Multifunctional hydraulic manipulator device

Abstract

The invention relates to the technical field of marine equipment, in particular to a multifunctional hydraulic manipulator device which comprises a plurality of mechanical claw bodies used for clamping a target object and a base connected with the mechanical claw bodies. The bottom of the base is detachably connected with a fixing mechanism used for being fixedly connected with a ship and a floating bag mechanism used for floating on the water surface. An adjusting mechanism used for adjusting the supporting height of the mechanical claw body and a rotating mechanism used for adjusting the rotating direction of the mechanical claw body are arranged between the mechanical claw body and the base. The mechanical gripper further comprises a separating mechanism used for driving the adjacent mechanical gripper bodies to be closed and separated, and the mechanical gripper bodies are each sleeved with a flexible bag used for being bent and expanded after being inflated. The processor is used for controlling the adjusting mechanism, the rotating mechanism, the separating mechanism and the pneumatic part to work based on the environment image; the device is used for guaranteeing capturing of the motion state of the target object, the stability in the target object clamping process is improved, the target object recycling efficiency is improved, and the collision risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of marine equipment technology, and more specifically to a multifunctional hydraulic manipulator device. Background Technology

[0002] Due to the influence of complex ocean currents and changeable weather, floating objects on the sea surface often drift and move with the ocean currents. In addition to man-made domestic waste, floating objects on the sea surface also include cargo such as containers and ship wrecks, as well as fragile barrels containing oil and chemicals and explosive materials.

[0003] When carrying out marine recovery operations, recovering floating objects can not only reduce marine debris and protect the marine ecological environment, but also economically recover valuable items such as rare metals from the floating objects, or promptly dispose of oil, chemicals and unexploded ordnance, thereby reducing threats to the surrounding ocean and passing ships.

[0004] Existing marine robotic recovery devices typically employ rigid structures, such as claw-shaped end effectors. During the grasping process, improper control of contact force can lead to damage to the target object, resulting in the leakage of hazardous substances (such as oil or chemicals) from the fragile container. Furthermore, ocean currents can cause the grasping position to shift, and waves can move the target object, affecting its trajectory and increasing the difficulty of recovery. For the recovery of explosive materials, mechanical impacts from incorrect grasping could trigger accidental explosions, impacting personnel safety. Therefore, existing technologies often employ pre-programmed control or remote operation.

[0005] However, existing devices struggle to adjust strategies in real time when dealing with complex sea conditions. They typically rely on sonar, cameras, and other sources to collect environmental data, which leads to a lag in judging the target's state and makes it difficult to predict the target's trajectory and adjust the manipulator's posture in real time. This results in a low level of intelligence. Therefore, this invention provides a highly intelligent hydraulic manipulator device that facilitates the capture of the target's motion state and improves the stability during the target gripping process. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides a multifunctional hydraulic manipulator device for ensuring the capture of the motion state of a target object, improving the stability during the object gripping process, increasing the object recovery efficiency, and reducing the risk of collision.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: A multifunctional hydraulic manipulator device includes several mechanical claw bodies for gripping target objects. One end of the mechanical claw body is connected to a base for support. The bottom of the base is detachably connected to a fixing mechanism for fixed connection with a ship and a floating bladder mechanism for floating on the water surface. An adjustment mechanism for adjusting the support height of the mechanical claw body and a rotation mechanism for adjusting the rotation direction of the mechanical claw body are provided between the mechanical claw body and the base.

[0008] It also includes mounting plates that are hinged to the top of the mechanical claw body. The mounting plates are arranged symmetrically with the base as the center. A separation mechanism is connected between the mounting plates and the adjustment mechanism to drive the adjacent mounting plates to close and separate. Each mechanical claw body is fitted with a flexible bladder for bending and expanding after inflation. The flexible bladder is connected to a pneumatic component for controlling the expansion of the flexible bladder through an air tube.

[0009] A camera for acquiring environmental images is fixedly connected to the mounting plate. The camera is electrically connected to a processor for controlling the adjustment mechanism, rotation mechanism, separation mechanism, and pneumatic components based on the environmental images.

