CN116588292B

CN116588292B - Underwater operation robot

Info

Publication number: CN116588292B
Application number: CN202310585630.9A
Authority: CN
Inventors: 王晨; 谢广明; 武明信; 吴家汐; 杨启业
Original assignee: Peking University
Current assignee: Peking University
Priority date: 2023-05-23
Filing date: 2023-05-23
Publication date: 2024-02-20
Anticipated expiration: 2043-05-23
Also published as: CN116588292A

Abstract

The embodiment of the application provides an underwater operation robot, which belongs to the technical field of robot equipment and comprises a robot body; the driving devices are arranged at two sides of the robot body and are used for driving the robot body to displace; the operation execution assembly is arranged at one side of the robot body; the operation execution assembly comprises two fixed touch wrists, two operation touch wrists and an observation touch wrist; the fixed wrist contact comprises a supporting spring and a plurality of fixed rings arranged on the supporting spring; wherein, a plurality of fixed rings are evenly arranged at intervals along the length direction of the supporting spring; the fixed wrist contact further comprises a plurality of connecting ropes which are simultaneously connected with the plurality of fixing rings; the fixed wrist contact further comprises a first servo motor, and the first servo motor is used for driving at least one connecting rope in the plurality of connecting ropes to move. According to the underwater operation robot, stability of the robot during underwater operation can be improved, and power consumption of the robot is reduced.

Description

Underwater operation robot

Technical Field

The embodiment of the application relates to the technical field of robot equipment, in particular to an underwater operation robot.

Background

With the increasing development of underwater operations, underwater robots are becoming an important tool for ocean development, scientific research and environmental monitoring. Small underwater robots have been widely used in a variety of tasks such as hull inspection, pipe repair, underwater surveying, and deep sea exploration. However, with the increasing demands of tasks and the increasing level of skill, conventional underwater working robots have failed to meet the demands of some special tasks, and thus it is required to develop an underwater working robot having high performance motions and multifunctional working capabilities.

The existing small underwater operation robot mainly comprises single-arm types, double-arm types, three-arm types, four-arm types and the like. The single arm robot has a small size and mass, and can be adapted to narrow and difficult-to-reach spaces. However, single-arm robots lack the ability to perform multiple tasks and the flexibility of operation, and robots require frequent tool exchanges when performing complex tasks, thereby affecting their efficiency, and often are only capable of performing simple underwater work tasks. The double-arm robot can complete many different tasks, such as cooperative carrying and sample collection of two arms, or control the pose of the robot through one arm, and the other arm performs underwater operations such as installation and maintenance. The three-arm robot can complete more underwater operation tasks such as drilling, cutting, welding and the like, and can also be used for carrying heavy objects. Four-arm and above robots can complete more complex underwater operation tasks, such as deep sea exploration, underwater construction and the like.

More mechanical arms can enable the flexibility and efficiency of the robot in operation to be improved significantly, and more complex and fine tasks can be completed. However, as the number of robot arms increases, the cost and control difficulty of the robot increase, and the power consumption is high, and the pose is unstable due to environmental influences such as water flow and waves.

Disclosure of Invention

The embodiment of the application aims at providing an underwater operation robot, and aims at improving the stability of the robot during underwater operation and reducing the power consumption of the robot.

The embodiment of the application provides an underwater operation robot, including:

a robot body;

the driving devices are arranged on two sides of the robot body and are used for driving the robot body to displace;

the operation execution assembly is arranged on one side of the robot body, and the operation execution assembly and the driving device are positioned on different sides of the robot body;

the operation execution assembly comprises two fixed touch wrists, two operation touch wrists and an observation touch wrist;

the fixed wrist contact comprises a supporting spring and a plurality of fixed rings arranged on the supporting spring;

Wherein, a plurality of the fixed rings are uniformly arranged at intervals along the length direction of the supporting spring;

the fixed wrist contact further comprises a plurality of connecting ropes, the connecting ropes are arranged along the length direction of the supporting spring and are connected with the plurality of fixing rings at the same time, and the plurality of connecting ropes are uniformly arranged at intervals along the circumferential direction of the fixing rings;

the fixed wrist contact further comprises a first servo motor, the first servo motor is connected with the plurality of connecting ropes, and the first servo motor is used for driving at least one connecting rope among the plurality of connecting ropes to move so that the fixed ring drives the supporting springs to adjust to a target shape.

Optionally, a supporting body is embedded in the supporting spring along the length direction of the supporting spring, and the material of the supporting body comprises polylactic acid;

an electric heating wire is arranged in the support body and connected with a power supply in the robot body.

Optionally, the operation touch wrist comprises a first fixed turntable, a first mounting seat, a first operation arm and a second operation arm;

the first installation seat is fixedly connected to the first fixed rotary table, one end of the first operation arm is rotationally connected with the first installation seat, and the other end of the first operation arm is rotationally connected with the second operation arm rod.

Optionally, the two operation touch wrists include a first operation touch wrist and a second operation touch wrist, a clamping device is arranged on the first operation touch wrist, and a soft gripper is arranged on the second operation touch wrist.

