CN115123500A

CN115123500A - Underwater robot and method for recovering underwater equipment

Info

Publication number: CN115123500A
Application number: CN202110322100.6A
Authority: CN
Inventors: 魏建仓; 吴炳昭; 郭岳山; 于伟彪; 乔建磊; 杨险峰
Original assignee: Deepinfar Ocean Technology Inc
Current assignee: Deepinfar Ocean Technology Inc
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2022-09-30

Abstract

The application relates to an underwater robot and a method for recovering underwater equipment. The underwater robot includes: a robot body; the overturning holding arm is arranged on the robot body and used for clamping underwater equipment; and the mechanical arm is arranged on the robot body and used for driving the first hoisting piece to be connected with the second hoisting piece on the underwater equipment. When the underwater equipment is recovered by the underwater robot, the underwater equipment is held tightly by the overturning holding arm, so that the underwater equipment and the underwater equipment are kept relatively static, the first hoisting piece is connected with the second hoisting piece on the underwater equipment through the mechanical arm, safety and reliability are realized, and the operation efficiency is high.

Description

Underwater robot and method for recovering underwater equipment

Technical Field

The application relates to the field of underwater mechanical equipment, in particular to an underwater robot and a method for recovering underwater equipment.

Background

At present, when the unmanned underwater vehicle recovers the water surface, a mother ship is mostly adopted to release a small boat, personnel on the small boat carry a lifting hook (with two structures of a bolt and a hook) to be close to the unmanned underwater vehicle, and the lifting hook and a lifting point on the unmanned underwater vehicle are manually connected, but the recovery mode of the unmanned underwater vehicle is greatly influenced by sea storms, the safety is poor, and the operation efficiency is low.

Disclosure of Invention

Based on the above, the application provides the underwater robot and the method for recycling the underwater equipment, the underwater equipment lifting points are connected through the underwater robot, and the underwater robot is safe, reliable and high in operation efficiency.

One embodiment of the present application provides an underwater robot comprising: a robot body; the overturning embracing arm is arranged on the robot body and used for clamping underwater equipment; and the mechanical arm is arranged on the robot body and used for driving the first hoisting piece to be connected with the second hoisting piece on the underwater equipment.

According to some embodiments of the application, the flip arm comprises: the upper holding arm is rotatably arranged on the robot body through a first rotating shaft; the lower embracing arm is rotatably arranged on the robot body through a second rotating shaft and is positioned below the upper embracing arm; the first driver drives the upper holding arm to rotate; and the second driver drives the lower holding arm to rotate.

According to some embodiments of the present application, the upper arm includes a first support portion and a first arc portion, one end of the first support portion is connected to the first arc portion, and the other end of the first support portion is connected to the first rotating shaft; the lower arm comprises a second supporting portion and a second arc-shaped portion, one end of the second supporting portion is connected with the second arc-shaped portion, and the other end of the second supporting portion is connected with the second rotating shaft.

According to some embodiments of the present application, a first latch is disposed on a side wall of the first supporting portion connected to one end of the first arc-shaped portion; a second latch is arranged on the side wall of one end of the first arc-shaped part, which is connected with the first supporting part, and the second latch is meshed with the first latch; a third latch is arranged on the side wall of one end of the second support part, which is connected with the second arc-shaped part; and a fourth latch is arranged on the side wall of one end, connected with the second supporting part, of the second arc-shaped part, and the fourth latch is meshed with the third latch.

According to some embodiments of the present application, the number of the upper arm is two, and the two upper arms are respectively located at two sides of the robot body; the number of the lower holding arms is two, and the two lower holding arms are respectively positioned on two sides of the robot body.

According to some embodiments of the application, the robotic arm comprises: the first end of the arm body is connected with the robot body; the manipulator comprises a support frame, a first clamping part, a second clamping part and a third driver, the support frame is arranged at the second end of the arm body, the first clamping part and the second clamping part are respectively hinged with the support frame, and the third driver is used for driving the first clamping part and the second clamping part to clamp a first lifting piece; the camera is arranged on the arm body.

According to some embodiments of the present application, clamping grooves corresponding to the first lifting elements are respectively provided on the first clamping portion and the second clamping portion.

