing plate comprises a first side plate (4), a second side plate (6), a first middle plate (8), a second middle plate (10), a first propeller fixing plate (13), a second propeller fixing plate, a third propeller fixing plate, a fourth propeller fixing plate, a front connecting plate (7) and a rear connecting plate (5);
the two ends of the front connecting plate (7), the rear connecting plate (5), the first middle plate (8) and the second middle plate (10) are respectively connected with the first side plate (4) and the second side plate (6) through corner pieces; the first propeller fixing plate (13), the second propeller fixing plate, the third propeller fixing plate and the fourth propeller fixing plate are connected with the first side plate (4), the second side plate (6), the first middle plate (8) and the second middle plate (10) through corner pieces respectively.
3. The underwater fishing robot with high degree of freedom robot arm according to claim 2, characterized in that the connection between the upper and lower tanks (1, 2) is made by a first and second intermediate plate (8, 10) in the body frame;
two ends of the upper cabin (1) and the lower cabin (2) are respectively provided with a cabin plate (3) and a cabin body fixing plate (9), and the cabin plates (3) and the cabin body are tightly connected by filling rubber sealing rings and sealing grease;
go up cabin (1) and lower deck (2) and first intermediate lamella (8), second intermediate lamella (10) are connected through cabin body fixed plate (9), cabin body fixed plate (9) pass through screw fastening connection on last cabin (1) and lower deck (2) and fix on first intermediate lamella (8) and second intermediate lamella (10) are inboard.
4. The underwater fishing robot having a high degree of freedom robotic arm of claim 1, further comprising: the detection mechanism is arranged on the periphery of the robot main body;
the detection mechanism includes: the device comprises an attitude sensor, an illuminating mechanism, a photographic image collecting mechanism and a depth sensor, wherein the attitude sensor, the illuminating mechanism, the image collecting mechanism and the depth sensor are respectively and electrically connected with a controller;
the image acquisition mechanism includes: the device comprises a front camera, a rear camera, a left camera and a right camera;
the illumination mechanism includes: the front searchlight, the rear searchlight, the left searchlight and the right searchlight are respectively adjacent to the cameras on the same side;
the attitude sensor is sealed by epoxy resin and fixed above the upper cabin (1); the depth sensor is fixed on a cabin plate at the rear end of the upper cabin (1).
5. The underwater fishing robot with high degree of freedom robotic arm according to claim 1, characterized in that the propeller motor (29) is a dc brushless motor.
6. The underwater fishing robot with a high degree of freedom robotic arm of claim 1, wherein the controller is electrically connected to an external control computer through a communication interface.
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