CN118025453B - High-redundancy salvaging robot for underwater operation and control method thereof - Google Patents
High-redundancy salvaging robot for underwater operation and control method thereof Download PDFInfo
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- CN118025453B CN118025453B CN202410441222.0A CN202410441222A CN118025453B CN 118025453 B CN118025453 B CN 118025453B CN 202410441222 A CN202410441222 A CN 202410441222A CN 118025453 B CN118025453 B CN 118025453B
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- 230000008859 change Effects 0.000 claims abstract description 15
- 238000005452 bending Methods 0.000 claims abstract description 14
- 238000005485 electric heating Methods 0.000 claims description 15
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- 238000005299 abrasion Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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Abstract
The invention relates to the field of marine devices, in particular to a salvage robot with high redundancy for underwater operation and a control method thereof. The salvaging robot for marine underwater operation comprises a machine body, a telescopic rod, a high-redundancy salvaging bucket device, a marine winch, a crawler belt, a camera and a lighting system. The high-redundancy salvaging bucket device realizes the large-range distance adjustment of the high-redundancy salvaging bucket through the screw rod. The high-redundancy salvaging bucket realizes the telescopic bending adjustment pose through the volume change of the sealed rubber capsule chamber in the heating sealed rubber capsule part and the cooling sealed rubber capsule part, and the three-axis gyroscope at the front end realizes the perception of a terminal, so that the high degree of freedom is realized. The flexible salvaging bucket has the advantages that the flexible salvaging bucket solves the problem of dynamic sealing of a rigid structure, and the salvaging robot has higher precision and high degree of freedom, can be suitable for underwater operation in multiple scenes, and is particularly suitable for salvaging valuables.
Description
Technical Field
The invention relates to the field of marine devices, in particular to a salvage robot with high redundancy for underwater operation and a control method thereof.
Background
At present, a specific salvage object under water is generally required to be salvaged in a scene of underwater operation, but a robot adopting the salvage action is mainly performed in a traditional mode of a mechanical arm or a rigid grab bucket.
However, because the environment of the salvaged object in water is far more complex than that on the ground, the environment requirement of underwater salvage is difficult to meet by adopting the traditional salvage mode at some gaps or some cracks.
For example, CN117262163a discloses an underwater salvage robot which adopts a rigid structure to realize underwater salvage operation and realizes the operation from a ship to the underwater through a winch. The underwater environment is complex, the salvaging operation object is precious, the uncertainty of the position of the operation object is high, and the multi-scene underwater operation task is difficult to finish by adopting the traditional rigid salvaging bucket for the salvaging operation. The adopted rigid structure has good bearing capacity, but can not effectively protect the precious and fragile ancient cultural relics and natural resource detection, and the rigid movable part has high dynamic sealing requirement due to the waterproof requirement, so that the use cost is increased and the service life is shortened. The rigid structure is easy to limit, and can not adapt to the operation sites with multiple scenes, and particularly, the influence of water pressure is difficult to overcome when the water pressure is too high.
Therefore, the robot can be effectively controlled in an underwater environment, the control accuracy is high, the reaction speed is high, and the robot can be suitable for various underwater environments, so that the robot is a technical problem to be solved.
Disclosure of Invention
The invention aims to solve the technical problems of providing a salvage robot with high redundancy for underwater operation and a control method thereof, wherein the existing underwater salvage robot is not high enough in reaction precision, not fast enough in reaction speed, weak in flexibility, not suitable for underwater multi-scene operation environments, easy to damage salvaged articles due to the adoption of a rigid bucket for salvaging, and not suitable for salvaging precious articles.