According to some embodiments of the present application, the robotic arm further comprises a rotational drive assembly for rotating the support frame.

An embodiment of the present application provides a method of recovering an underwater device using an underwater robot as described above, the method including: arranging a first lifting piece on the mechanical arm; putting the underwater robot into water, and controlling the underwater robot to be close to the underwater equipment; overturning an overturning holding arm of the underwater robot, wherein the overturning holding arm clamps the underwater equipment; the mechanical arm drives the first hoisting piece to be connected with a second hoisting piece on the underwater equipment; and the overturning holding arm loosens the underwater equipment and lifts the underwater equipment.

According to some embodiments of the application, the arm is embraced in the upset of upset underwater robot, the upset is embraced the arm and is pressed from both sides tight the aquatic equipment and is included: when the underwater robot reaches a preset distance from the underwater equipment, the upper arm and the lower arm are forwards turned into a splayed shape; controlling the underwater robot to approach the underwater equipment, and continuously overturning the upper holding arm and the lower holding arm until the distance between the upper holding arm and the underwater equipment and the distance between the lower holding arm and the underwater equipment are preset values; and observing the position of a second hoisting piece of the underwater equipment, and after confirming that the second hoisting piece is positioned in the working range of the mechanical arm, clamping the underwater equipment by the overturning holding arm.

The underwater robot carries out the recovery of aquatic equipment, embraces the arm through the upset and presss from both sides tightly aquatic equipment for underwater robot and aquatic equipment are in relative static state, and the second that hangs the piece and connect aquatic equipment through the arm drives first together lifts by crane the piece, realizes that aquatic equipment lifts by crane the unmanned contact of piece and connects, thereby avoids the unexpected risk that personnel's offal operation brought, safe and reliable, the operating efficiency height.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.

FIG. 1 is a schematic view of an underwater robot according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an underwater equipment holding by a underwater robot according to an embodiment of the application;

FIG. 3 is a schematic view of a first lifting member coupled to a second lifting member in accordance with an embodiment of the present application;

FIG. 4 is a schematic view of an upper and lower boom of an embodiment of the present application;

FIG. 5 is a schematic diagram of a process of turning back an upper boom and a lower boom according to an embodiment of the present application;

FIG. 6 is an exploded view of an upper boom of an embodiment of the present application;

FIG. 7 is a schematic view of a lower boom of an embodiment of the present application;

FIG. 8 is a schematic view of a robotic arm according to an embodiment of the present application;

FIG. 9 is a schematic view of a robot according to an embodiment of the present application;

FIG. 10 is a cross-sectional view of a robot in accordance with an embodiment of the present application;

FIG. 11 is a schematic view of a first clamping portion connecting to a support portion according to an embodiment of the present disclosure;

FIG. 12 is a schematic view of a driving structure of a robot according to an embodiment of the present invention;

FIG. 13 is a schematic view of a thrust block of an embodiment of the present application;

FIG. 14 is a schematic view of a drive block of an embodiment of the present application;

FIG. 15 is a schematic view of a support stand according to an embodiment of the present application;

FIG. 16 is a schematic view of a guide sleeve according to an embodiment of the present application;

FIG. 17 is a schematic view of a first lifting element according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments obtained by a person skilled in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

As shown in fig. 1, 2 and 3, the present embodiment provides an underwater robot 100. The underwater robot 100 comprises a robot body 1, a turnover holding arm 2 and a mechanical arm 3, wherein the turnover holding arm 2 and the mechanical arm 3 are both arranged on the robot body 1.

The robot body 1 of the present embodiment selects an existing robot body so that the underwater robot 100 can move in water and perform work. The operator can control the underwater robot 100 in the water by remote control on the mother ship. Optionally, a front-end camera 11 is provided at the front end of the robot body 1 to facilitate observation of the conditions in the water by an operator.

Arm 2 is embraced in the upset sets up on robot body 1, and arm 2 is embraced in the upset connects the control unit (like the treater) on the robot body 1 for operating personnel accessible remote control is embraced arm 2 and is controlled in the upset. The overturning arm 2 overturns forwards and can be used for clamping the underwater equipment 200 in water. Even under the condition of large air quantity, the underwater equipment 200 is clamped by turning the arm 2, so that the underwater robot 100 and the underwater equipment 200 are ensured to be relatively static. The subsea equipment 200 of this embodiment is an unmanned underwater vehicle.