Optionally, the clamping device comprises a fixing seat, a first clamping arm and a second clamping arm;

the fixed seat is connected with the first operation wrist contact, and the first clamping arm and the second clamping arm are rotationally connected with the fixed seat;

the clamping device further comprises a driving piece, wherein the driving piece is connected with the first clamping arm and the second clamping arm, and the driving piece is used for driving the first clamping arm and the second clamping arm to generate relative rotation.

Optionally, the soft gripper comprises a driving unit and a grabbing unit connected with the driving unit;

the grabbing unit comprises a middle connecting part and a plurality of grabbing main bodies, and the grabbing main bodies are uniformly arranged at intervals along the circumferential direction of the middle connecting part;

the soft gripper further comprises a contact back film, wherein the contact back film is arranged on one side of the two grabbing main bodies, which is away from the middle connecting part, and the contact back film is connected with each grabbing main body;

The driving unit is used for driving the target grabbing bodies in the two grabbing bodies to bend towards the direction deviating from the middle connecting portion, so that the contact back film deforms along with the target grabbing bodies to wrap and grab a target object.

Optionally, the observation touch wrist comprises a second fixed turntable, a second mounting seat, a third operation arm and a fourth operation arm;

the second installation seat is fixedly connected to the second fixed turntable, one end of the third operation arm is rotationally connected with the second installation seat, and the other end of the third operation arm is rotationally connected with the fourth operation arm rod;

and a visual sensor is arranged on the end part, far away from the third operation arm, of the fourth operation arm.

Optionally, the driving device includes a plurality of steering engines disposed in the robot body, and the number of steering engines at two sides of the robot body is the same;

the output end of the steering engine is provided with a swinging rod, the swinging rod extends out of the robot body, and the steering engine is used for driving the swinging rod to swing along a first direction;

the robot comprises a robot body, wherein the two sides of the robot body are provided with fluctuation fins, and the fluctuation fins are connected with a plurality of swinging rods on the corresponding sides.

Optionally, mechanoreceptors and sonar are arranged on the robot body.

Optionally, the robot body is provided with an underwater acoustic communication module.

The beneficial effects are that:

the application provides an underwater operation robot, the underwater operation robot comprises a robot body, a driving device and an operation execution assembly, wherein the operation execution assembly comprises two fixed contact wrists, two operation contact wrists and an observation contact wrist, the fixed contact wrists comprise supporting springs, a plurality of fixed rings and a plurality of connecting ropes, the fixed rings and the connecting ropes are arranged on the supporting springs, the connecting ropes are arranged along the length direction of the supporting springs and are connected with the fixed rings, the fixed contact wrists further comprise a first servo motor, the first servo motor is connected with the connecting ropes, and the first servo motor can drive at least one connecting rope in the connecting ropes to move so that the fixed rings move the supporting springs to adjust to a target shape; therefore, when the underwater robot is used, the fixed touch wrist can be adjusted to a required shape, so that the fixed touch wrist can be wound or embraced on an underwater pipeline or reef and other objects, the pose of the robot body is fixed and adjusted, a stable operation environment is provided for the precise operation of the robot body, the stability of the robot during underwater operation is greatly improved, and the power consumption of the robot is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a schematic top view of an underwater operation robot according to an embodiment of the present application;

FIG. 3 is a schematic view of a structure of a fixed wrist in an underwater robot according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of a first operation wrist of an underwater robot according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a second operation wrist of the underwater robot according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a soft gripper of an underwater robot according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an observation wrist in an underwater operation robot according to an embodiment of the present application.

Reference numerals illustrate: 10. a robot body; 20. a driving device; 202. a swinging rod; 203. a wave fin; 30. a job execution component; 301. fixing a touch wrist; 3011. a support spring; 3012. a fixing ring; 3013. a connecting rope; 3014. extending the touch wrist; 302. operating the touch wrist; 302a, a first operation wrist; 302b, a second operation wrist; 3021. a first fixed turntable; 3022. a first mount; 3023. a first operation arm; 3024. a second operation arm; 303. observing a touch wrist; 3031. a second fixed turntable; 3032. a second mounting base; 3033. a third operating arm; 3034. a fourth operation arm; 3035. a visual sensor; 40. a clamping device; 401. a fixing seat; 402. a first clamp arm; 403. a second clamp arm; 404. a connecting rod; 50. a soft gripper; 501. a grabbing unit; 5011. grabbing a main body; 5012. a contact backing film; 5013. an electric emitter; 5014. an inductive receiver; 60. mechanoreceptors; 70. sonar.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Referring to fig. 1, an underwater operation robot according to an embodiment of the present application is disclosed, which includes a robot body 10, a driving device 20, and an operation execution assembly 30.

Specifically, the robot body 10 is a main body portion of the entire underwater operation robot, in this embodiment, the overall shape of the robot body 10 is approximately an ellipsoid, the interior of the robot body 10 is hollow, and the exterior of the robot body 10 adopts a streamline design, so that the movement resistance is reduced, and a larger space can be ensured in the interior of the robot body 10. The robot body 10 is connected to the operation execution assembly 30 and other assemblies, and the interior of the robot body 10 is mainly used for placing a driving part of the operation execution assembly 30, a sensor, a battery for providing power for the whole underwater operation robot, and other devices required for carrying operation tasks.