In order to solve the technical problems, the invention provides a salvage robot with high redundancy for underwater operation, which comprises a machine body, wherein the machine body is provided with a telescopic rod, the bottom end of the telescopic rod is connected with a high redundancy salvage bucket device, the high redundancy salvage bucket device comprises a high redundancy salvage bucket, the high redundancy salvage bucket comprises at least two sections of heating sealing rubber capsule parts and at least two sections of cooling sealing rubber capsule parts, the heating sealing rubber capsule parts and the cooling sealing rubber capsule parts are alternately arranged, each heating sealing rubber capsule part and each cooling sealing rubber capsule part comprises four sealing rubber capsule chambers, the sealing rubber capsule chambers are circumferentially distributed and fixed around the central axis of the high redundancy salvage bucket, the heating sealing rubber capsule parts and the cooling sealing rubber capsule parts are connected through middle partition pieces, and the sealing rubber capsule chambers are filled with high expansion oil, the upper ends of four sealing rubber capsule chambers of the heating sealing rubber capsule part are fixedly provided with electric heating rings, the centers of the electric heating rings are in a grid shape, and the extending transmission Wen Gan is arranged, so that the volume of high expansion oil is increased when the corresponding transmission Wen Gan is heated, the corresponding sealing rubber capsule chamber is elongated, the heating degree of the four sealing rubber capsule chambers can be different and controllable, further, the bending of the four sealing rubber capsule parts with different degrees or the change of different lengths can be realized, the semiconductor refrigerating rings are fixedly arranged around the four sealing rubber capsule chambers in the cooling sealing rubber capsule part, the cooling rings are fixedly connected with the outer parts of the semiconductor refrigerating rings, the high expansion oil contracts at low temperature through the electric control of the semiconductor refrigerating rings, the corresponding sealing rubber capsule chamber is rapidly shortened, and the fine angle adjustment can be realized through matching with the change of the heating sealing rubber capsule part.
Preferably, the high-redundancy salvaging bucket device is further provided with a limiting frame, and the top of the limiting frame is connected with the bottom of the telescopic rod.
Preferably, the limit frame is of equal length on four sides of a cross shape, a center fixing block is fixedly arranged at the center of the limit frame, four screws are arranged in the horizontal direction inside the limit frame, one ends of the four screws are fixedly connected with the center fixing block, the other ends of the four screws are connected with a driving motor, a nut sliding block is arranged on the screw, and a high-redundancy salvage bucket is fixedly connected below the nut sliding block through an interval fragment.
Preferably, the bottom of the high redundancy salvaging bucket is provided with a triaxial gyroscope, the bottom of the triaxial gyroscope is connected with a fan-shaped flexible bucket, and the terminal of the fan-shaped flexible bucket is provided with a front-end flexible head.
Preferably, the robot is connected with a ship through a ship hoist, a camera is fixed above the center of the long side surface of the machine body, lighting systems are fixedly arranged on two sides of the camera, and caterpillar tracks are fixedly arranged on two sides of the short side of the machine body.
In order to solve the technical problems, the invention provides the following technical scheme: the control method for the salvage robot with high redundancy for underwater operation comprises the following steps:
Step S1: the lighting system is matched with the camera to position the salvaging robot above the article to be salvaged, and the high redundancy salvaging bucket device at the bottom end of the telescopic rod is controlled to descend to a certain height;
step S2: detecting the pose of each high-redundancy salvage bucket by using a triaxial gyroscope fixed at the front end of the high-redundancy salvage bucket device, detecting and judging the boundary line outline of an article to be salvaged by using a camera, controlling a driving motor to drive a nut sliding block to move in the horizontal direction, further driving the high-redundancy salvage buckets to move, and adjusting each high-redundancy salvage bucket to be positioned above the boundary line of the article according to the boundary size of a salvage object;
Step S3: the electric heating ring outputs heat to the corresponding sealing rubber capsule chambers, the four sealing rubber capsule chambers can have different temperature changes, so that each sealing rubber capsule chamber can be elongated to different degrees, the length change of the whole section or the bending of different space angles can be realized, the semiconductor refrigerating ring is used for refrigerating the corresponding sealing rubber capsule chambers, the volume of high-thermal expansion oil in the sealing rubber capsule chambers is contracted, and the different degrees of contraction of each sealing rubber capsule chamber can be realized, so that the length change of the whole section or the slight bending of different space angles can be realized;
step S4: when the front end flexible head contacts the bottom end of the salvaged article, the nut sliding block position is adjusted through the driving motor, so that the high-redundancy salvaged bucket is contracted from the periphery to the center of the article, the salvaged article is wrapped inside the high-redundancy salvaged bucket device, the marine winch is operated at the moment, the high-redundancy salvaged robot is retracted into the ship, and the salvaged article is taken out.
