Master-slave control metamorphic robot for removing sea organism at ship bottom

Abstract

The invention discloses a master-slave control metamorphic robot for removing a sea organism at a ship bottom, and belongs to the field of ship bottom sea organism cleaning equipment. The robot consists of a platform shell, a straight arm device, a triangular arm device, an air bag, a driving device, a cleaning device, an impact device, a platform cover, a CCD, a cable joint, an air cylinder, a lifting platform, a protective cover, a towed cable and an air pump. The robot has the beneficial effects that the robot is connected with an operator on the deck through the towed cable, the operator can observe the underwater condition of the robot through the CCD, and the platform shell, the straight arm device and the triangular arm device of the robot form different postures through fixation and extension, so that the robot adapts to crawl at the bottom of the ship, cross obstacle at the bottom of the ship and remove the sea organism; the cleaning device and the impact device are matched for movement intermittently, so that the shell of the sea organism at the bottom of the ship is destroyed, the residual parts of the sea organism at the bottom of the ship is removed.

Description

technical field [0001] The invention relates to a master-slave control metamorphic robot for cleaning marine organisms on the bottom of a ship. Specifically, it adopts a triangular arm device and a straight arm device equipped with magnet blocks, and is equipped with machine vision for position detection and a plurality of motors. A master-slave control metamorphic robot capable of cleaning marine organisms on the bottom of a ship belongs to the field of cleaning equipment for marine organisms on the bottom of a ship. Background technique [0002] Ships and warships are sailing and mooring in sea water, and it is difficult to avoid the breeding of marine organisms on the bottom of the ship. The foul bottom formed due to the adhesion of marine organisms greatly increases the resistance of the ship, which not only reduces the speed of the ship, but also increases the fuel consumption of the ship. Although researchers have developed various antifouling paints to reduce the adh...

AI Technical Summary

Problems solved by technology

At present, the adsorption method of the bottom cleaning robot is relatively reliable, but the mobile flexibility is poor; the mobile method is flexible, but the adsorption force is small

Therefore, in terms of cleaning marine organisms on the bottom of the ship, there is an urgent need for a kind of cleaning equipment on the bottom of the ship, which has the functions of strong adsorption capacity and flexible movement, but there is a lack of such equipment at present.

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