CN114248281A - Underwater repair robot, repair method and ocean operation equipment - Google Patents
Underwater repair robot, repair method and ocean operation equipment Download PDFInfo
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- CN114248281A CN114248281A CN202210092961.4A CN202210092961A CN114248281A CN 114248281 A CN114248281 A CN 114248281A CN 202210092961 A CN202210092961 A CN 202210092961A CN 114248281 A CN114248281 A CN 114248281A
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- 238000000034 method Methods 0.000 title claims description 10
- 238000007689 inspection Methods 0.000 claims abstract description 24
- 238000005286 illumination Methods 0.000 claims abstract description 5
- 238000003825 pressing Methods 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 claims description 13
- 239000013589 supplement Substances 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 241000282376 Panthera tigris Species 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 238000009360 aquaculture Methods 0.000 description 2
- 244000144974 aquaculture Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000013505 freshwater Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000009364 mariculture Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
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- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an underwater repairing robot, which comprises a body frame, wherein a camera assembly, an illumination assembly, an underwater propelling assembly, a manipulator and a C-shaped nail gun are carried on the body frame; the manipulator comprises at least two movable clamping arms, and the front ends of the movable clamping arms are provided with bending parts; the underwater repairing robot moves along the set routing inspection path by providing power through the underwater propelling component and performs shooting inspection by means of the camera component; when the shooting picture shows that a net cage leak exists, relevant videos are intercepted, the relative positions of damaged positions are attached to the videos and are uploaded to an operator, the robot can automatically return to the specified damaged positions according to instructions of the operator after inspection is finished, under the manual operation of the operator, the damaged positions are repaired through the manipulator and the C-shaped nail gun, the operation is simple, the use is convenient and fast, the work efficiency is greatly improved on the basis of reducing the inspection and repair costs, and the labor intensity of workers is reduced.
Description
Technical Field
The invention relates to the technical field, in particular to an underwater repairing robot, a repairing method and ocean operation equipment.
Background
In recent years, the marine aquaculture of China is developed rapidly, the development of main economic varieties is particularly prominent, the development of coastal economy is driven, and the marine aquaculture device becomes a large industry in coastal areas. According to the international statistical standard, China has become the first major country of mariculture. The cultivation modes of Chinese marine fishes comprise net cages, ponds, indoor factory production and the like, the net cages are the main modes of marine fish cultivation at present, and the cultivation yield accounts for more than half. The net cages for cultivation, particularly deep sea net cages, are influenced by sea waves, ocean currents and other wild marine animals, are easily damaged to a certain extent, and further cause great economic loss. At present, an effective detection means for damage of the net cage is not available, and the net cage can only be launched by a diver for inspection, so that the time and the labor are wasted, the cost is high, the efficiency is low, once a leak is found, a reliable repair tool is not available, the net cage can only be repaired manually by the diver, the time and the labor are long, the physical strength of the diver is extremely consumed, and the efficiency is high. Especially for deep sea netboxes, divers have not been able to reach without the help of more specialized equipment.
Disclosure of Invention
The invention aims to solve the technical problem of providing an underwater repairing robot, an underwater repairing robot repairing method and ocean operation equipment aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the underwater repairing robot comprises a body frame, wherein a camera assembly for shooting a net body, an illumination assembly for providing light for the camera assembly, an underwater propelling assembly for providing underwater moving power, a manipulator and a C-shaped nail gun are mounted on the body frame; the manipulator includes that at least two carry out the activity arm lock that gathers together net body damage department edge, the front end of activity arm lock is provided with the flexion of the fixed net body damage department line body, C type nail rifle is used for adopting C type nail to connect the repair to the edge that the net body gathers together.
The underwater repairing robot comprises a C-shaped nail gun, wherein a channel is formed in the shell, and a feeding station for feeding C-shaped nails is arranged in the channel; the shell is provided with a feeding assembly for feeding the feeding station, a pushing assembly for pushing the C-shaped nail out of the channel on the feeding station, and a clamping assembly for clamping the C-shaped nail pushed out of the channel.