The mechanical arm 3 is arranged at the front end of the robot body 1, and the mechanical arm 3 is connected with a control unit (such as a processor) on the robot body 1, so that an operator can control the mechanical arm 3 through remote control. The robot arm 3 holds a first lifting tool 101, and the first lifting tool 101 of this embodiment is a hook. The aquatic equipment 200 is provided with a second lifting member 201, and the second lifting member 201 of this embodiment is a lifting ring. The mechanical arm 3 drives the first hoisting piece 101 to move, and connects the first hoisting piece 101 to the second hoisting piece 201 on the underwater equipment, so that the hoisting connection of the underwater equipment 200 is realized.

This application embraces the upset of arm 2 through the upset and can realize pressing from both sides tightly and unclamping aquatic equipment 200, and when the arm 2 was embraced in the upset pressed from both sides tight aquatic equipment 200, underwater robot 100 was static relatively with aquatic equipment 200, avoided the influence of stormy waves to lifting by crane a connection. The mechanical arm 3 drives the first hoisting part 101 to move, and the first hoisting part 101 is connected with the second hoisting part 201. The operator finishes the connection of the hoisting pieces by controlling the underwater robot 100, so that the influence of wind waves on the safety of the operator is avoided, and the operation efficiency is high.

As shown in fig. 4 and 5, according to an alternative embodiment of the present application, the flip arm 2 includes: an upper swing arm 21, a first actuator 23, a lower swing arm 25 and a second actuator 27. The first driver 23 and the second driver 27 of the present embodiment are both motors.

The upper arm 21 is rotatably disposed on the robot body 1 via a first rotating shaft 22. The first rotating shaft 22 is connected with a first driver 23 through a transmission structure, and the transmission structure between the first rotating shaft 22 and the first driver 23 is an existing transmission structure. The first driver 23 drives the upper arm 21 to turn over through the first rotating shaft 22, the first driver 23 drives the upper arm 21 to turn over forward when rotating forward, and the first driver 23 drives the upper arm 21 to turn over backward when rotating backward. In this embodiment, the first stopper 24 is disposed on the robot body 1, and when the upper arm 21 is turned backwards to the right position, the upper arm 21 is tightly attached to the first stopper 24.

The lower arm 25 is rotatably disposed on the robot body 1 via a second rotating shaft 26, and the lower arm 25 is located below the upper arm 21. The second rotating shaft 26 is connected to the second driver 27 through a transmission structure, and the transmission structure between the second rotating shaft 26 and the second driver 27 is an existing transmission structure. The second actuator 27 drives the lower arm 25 to turn over through the second rotating shaft 26, the second actuator 27 drives the lower arm 25 to turn over forward when rotating forward, and the second actuator 27 drives the lower arm 25 to turn over backward when rotating backward. In the embodiment, the robot body 1 is provided with the second stopper 28, and when the lower holding arm 25 is turned backwards to the right position, the lower holding arm 25 is tightly attached to the second stopper 28.

When the upper arm 21 and the lower arm 25 are turned forward, the upper arm 21 and the lower arm 25 cooperate to clamp the underwater device 200. When the upper and

lower arms

21 and 25 are turned backwards, the underwater apparatus 200 is released.

As shown in fig. 6, according to an alternative embodiment of the present application, the upper arm 21 includes a first support portion 211 and a first arc portion 212. The first supporting portion 211 of the present embodiment is in a shape of a straight line, and the first arc-shaped portion 212 is in an arc shape. The diameter of the inner wall of the first arcuate portion 212 matches the outer diameter of the aquatic equipment 200. One end of the first support portion 211 is provided with a connection hole 2114, one end of the first arc portion 212 is provided with a connection hole 2124, and the first support portion 211 and the first arc portion 212 are fixedly connected by a bolt passing through the connection hole 2114 and the connection hole 2124. The other end of the first support portion 211 is provided with a connection hole 2111, and the first support portion 211 is connected to the first rotation shaft 22 through the connection hole 2111.