Referring to fig. 2, driving devices 20 are provided at both sides of the robot body 10, and the driving devices 20 are used to drive the robot body 10 to displace in water so that the robot body 10 can be rapidly moved to a target site.

Referring to fig. 1 and 2, the job execution assembly 30 is a main part of the robot body 10 that performs a job operation, and in the embodiment of the present application, the job execution assembly 30 is disposed at one side of the robot body 10, and the position of the job execution assembly 30 is different from the position of the driving device 20, that is, the job execution assembly 30 and the driving device 20 are disposed at different sides of the robot body 10.

Referring to FIG. 2, in an embodiment of the present application, job execution assembly 30 may include two fixed wrists 301, two operating wrists 302, and one viewing wrists 303. The fixed wrist 301 is mainly used for fixing and adjusting the pose of the underwater operation robot during underwater operation, so that the underwater operation robot can have a stable operation environment; the operation wrist 302 is used for realizing various operations of the underwater operation robot, such as grabbing an underwater target object; the observation wrist 303 is used to provide a sensing capability for the underwater operation robot, for example, to enable the underwater operation robot to transmit a picture image in real time, so that a worker can more precisely control the underwater operation robot to move to the position of the target object. The target object may comprise an object that the underwater working robot needs to grasp during the working.

In practical applications, a control chip is further disposed in the robot body 10, and the driving device 20 and the driving part of the operation execution assembly 30 can be controlled by using the control chip, so as to control the movement of the underwater operation robot or perform underwater operation. Meanwhile, the control chip can also receive image information or task execution information acquired by the underwater operation robot and send the image information or task execution information to a shore-based platform or a water surface platform (namely a platform where an operator is located). It should be noted that, how the control chip controls the driving device 20 and the driving portion of the job execution assembly 30 is disclosed in the related art, so that the description is omitted in the embodiment of the present application.

Further, referring to fig. 3, the fixed wrist 301 includes a support spring 3011 and a plurality of fixing rings 3012 provided on the support spring 3011. The support spring 3011 has a certain length, and each position of the support spring 3011 can be subjected to bending deformation. The plurality of fixing rings 3012 are disposed on the support spring 3011 at regular intervals along the length of the support spring 3011. It will be appreciated that the plurality of retaining rings 3012 may divide the support springs 3011 into multiple sections, each section of the support springs 3011 being capable of undergoing bending deformation, but the support springs 3011 at the location of the retaining rings 3012 are not subject to excessive bending deformation. In this way, the shape of the fixed wrist 301 can be adjusted according to the actual requirement, so that the fixed wrist 301 can be wound or surrounded on the underwater objects such as pipelines or reefs, so that the fixed wrist 301 and the underwater objects have the largest contact area, and the fixing effect of the fixed wrist 301 on the whole robot body 10 is improved.

Referring to fig. 3, the fixed wrist 301 further includes a plurality of connection strings 3013, the connection strings 3013 are disposed along a length direction of the support springs 3011, and each connection string 3013 is connected to a plurality of fixing rings 3012, and the plurality of connection strings 3013 are disposed at regular intervals along a circumferential direction of the fixing rings 3012. It will be appreciated that since one connecting string 3013 remains connected to a plurality of fixing rings 3012 at the same time, as the connecting string 3013 moves along its length, i.e. as the connecting string 3013 is pulled through the ends of the connecting string 3013, each fixing ring 3012 is subjected to a corresponding pulling force, and the pulling force applied by each fixing ring 3012 causes the supporting spring 3011 between the two fixing rings 3012 to flex, thereby bending the entire supporting spring 3011 in the direction of movement of the connecting string 3013. Based on this, by moving different connection strings 3013, the support spring 3011 can be controlled to bend in different directions, and the support spring 3011 can be adjusted to the target shape, that is, the fixed wrist 301 can be adjusted to the target shape. The target shape is a shape that requires the fixed wrist 301 to maintain the maximum contact area with the underwater object.

Further, the fixed wrist 301 further includes a first servo motor, the first servo motor is connected with ends of the plurality of connection ropes 3013 of the two fixed wrist 301, and the first servo motor can drive at least one connection rope 3013 of the plurality of connection ropes 3013 to move.

Specifically, the first servo motor may include a plurality of rotating blocks, each connecting rope 3013 is wound on a separate one of the rotating blocks, and the first servo motor may drive at least one of the rotating blocks to rotate, so that the connecting rope 3013 corresponding to the rotating block is wound on the rotating block, so that the connecting rope 3013 moves, and finally, bending of the fixed wrist 301 in a certain direction is achieved.

It should be noted that, the first servo motor is disposed inside the robot body 10, and an operator can control the driving of the first servo motor by using a control chip in the robot body 10, so as to control the fixed wrist touch 301.

Further, in order to improve the rigidity of the fixed wrist 301, a support body (not shown in the figure) is embedded in the support spring 3011 along the length direction of the support spring 3011, and the shape of the support body is approximately cylindrical, and in the embodiment of the present application, the support body is made of a variable rigidity intelligent material, which is a material manufactured based on a shape polymer, and in the embodiment of the present application, the material of the support body is polylactic acid. The stiffness of the polylactic acid supporting body can be changed along with the temperature change, for example, when the temperature rises, the stiffness of the supporting body can be reduced, and the supporting spring 3011 can drive the supporting body to deform at the moment; when the temperature is reduced, the rigidity of the support body can be increased, and the support body can keep the current shape, so that the fixed wrist 301 keeps unchanged, and the fixed wrist 301 can provide enough rigidity support for the operation of the underwater operation robot.