[0010] Furthermore, the adjustment mechanism includes a first hydraulic rod, one end of which is coaxially fixedly connected to a turntable, which is rotatably engaged with the base; the other end of the first hydraulic rod is hinged to a first rod; a second hydraulic rod is connected between the first rod and the first hydraulic rod; one end of the second hydraulic rod is hinged to a slip ring, which is sleeved on the output end of the first hydraulic rod; the other end of the second hydraulic rod is hinged to a slider, which is slidably engaged with the first rod.

[0011] A drive unit is fixedly connected to the end of the first rod away from the first hydraulic rod, and a second rod is fixedly connected to one side of the output shaft of the drive unit. The separation mechanism is installed on the second rod.

[0012] The rotating mechanism includes a power component that is fixedly connected to the base. The output shaft of the power component is coaxially fixedly connected to a first gear. The first gear meshes with a gear ring, which is fixedly connected to the bottom of the turntable.

[0013] Furthermore, the slip ring slides into the output end of the first hydraulic rod, and a screw connects the slip ring and the output end of the first hydraulic rod.

[0014] Furthermore, the separation mechanism includes a third rod that rotatably engages with the second rod, with the end of the third rod away from the second rod hinged to the mounting plate;

[0015] The third rod is fixedly connected to a second gear at one end near the second rod. The second gear rotates and engages with the second rod, and adjacent second gears mesh with each other. A servo motor also rotates and engages inside the second rod. The servo motor is electrically connected to the processor, and a belt connects the servo motor to the second gear.

[0016] Furthermore, the fixing mechanism includes several threaded holes on the base, each threaded with a bolt.

[0017] The floating bladder mechanism includes floating bladders located on both sides of the bottom of the base. The top of the floating bladder is detachably connected to the base by bolts. Pressure sensors are fixedly connected to both sides of the floating bladder. The pressure sensors are used to detect the pressure applied by the sea surface current or the target object when it collides with the floating bladder, and send the applied pressure to the processor. The processor is also used to adjust the operation of the adjustment mechanism, rotation mechanism, separation mechanism and pneumatic components based on the applied pressure.

[0018] Furthermore, a partition is fixedly connected inside the floatation bladder, which divides the floatation bladder into a first chamber and a second chamber. The first chamber is located below the second chamber, and the partition is provided with a one-way valve for connecting the first chamber and the second chamber. The one-way valve can only allow gas from the first chamber to enter the second chamber.

[0019] The output end of the pneumatic component is connected to the first chamber through an air pipe. The side of the float near the first chamber is connected to the first solenoid valve. The first solenoid valve is connected to the outside and is electrically connected to the processor.

[0020] Furthermore, the pressure sensor includes a first pressure sensor, a second pressure sensor, and a third pressure sensor. The first pressure sensor is located on the side of the float near the mechanical claw body, the second pressure sensor is located between adjacent floats, and the third pressure sensor is located on the side of the float away from the base. The pressure detected by the first pressure sensor is the first pressure data, the pressure detected by the second pressure sensor is the second pressure data, and the pressure detected by the third pressure sensor is the third pressure data.

[0021] The processor is used to input and store current ocean current flow data and geographic location data. The ocean current flow data includes ocean current velocity and the corresponding execution control parameters of the rotating mechanism, regulating mechanism and pneumatic components. Then, with the location of the float as the center, the processor adds same-side orientation markers to the first pressure data, second pressure data and third pressure data according to the geographic orientation data. Based on the environmental image, the same-side orientation markers and interval distances of the target are obtained.

[0022] The processor then compares the interval distance with the set collision distance. If the interval distance is greater than the collision distance, it calculates the corresponding floating distance within the interval time based on the ocean current data. If the floating distance is less than the collision distance, it sends a start command to the rotating mechanism based on the same-side orientation marker. If the floating distance is greater than the collision distance, it sends a standby command to the rotating mechanism, the first pressure sensor, the second pressure sensor, and the third pressure sensor.

[0023] If the interval distance is less than the collision distance, a start command is sent to the first pressure sensor, the second pressure sensor, and the third pressure sensor according to the same-side orientation mark. Then, the protrusion values ​​of the first and second pressure data at the current time are obtained, and the geographic orientation data corresponding to the protrusion value is compared with the geographic orientation data corresponding to the ocean current flow data. If they match, a start command is sent sequentially to the rotating mechanism, the adjusting mechanism, and the pneumatic component based on the geographic orientation data corresponding to the ocean current flow data. If they do not match, a start command is sent to the rotating mechanism based on the geographic orientation data corresponding to the protrusion value, and the corresponding real-time flow velocity is obtained based on the protrusion value. The execution control parameters are adjusted based on the difference between the real-time flow velocity and the ocean current flow velocity.