As shown in fig. 7, the lower clip arm 25 includes a second support portion 251 and a second arc portion 252. The second supporting portion 251 of the present embodiment has an "L" shape, and the second arc-shaped portion 252 has an arc shape. The diameter of the inner wall of the second arcuate portion 252 matches the outer diameter of the aquatic equipment 200. One end of the second support portion 251 is provided with a connection hole 2512, one end of the second arc portion 252 is provided with a connection hole 2522, and the connection of the second support portion 251 and the second arc portion 252 is achieved by a bolt passing through the connection hole 2512 and the connection hole 2522. The other end of the second supporting portion 251 is provided with a connection hole 2511, and the second supporting portion 251 is connected with the second rotating shaft 26 through the connection hole 2511. The first arc-shaped part 212 is tightly attached to the underwater device 200 from the upper part, the second arc-shaped part 252 is tightly attached to the underwater device 200 from the lower part, and the first arc-shaped part 212 and the second arc-shaped part 252 are matched to clamp the underwater device 200. Optionally, anti-slip rubber strips are disposed on the

inner walls

2121 and 2521 of the first and second arc-shaped

portions

212 and 252 to improve the anti-slip effect and prevent the first and second arc-shaped

portions

212 and 252 from scratching the underwater device 200.

According to an alternative embodiment of the present application, an end of the first supporting portion 211 connected to the first arc portion 212 includes a first convex surface 2112 and a first concave surface 2113, and a first latch 2115 is disposed on a side wall between the first convex surface 2112 and the first concave surface 2113. The plurality of first latches 2115 of the present embodiment are circumferentially evenly distributed around the axis of the connection hole 2114. The end of the first arc-shaped part 212 connected to the first supporting part 211 includes a second convex surface 2122 and a second concave surface 2123, and a second latch 2125 is disposed on a sidewall between the second convex surface 2122 and the second concave surface 2123. The second latches 2125 of the present embodiment are circumferentially and uniformly distributed around the axis of the connecting hole 2124. First convex surface 2112 and second concave surface 2123 cooperate, and first concave surface 2113 and second convex surface 2122 cooperate. The first latch 2115 and the second latch 2125 engage with each other to facilitate fine adjustment of the angle of the first arc-shaped portion 212 with respect to the first supporting portion 211, so that the first arc-shaped portion 212 can better fit the underwater device.

A third catch 2513 is arranged on the side wall of one end of the second supporting part 251 connected with the second arc-shaped part 252, and a plurality of third catches 2513 are uniformly distributed around the axis of the connecting hole 2512 in the circumferential direction. The side wall of the second arc-shaped portion 252, which is connected to one end of the second supporting portion 251, is provided with fourth latches 2523, and the fourth latches 2523 are circumferentially and uniformly distributed around the axis of the connecting hole 2522. The fourth latch 2523 engages with the third latch 2513 to adjust the angle of the second arc-shaped portion 252 with respect to the second support 251.

According to an optional technical scheme of this application, the number of last armful arm 21 is two, and two last armful arms 21 set up respectively in the both ends of first pivot 22 to two last armful arms 21 are located the both sides of robot body 1 respectively. The number of the lower holding arms 25 is two, and the two lower holding arms 25 are respectively disposed at two ends of the second rotating shaft 26, so that the two lower holding arms 22 are respectively disposed at two sides of the robot body 1. The upper arm 21 and the lower arm 25 on the two sides of the robot body 1 are respectively matched to clamp two positions of the underwater equipment 200, so that the underwater robot 100 and the underwater equipment 200 are relatively static.

As shown in fig. 8, according to an alternative embodiment of the present application, the robot arm 3 includes: an arm body 31, a manipulator 32, and a camera 33. The manipulator 32 and the camera 33 are both provided on the arm body 31.

The arm 31 of the present application is provided at the front end of the robot body 1. The arm 31 includes an arm front section 311, an arm middle section 312, an arm rear section 313 and a fixing base 314. Arm anterior segment 311 is articulated with arm middle section 312, and arm middle section 312 is articulated with arm back end 313, and arm back end 313 is articulated with fixing base 314, and the robot body 1 is connected as the first end of arm 31 to the one end of fixing base 314. The arm 31 of the present embodiment has an existing structure, and can perform a multi-degree-of-freedom motion.