In order to realize the change of the temperature of the support body, in the embodiment of the present application, an electric heating wire is provided in the support body and is connected with a power supply in the robot body 10, so that the temperature of the support body can be raised by using the electric heating wire.

Meanwhile, a protective layer (not shown) is wrapped on the outside of the fixed wrist 301, and the protective layer can protect the fixed wrist 301, thereby preventing the fixing ring 3012, the connection rope 3013 and the support spring 3011 from being easily damaged.

Referring to fig. 2, in order to further improve the fixing effect of the fixed wrist 301, an extended wrist 3014 is further provided at an end of the fixed wrist 301 remote from the robot body 10, a plurality of suction nozzles are provided on the extended wrist 3014, and a channel communicating with the plurality of suction nozzles is provided inside the fixed wrist 301, and the fixed wrist 301 further includes a first driving pump communicating with the channel, the first driving pump may generate suction force to the channel so that the plurality of suction nozzles generate suction force. After the fixed wrist 301 contacts an underwater object, the suction force can be generated by the suction nozzle through the first driving pump, so that the extended wrist 3014 is adsorbed on the object, and the fixing effect of the fixed wrist 301 is further improved.

In practical application, the first driving pump is disposed inside the robot body 10, and the first driving pump has a water inlet and a water outlet, wherein the water inlet is connected with the channel of the fixed wrist 301, the water outlet is disposed outside the robot body, when the first driving pump works, water at the suction nozzle enters the first driving pump through the water inlet after entering the channel, and then is discharged from the water outlet, so that the suction force can be generated at the suction nozzle. The first driven pump may be a diaphragm pump.

Through the underwater operation robot provided by the embodiment of the application, two fixed contact wrists 301 are arranged on the robot body 10, each fixed contact wrist 301 is composed of a supporting spring 3011, a plurality of fixed rings 3012 on the supporting spring 3011 and a plurality of connecting ropes 3013, and the connecting ropes 3013 can generate the tensile force in the same direction for each fixed ring 3012, so that the fixed rings 3012 drive the supporting springs 3011 to bend towards the direction, and the fixed contact wrists 301 can be adjusted to the target shape, and therefore, the fixed contact wrists 301 can be wound or encircling on objects such as underwater pipelines or reefs, so that the underwater operation robot has a more stable operation environment, the stability of the robot in underwater operation is greatly improved, and the power consumption of the robot is reduced.

In an alternative embodiment, the embodiment of the present application further provides an underwater operation robot, in which, referring to fig. 4, the operation wrist 302 includes a first fixed turntable 3021, a first mounting seat 3022, a first operation arm 3023, and a second operation arm 3024.

Specifically, a mounting hole is formed in the robot body 10, the first fixed turntable 3021 is fixedly embedded in the mounting hole, and a sealing connection between the first fixed turntable 3021 and the mounting hole is required to be maintained (for example, a waterproof glue is provided between the first fixed turntable 3021 and an inner wall of the mounting hole, or the first fixed turntable 3021 is in interference fit with the mounting hole), so as to prevent water from entering the inside of the robot body 10. Since two operation wrists 302 are provided in the embodiment of the present application, two mounting holes are formed in the robot body 10, and the positions of the two mounting holes are adjacent.

Referring to fig. 4, the first mount 3022 is provided on the first fixed dial 3021, and the first mount 3022 is rotatably connected to the first fixed dial 3021, so that the first mount 3022 can rotate 360 ° with respect to the first fixed dial 3021. Specifically, the first fixed turntable 3021 may include a circular housing and a turntable disposed in the circular housing, and the turntable may rotate in the circular housing, while the first mount 3022 is fixedly connected to the turntable, so that the first mount 3022 may rotate.

Referring to fig. 4, one end of the first operation arm 3023 is rotatably connected to the first mount 3022, and the other end is rotatably connected to the second operation arm 3024. In the embodiment of the present application, the rotation direction of the first operation arm 3023 relative to the first mounting seat 3022 is the same as the rotation direction of the second operation arm 3024 relative to the first operation arm 3023, and it is also understood that the rotation direction of the first operation arm 3023 is in the same plane as the rotation direction of the second operation arm 3024. This allows the operating wrist 302 to be adjusted in position over a wide range.

Further, the operation wrist 302 further includes three second servo motors (not shown in the figure).

Specifically, three second servomotors are provided on the first mount 3022, the first operation arm 3023, and the second operation arm 3024 of the operation wrist 302, respectively. The second servo motor disposed on the first mount 3022 may drive the first mount 3022 to rotate relative to the first fixed turntable 3021, the second servo motor disposed on the first operating arm 3023 may drive the first operating arm 3023 to rotate relative to the first mount 3022, and the second servo motor disposed on the second operating arm 3024 may drive the second operating arm 3024 to rotate relative to the first operating arm 3023. Thus, control of the operating wrist 302 can be achieved with these three second servomotors.