The invention has the beneficial effects that: due to the fact that the sealing rubber capsule chamber filled with high thermal expansion oil is arranged, the length change of the sealing rubber capsule chamber is achieved in an electric control temperature mode, the control precision is high, the underwater operation salvage robot is high in reaction precision, high in speed and high in flexibility, can adapt to underwater multi-scene operation environments, and is salvaged by the aid of the flexible bucket, the problem of dynamic sealing of the traditional rigid salvage bucket in underwater operation is solved, good protection effect is achieved on salvaged objects, and the underwater operation salvage robot is suitable for salvaging precious objects. And when impact force exists, the buffer can be realized, the operation safety is improved, and the operation environment is protected.
Drawings
FIG. 1 is a side cross-sectional view of a fishing robot of high redundancy for underwater operations of the present invention.
Fig. 2 is a bottom view of a high redundancy fishing bucket assembly of the fishing robot of the present invention for high redundancy underwater operations.
FIG. 3 is a schematic view of a high redundancy fishing bucket assembly of the fishing robot of the present invention for high redundancy for underwater operations.
FIG. 4 is a schematic view of a high redundancy fishing bucket of the fishing robot of the present invention for high redundancy for underwater operations.
FIG. 5 is a cross-sectional view of a high redundancy fishing bucket of the fishing robot of the present invention for high redundancy for underwater operations.
FIG. 6 is a top view of a heat seal rubber capsule portion of a fishing robot with high redundancy for underwater operations according to the present invention.
FIG. 7 is a top view of a cooling sealing rubber capsule portion of a fishing robot with high redundancy for underwater operations.
FIG. 8 is a schematic view of a sealed rubber capsule chamber of a fishing robot with high redundancy for underwater operations.
FIG. 9 is an elongated schematic view of a heat sealed rubber capsule portion of a fishing robot with high redundancy for underwater operations according to the present invention.
FIG. 10 is a schematic view showing the shortening of a cooling sealing rubber capsule part of the fishing robot with high redundancy in underwater operation.
FIG. 11 is a schematic view showing the straightening state of a high-redundancy salvage bucket of the salvage robot with high redundancy for underwater operation.
FIG. 12 is a schematic view of a high redundancy fishing bucket bending state of a fishing robot with high redundancy for underwater operations.
FIG. 13 is a schematic diagram of a high redundancy bucket bend for a fishing robot of the present invention with high redundancy for underwater operations.
Reference numerals illustrate: 1. a driving motor; 2. a limit frame; 3. a nut slider; 4. a screw; 6. a center fixed block; 13. high redundancy salvaging the bucket device; 5. high redundancy salvaging the excavator bucket; 51. middle interval fragments; 52. heating and sealing the rubber capsule part; 521. an electric heating ring; 522. a transmission Wen Gan; 53. cooling and sealing the rubber capsule part; 531. a semiconductor refrigeration ring; 532. a cooling ring; 54. a fan-shaped flexible bucket; 55. a three-axis gyroscope; 56. a front end flexible head; 57. sealing the rubber capsule chamber; 7. a hoist on a ship; 8. a body; 9. a track; 10. a camera; 11. a lighting system; 12. a telescopic rod.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are only for illustrating and explaining the present invention, and are not intended to limit the present invention, and all other embodiments obtained by those skilled in the art without making inventive efforts are within the scope of protection of the present invention.
As shown in fig. 1 to 10, the object of the present invention can be achieved by the following technical solutions: the high-redundancy salvage robot for underwater operation comprises a machine body 8, wherein a telescopic rod 12 is fixedly arranged at the top of the interior of the machine body 8, the bottom of the telescopic rod 12 is connected with a high-redundancy salvage bucket device 13, and the high-redundancy salvage bucket device 13 comprises a driving motor 1, a limiting frame 2, a nut sliding block 3, a screw 4, a high-redundancy salvage bucket 5 and a center fixed block 6; the bottom of the telescopic rod 12 is connected with the limiting frame 2, the screw 4 is arranged in the limiting frame 2, the nut sliding block 3 is arranged on the screw 4, and the lower end of the nut sliding block 3 is fixedly connected with the high-redundancy salvaging bucket 5 through the middle interval fragment 51. The salvaging robot with high redundancy for underwater operation further comprises a ship hoist 7, a machine body 8, a crawler belt 9, a camera 10 and a lighting system 11.