As shown in fig. 9, 10, 11, and 12, the robot 32 of the present application includes a support 321, a first clamping portion 322, a second clamping portion 323, and a third driver 324. The supporting frame 321 is disposed at the second end of the arm 31, that is, the supporting frame 321 is disposed on the arm front section 311. The first clamping portion 322 and the second clamping portion 323 are respectively hinged with the supporting frame 321. The third driver 324 is used for driving the first clamping portion 322 and the second clamping portion 323 to clamp the first lifting element 101. The first clamping portion 322 and the second clamping portion 323 can clamp the first lifting member 101 in a closed state, and the first clamping portion 322 and the second clamping portion 323 can release the first lifting member 101 in a separated state.

As shown in fig. 13, in an alternative embodiment, the thrust block 325 includes a counterbore 3251 and a first shaft hole 3252 and a second shaft hole 3253 disposed on opposite sides of the counterbore 3251, and an axis of the counterbore 3251 is perpendicular to an axis of the first shaft hole 3252 and an axis of the second shaft hole 3253.

As shown in fig. 14, the transmission block 326 includes a third shaft hole 3261 and a fourth shaft hole 3262, and an axis of the third shaft hole 3261 and an axis of the fourth shaft hole 3262 are parallel.

As shown in fig. 11, the first clamping portion 322 is hinged to the supporting frame 321 through a first shaft 3223. The second shaft 3222 passes through the fourth shaft hole 3262 of the driving block 326 and the shaft hole of the first clamping portion 322, so as to realize the hinge joint between the driving block 326 and the first clamping portion 322. The third shaft 3263 passes through the first shaft hole 3252 of the thrust block 325 and the third shaft hole 3261 of the transmission block 326, so that the thrust block 325 and the transmission block 326 are hinged. When the thrust block 325 moves to the front end or the rear end, the first clamping portion 322 is driven to swing around the first axis 3223.

The second clamping portion 323, the supporting frame 321 and the other transmission block 326 are hinged in the same manner as the first clamping portion 322. Another drive block 326 is hingedly connected to thrust block 325 via second shaft bore 3253. When the thrust block 325 moves toward the rear end, the first clamping portion 322 and the second clamping portion 323 approach each other and are closed to clamp the first lifting element 101. When the thrust block 325 moves forward, the first clamping portion 322 and the second clamping portion 323 move away from each other, and when separated, the first lifting member 101 is released.

As shown in fig. 15 and 16, the support frame 321 includes a through hole 3211. The third actuator 324 is disposed in the cavity of the arm front section 311. The third driver 324 of the present embodiment is a motor. The output shaft of the third driver 324 is connected to a lead screw 3241. One end of the nut 3242 is in threaded connection with the screw rod 3241, and the other end of the nut 3242 penetrates into the transition sleeve 3243, and the nut 3242 and the transition sleeve 3243 are fixed through screws. A guide sleeve 3246 is fixedly arranged in a cavity of the arm body front section 311, a guide groove 32461 is arranged on the side wall of the guide sleeve 3246, a transition sleeve 3243 is arranged in the guide sleeve 3246, and a nut of a connecting screw of the nut 3242 and the transition sleeve 3243 is positioned in the guide groove 32461, so that the transition sleeve 3243 can slide but cannot rotate. One end of the pull rod 3244 is rotatably disposed in the transition sleeve 3243, and the end of the pull rod 3244 is disposed with a flange, the flange limits the end of the pull rod 3244 in the transition sleeve 3243, and the other end of the pull rod 3244 passes through the through hole 3211 of the supporting frame 321. The thrust block 325 is connected to the drawbar 3244 by a screw.

When the third driver 324 rotates forward, the nut 3242 pushes the transition sleeve 3243 and the pull rod 3244 forward by the screw 3241 and the nut 3242. When the third driver 324 rotates backward, the nut 3242 drives the over-draw bar 3244 to move backward through the transition sleeve 3243. The pull rod 3244 drives the thrust block 325 to move back and forth, so that the first clamping part 322 and the second clamping part 323 can be separated and closed.