In practical application, the second servo motor may be connected to a power supply in the robot body 10 through a connection wire.

Through the underwater operation robot provided by the embodiment of the application, the operation wrist 302 can rotate relative to the robot body 10 by using the first fixed turntable 3021 and the first mounting seat 3022, and then the operation wrist 302 can move in four degrees of freedom by using the respective rotation of the first operation arm 3023 and the second operation arm 3024, so that the operation wrist 302 can realize more multidirectional operation.

Further, in the embodiment of the present application, referring to fig. 2, the two operation wrists 302 include a first operation wrists 302 and a second operation wrists 302, wherein the gripping device 40 is disposed on an end of the first operation wrists 302, and the soft grip 50 is disposed on an end of the second operation wrists 302.

Specifically, referring to fig. 4, the gripping device 40 includes a holder 401, a first gripper arm 402, and a second gripper arm 403.

The holder 401 is rotatably disposed on an end of the first operation wrist 302, that is, the holder 401 is rotatably connected to an end of the second operation arm 3024 of the first operation wrist 302 remote from the first operation arm 3023, and a rotation direction of the holder 401 is the same as a rotation direction of the second operation arm 3024.

The first clamping arm 402 and the second clamping arm 403 are oppositely arranged on the fixing seat 401, the first clamping arm 402 and the second clamping arm 403 are rotationally connected with the fixing seat 401, and the rotation direction of the first clamping arm 402 and the second clamping arm 403 is relatively perpendicular to the rotation direction of the fixing seat 401. Upon relative rotation of the first clamp arm 402 and the second clamp arm 403, the first clamp arm 402 and the second clamp arm 403 approach each other, thereby grasping an object located between the first clamp arm 402 and the second clamp arm 403. Meanwhile, two connecting rods 404 are arranged on the fixing seat 401, the two connecting rods 404 are respectively connected with the first clamping arm 402 and the second clamping arm 403, and the connecting rods 404 can move along the direction from the first clamping arm 402 to the second clamping arm 403 to the fixing seat 401, so that the connecting rods 404 drive the first clamping arm 402 to the second clamping arm 403 to rotate.

The gripping device 40 further comprises a driving member, which is connected to the first gripper arm 402 and the second gripper arm 403. The driving member can drive the two connecting rods 404 on the fixing seat 401 to move, so that the two connecting rods 404 respectively drive the first clamping arm 402 and the second clamping arm 403 to rotate relatively. When an object to be gripped is located between the first gripper arm 402 and the second gripper arm 403, the first gripper arm 402 and the second gripper arm 403 are rotated to a state of contact with the object, so that gripping of the object can be achieved. In this embodiment, the driving element may be a third servo motor, which is disposed on the fixing base 401, and the third servo motor is connected with a power supply in the robot body 10.

Specifically, referring to fig. 5 and 6, the soft grip 50 includes a driving unit and a gripping unit 501 connected to the driving unit.

The grasping unit 501 includes an intermediate connection portion and a double number of grasping bodies 5011, and the double number of grasping bodies 5011 are disposed at uniform intervals along the circumferential direction of the intermediate connection portion. Illustratively, the dual number of gripping bodies 50111 can be 2, 4, 6, 8, etc.

Further, the grip body 5011 is in a semicircular cone shape as a whole, and the grip body 5011 is made of an elastic material such as silicone rubber, or TPU (thermoplastic polyurethane elastomer rubber).

The grip body 5011 has opposite first and second faces, in this embodiment, the first face refers to a flat face at the bottom of the grip body 5011 and the second face refers to an inclined face at the top of the grip body 5011. The grip body 5011 has a first passage therein, the first passage being provided along a length direction of the grip body 5011, and a direction in which the first passage extends being parallel to an oblique direction of the second face. The first channel is a semicircular cone channel.

Further, the thickness of the grip body 5011 between the first channel and the first face is greater than the thickness of the grip body 5011 between the first channel and the second face. That is, with the first passage as a boundary, in the embodiment of the present application, the thickness of the grip body 5011 at the lower portion of the first passage is greater than the thickness of the grip body 5011 at the upper portion of the first passage. Thus, after the fluid is injected into the first passage, since the gripping bodies 5011 are made of an elastic material and the thicknesses of the gripping bodies 5011 on both sides of the first passage are not uniform, the gripping bodies 5011 on the upper portion of the first passage expand, so that the gripping bodies 50111 are bent in a direction away from the intermediate connection portion as a whole.

Meanwhile, referring to fig. 6, the soft grip 50 further includes a contact back film 5012, the contact back film 5012 being disposed on a side of the grip body 5011 facing away from the intermediate connection portion, that is, the contact back film 5012 being disposed on the second face of the grip body 5011. Also, the contact back film 5012 is integrally bonded to the grasping main body 5011, and the contact back film 5012 remains attached to each grasping main body 50111. The material contacting the back film 5012 may be an elastic material such as silicone, rubber, TPU, or the like.

When the soft gripper 50 is used, the driving unit can drive the target gripping bodies 5011 of the double gripping bodies 5011 to bend towards the direction away from the intermediate connecting part, so that the contact back film 5012 deforms following the target gripping bodies 5011, thereby wrapping and gripping the target object. The target gripping body 5011 is 2, 4 or more gripping bodies 5011 which are symmetrical about the intermediate connection portion among the double gripping bodies 5011, and of course, the double gripping bodies 50111 may be entirely bent at the time of use.