The high-redundancy salvage bucket 5 comprises two sections of heating sealing rubber capsule parts 52 and two sections of cooling sealing rubber capsule parts 53, wherein the heating sealing rubber capsule parts 52 and the cooling sealing rubber capsule parts 53 are alternately arranged, the heating sealing rubber capsule parts 52 and the cooling sealing rubber capsule parts 53 respectively comprise four sealing rubber capsule chambers 57, and the sealing rubber capsule chambers 57 are filled with high-expansion oil.
Four electric heating rings 521 are fixedly arranged at the upper ends of the sealing rubber chambers 57 of the heating sealing rubber chamber 52, and the volume of high expansion oil is rapidly increased by controlling the electric heating rings 521, so that the sealing rubber chambers 57 corresponding to the electric heating rings 521 can be rapidly elongated. By controlling the heating of different electric heating rings 521, the change of different lengths of the four sealing rubber capsule chambers 57 corresponding to the electric heating rings 521 can be realized, and for faster temperature conduction, the center of the electric heating rings 521 is in a grid shape, and the extending transmission Wen Gan 522 and the corresponding transmission Wen Gan 522 are arranged, so that the extension and bending of the heating sealing rubber capsule 52 can be accurately realized.
The semiconductor refrigerating ring 531 is installed around the four sealing rubber capsule chambers 57 in the cooling sealing rubber capsule portion 53, the cooling ring 532 is installed outside the semiconductor refrigerating ring 531, the semiconductor refrigerating ring 531 is used for refrigerating, and the high expansion oil in the four sealing rubber capsule chambers 57 enclosed by the semiconductor refrigerating ring 531 is contracted by the cooling volume, so that the cooling sealing rubber capsule portion 53 is shortened or slightly bent. The three-axis gyroscope 55 is installed at the bottom of the end cooling sealing rubber capsule part 53 of the high-redundancy salvaging bucket 5, the three-axis gyroscope 55 detects the change of the angle of the high-redundancy salvaging bucket 5, the bottom of the three-axis gyroscope 55 is connected with the fan-shaped flexible bucket 54, and the front end flexible head 56 is installed at the terminal of the fan-shaped flexible bucket 54.
When the articles in the gaps such as reef stone piles are required to be taken out, the lengths of the high-redundancy salvaging buckets 5 are required to be primarily judged according to the depths of the articles in the gaps, the high-redundancy salvaging robots are placed in front of the gaps through the ship winches 7, the crawler 9 is used for opening the driving motor 1 to drive the nut sliding blocks 3 to move towards the directions of the gaps, the high-redundancy salvaging buckets 5 move towards the directions of the gaps, and the high-redundancy salvaging buckets 5 quickly and accurately go deep into the gaps to hook the articles. After the articles are hooked out of the gap, the boundary line outline of the articles to be salvaged is detected and judged through the camera 10, the driving motor 1 is controlled, the nut sliding block 3 is driven to move in the horizontal direction, the high-redundancy salvage bucket 5 is driven to move, and the four high-redundancy salvage buckets 5 are adjusted to be positioned above the boundary line of the articles according to the boundary size of the salvage object. The telescopic rod 12 controls the high-redundancy salvaging excavator bucket 5 to descend, the bottom of the front flexible head 56 is contacted with the bottom of an article, and the four high-redundancy salvaging excavator buckets 5 are simultaneously bent inwards to achieve grabbing. At this time, the salvage objects are wrapped in the high-redundancy salvage bucket device 13, the on-board winch 7 is operated, and the high-redundancy salvage robot is retracted into the ship to take out the salvage objects.
