Underwater operation robot for seafood salvage

Abstract

The invention relates to underwater robots, in particular to an underwater operation robot for marine product salvage. In order to solve the problem that the existing underwater robot control difficulty is large during marine product salvage and other problems, the invention provides the underwater operation robot for marine product salvage. The underwater operation robot comprises a machine frame, a propeller, a biomimetic fluctuation fin propeller, a mechanical arm and a controller, wherein the propeller is fixed on the frame, and is used for providing power for the underwater operation robot so as to drive the underwater operation robot to move underwater; the biomimetic fluctuation fin propeller is used for adjusting the attitude of the underwater operation robot so as to make the underwater robot easy to grasp marine products; the mechanical arm comprises a driving mechanism and a transmission mechanism and a grab, and the driving mechanism drives the grab to perform the grab operation through the transmission mechanism; and the controller can control the propeller and the biomimetic fluctuation fin propeller so as to drive and adjust the attitude of the underwater operation robot, and control the mechanical arm to perform the corresponding grab operation. The underwater operation robot for marine product salvage realizes the quick cruise of the machine frame body and stable attitude adjustment at low speed by means of hybrid drive.

Description

technical field [0001] The invention relates to an underwater robot, in particular to an underwater operation robot for salvaging seafood. Background technique [0002] With the development and utilization of marine resources, autonomous underwater vehicle (AUV) technology has received more and more attention. In order to further complete autonomous underwater operations, the underwater vehicle-manipulation system (UVMS) has been greatly developed. By installing an underwater robotic arm on an autonomous underwater vehicle, underwater operations can be realized, such as salvaging underwater objects, opening and closing valves, etc. At present, the salvage of seafood mainly depends on the working tools carried by divers. There are limitations in divers' seafood salvage. On the one hand, divers cannot work underwater for a long time. On the other hand, there are some places in the sea that divers cannot reach, which limits the underwater work space of divers. [0003] Altho...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problems that the existing underwater robot is difficult to control when salvaging seafood, the present invention proposes an underwater operation robot for seafood salvage, the underwater operation robot It includes a frame and is fixed on the frame: a propeller propeller, which is used to provide power for the underwater working robot to drive the underwater working robot to move underwater; a bionic undulating fin propeller, which uses It is used to adjust the posture of the underwater working robot so that the underwater robot is easy to grab seafood; the mechanical arm includes a driving mechanism, a transmission mechanism and a gripper, and the driving mechanism drives the gripper through the transmission mechanism. A hand performs a grasping operation; a controller, the controller can control the propeller propeller to drive the underwater working robot, and simultaneously control the bionic undulating fin propeller to adjust the attitude of the underwater working robot, and controlling the drive mechanism so that the gripper performs a corresponding grabbing operation

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