The underwater repairing robot comprises a clamping assembly and a clamping assembly, wherein the clamping assembly comprises two nail pressing rods which are rotatably connected with a shell, clamping grooves are formed in the same ends of the two nail pressing rods, the two clamping grooves form nail pressing rod tiger mouths which press and hold C-shaped nails, and the nail pressing rod tiger mouths are located at the outlet positions of a channel.
The underwater repairing robot comprises a shell, a clamping groove, a connecting rod and a connecting rod pin, wherein the middle part of the clamping groove is rotatably connected with the shell; the connecting rod pin is driven by the pushing assembly to move so as to press and hold the C-shaped nail by driving the two nail pressing rods to rotate through the connecting rod.
The underwater repairing robot comprises a C-shaped nail, a push rod motor and a push rod, wherein the push rod motor drives the C-shaped nail to move, and a push rod notch matched with the connecting rod pin is formed in the push rod.
The underwater repairing robot comprises a feeding assembly, a feeding assembly and a pressing assembly, wherein the feeding assembly comprises nail grooves for stacking C-shaped nails, and elastic pressing units for providing elastic pressing force for the C-shaped nails stacked in the nail grooves; the channel is provided with a nail feeding notch connected with the nail groove.
The underwater repairing robot comprises an underwater propulsion assembly, a control system and a control system, wherein the underwater propulsion assembly comprises four first propellers distributed on the outer side surface of a machine body frame, and the four first propellers are used for controlling the transverse movement of the machine body frame in a matching manner; the underwater propulsion assembly further comprises two second propellers distributed on the upper side surface or the lower side surface of the body frame, and the two second propellers are used for controlling the longitudinal movement of the body frame in a matching manner.
The underwater repairing robot comprises a camera and a holder driving the camera to move, wherein the lighting assembly comprises an auxiliary light supplement lamp and a main light supplement lamp, the auxiliary light supplement lamp is arranged on the holder and moves synchronously with the camera, and the main light supplement lamp is arranged on the frame of the machine body and distributed on the periphery of the camera.
A method for repairing an underwater repairing robot is applied to the underwater repairing robot, and the method comprises the following steps:
the underwater repairing robot moves along the set routing inspection path by providing power through the underwater propelling component and performs shooting inspection by means of the camera component;
when the shooting picture shows that a net cage leak exists, relevant videos are intercepted, the relative positions of damaged positions are attached to the videos and are uploaded to an operator, the robot can automatically return to the specified damaged positions according to instructions of the operator after inspection is finished, and under the manual operation of the operator, the damaged positions are repaired through the manipulator and the C-shaped nail gun.
The marine operation equipment is provided with the underwater repairing robot.
The invention has the beneficial effects that: the underwater repairing robot moves along the set routing inspection path by providing power through the underwater propelling component and performs shooting inspection by means of the camera component; when the shooting picture shows that a net cage leak exists, relevant videos are intercepted, the relative positions of damaged positions are attached to the videos and are uploaded to an operator, the robot can automatically return to the specified damaged positions according to instructions of the operator after inspection is finished, under the manual operation of the operator, the damaged positions are repaired through a manipulator and a C-shaped nail gun, the operation is simple, the use is convenient and fast, the intelligence is high, the work efficiency is greatly improved on the basis of reducing the inspection and repair cost, and the labor intensity of workers is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described with reference to the accompanying drawings and embodiments, wherein the drawings in the following description are only part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive efforts according to the accompanying drawings:
FIG. 1 is a schematic diagram of an underwater repair robot according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a C-shaped nail gun of the underwater repairing robot in accordance with the preferred embodiment of the present invention;
FIG. 3 is a top view of the underwater repair robot C-type nailer of the preferred embodiment of the present invention;
FIG. 4 is a cross-sectional view of a C-type nailer of the underwater repair robot in accordance with the preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of the driving of the underwater repair robot C-type nail gun according to the preferred embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of the present invention.