The heat-sealed rubber capsule portion 52 is adjusted in a wide range of length and angle, and the fine length and angle are adjusted by cooling the seal rubber capsule portion 53. Four sealing rubber capsule chambers 57 are respectively arranged in the heating sealing rubber capsule part 52 and the cooling sealing rubber capsule part 53, the rubber is mainly made of silicon rubber, and polyurethane and high-strength fabric are additionally added; the silicone rubber has excellent elasticity and temperature resistance, can bear frequent expansion and contraction, keeps stable physical properties, has good chemical stability, is not easy to age, and is suitable for long-term use. The polyurethane material has high elongation, good wear resistance and stronger tearing strength, and is suitable for being used as an air bag and a bag chamber material. High strength fabrics are added to enhance the durability and load bearing capacity of the rubber capsule, such as nylon or kevlar fabrics, which provide additional strength and abrasion resistance to prevent the rubber capsule from bursting under high pressure. A schematic view of a sealed rubber capsule 57 is shown in fig. 8, which is a spring-like structure that expands and contracts longitudinally after being subjected to a force. When a plurality of the sealing rubber chambers 57 are longitudinally and circumferentially arranged, each sealing rubber chamber 57 is different in length, resulting in an overall bending as shown in fig. 12.
As shown in fig. 13, taking the heating sealed rubber capsule 52 as an example, four sealing rubber capsule chambers 57 are contained in the heating sealed rubber capsule 52, the four sealing rubber capsule chambers 57 are circumferentially arranged around the central axis of the heating sealed rubber capsule 52, two sealing rubber capsule chambers 57 are arranged above the central axis of the heating sealed rubber capsule 52 side by side, two sealing rubber capsule chambers 57 are arranged below the central axis of the heating sealed rubber capsule 52 side by side, and the heating degree of each sealing rubber capsule chamber 57 can be independently controlled due to the corresponding electric heating ring 521 and the corresponding transmission Wen Gan 522. In fig. 13, the elongation of the upper two sealed rubber chambers 57 is L 2, the elongation of the lower two sealed rubber chambers 57 is L 1, the distance between the centers of the upper and lower two sealed rubber chambers 57 is L 3, the angle generated after elongation is α, thus establishing a triangle model as shown in the lower part of fig. 13, and the distance from the center of the lower two sealed rubber chambers 57 to the lower vertex of the triangle is unknown and is set as x; l 1、L2、L3, x satisfy the following relation:
tanα=L2 /(x+L3)=L1 /x
(L2 -L1 )x=L1 L3
x=L1 L3 /(L2 -L1 )
tanα=L1 /x=(L2 -L1 )/L3
α=arctan［(L2 -L1 )/L3］
As can be seen from the above formula, by controlling the extension length of the four sealed rubber chambers 57, the extension distance L 2 of the upper two sealed rubber chambers 57 is greater than the extension distance L 1, of the lower two sealed rubber chambers 57, and the distance L 3 between the centers of the two sealed rubber chambers 57 is a constant value, if the target angle α is obtained, only the adjustment of L1 and L2 is required, and the three-axis gyroscope 55 detects the change of the angle of the high redundancy salvage bucket 5. Similarly, the bending of the cooling seal rubber capsule portion 53 is also the principle described above.
For the different salvaging of the articles, the stop frame 2 may be of other shape suitable for the articles.
When the water level is deeper and the water pressure is greater or the gap is deeper, the high-redundancy salvaging bucket 5 is provided with the multi-section heating sealing rubber capsule part 52 and the multi-section cooling sealing rubber capsule part 53, and the multi-section coupling is utilized to improve the movement range to resist the influence of the water filling pressure according to the sequence of the heating sealing rubber capsule part 52 and the cooling sealing rubber capsule part 53.
