WO2019205053A1 - 基于辅助机器人带缆捆绑桩柱的水下作业机器人定位系统 - Google Patents
基于辅助机器人带缆捆绑桩柱的水下作业机器人定位系统 Download PDFInfo
- Publication number
- WO2019205053A1 WO2019205053A1 PCT/CN2018/084606 CN2018084606W WO2019205053A1 WO 2019205053 A1 WO2019205053 A1 WO 2019205053A1 CN 2018084606 W CN2018084606 W CN 2018084606W WO 2019205053 A1 WO2019205053 A1 WO 2019205053A1
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- WIPO (PCT)
- Prior art keywords
- robot
- underwater
- positioning system
- cable
- working robot
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Definitions
- the invention relates to the field of underwater working robot positioning technology, in particular to an underwater working robot positioning system based on an auxiliary robot cable-carrying pile column, which is an underwater intelligent robot positioning system with dual robot cooperative working ability.
- underwater robots In the face of marine activities and marine operations, the application of underwater robots has received increasing attention, such as the marine oil and gas mining industry, which has widely used underwater robots. It should not be neglected that the underwater robots in operation are often in a water environment with zero buoyancy, and the thrust of the propellers is arranged in multiple vectors to dynamically position the underwater waves against the sea current, wave force and operational reaction force. Compared with the positioning of the ground working equipment, the positional accuracy of the underwater robot's dynamic positioning is much worse, and it is easy to break the balance under the change of the external load and greatly deviate from the dynamic positioning position, so that the precision of the operation is greatly improved, or the work efficiency is greatly reduced. . The fact is that the existing underwater robots are constrained by large-scale commercial applications due to high cost, poor economics of positioning operations, and long payback period.
- the offshore oil and gas platform is the most used industry for underwater robots. It often has a pile-column structure.
- the underwater robot is positioned by means of a vacuum chuck or a magnetic chuck fixed to the pile.
- the positioning method of the vacuum chuck or the magnetic chuck fixed to the pile is limited to the adhesion, and the positioning reliability is not high, which affects the precise operation and reduces the work efficiency and safety.
- the underwater positioning research of underwater robots mainly focuses on the dynamic positioning form.
- the technical solution greatly improves the positioning reliability by binding the positioning mode of another underwater robot to the pile based on the auxiliary underwater robot cable, thereby improving the work accuracy, work efficiency and work safety.
- the technology adopts dual robots to work together in a water environment, and has high technical difficulty but wide technical development prospect, and thus has a large promotion space.
- the object of the present invention is to provide an underwater intelligent robot system with dual robot cooperative working ability, which adopts an underwater robot cable to bind another underwater robot to the pile positioning technology to realize three-dimensional underwater robot. Attitude positioning.
- the technology will effectively solve the technical problems of the existing underwater robot dynamic positioning, vacuum chuck or magnetic chuck in the form of low positioning reliability, difficulty in accurate operation, and low operational efficiency and safety.
- An underwater working robot positioning system based on an auxiliary robot with a cable-tied pile, comprising a water surface console, an underwater working robot adsorbable on the pile,
- the underwater working robot is provided with a cable box for placing a flexible strap on one side, a twisting cable mechanism for tensioning the flexible strap on the other side, and a cable underwater robot, the front end of the underwater robot Set for clamping
- a flexible strap robot that is coupled to an underwater robot and a submerged robot to control the operation of the underwater robot and the underwater robot.
- a matching quick connecting device is disposed on the free end of the flexible strap and the cable twisting mechanism.
- the underwater working robot includes an adsorption device for adsorbing piles, a plurality of propellers arranged in a vector, and a hydraulic unit. Freedom joint manipulators, lights, CCD cameras and underwater positioning systems.
- the number of said propellers is six.
- the underwater submarine robot includes a plurality of propellers arranged in a vector, an electric two-degree-of-freedom joint manipulator, an illumination lamp, CCD camera and underwater auxiliary positioning system.
- the number of said propellers is four.
- the flexible strap is a nylon strap.
- the underwater assisted positioning system is a short baseline hydroacoustic positioning system.
- the adsorption device is a vacuum chuck or a magnetic chuck.
- the water surface console includes an industrial computer, a robot operation control panel, and the robot operation control panel is used to control the robot movement; the industrial computer is used to control the movement and positioning of the robot.
- the beneficial effects of the present invention are: the technical solution greatly improves the positioning reliability by binding the positioning mode of another underwater robot to the pile based on the auxiliary underwater robot cable, thereby improving the accuracy of the operation, The work efficiency and work safety are well solved to solve the problem of underwater robot operation, and are especially suitable for the actual operation under the conditions of piles.
- FIG. 1 is a schematic structural view of an embodiment of the present invention.
- FIG. 2 is a schematic diagram of the principle of an embodiment of the present invention.
- the underwater working robot positioning system based on the auxiliary robot cabled bundle column includes a water surface console and can be adsorbed on the pile.
- the underwater working robot 1 on the upper side, the side of the underwater working robot 1 is provided with a cable box 9 on which a nylon strap 5 is placed, and on the other side is provided with a winch mechanism 3 for tightening the nylon strap 5;
- a cable underwater robot 6 is also included, the front end of the underwater robot 6 is provided with a robot for holding a flexible strap, the water surface console and the underwater working robot 1 and the underwater robot 6 Signal connection for controlling underwater operation robot 1 and cable underwater robot 6 action.
- the free end of the nylon strap 5 and the twisted cable mechanism 3 are provided with matching quick connect means, such as at the free end of the nylon strap 5
- a cable hook is provided with a pull ring or the like on the twisted cable mechanism 3.