The grabbing capability of grabbing the target object by utilizing the symmetrical double grabbing main bodies 5011 can be guaranteed, meanwhile, due to the arrangement of the contact back film 5012, the contact area between the soft gripper 50 and the target object can be increased, so that the self-adaptive grabbing of multiple irregular objects is realized, the grabbing capability of the soft gripper 50 is improved, and the falling situation of the object is reduced.

Further, the driving unit of the soft gripper 50 includes a second driving pump, and an output end of the second driving pump is respectively communicated with the first channel of each gripping body 5011, and the second driving pump is used for pumping fluid into the first channel to bend the gripping bodies 5011.

Specifically, the second drive pump may be a gear pump. The rated water discharge amount of the gear pump during operation can determine the response speed of the grabbing behavior of the grabbing main body 5011, that is, the higher the water discharge amount of the gear pump is, the faster the response speed of the grabbing behavior of the grabbing main body 5011 is, and the working pressure of the gear pump can determine the clamping force of the grabbing main body 5011, that is, the greater the working pressure of the gear pump is, the greater the clamping force of the grabbing main body 5011 is.

Meanwhile, in order to achieve individual control of the gripping bodies 5011 and also to control bending of any symmetrical two, four or more gripping bodies 5011, in this embodiment, a control valve is provided between the output end of the second driving pump and the first passage of each gripping body 5011, with which the output end of the second driving pump can be kept in communication or blocked from the first passage of each gripping body 5011.

Specifically, the control valve may select a solenoid valve, and the solenoid valve is in an open state when the solenoid valve is energized, and in a closed state when the solenoid valve is de-energized. In this way, after the electromagnetic valve is applied between the output end of the second driving pump and the first channel of the grabbing body 5011, when the electromagnetic valve is in an open state, the output end of the second driving pump is kept in communication with the first channel of the grabbing body 5011, and the second driving pump can pump fluid into the first channel; when the solenoid valve is in a closed state, the output end of the second driving pump is kept isolated from the first channel of the grabbing body 5011, and the second driving pump cannot pump fluid into the first channel.

For example, if two symmetrical grabbing bodies 5011 are required to bend to grab a target object, the electromagnetic valves corresponding to the two grabbing bodies 5011 may be energized, and then the second driving pump is used to pump fluid towards the first channel of the two grabbing bodies 5011, so that the two grabbing bodies 5011 may be deformed and bent under the action of the fluid.

Further, referring to fig. 5, a plurality of suction nozzles are disposed on the first surface of each grabbing body 5011, the suction nozzles may be funnel-shaped, the plurality of suction nozzles are disposed on the first surface of the grabbing body 5011, and the plurality of suction nozzles are disposed at uniform intervals along the length direction of the grabbing body 5011. Meanwhile, a second channel is further formed inside the grabbing body 5011, the second channel is located between the first channel and the first surface, the second channel is parallel to the first surface, the first channel extends along the length direction of the grabbing body 5011, and a plurality of suction nozzles on the grabbing body 5011 penetrate through the contact back film 5012 to be communicated with the second channel inside the grabbing body 5011.

In addition, the soft gripper 50 further includes a third driving pump, the output end of the third driving pump is respectively communicated with the second channel of each gripping body 5011, and the third driving pump can generate suction force towards the second channel, so that the plurality of suction nozzles on the gripping body 5011 generate suction force, and the gripping body 5011 can adsorb the target object, thereby further improving the gripping capability of the soft gripper 50. The third drive pump may be a diaphragm pump.

Based on the wrapping capability and the adsorption capability of the soft gripper 50, the soft gripper 50 provided in the embodiment of the application has three gripping modes.

First, the soft gripper 50 provided in the embodiment of the present application may be a suction gripping mode, in which, the second driving pump is turned off, all the gripping bodies 5011 are in a straightened state, the contact back film 5012 is in a spread state, and the third driving pump is turned on at the same time, so that the suction nozzle on the gripping bodies 5011 can absorb the target object by using the suction force provided by the third driving pump, thereby achieving the gripping of the target object.

Second, the soft gripper 50 provided in the embodiment of the present application may be a suction cup closed gripping mode, in which, the third driving pump is turned off, that is, the suction nozzle on the gripping main body 5011 does not generate suction force, and any two symmetrical gripping main bodies 5011 are bent by the second driving pump, so as to drive the contact back film 5012 to deform and wrap the target object, thereby achieving gripping of the target object.

Third, the soft gripper 50 provided in the embodiment of the present application may be in a hybrid gripping mode, in which the second driving pump and the third driving pump are both opened, and on the basis of the second mode, the suction nozzle is reused to generate suction to the target object, so as to further improve the gripping capability of the soft gripper 50 and reduce the occurrence of the object falling condition.

It should be noted that, the second driving pump and the third driving pump are both disposed inside the robot body 10, and the third driving pump is also provided with a water inlet and a water outlet, where the water inlet of the third driving pump is connected with the second channel, and the water outlet is disposed outside the robot body 10.

