CN214824003U

CN214824003U - Single-manipulator underwater robot

Info

Publication number: CN214824003U
Application number: CN202121279660.XU
Authority: CN
Inventors: 付先平; 林鹏; 袁国良; 王虎; 刘安良
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2021-11-23
Anticipated expiration: 2031-06-08

Abstract

The utility model discloses a single manipulator underwater robot, including supporting body, propeller and manipulator, still include drive arrangement and flexible piece, flexible piece one end with drive arrangement connects, the other end with the manipulator is connected, the flexible piece is in along self axis direction motion and pulling under drive arrangement's the drive the manipulator, just the axis of flexible piece does not take place the swing along with the motion, the manipulator is used for snatching underwater object, and will underwater object puts into the supporting body. The utility model discloses a single manipulator underwater robot can the efficient carry out the target object under water and snatch. After the manipulator grabs the object, the flexible connecting piece pulls the manipulator to rise, so that the phenomenon that the manipulator is scraped with the bottom when rotating to cause vibration and the object drops is avoided, and the grabbing is flexible and stable and high in efficiency.

Description

Single-manipulator underwater robot

Technical Field

The utility model relates to an underwater robot field especially relates to a single manipulator underwater robot.

Background

The underwater robot is widely applied to various fields such as detection, monitoring, exploration and the like as a research hotspot in recent years, and in the field of underwater object grabbing, compared with human beings, the underwater robot has many advantages such as long operation time, low danger and the like. However, how to efficiently perform underwater grabbing is always a problem in the design and manufacture of underwater robots.

SUMMERY OF THE UTILITY MODEL

The utility model provides a single manipulator underwater robot to overcome above-mentioned technical problem.

The utility model provides a single manipulator underwater robot, includes supporting body, propeller and manipulator, still includes drive arrangement and flexible piece, flexible piece one end with drive arrangement connects, the other end with the manipulator is connected, the flexible piece is in drive arrangement's drive is down along self axis direction motion and pulling the manipulator, just the axis of flexible piece does not take place the swing along with the motion, the manipulator is used for snatching underwater object thing, and will underwater object thing puts into the supporting body.

Furthermore, the driving device comprises a first steering engine, a steering engine swing arm, a connecting rod, a balance block and a first guide column, the first guide column is arranged in the bearing body, the balance block moves up and down along the first guide column, one end of the flexible part is connected with the balance block, one end of the connecting rod is hinged to the balance block, the other end of the connecting rod is hinged to the steering engine swing arm, and the first steering engine drives the steering engine swing arm to swing.

Further, the manipulator comprises a body, a second steering engine and a connecting block, the other end of the flexible part is connected with the connecting block, a second guide column is arranged in the bearing body, the connecting block moves along the second guide column, the second steering engine is fixedly connected with the connecting block, and the second steering engine is used for driving the body to rotate.

Furthermore, a floating body is arranged on the bearing body.

Further, still include first pulley and second pulley, the flexible piece is walked around in proper order first pulley and second pulley, the flexible piece is walked around first pulley and second pulley are 90.

The utility model discloses a single manipulator underwater robot can the efficient carry out the target object under water and snatch. After the manipulator grabs the object, the flexible connecting piece pulls the manipulator to rise, so that the phenomenon that the manipulator is scraped with the bottom when rotating to cause vibration and the object drops is avoided, and the grabbing is flexible and stable and high in efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic view of an internal structure of a single-manipulator underwater robot disclosed by an embodiment of the present invention;

fig. 2 is a schematic sectional view of a single-manipulator underwater robot disclosed by the embodiment of the present invention;

fig. 3 is a schematic top view of a single-manipulator underwater robot disclosed in an embodiment of the present invention;

FIG. 4 is an enlarged view of portion A of FIG. 3;

fig. 5 is a rear view schematically illustrating a single manipulator underwater robot disclosed in an embodiment of the present invention;

FIG. 6 is a schematic view of the whole robot with a single manipulator according to an embodiment of the present invention

The reference numbers illustrate:

1. a carrier; 11. a second guide post; 12. a float; 2. a propeller; 3. a manipulator; 31. a body; 32. a second steering engine; 33. connecting blocks; 4. a drive device; 41. a first steering engine; 42. a steering engine swing arm; 43. a connecting rod; 44. a counterbalance; 45. a first guide post; 5. a flexible member; 6. a first pulley; 7. a second pulley.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1, a single-manipulator underwater robot comprises a supporting body 1, a propeller 2 and a manipulator 3, and further comprises a driving device 4 and a flexible part 5, wherein one end of the flexible part 5 is connected with the driving device 4, the other end of the flexible part is connected with the manipulator 3, the flexible part 5 is driven by the driving device 4 to move and pull along the axis direction of the flexible part 3, the axis of the flexible part 5 does not swing along with the movement, and the manipulator is used for grabbing an underwater target and putting the underwater target into the supporting body 1.

As shown in fig. 6, the single-manipulator underwater robot in this embodiment includes a manipulator, a control device, a cruising device, a carrying basket, a power device, a detection monitoring device, and a positioning obstacle avoidance device.

The whole manipulator is wrapped by hard rubber, and a pressure sensor is arranged in the manipulator, so that the grabbing force can be controlled, the grabbed target objects such as marine products can be protected by the manipulator, and the whole grabbing process can be stopped in time and the grabbing can be restarted under the condition that the target objects are failed to be grabbed or fall off in the conveying process, so that the grabbing efficiency is greatly improved; the palm of the manipulator can be opened by 180 degrees, and the fingers adopt an arc design, so that the motion of 'holding' or 'fishing' of hands can be simulated underwater, the design ensures that the grabbing success rate is high, and the quantity of the marine products grabbed every time is large.

The flexible part 5 in this embodiment adopts the haulage rope, and the manipulator is when snatching underwater object, and the palm is down, successfully snatchs the back, and haulage rope pulling manipulator upward movement, the manipulator leaves ground under water, then the manipulator rotates, and the haulage rope is transferred simultaneously, and the manipulator is downward motion under the action of gravity, transports the carrying basket top in supporting body 1 until the target that the manipulator will snatch, and the manipulator opens, and the target drops in the carrying basket, accomplishes and snatchs.

At this in-process of snatching, the phenomenon of jamming very easily appears in the haulage rope, and particularly, the one end and the drive arrangement of haulage rope are connected, and the other end is connected with the manipulator, and when drive arrangement made the haulage rope relax, the haulage rope can not relax thereupon completely, but the jamming can appear, and this makes the one end of being connected with the manipulator, still is in the tensioning state, and the manipulator can't fall.

The cause of the traction rope jamming is very complicated, the underwater situation is different from the land, and the process and the cause of the traction rope jamming of the robot under water are difficult to observe. Through research, the movement track of the traction rope is driven by the driving device to swing. The concrete description is as follows: the haulage rope sets up the in-process at setting up, can set up to crooked shape according to the inner structure of robot, under the tensioning condition, the shape of haulage rope is similar to the broken line, both ends haulage rope has certain angle between rather than one section haulage rope adjacent separately, and this angle is at the haulage rope by drive arrangement driven in-process, can change, this makes certain rocking swing appear in the haulage rope motion, there is certain instability, and the angle of drive arrangement one end and the angle of manipulator one end, the size of two angles is inconsistent with the change of direction, can let this kind of unstability improve greatly. In addition, when the driving device adopts a steering engine, the linear motion of the traction rope is converted from the rotation of a swing arm of the steering engine, and the linear motion speed is not uniform in the process of converting the rotation into the linear motion. Moreover, the underwater environment is complex, the acting force of water flow on the traction rope is far greater than that of air flow, and the phenomenon of clamping stagnation of the traction rope is easy to occur due to the combination of the acting force, instability of the traction rope, non-uniform linear motion speed and various factors.

Haulage rope jamming can make underwater robot can't continue the operation, and this application has studied the reason that the haulage rope jamming appears to this problem has been solved.

After the haulage rope is arranged according to underwater robot inner structure, when it is in the tensioning and both ends pulling force is balanced, the axis position of haulage rope is confirmed, and the haulage rope only moves along its self axis direction, and its self axis, does not take place the swing, and the angle of haulage rope both ends and its adjacent section is unchangeable all the time this moment, falls to the minimum with the instability of haulage rope.