As shown in fig. 1 and referring to fig. 2-5, the underwater repairing robot of the preferred embodiment of the present invention includes a body frame 1, wherein the body frame 1 is provided with a camera assembly 2 for shooting a net body, an illumination assembly 3 for providing light to the camera assembly 2, an underwater propulsion assembly for providing underwater movement power, a manipulator 5 and a C-shaped nail gun 6; the manipulator 5 comprises at least two movable clamping arms 50 for gathering the edges of the damaged net body, the front end of each movable clamping arm 50 is provided with a bending part 51 for fixing the net body at the damaged net body, and the C-shaped nail gun 6 is used for connecting and repairing the gathered edges of the net body by C-shaped nails;
according to the shape of the net cage, a routing inspection route is preset, the underwater repairing robot provides power through the underwater propelling component to move along the set routing inspection route, and shooting inspection is carried out by means of the camera component 2; when the shooting picture shows that there is the box with a net leak, the relevant video of intercepting is uploaded to operating personnel on the damaged department relative position by the way, wait to patrol and examine the completion back robot and can return appointed damaged position automatically according to operating personnel instruction, under operating personnel manual operation, repair damaged position through manipulator 5 and C type nail rifle 6, easy operation, convenient to use is swift, and high intellectuality, on the basis of reducing and patrolling and examining, repairing cost, work efficiency has greatly been improved, alleviate workman intensity of labour.
The underwater robot can work at a depth of 300 meters under water and completely cover the depth range of the deep-sea net cage
Preferably, the C-shaped nail gun 6 comprises a shell 60, a channel 600 is formed on the shell 60, and a loading station 601 for loading the C-shaped nails 7 is arranged in the channel 600; the shell 60 is provided with a feeding assembly 61 for feeding materials to a feeding station, a pushing assembly 62 for pushing the C-shaped nails 7 on the feeding station out of the channel, and a clamping assembly 63 for clamping the C-shaped nails 7 on the pushing channel;
when the C-shaped nail repairing machine is used, C-shaped nails 7 are fed to a feeding station in the channel 600 through the feeding assembly 61, the C-shaped nails are pushed out of the channel through the pushing assembly, the C-shaped nails 7 are clamped and deformed by the clamping assembly to lock the thread ends at the edge of the damaged part pulled by the manipulator 5, and then repairing action can be completed;
the feeding assembly 61, the pushing assembly 62 and the clamping assembly 63 can be implemented by existing equipment except for the following specific modes, and the existing structural replacement based on the principle belongs to the protection scope of the present application.
Preferably, the clamping assembly 63 includes two nail pressing rods 630 rotatably connected to the housing 60, the same ends of the two nail pressing rods 630 are both provided with clamping grooves 631, the two clamping grooves 631 form nail pressing rod jaws for pressing and holding the C-shaped nail, and the nail pressing rod jaws are located at the outlet position of the channel 600; the clamping structure is reasonable and compact, and the clamping reliability is good.
Preferably, the middle part of the nail pressing rod 630 is rotatably connected with the casing 60, one end of the nail pressing rod 630, which is away from the clamping groove 631, is rotatably connected with a connecting rod 632, and the end parts of the two connecting rods 632 are rotatably connected through a connecting rod pin 633; the connecting rod pin 633 is driven by the pushing component 62 to move so as to drive the two nail pressing rods to rotate through the connecting rod to press and hold the C-shaped nails; through the mode of connecting rod transmission, will push away material and the centre gripping links, can save one set of actuating system, makes simultaneously to push away material and the centre gripping action more coherent, promotes the repair efficiency.
Preferably, the pushing assembly 62 includes a thimble 620 for pushing the C-shaped nail and a push rod motor 621 for driving the thimble 620 to move, the thimble 620 is provided with a thimble notch 6200 matched with the connecting rod pin 633;
when pushing away the material, the push rod motor drives the thimble sideslip and releases the passageway with C type nail on the material loading station and get into in the nail pole tiger mouth, then the push rod motor drives thimble reverse movement, can drive the connecting rod pin removal this moment for the connecting rod extrusion nail pressing pole, two nail pressing poles rotate and accomplish the centre gripping action to C type nail, and the structure is succinct reasonable and compact, presses and holds the good reliability.
Preferably, the feeding assembly 61 comprises a nail groove 610 for stacking the C-shaped nails and an elastic pressing unit 611 for providing an elastic pressing force to the stacked C-shaped nails in the nail groove; a nail feeding notch connected with the nail groove is formed in the channel 600; c-shaped nails are stacked and elastically pressed in a nail groove mode, and when one C-shaped nail is pushed out, the subsequent C-shaped nail can be automatically filled and loaded when the thimble leaves the loading station, so that the continuity of repairing action is guaranteed;
preferably, the elastic pressing unit 611 is a stainless steel coil spring, but other elastic structures can be adopted, and simple replacement based on the principle falls into the protection scope of the present application.