Further, in the present embodiment, an inductance sensing device is provided on the contact back film 5012 of the soft grip 50.

Referring to fig. 5, the induction device is implemented by a pair of electric emitters 5013 and a set of induction receivers 5014 on a soft grip 50, and the electric emitters 5013 and the induction receivers 5014 are respectively used for generating an electric field around the robot and acquiring an electric signal distorted by an external environment, thereby obtaining information of the external environment and the material, size, etc. of an object.

The electric field around the robot is established by enabling the electric emitter 5013 to emit 3-5 kHz electric signals, the electric field receiving electrode (namely, the inductance receiver 5014) obtains the amplitude and the phase of the electric signals, and the numerical mapping relation between the target object information, namely, the position, the shape and the like and the inductance sensor is established through signal decoupling; meanwhile, a simulation platform of the bionic electric field sensing sensor and the target object is built in COMSOL simulation software, shapes of the electric field sensing sensor and the target object which are arranged in different arrays, such as ellipsoids, spheres, wall surfaces and the like, basic data sets among parameters of different materials (insulating and non-insulating) and different positions and the like are obtained, and the accuracy of sensing is used as a target for optimization, so that an optimal arrangement scheme of the bionic electric field sensing sensor is obtained, and data support is provided for enhancing the sensing capability of underwater multi-mode operation.

In this way, the soft gripper 50 can recognize the material and the outline of the close-range object based on the weak electric field, thereby realizing autonomous and intelligent selection of the grabbing mode.

It should be noted that in the embodiment of the present application, the end portions of the two operation wrists 302 are both provided with extensible interfaces, and in practical application, operators may select and install different types of operators according to the actual operation types.

In an alternative embodiment, the embodiment of the present application further provides an underwater operation robot, in which, referring to fig. 7, the observation touch wrist 303 includes a second fixed dial 3031, a second mount 3032, a third operation arm 3033 and a fourth operation arm 3034.

Specifically, the second fixed dial 3031 is fixedly embedded in a mounting hole formed in the robot body 10, and a sealing connection needs to be maintained between the second fixed dial 3031 and the mounting hole (for example, a waterproof glue is disposed between the second fixed dial 3031 and an inner wall of the mounting hole, or the second fixed dial 3031 is in interference fit with the mounting hole) so as to prevent water from entering the inside of the robot body 10.

Referring to fig. 7, the second mount 3032 is provided on the second fixed dial 3031, and the second mount 3032 is rotatably coupled to the second fixed dial 3031 such that the second mount 3032 can rotate 360 ° with respect to the second fixed dial 3031. One end of the third operation arm 3033 is rotatably connected to the second mount 3032, and the other end is rotatably connected to the fourth operation arm 3034. In the present embodiment, the rotation direction of the third operation arm 3033 with respect to the second mount 3032 is the same as the rotation direction of the fourth operation arm 3034 with respect to the third operation arm 3033. This allows the observation touch pad 303 to be adjusted in position over a wide range.

Meanwhile, as shown with reference to fig. 7, a vision sensor 3035 is provided on an end of the fourth operation arm 3034 remote from the third operation arm 3033, and the vision sensor 3035 may include a TOF (Time of Flight) vision sensor, and the vision sensor 3035 may be used to expand the underwater vision range of the underwater operation robot and reduce the vision blind area to implement more precise underwater operation.

Further, the observation touch wrist 303 further includes three third servomotors.

Specifically, three third servomotors are provided on the second mount 3032, the third operation arm 3033, and the fourth operation arm 3034 of the observation touch wrist 303, respectively. Wherein, the third servo motor disposed on the second mounting seat 3032 can drive the second mounting seat 3032 to rotate relative to the second fixed turntable 3031, the third servo motor disposed on the third operating arm 3033 can drive the third operating arm 3033 to rotate relative to the second mounting seat 3032, and the third servo motor disposed on the fourth operating arm 3034 can drive the fourth operating arm 3034 to rotate relative to the third operating arm 3033. Thus, control of the observation touch pad 303 can be achieved by using the three third servomotors.

In practical application, the third servo motor may be connected to the power supply in the robot body 10 through a connection wire.

In the related art, the traditional underwater operation robot mostly realizes propulsion through a propeller, and has the advantages of large propulsion force, continuous and stable thrust adjustment; however, the defects are also obvious, the driving energy efficiency of the propeller is low, the noise is high, the concealment is poor, and the influence on the underwater operation environment and the ecological environment is high.

In order to solve the above-mentioned problem, in an alternative embodiment, the present application further provides an underwater operation robot, in which, referring to fig. 2, the driving device 20 includes a plurality of steering engines (not shown in the drawing) disposed in the robot body 10, and the steering engines on both sides of the robot body 10 are the same. It will be appreciated that the steering engines on both sides of the robot body 10 are symmetrically distributed about the robot body 10.

Specifically, each steering engine is provided with a swinging rod 202 at an output end thereof, one end of the swinging rod 202 far away from the steering engine 201 extends out of the robot body 10, and the steering engine can drive the swinging rod 202 to swing along the first direction. In the embodiment of the present application, the robot body 10 is ellipsoidal, so the robot body 10 has a certain height, width and length, and the first direction refers to the height direction of the robot body 10.

