Open-shelf underwater detecting robot mechanism

Abstract

The invention aims at providing an open-shelf underwater detecting robot mechanism. The mechanism comprises a robot main body, an environment perception device, a movement perception device and a movement executing device; wherein the robot main body comprises a frame (2), a buoyancy material (11) and a compressive resistance cabin (1), the environment perception device comprises an ultrasound thickness tester (14), a front view sonar (12) and an underwater glimmer camera (15), the movement perception device comprises an optical fiber compass (6) and a depthometer (7), the movement executing device comprises a left main propeller (17), a right main propeller (10), a rear side propeller (8), a rear vertical propeller (9), a front side propeller (3) and a front vertical propeller (4), a two-degree of freedom holder (13) and a headlamp (16). The invention is simple in structure, operation is flexible and reliable, adaptability is strong; and the mechanism thereof has strong expandability, is easy to assemble and has certain fault tolerance.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a robot mechanism for underwater operations. Background technique [0002] Many underwater equipment such as pipelines and hulls need to be regularly inspected to eliminate potential safety hazards. Using divers’ handheld devices for underwater inspections is not only inefficient, but also very dangerous in operation, which has given birth to the emergence of underwater inspection robots. . [0003] The United States and other countries were the first to develop underwater robots for hull detection. The MIT Underwater Robotics Laboratory has successively developed CetusII AUV and HAUV for underwater detection of ships. Bluefin's Bluefin-9 used its advanced acoustic scanning system to detect underwater hazards on US warships. Professor Shahriar of the University of Miami and his research group used commercial robots to conduct a rapid scanning test on the hull using an underwater optical sy...

AI Technical Summary

Problems solved by technology

The application number is 200410082862.X Chinese patent document (authorized announcement date: June 14, 2006) disclosed in "a kind of underwater robot structure" provides a kind of reconfigurable modular underwater robot structure, but it is The overall structure of the closed underwater robot cannot be flexibly adjusted with the shape or position of instruments, equipment, and tools according to the functional needs of the robot

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