Preferably, the C-shaped nail is made of stainless steel, and the nail gun is made of corrosion-resistant material, so that the nail gun can be conveniently used in seawater for a long time.
Preferably, the underwater propulsion assembly comprises four first propellers 40 distributed on the outer side surface of the fuselage frame 1, and the four first propellers 40 are used for matching and controlling the transverse movement of the fuselage frame; the underwater propulsion assembly further comprises two second propellers 41 distributed on the upper side surface or the lower side surface of the fuselage frame 1, and the two second propellers 41 are used for cooperatively controlling the longitudinal movement of the fuselage frame; the robot carries six high-efficiency underwater propellers, and the propelling periods are matched with each other to realize various actions such as forward movement, backward movement, left movement, right movement, upward floating, sinking, pitching, left-right turning and the like;
preferably, camera subassembly 2 includes camera 20 and drives its cloud platform 21 that removes, and lighting assembly 3 includes supplementary light filling lamp 30 and main light filling lamp 31, and supplementary light filling lamp 30 sets up on cloud platform 21 and with camera 20 synchronous motion, and main light filling lamp 31 is provided with a plurality ofly and distributes in camera 20's week side on fuselage frame 1.
Preferably, camera 20 adopts high definition, low light level muddy water camera to take clear photo and video under darker environment, have stronger penetrability moreover, even the comparatively muddy situation that also can observe the box with a net clearly of quality of water.
The preferred, main light filling lamp 31 and supplementary light filling lamp 30 all adopt the hi-lite LED lamp, and main light filling lamp sets up in the anterior camera both sides of fuselage, and supplementary light filling lamp sets up on the camera cloud platform, moves along with the camera action.
Furthermore, the main light supplement lamp 31 and the auxiliary light supplement lamp 30 both have a dimming function, and can be automatically or manually switched on or switched off according to the illumination conditions to adjust the brightness, so that the camera can shoot high-definition images.
Preferably, the robot main body is internally provided with an electric equipment sealed cabin 8, and a power supply circuit, a control circuit, a communication circuit and the like of the robot are arranged in the electric equipment sealed cabin; the robot can also carry various sensors such as a distance sensor, a water depth sensor, a photosensitive sensor, a gyroscope and the like, and can realize automatic inspection and automatic return to a plurality of positioning points according to a preset route by combining an intelligent operating system of the robot and a propeller.
A method for repairing an underwater repairing robot is applied to the underwater repairing robot, and the method comprises the following steps:
the underwater repairing robot moves along the set routing inspection path by providing power through the underwater propelling component and performs shooting inspection by means of the camera component;
when the shot picture shows that the net cage leak exists, relevant videos are intercepted and the relative positions of the damaged positions are attached to the videos and are uploaded to operators, the robots can automatically return to the specified damaged positions according to instructions of the operators after the inspection is finished, and the damaged positions are repaired through the mechanical arm and the C-shaped nail gun under the manual operation of the operators; the intelligent inspection device is simple to operate, convenient and fast to use and highly intelligent, greatly improves the working efficiency and reduces the labor intensity of workers on the basis of reducing the inspection and repair costs.
The marine operation equipment is provided with the underwater repairing robot; the marine operation equipment comprises ships, offshore structures and the like, and also comprises marine helicopters, diving equipment and the like;
it can be understood that the underwater repairing robot applying the method for repairing the underwater repairing robot in the fresh water or the salt and fresh water also belongs to the protection scope of the application.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. An underwater repairing robot is characterized by comprising a machine body frame, wherein a camera assembly for shooting a net body, an illumination assembly for providing light for the camera assembly, an underwater propelling assembly for providing underwater moving power, a manipulator and a C-shaped nail gun are mounted on the machine body frame; the manipulator includes that at least two carry out the activity arm lock that gathers together net body damage department edge, the front end of activity arm lock is provided with the flexion of the fixed net body damage department line body, C type nail rifle is used for adopting C type nail to connect the repair to the edge that the net body gathers together.
