Tuck net type manipulator of underwater robot

Abstract

The invention relates to a tuck net type manipulator of an underwater robot, which comprises two fixed frames for connecting the underwater robot and a four link type arm mechanism. The manipulator is characterized in that a bearing chock and a bearing therein are respectively fixedly arranged at the lower ends of the two fixed frames; and the two bearings support a roller, one end of which is connected with a net-putting electric motor and the other end thereof is fixedly connected with a frame so as to form a net-putting mechanism. The frame also comprises a stretchable mechanism, a net-stretching mechanism and an arm mechanism; and the arm mechanism hangs a tuck net so as to form a net-off mechanism with the net-stretching mechanism. The invention is controlled based on a precision underwater motor so as to integrally fix the abdomen of the underwater robot in which the arm mechanism is furled normally. When in use, the arm mechanism is forward extended by the stretchable mechanism, the net winding on the arm is put down by the rotation of the net-putting mechanism, an arm linkage mechanism is stretched into squareness by the net-stretching mechanism, and the tuck net hanged onthe arm is stretched simultaneously so as to capture objects suspending in water by rotation of the stretchable mechanism or the upward maneuvering and forward maneuvering of the underwater robot. After the objects are taken into dispose region, the arm mechanism is stretched into the net-off position by net-stretching mechanism; therefore, the tuck net filling with the objects can be put down.

Description

technical field [0001] The invention relates to an underwater robot manipulator, in particular to a net pocket manipulator based on an underwater robot to capture objects in a complex water flow environment. Background technique [0002] Underwater anti-terrorism security plays an important role in shallow water areas such as harbors, rivers, coastal areas, reservoirs, hydropower plants, and nuclear power plants where major events are held. Underwater anti-terrorism search is mainly to detect larger objects such as frogmen and dangerous explosives such as homemade mines. Since the land and the shore are closely monitored, explosives can only be placed in the water to float upstream from the upstream or downstream to the monitored waters using the high tide. They can even be made into zero-buoyancy objects and float from below the water surface to specific areas. The purpose of the present invention is to use the special operation manipulator arranged on the underwater robot...

AI Technical Summary

Problems solved by technology

[0003] When an underwater robot is usually equipped with a claw-type manipulator to grab a target, it needs to accurately grasp certain parts of the target through the opening and closing of the claw. The speed and tonnage of ship activities are frequent, and the strong wind, waves and flow velocity caused by the ship have a major impact on the posture and posture of the underwater robot and the manipulator, and the coupling between the six degrees of freedom of the underwater robot is serious, and it is difficult to adjust in time. It caused serious difficulties for the claw-type manipulator on it to accurately grasp suspicious targets, so that it could not complete the task

At the same time, the difference in the size and shape of the target outline can easily lead to inappropriate grasping position and strength, which may cause the target to fall off, be damaged, and cause explosions and the spread of dangerous goods.

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