Meanwhile, referring to fig. 2, the undulation fins 203 are provided on both sides of the robot body 10, the undulation fins 203 are in a band shape as a whole, and the width of the undulation fins 203 is not uniform, in the embodiment of the present application, the width of the undulation fins 203 is smaller as approaching the end of the robot body 10 away from the work execution assembly 30. And, each side wave fin 203 is connected with a plurality of swinging rods 202 located on that side respectively, when the steering engine drives the swinging rods 202 to swing back and forth along the first direction, the swinging rods 202 can drive the wave fin 203 to swing, and the movement of the robot body 10 can be realized by utilizing the swing of the wave fin 203. Through cooperative control of the fluctuation fins 203 on the two sides, the multi-mode motion modes of the underwater operation robot such as advancing, retreating, fixed-point hovering, flexible steering, floating, diving and the like in water can be realized.

Meanwhile, in the embodiment of the present application, the operation execution assembly 30 is disposed at one end of the robot body 10, and when the underwater operation robot moves, all the wrists can be straightened and gathered, so as to reduce the moving resistance of the underwater operation robot and improve the moving speed and maneuverability.

In an alternative embodiment, referring to fig. 1, mechanical receptors 60 and sonar 70 are further provided on the robot body 10, the mechanical receptors 60 are provided at an end of the robot body 10 remote from the task performing assembly 30, and the sonar 70 is provided on a surface of the robot body 10. The sensing system of the underwater operation robot can be formed by using mechanoreceptors 60 and sonar 70, an inductance receptor 5014 on the soft gripper 50 and a visual sensor 3035 on the observation touch wrist 303, so that the multi-mode melting accurate sensing of the underwater operation robot is realized.

In an alternative embodiment, an underwater sound communication module is arranged inside the robot body 10, the underwater sound communication module is connected with a control chip in the robot body 10, and meanwhile, the underwater sound communication module can be in wireless communication connection with a shore-based platform or a water surface platform, so that an underwater operation robot can communicate with the shore-based platform or the water surface platform, and the shore-based platform or the water surface platform can utilize the control chip to control the robot to execute tasks.

Based on this, in the embodiment of the present application, the underwater operation robot may be applied to different operation modes according to different scenes.

For example, in a specific scenario, the underwater operation robot can be trained through machine learning, so as to complete the path planning and task execution strategy of the robot, and the robot autonomously performs task execution and returns images and task execution progress in real time.

For example, in an exploration scenario, an operator on a shore-based platform or a water surface platform may be responsible for taking over the robot, and through real-time image return, control of robot play and task execution is achieved with a manipulator on the shore-based platform or the water surface platform.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

It should also be noted that, in this document, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, but do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Moreover, relational terms such as "first" and "second" may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions, or order, and without necessarily being construed as indicating or implying any relative importance. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device comprising the element.

The foregoing has outlined rather broadly the more detailed description of the present application, and the detailed description of the principles and embodiments herein may be better understood as being a limitation on the present application. Also, various modifications in the details and application scope may be made by those skilled in the art in light of this disclosure, and all such modifications and variations are not required to be exhaustive or are intended to be within the scope of the disclosure.

Claims

1. An underwater operation robot, comprising:

a robot body;

the operation execution assembly comprises two fixed touch wrists, two operation touch wrists and an observation touch wrist; the fixed touch wrist is used for fixing and adjusting the pose of the underwater operation robot during underwater operation, the operation touch wrist is used for realizing the grabbing action of the underwater operation robot, and the observation touch wrist is used for providing perception capability for the underwater operation robot;

the fixed wrist contact further comprises a first servo motor, the first servo motor is connected with the plurality of connecting ropes, and the first servo motor is used for driving at least one connecting rope of the plurality of connecting ropes to move so that the fixed ring drives the supporting spring to adjust to a target shape;

a support body with variable rigidity is embedded in the support spring along the length direction of the support spring, and the material of the support body comprises polylactic acid;

2. The underwater operation robot of claim 1, wherein:

the operation touch wrist comprises a first fixed rotary table, a first mounting seat, a first operation arm and a second operation arm;

3. The underwater operation robot of claim 1, wherein:

the two operation touch wrists comprise a first operation touch wrist and a second operation touch wrist, a clamping device is arranged on the first operation touch wrist, and a soft gripper is arranged on the second operation touch wrist.

4. A robot according to claim 3, characterized in that:

the clamping device comprises a fixed seat, a first clamping arm and a second clamping arm;

5. A robot according to claim 3, characterized in that:

the soft gripper comprises a driving unit and a grabbing unit connected with the driving unit;

6. The underwater operation robot of claim 1, wherein:

the observation touch wrist comprises a second fixed rotary table, a second mounting seat, a third operation arm and a fourth operation arm;

7. The underwater operation robot of claim 1, wherein:

the driving device comprises a plurality of steering engines arranged in the robot body, and the number of the steering engines at two sides of the robot body is the same;

8. The underwater operation robot as claimed in any one of claims 1 to 7, wherein:

and a mechanoreceptor and a sonar are arranged on the robot body.

9. The underwater operation robot as claimed in any one of claims 1 to 7, wherein:

the underwater sound communication module is arranged on the robot body.