Underwater working robot

Abstract

The invention discloses an underwater working robot which is characterized by mainly comprising a vehicle body module, a manipulator module or / and an underwater camera module, a functional component module and a control module, wherein the modules are completely isolated mechanically and electrically; the vehicle body module mainly comprises a six-wheel and six-drive sealing vehicle body, a vehicle body direct current servo motor, a vehicle body motor driver, a vehicle body underwater ultrasonic sensor, a vehicle body temperature pressure sensor, an underwater lighting lamp, a vehicle body waterproof plug, a vehicle body inflating valve and a vehicle body anti-radiation lead plate; the manipulator module mainly comprises a base, a waist part, a large arm, a small arm and a tail end executer; the base, the waist part, the large arm and the small arm are connected with one another through hollow joints; air is filled into a manipulator, and wires are arranged in the manipulator; the underwater camera module mainly comprises an underwater camera, an underwater camera lighting lamp and a bidimensional tripod; the functional component module mainly comprises a storage box, an underwater dust remover and an underwater cutter; and the control module mainly comprises a main control console and a hand-control box.

Description

technical field [0001] The present invention relates to robot technology, in particular to an underwater operation robot, in particular to an underwater operation robot that can perform operations such as observation and salvage in high-radiation and weakly acidic water environments (such as those used in nuclear power plants). Background technique [0002] The rapid development of robot technology has greatly promoted the application of robots in various fields, especially in some special environments, robots have become indispensable equipment. With the continuous deepening of human development and utilization of the ocean, and the continuous advancement of industrialization and urbanization, people are facing more and more underwater operations, the operating environment is becoming more and more complex, and the difficulty of operations is also increasing. For example, in nuclear power plants, it is often necessary to salvage foreign objects that accidentally fall into t...

AI Technical Summary

Problems solved by technology

In the patent documents "Underwater Multifunctional Robot (CN1876486A)" and "Underwater Robot Multifunctional Operation Toolkit" (Teng Yuhao et al., Robot, Volume 24, No. 6, November 2002), although the underwater operation robot involved has There are many kinds of end effectors, but their driving motors are all arranged in the end effector, which not only increases the difficulty of sealing and increases the manufacturing cost, but also is not convenient for the rapid replacement of end effectors. More importantly, neither To realize the overall modular design of the robot, it is not possible to selectively install the necessary functional modules or adjust the relative positions of the modules according to different task requirements

In short, the number of robots that can be used for underwater operations, especially in special environments (such as nuclear power plants), is not only small, but also generally special-purpose equipment. When dealing with multi-tasks, it generally requires the coordination of multiple equipment. Not only is the operation complicated, but also requires a lot of investment

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