The specific control method comprises the following steps:
Step S1: the lighting system 11 is matched with the camera 10 to position the salvaging robot above the article to be salvaged, and the telescopic rod 12 controls the high-redundancy salvaging bucket device 13 at the bottom end to descend to a certain height;
step S2: the pose of each high redundancy salvaging bucket 5 is detected using a tri-axis gyroscope 55. Detecting and judging the boundary line outline of the article to be salvaged through the camera 10, controlling the driving motor 1 to drive the nut sliding block 3 to move horizontally, further driving the high-redundancy salvage buckets 5 to move, and adjusting each high-redundancy salvage bucket 5 to be positioned above the boundary line of the article according to the boundary size of the salvage object;
Step S3: the electric heating ring 521 outputs heat to the corresponding sealing rubber chambers 57, and the four sealing rubber chambers 57 can have different temperature changes, so that each sealing rubber chamber 57 can be stretched to different degrees, and the whole section of the sealing rubber chamber can be changed in length or bent at different space angles; the semiconductor refrigeration ring 531 is used for refrigerating the corresponding sealed rubber capsule chamber 57, and the volume of high thermal expansion oil in the sealed rubber capsule chamber 57 is contracted, so that each sealed rubber capsule chamber 57 is contracted to different degrees, and the length change of the whole section or the slight bending of different space angles are realized;
Step S4: when the front end flexible head 56 contacts the bottom end of the salvaged article, the position of the nut sliding block 3 is adjusted through the driving motor 1, so that the high-redundancy salvaged bucket 5 is contracted from the periphery to the center of the article, at the moment, the salvaged article is wrapped inside the high-redundancy salvaged bucket device 13, at the moment, the shipboard winch 7 is operated, and the high-redundancy salvaging robot is retracted into the shipboard to take out the salvaged article.
Although embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides a salvage robot of high redundancy of underwater operation, includes organism (8), telescopic link (12), its characterized in that are installed to organism (8): the bottom end of the telescopic rod (12) is connected with a high-redundancy salvaging bucket device (13), the high-redundancy salvaging bucket device (13) comprises a high-redundancy salvaging bucket (5), the high-redundancy salvaging bucket (5) comprises at least two sections of heating sealing rubber capsule parts (52) and at least two sections of cooling sealing rubber capsule parts (53), the heating sealing rubber capsule parts (52) and the cooling sealing rubber capsule parts (53) are alternately arranged, the heating sealing rubber capsule parts (52) and the cooling sealing rubber capsule parts (53) comprise four sealing rubber capsule chambers (57), the sealing rubber capsule chambers (57) are circumferentially distributed and fixed around the central axis of the high-redundancy salvaging bucket (5), the heating sealing rubber capsule part (52) is connected with the cooling sealing rubber capsule part (53) through the middle interval section (51), the sealing rubber capsule chamber (57) is filled with high expansion oil, the upper ends of the four sealing rubber capsule chambers (57) of the heating sealing rubber capsule part (52) are fixedly provided with electric heating rings (521), the centers of the electric heating rings (521) are in grid shapes, the extending transfer Wen Gan (522) is arranged, the volume of the high expansion oil is increased when the corresponding transfer Wen Gan (522) heats, the corresponding sealing rubber capsule chamber (57) is elongated, the heating degree of the four sealing rubber capsule chambers (57) can be different and controllable, and further, the bending of the corresponding heating sealing rubber capsule part (52) with different degrees or the change of different lengths can be realized, the semiconductor refrigerating rings (531) are fixedly arranged around the four sealing rubber capsule chambers (57) in the cooling sealing rubber capsule part (53), the cooling rings (532) are fixedly connected with the outer parts of the semiconductor refrigerating rings (531), the semiconductor refrigerating rings (531) are controlled to refrigerate through electric, and high-expansion oil contracts at low temperature, so that the corresponding sealing rubber capsule chambers (57) are rapidly shortened, and fine angle adjustment can be realized by matching with the change of the heating sealing rubber capsule part (52);
The bottom of the high-redundancy salvaging bucket (5) is provided with a triaxial gyroscope (55), the bottom of the triaxial gyroscope (55) is connected with a fan-shaped flexible bucket (54), and the terminal of the fan-shaped flexible bucket (54) is provided with a front-end flexible head (56);
The bending principle of the heating sealing rubber capsule part (52) is as follows: the elongation of the upper two sealing rubber capsule chambers (57) in the four sealing rubber capsule chambers (57) is L 2, the elongation of the lower two sealing rubber capsule chambers (57) is L 1, the distance between the centers of the upper and lower two sealing rubber capsule chambers (57) is L 3, the angle generated after the elongation is alpha, and the distance from the center of the lower two sealing rubber capsule chambers (57) to the vertex of the angle alpha is unknown and is set as x; l 1、L2、L3, x satisfy the following relation:
by controlling the extension length of the four sealing rubber capsule chambers (57), the extension distance L 2 of the upper two sealing rubber capsule chambers (57) is larger than the extension distance L 1, of the lower two sealing rubber capsule chambers (57), the distance L 3 between the centers of the two sealing rubber capsule chambers (57) is a fixed value, if the target angle alpha is obtained, only the L 1 and the L 2 are required to be adjusted, the triaxial gyroscope (55) detects the change of the angle of the high redundancy salvage bucket (5), and similarly, the bending of the cooling sealing rubber capsule part (53) is also the principle.
