Underwater robot-underwater manipulator system

A technology of underwater robots and underwater machinery, which is applied in the directions of manipulators, underwater ships, and underwater operation equipment to achieve the effect of ensuring reliability.

Active Publication Date: 2018-11-23
HARBIN ENG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

Dr. Zhang Qifeng from Shenzi Institute carried out the underwater robot-manipulator system research topic, but due to the limitations of s

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Embodiment Construction

[0026] The invention consists of three parts: an underwater robot body, an underwater mechanical arm (5) and an auxiliary adjusting device (6). The underwater robot used in this system is an autonomous underwater robot AUV, which is powered by a battery pack. In order to improve the endurance, the underwater robot adopts the under-actuated system to complete the attitude and position control of the underwater robot. The single propeller (7) is installed in the horizontal direction of the stern (2) part of the underwater robot, and realizes the displacement control of the forward and backward directions of the underwater robot. The cross rudder is installed on the stern (2) part of the underwater robot, in front of the propeller (7), and realizes the control of the heading angle and pitch angle of the underwater robot. The underwater mechanical arm (5) is installed directly below the underwater robot, close to the position of the bow (4), and the underwater mechanical arm (5) ...

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Abstract

The invention relates to an underwater robot-underwater robot arm system, belonging to the field of underwater robots and comprising three parts: an underwater robot body, an underwater manipulator and an auxiliary adjusting device; the underwater robot body is an autonomous underwater robot without cables, and the power system of the underwater robot body uses the under-actuated mode to control the attitude and motion of the underwater robot, and the drive system of the underwater robot body consists of single propellers and one cruciform of rudder, which are installed at the stern of the underwater robot body; the system uses the underwater manipulator with four degrees of freedom and five functions, and the underwater manipulator consists of two rotative joints and two pendulum joint and one manipulator grasp, and the auxiliary adjustment device is installed directly below the underwater robot and is close to the stern. The device is driven by a lead screw slider mechanism and a servo motor. By moving the slider, the adjustment of the center of gravity of the underwater robot can be achieved, which compensates the influence of the underwater manipulator on the longitudinal change of the center of gravity of the underwater robot during the movement, thereby achieving the attitude stability of the underwater robot.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an underwater robot-underwater mechanical arm system. Background technique [0002] With the deepening of ocean development, human beings hope that it can complete more tasks and play a more important role, which brings many new technical challenges. Underwater operations must be completed on the basis of good coordination between operating tools and robots. This technology is not very mature at present. Many scholars in related fields at home and abroad are overcoming difficulties and striving to realize the fully autonomous operation of underwater robots as soon as possible. It is in this environment that the underwater robot-manipulator system was born. The system completes all tasks autonomously and returns to home automatically. It has the advantages of small size, flexible movement, easy to throw and recycle, not restricted by armored cables, and suitable for var...

Claims

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Application Information

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IPC IPC(8): B63C11/52B63G8/14B25J9/16
CPCB25J9/1605B25J9/1612B63C11/52B63G8/14
Inventor 魏延辉韩寒王文杰郝晟功赵延峰徐丽学刘静田晨光朱强刘俊男
Owner HARBIN ENG UNIV
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