Optionally, a self-lubricating bearing 3245 without a ball is disposed in the through hole 3211 of the support frame 321, and the pull rod 3244 passes through the self-lubricating bearing 3245, so that the pull rod 3244 slides relative to the support frame 321.

The camera 33 is provided on the arm front section 311 of the arm 31. The operator can observe the position of the first lifting tool 101 held by the robot arm 32 through the camera 33.

As shown in fig. 11 and 17, according to an alternative embodiment of the present application, the end of the first lifting member 101 is cross-shaped. The first and

second clamping portions

322 and 323 are provided with cross-shaped clamping grooves 3221 corresponding to the first lifting tool 101, respectively. When the first clamping part 322 and the second clamping part 323 are closed, a cavity formed by the clamping grooves 3221 on the first clamping part 322 and the second clamping part 323 is just matched with the cross-shaped tail end of the first lifting piece 101, so that the first lifting piece 101 can be firmly gripped after the manipulator 32 is closed, stable and reliable action is ensured when the first lifting piece 101 is connected with the second lifting piece 201, and the first lifting piece 101 is prevented from being inclined and slipping under the clamping of the manipulator 32.

According to an alternative embodiment of the present application, the robot arm 3 further comprises a rotation drive assembly 34. The rotation driving assembly 34 is used for driving the supporting frame 321 to rotate.

Optionally, the rotary drive assembly 34 includes a fourth drive 341, a first gear 342, and a second gear 343. The fourth driver 341 is a motor and is disposed in the cavity of the arm front section 311. The first gear 342 is connected to an output shaft of the fourth driver 341, and the second gear 343 is engaged with the first gear 342.

The robot 32 also includes a gear housing 327 and a support bracket bearing 328. The gear housing 32 is connected to the end face of the arm body front section 311 by bolts. The support bracket bearing 328 is disposed within the cavity of the gear housing 327, and one end of the support bracket 321 extends through the support bracket bearing 328 into the cavity of the gear housing 327. A key groove 3212 is formed in the outer wall of the supporting frame 321, a key is arranged in the key groove 3212, and the second gear 343 is connected with the supporting frame 321 through the key. The fourth driver 341 drives the supporting frame 321 to rotate through the first gear 342 and the second gear 343, so as to drive the first clamping portion 322 and the second clamping portion 323 to rotate, so as to adjust the angle of the first hoisting member 101, and facilitate the first hoisting member 101 to connect to the second hoisting member 201. When the support frame 321 rotates, the thrust block 325 and the pull rod 3244 rotate.

The embodiment provides a method for recovering underwater equipment, which utilizes the underwater robot to recover the underwater equipment, and comprises the following steps:

s1, arranging the first lifting piece on the mechanical arm;

s2, putting the underwater robot into water, and controlling the underwater robot to approach to underwater equipment;

s3, overturning the overturning holding arm of the underwater robot forwards, and clamping underwater equipment by the overturning holding arm;

s4, the mechanical arm drives the first hoisting piece to be connected with a second hoisting piece on the underwater equipment;

s5, the overturning arm loosens the underwater equipment, and the underwater equipment is lifted through the lifting equipment on the mother ship.

According to an optional technical scheme of this application, the arm is embraced in the upset of upset underwater robot, and the upset is embraced the arm and is pressed from both sides tight aquatic equipment and include:

when the underwater robot reaches a preset distance from the underwater equipment, the upper arm and the lower arm are forwards turned into a splayed shape, and the preset distance can be set according to actual requirements;

controlling the underwater robot to approach the underwater equipment, and continuing to turn over the upper arm and the lower arm, wherein the distance between the upper arm and the underwater equipment and the distance between the lower arm and the underwater equipment are preset values, and the preset value set in the embodiment is 10-20 cm, so that the turning arm can roughly surround the underwater equipment;

and observing the position of a second lifting piece of the underwater equipment, and turning over the arm to clamp the underwater equipment after confirming that the second lifting piece is positioned in the working range of the mechanical arm.