2. The fishing robot of claim 1, wherein the fishing robot is configured to: the high-redundancy salvaging bucket device (13) is also provided with a limiting frame (2), and the top of the limiting frame (2) is connected with the bottom of the telescopic rod (12).
3. The fishing robot of claim 2, wherein the fishing robot is configured to: the limiting frame (2) is of a cross shape and four sides are equal in length, a center fixing block (6) is fixedly arranged at the center of the limiting frame (2), four screws (4) are arranged in the horizontal direction inside the limiting frame (2), one ends of the four screws (4) are fixedly connected with the center fixing block (6), the other ends of the four screws are connected with a driving motor (1), a nut sliding block (3) is arranged on the screw (4), and a high-redundancy salvage bucket (5) is fixedly connected below the nut sliding block (3) through a middle spacing fragment (51).
4. A fishing robot of high redundancy for underwater operations as claimed in claim 3, wherein: the robot is characterized by further comprising a ship hoist (7) connected with the ship, a camera (10) is fixed above the center of the long side surface of the machine body (8), lighting systems (11) are fixedly arranged on two sides of the camera (10), and crawler belts (9) are fixedly arranged on two sides of the short side of the machine body (8).
5. A control method for the fishing robot of high redundancy for underwater operations as claimed in claim 4, characterized by: the method comprises the following steps:
Step S1: the lighting system (11) is matched with the camera (10) to position the salvaging robot above the article to be salvaged, and the telescopic rod (12) controls the high redundancy salvaging bucket device (13) at the bottom end to descend to a certain height;
Step S2: detecting the pose of each high-redundancy salvage bucket (5) by using a triaxial gyroscope (55) fixed at the front end of a high-redundancy salvage bucket device (13), detecting and judging the boundary line profile of an article to be salvaged by using a camera (10), controlling a driving motor (1) to drive a nut sliding block (3) to move in the horizontal direction, further driving the high-redundancy salvage bucket (5) to move, and adjusting each high-redundancy salvage bucket (5) to be positioned above the boundary line of the article according to the boundary size of a salvage object;
Step S3: the electric heating rings (521) are used for outputting heat to the corresponding sealing rubber capsule chambers (57), the four sealing rubber capsule chambers (57) can have different temperature changes, so that each sealing rubber capsule chamber (57) can be stretched to different degrees, the whole section of length change or bending of different space angles can be realized, the semiconductor refrigerating rings (531) are used for refrigerating the corresponding sealing rubber capsule chambers (57), the volume of high-thermal expansion oil in the sealing rubber capsule chambers (57) is contracted, and each sealing rubber capsule chamber (57) is contracted to different degrees, so that the whole section of length change or the micro bending of different space angles can be realized;
Step S4: when the front end flexible head (56) contacts with the bottom end of the salvaged article, the position of the nut sliding block (3) is adjusted through the driving motor (1), so that the high-redundancy salvaged bucket (5) is contracted from the periphery to the center of the article, the salvaged article is wrapped in the high-redundancy salvaged bucket device (13), at the moment, the hoist (7) on the ship is operated, the salvaged robot with high redundancy is retracted on the ship, and the salvaged article is taken out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN1239215A (en) * | 1998-05-20 | 1999-12-22 | 易通公司 | Modular thermal expansion valve and cartridge therefor |
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| CN118025453A (en) | 2024-05-14 |
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