As shown in fig. 2 to 5, in this embodiment, the driving device 4 includes a first steering engine 41, a steering engine swing arm 42, a connecting rod 43, a balance block 44, and a first guiding column 45, the first guiding column 45 is disposed in the supporting body 1, the balance block 44 moves up and down along the first guiding column 45, one end of the flexible member 5 is connected to the balance block 44, one end of the connecting rod 43 is hinged to the balance block 44, the other end is hinged to the steering engine swing arm 42, and the first steering engine 41 drives the steering engine swing arm 42 to swing.

The balance weight 44 moves up and down along the guide post, the direction of the guide post 45 is the same as the axial direction of the part of the flexible part 5 close to the driving device, and the moving direction of the end of the flexible part 5 connected with the driving device coincides with the self axial line of the flexible part 5.

The manipulator 3 comprises a body 31, a second steering engine 32 and a connecting block 33, the other end of the flexible part 5 is connected with the connecting block 33, a second guide column 11 is arranged in the bearing body 1, the connecting block moves along the second guide column 11, the second steering engine 32 is fixedly connected with the connecting block 33, and the second steering engine 32 is used for driving the body 31 to rotate.

The direction of the second guide post 11 is the same as the axial direction of the part of the flexible part 5 close to the manipulator, and the moving direction of the end of the flexible part 5 connected with the manipulator coincides with the self axial line of the flexible part 5.

Above-mentioned structure makes flexible piece 5 in whole motion process, and the direction of motion all coincides with self axis, and flexible piece 5 self angle does not change, has improved holistic stability.

In this embodiment, the supporting body 1 is provided with a floating body 12. The floating body 12 increases the buoyancy of the underwater robot in water, so that the underwater robot can be in an unpowered suspension state in water, and the underwater robot can operate underwater for a longer time. Meanwhile, the floating body adopts a streamline design, so that the robot has smaller resistance when moving in water, sails more stably, is slightly influenced by water flow, and reduces the influence on the flexible part 5.

This embodiment changes the direction of setting of flexible piece 5 through the pulley, specifically, still includes first pulley 6 and second pulley 7, flexible piece 5 walks around in proper order first pulley 6 and second pulley 7, flexible piece 5 is around first pulley 6 and second pulley 7 are 90.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. The utility model provides a single manipulator underwater robot, includes supporting body (1), propeller (2) and manipulator (3), its characterized in that: the underwater robot is characterized by further comprising a driving device (4) and a flexible part (5), one end of the flexible part (5) is connected with the driving device (4), the other end of the flexible part is connected with the mechanical arm (3), the flexible part (5) moves and pulls the mechanical arm (3) along the axis direction of the flexible part under the driving of the driving device (4), the axis of the flexible part (5) does not swing along with the movement, and the mechanical arm is used for grabbing an underwater target and putting the underwater target into the bearing body (1).

2. The underwater robot with a single manipulator as claimed in claim 1, wherein: drive arrangement (4) include first steering wheel (41), steering wheel swing arm (42), connecting rod (43), balancing piece (44) and first guide post (45), first guide post (45) are located in supporting body (1), balancing piece (44) are followed first guide post (45) up-and-down motion, the one end of flexible piece (5) with balancing piece (44) are connected, connecting rod (43) one end with balancing piece (44) are articulated, the other end with steering wheel swing arm (42) are articulated, first steering wheel (41) drive steering wheel swing arm (42) swing.

3. The underwater robot with a single manipulator as claimed in claim 1, wherein: the manipulator (3) comprises a body (31), a second steering engine (32) and a connecting block (33), the other end of the flexible part (5) is connected with the connecting block (33), a second guide column (11) is arranged in the bearing body (1), the connecting block moves along the second guide column (11), the second steering engine (32) is fixedly connected with the connecting block (33), and the second steering engine (32) is used for driving the body (31) to rotate.

4. The underwater robot with a single manipulator as claimed in claim 1, wherein: a floating body (12) is arranged on the bearing body (1).

5. The underwater robot with a single manipulator as claimed in claim 1, wherein: still include first pulley (6) and second pulley (7), flexible piece (5) are walked around in proper order first pulley (6) and second pulley (7), flexible piece (5) are walked around first pulley (6) and second pulley (7) are 90.