The underwater robot of this application, when carrying out the recovery of aquatic equipment, hold the arm through the upset and press from both sides tight aquatic equipment, drive the first second that hangs a connection aquatic equipment through the arm and lift by crane, realize that aquatic equipment lifts by crane the unmanned contact connection of piece, even also can be reliable under the great condition of stormy waves realize hoisting by crane of aquatic equipment and connect.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the description of the embodiments is only intended to facilitate the understanding of the methods and their core concepts of the present application. Meanwhile, a person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of the present application. In view of the above, the description should not be taken as limiting the application.

Claims

1. An underwater robot, comprising:

a robot body;

the overturning embracing arm is arranged on the robot body and used for clamping underwater equipment;

and the mechanical arm is arranged on the robot body and used for driving the first hoisting piece to be connected with the second hoisting piece on the underwater equipment.

2. The underwater robot of claim 1, wherein the flip arm comprises:

the upper holding arm is rotatably arranged on the robot body through a first rotating shaft;

the lower embracing arm is rotatably arranged on the robot body through a second rotating shaft and is positioned below the upper embracing arm;

the first driver drives the upper holding arm to rotate;

and the second driver drives the lower holding arm to rotate.

3. The underwater robot as claimed in claim 2, wherein the upper boom includes a first support portion and a first arc portion, one end of the first support portion is connected to the first arc portion, and the other end of the first support portion is connected to the first rotating shaft;

the lower arm comprises a second supporting portion and a second arc-shaped portion, one end of the second supporting portion is connected with the second arc-shaped portion, and the other end of the second supporting portion is connected with the second rotating shaft.

4. The underwater robot as claimed in claim 3, wherein a first latch is provided on a side wall of the first support portion connected to one end of the first arc portion;

a second latch is arranged on the side wall of one end of the first arc-shaped part, which is connected with the first supporting part, and the second latch is meshed with the first latch;

a third latch is arranged on the side wall of one end of the second support part, which is connected with the second arc-shaped part;

and a fourth latch is arranged on the side wall of one end, connected with the second supporting part, of the second arc-shaped part, and the fourth latch is meshed with the third latch.

5. The underwater robot of claim 2, wherein the number of the upper embracing arms is two, and the two upper embracing arms are respectively positioned at two sides of the robot body;

the number of the lower holding arms is two, and the two lower holding arms are respectively positioned on two sides of the robot body.

6. The underwater robot of claim 1, wherein the robotic arm comprises:

the first end of the arm body is connected with the robot body;

the manipulator comprises a support frame, a first clamping part, a second clamping part and a third driver, wherein the support frame is arranged at the second end of the arm body, the first clamping part and the second clamping part are respectively hinged with the support frame, and the third driver is used for driving the first clamping part and the second clamping part to clamp a first lifting piece;

the camera is arranged on the arm body.

7. The underwater robot of claim 6, wherein the first clamping portion and the second clamping portion are respectively provided with a clamping groove corresponding to the first hoisting member.

8. The underwater robot of claim 6, wherein the robotic arm further comprises a rotational drive assembly for rotating the support frame.

9. A method for recovering underwater equipment, which is characterized in that the underwater equipment is recovered by using the underwater robot as claimed in any one of claims 1 to 8, and the method comprises the following steps:

disposing a first lifting element on the robotic arm;

putting the underwater robot into water, and controlling the underwater robot to be close to the underwater equipment;

overturning an overturning holding arm of the underwater robot, wherein the overturning holding arm clamps the underwater equipment;

the mechanical arm drives the first hoisting piece to be connected with a second hoisting piece on the underwater equipment;

and the overturning holding arm loosens the underwater equipment and lifts the underwater equipment.

10. The method of recovering a subsea equipment of claim 9, wherein said flipping arm of said flipping underwater robot, said flipping arm gripping said subsea equipment comprises:

when the underwater robot reaches a preset distance from the underwater equipment, the upper arm and the lower arm are forwards turned into a splayed shape;

controlling the underwater robot to approach the underwater equipment, and continuously overturning the upper holding arm and the lower holding arm until the distance between the upper holding arm and the underwater equipment and the distance between the lower holding arm and the underwater equipment are preset values;

and observing the position of a second hoisting piece of the underwater equipment, and after confirming that the second hoisting piece is positioned in the working range of the mechanical arm, clamping the underwater equipment by the overturning holding arm.