2. The underwater repair robot of claim 1, wherein the C-shaped nail gun comprises a housing, a channel is formed in the housing, and a loading station for loading C-shaped nails is arranged in the channel; the shell is provided with a feeding assembly for feeding the feeding station, a pushing assembly for pushing the C-shaped nail out of the channel on the feeding station, and a clamping assembly for clamping the C-shaped nail pushed out of the channel.
3. The underwater repairing robot of claim 2, wherein the clamping assembly comprises two nail pressing rods rotatably connected with the housing, clamping grooves are formed in the same ends of the two nail pressing rods, the two clamping grooves form a nail pressing rod jaw for pressing and holding the C-shaped nail, and the nail pressing rod jaw is located at an outlet of the channel.
4. The underwater repair robot of claim 3, wherein the middle part of the nail pressing rod is rotatably connected with the housing, one end of the nail pressing rod, which is away from the clamping groove, is rotatably connected with a connecting rod, and the end parts of the two connecting rods are rotatably connected through a connecting rod pin; the connecting rod pin is driven by the pushing assembly to move so as to press and hold the C-shaped nail by driving the two nail pressing rods to rotate through the connecting rod.
5. The underwater repair robot of claim 4, wherein the pushing assembly comprises a push pin for pushing the C-shaped nail and a push rod motor for driving the C-shaped nail to move, and a push pin notch matched with the connecting rod pin is formed in the push pin.
6. The underwater repairing robot of claim 2, wherein the feeding assembly includes a nail groove for stacking C-type nails and an elastic holding unit for providing an elastic holding force to the C-type nails stacked in the nail groove; the channel is provided with a nail feeding notch connected with the nail groove.
7. The underwater repair robot of any one of claims 1 to 6, wherein the underwater propulsion assembly includes four first thrusters distributed on an outer side surface of the body frame, the four first thrusters being adapted to cooperatively control lateral movement of the body frame; the underwater propulsion assembly further comprises two second propellers distributed on the upper side surface or the lower side surface of the body frame, and the two second propellers are used for controlling the longitudinal movement of the body frame in a matching manner.
8. The underwater repairing robot of any one of claims 1 to 6, wherein the camera assembly includes a camera and a cradle head for driving the camera to move, the lighting assembly includes an auxiliary light supplement lamp and a main light supplement lamp, the auxiliary light supplement lamp is disposed on the cradle head and moves synchronously with the camera, and the main light supplement lamp is disposed on the body frame in a plurality of numbers and distributed on the periphery of the camera.
9. An underwater repairing robot repairing method applied to the underwater repairing robot as claimed in any one of claims 1 to 8, characterized by comprising the following steps:
the underwater repairing robot moves along the set routing inspection path by providing power through the underwater propelling component and performs shooting inspection by means of the camera component;
when the shooting picture shows that a net cage leak exists, relevant videos are intercepted, the relative positions of damaged positions are attached to the videos and are uploaded to an operator, the robot can automatically return to the specified damaged positions according to instructions of the operator after inspection is finished, and under the manual operation of the operator, the damaged positions are repaired through the manipulator and the C-shaped nail gun.
10. A marine working rig, characterized in that the marine working rig is provided with an underwater recovery robot as claimed in any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210092961.4A CN114248281A (en) | 2022-01-26 | 2022-01-26 | Underwater repair robot, repair method and ocean operation equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210092961.4A CN114248281A (en) | 2022-01-26 | 2022-01-26 | Underwater repair robot, repair method and ocean operation equipment |
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| CN114248281A true CN114248281A (en) | 2022-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210092961.4A Pending CN114248281A (en) | 2022-01-26 | 2022-01-26 | Underwater repair robot, repair method and ocean operation equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114852289A (en) * | 2022-04-06 | 2022-08-05 | 五邑大学 | Method, device and system for inspecting net cage of deep sea fishing ground and storage medium |
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| KR20140013209A (en) * | 2012-07-20 | 2014-02-05 | 삼성중공업 주식회사 | Subsea equipment, underwater operation system and underwater operation method |
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| CN114852289B (en) * | 2022-04-06 | 2024-03-26 | 五邑大学 | Deep sea fishing ground net cage inspection method, device and system and storage medium |
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