- the underwater working robot 1 includes a vacuum suction cup for adsorbing the pile 7 , six propellers arranged in a vector 2 , and a hydraulic pressure Freedom joint manipulator 4, illumination, CCD camera and short baseline hydroacoustic positioning system.
- the six propellers arranged in the vector 2 can be easily and flexibly realized. Movement in all directions.
- the cabled underwater robot 6 includes four propellers 2 arranged in a vector, an electric two-degree-of-freedom joint manipulator 8 , an illumination lamp, CCD camera and short baseline hydroacoustic positioning system.
- Four propellers 2 arranged in a vector can be easily and flexibly realized.
- Underwater robot with cable 6 Moving in all directions, electric two-degree-of-freedom joint manipulator 8 The grasping and release of the nylon strap 5 can be accurately achieved.
- the short baseline hydroacoustic positioning system has the characteristics of mature technology, high positioning accuracy, small size and convenient use, and can quickly and accurately acquire the position of the underwater robot and provide necessary technical parameters for system positioning.
- Lighting and CCD The camera provides position information assisted guidance through visual feedback to further improve the robot's positional accuracy.
- the water surface console includes an industrial computer, a robot operation control panel, and the robot operation control panel is used to control the robot movement; the industrial computer is used to control the movement and positioning of the robot.
- the robot system shown in the figure consists of 2 underwater robots: underwater working robot 1 and cable underwater robot 6 , 2
- the robot cooperation mode can be designed according to different positioning and relying on the object constraint design requirements.
- the underwater working robot 1 moves to the predetermined working area, the underwater working robot 1 is adsorbed to the pile by its vacuum suction cup 7
- the underwater robot 6 is moved to the cable box 9 of the underwater working robot 1 under the control of the water surface console, and then the electric two-degree-of-freedom joint robot 8 at the front end grasps the nylon strap 5 free end cable hooks and carrying nylon straps driven by 4 propellers 2 in their vector arrangement 5 moving from the submarine robot 1 cable box 9 around the pile 7 to the other side, and finally Nylon strap 5
- the free end of the cable hook is fixed on the pull ring of the winch mechanism 3, and the winch mechanism 3 is used to tighten the nylon strap 5 so that the underwater working robot 1 is attached to the pile 7 On.
- the hydraulic six-degree-of-freedom joint robot 4 of the underwater working robot 1 can perform the corresponding underwater operation under the control of the robot operation control panel.
- the underwater working robot 1 of the present embodiment is attached to the pile by a vacuum chuck and a nylon strap 5
- the attachment method increases the cable bundling function as a supplement or backup of the positioning capability, which improves the positioning reliability and stability, thereby improving the work accuracy, work efficiency and work safety. It effectively overcomes the problem of high energy consumption in the form of 'dynamic positioning' of the robot, and low work efficiency due to difficulty in aligning the robot with the position of the robot.
- This embodiment adopts a dual robot to work collaboratively in a water environment, and has a broad development prospect of technology, and thus has a large promotion space.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
- 基于辅助机器人带缆捆绑桩柱的水下作业机器人定位系统,包括水面控制台、可吸附在桩柱(7)上的水下作业机器人(1),其特征在于:所述水下作业机器人(1)一侧设置有放置柔性绑带的缆盒(9),另一侧设置有用于拉紧所述柔性绑带的绞缆机构(3),还包括带缆水下机器人(6),所述带缆水下机器人(6)前端设置有用于夹持柔性绑带的机械手,所述水面控制台与水下作业机器人(1)及带缆水下机器人(6)信号连接,用于控制水下作业机器人(1)及带缆水下机器人(6)动作。
- 根据权利要求1所述的水下作业机器人定位系统,其特征在于:所述柔性绑带的自由端及绞缆机构(3)上设置有相匹配的快速连接装置。
- 根据权利要求1所述的水下作业机器人定位系统,其特征在于:所述的水下作业机器人(1)包括用于吸附桩柱(7)的吸附装置、矢量布置的若干螺旋桨(2)、液压六自由度关节机械手(4)、照明灯、CCD摄像头及水下辅助定位系统。
- 根据权利要求3所述的水下作业机器人定位系统,其特征在于:所述的螺旋桨(2)的数量为六个。
- 根据权利要求1所述的水下作业机器人定位系统,其特征在于:所述的带缆水下机器人(6)包括矢量布置的若干螺旋桨(2)、电动两自由度关节机械手(8)、照明灯、CCD摄像头及水下定位系统。
- 根据权利要求5所述的水下作业机器人定位系统,其特征在于:所述的螺旋桨(2)的数量为四个。
- 根据权利要求1所述的水下作业机器人定位系统,其特征在于:所述的柔性绑带为尼龙绑带(5)。
- 根据权利要求3所述的水下作业机器人定位系统,其特征在于:所述的水下辅助定位系统为短基线水声定位系统。
- 根据权利要求3所述的水下作业机器人定位系统,其特征在于:所述的吸附装置为真空吸盘或磁吸盘。
- 根据权利要求1所述的水下作业机器人定位系统,其特征在于:所述的水面控制台包括工控机、机械手作业控制面板,所述机械手作业控制面板用于控制机械手动作;所述工控机用于控制机器人移动。
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PCT/CN2018/084606 WO2019205053A1 (zh) | 2018-04-26 | 2018-04-26 | 基于辅助机器人带缆捆绑桩柱的水下作业机器人定位系统 |
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Cited By (1)
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