[0024] Furthermore, a wheel is rotatably fitted inside the mounting plate 12, and a pull rope is wound on the wheel, with the pull rope located between adjacent mounting plates 12;

[0025] The processor is also used to obtain the shape of the target object based on the environmental image. If the shape of the target object is aggregated, the width of the target object is obtained and compared with the standard gripping range of the set mechanical claw body. If the width is greater than the standard gripping range, the servo motor sends an opening command; if the width is less than the standard gripping range, a standby command is sent to the servo motor.

[0026] If the target object is in a dispersed state, a spreading command is sent to the servo motor, and a net-scooping command is sent to the second hydraulic rod and the drive component.

[0027] Furthermore, the processor is also used to send a delayed start command to the first solenoid valve when the target object is in a dispersed state.

[0028] Furthermore, a fan-shaped mechanism is fixedly connected to the top of the floatation bladder, and a second solenoid valve is connected between the fan-shaped mechanism and the inside of the floatation bladder.

[0029] The processor is also used to compare the second pressure data when the geographic orientation data corresponding to the ocean current data is consistent with the geographic orientation data corresponding to the first pressure sensor, and the target is located between adjacent floating bladders, obtain the same-side orientation mark corresponding to the larger second pressure data, and send a start command to the second solenoid valve based on the same-side orientation mark.

[0030] The above approach has the following beneficial effects:

[0031] 1. This solution uses a fixing mechanism and a floating bladder mechanism to support the base, thereby improving the adaptability of the mechanical claw body during the gripping process and meeting the needs of acquiring targets on the sea surface in different scenarios. Specifically, the fixing mechanism allows the device to be installed on the ship to provide a fixed gripping mechanism for easy retrieval of targets onto the ship; the floating bladder mechanism allows the device to float on the sea surface, facilitating remote operation and handling of targets with safety risks by the crew, thereby ensuring the safety of the crew and the ship.

[0032] 2. In this solution, during the retrieval of the target object, a flexible bag is used to contact the target object, forming a buffer effect to reduce the potential damage to the target object caused by the rigid contact of the traditional robotic arm, thereby improving the safety of retrieval and reducing the risk of possible explosion.

[0033] 3. This solution uses a camera to capture the motion state and size of the target object, and controls the separation mechanism to adjust the opening range of the mechanical claw on the mounting plate to accommodate different target object sizes. This improves the stability of the target object gripping process, reduces the risk of falling or secondary gripping collisions due to unstable gripping, and thus improves the target object recovery efficiency.

[0034] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0035] Figure 1 This is an isometric view of an embodiment of the multifunctional hydraulic manipulator device of the present invention;

[0036] Figure 2 This is a side view of an embodiment of the multifunctional hydraulic manipulator device of the present invention;

[0037] Figure 3 This is a front view of an embodiment of the multifunctional hydraulic manipulator device of the present invention;

[0038] Figure 4 for Figure 2 A cross-sectional view along the AA direction;

[0039] Figure 5 for Figure 3 A cross-sectional view along the BB direction.

[0040] The reference numerals in the accompanying drawings include: 1. Mechanical claw body; 11. Flexible bladder; 12. Mounting plate; 13. Pull rope; 2. Base; 21. Turntable; 3. First hydraulic rod; 31. Second hydraulic rod; 32. Slip ring; 4. First rod; 5. Second rod; 51. Third rod; 52. Second gear; 6. Floating bladder; 61. First pressure sensor; 62. Second pressure sensor; 63. Third pressure sensor; 64. Fan blade mechanism; 65. Partition plate; 7. First solenoid valve; 71. Air pipe; 72. Second solenoid valve; 8. Camera. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] The following detailed description illustrates the specific implementation method:

[0045] As attached Figures 1 to 5The diagram shows a multifunctional hydraulic manipulator device, comprising several mechanical gripper bodies 1 for grasping target objects. One end of each gripper body 1 is connected to a base 2 for support. The bottom of the base 2 is detachably connected to a fixing mechanism for fixed connection to a vessel and a floating bladder 6 mechanism for floating on the water surface. The fixing mechanism includes several threaded holes on the base 2, each threaded with a bolt. The floating bladder 6 mechanism includes floating bladders 6 located on both sides of the bottom of the base 2. The tops of the floating bladders 6 are detachably connected to the base 2 via bolts, and pressure sensors are fixedly connected to both sides of the floating bladders 6. The threaded holes on the base 2 facilitate connection to the vessel and the floating bladders 6 via bolts, meeting the flexible disassembly requirements in different scenarios and improving ease of use.

[0046] The mechanical claw body 1 and the base 2 are provided with an adjustment mechanism for adjusting the support height of the mechanical claw body 1 and a rotation mechanism for adjusting the rotation direction of the mechanical claw body 1; it also includes mounting plates 12 that are respectively hinged to the top of the mechanical claw body 1. The mounting plates 12 are symmetrically arranged with the base 2 as the center. The mounting plates 12 and the adjustment mechanism are connected by a separation mechanism for driving adjacent mounting plates 12 to close and separate. Each mechanical claw body 1 is fitted with a flexible bladder 11 for bending and expanding after inflation. The flexible bladder 11 is connected to a pneumatic component for controlling the expansion of the flexible bladder 11 through an air pipe 71. The pneumatic component is not shown in the figure. The pneumatic component is installed on the base 2. In this embodiment, the pneumatic component includes, but is not limited to, common air compressors and exhaust fans.

[0047] The adjustment mechanism includes a first hydraulic rod 3, one end of which is coaxially fixedly connected to a turntable 21, which rotates with the base 2. The other end of the first hydraulic rod 3 is hinged to a first rod 4, and a second hydraulic rod 31 is connected between the first rod 4 and the first hydraulic rod 3. One end of the second hydraulic rod 31 is hinged to a slip ring 32, which is sleeved on the output end of the first hydraulic rod 3. The other end of the second hydraulic rod 31 is hinged to a slider, which slides with the first rod 4. A driving component, which is a motor (not shown in the figure), is fixedly connected to the end of the first rod 4 away from the first hydraulic rod 3. A second rod 5 is fixedly connected to one side of the output shaft of the driving component, and a separation mechanism is installed on the second rod 5.

[0048] The rotating mechanism includes a power component that is fixedly connected to the base 2. The power component is a motor, which is not shown in the figure. The output shaft of the power component is coaxially fixedly connected to a first gear. The first gear meshes with a gear ring, which is fixedly connected to the bottom of the turntable 21.

[0049] The separation mechanism includes a third rod 51 that rotatably engages with the second rod 5. The end of the third rod 51 away from the second rod 5 is hinged to the mounting plate 12. A second gear 52 is fixedly connected to the end of the third rod 51 that is close to the second rod 5. The second gear 52 rotatably engages with the second rod 5, and adjacent second gears 52 mesh with each other. A servo motor is also rotatably engaged inside the second rod 5. The servo motor is electrically connected to the processor, and a belt connects the servo motor to the second gear 52.

[0050] A camera 8 for acquiring environmental images is fixedly connected to the mounting plate 12. The camera 8 is electrically connected to a processor (not shown in the figure) for controlling the adjustment mechanism, rotation mechanism, separation mechanism, and pneumatic components based on the environmental images. A pressure sensor is used to detect the pressure applied when the sea surface current or a target object collides with the float 6, and sends the applied pressure to the processor. The processor is also used to adjust the operation of the adjustment mechanism, rotation mechanism, separation mechanism, and pneumatic components based on the applied pressure.

[0051] The pressure sensor includes a first pressure sensor 61, a second pressure sensor 62, and a third pressure sensor 63. The first pressure sensor 61 is located on the side of the float bladder 6 closer to the mechanical claw body 1, the second pressure sensor 62 is located between adjacent float bladders 6, and the third pressure sensor 63 is located on the side of the float bladder 6 away from the base 2. The pressure detected by the first pressure sensor 61 is the first pressure data, the pressure detected by the second pressure sensor 62 is the second pressure data, and the pressure detected by the third pressure sensor 63 is the third pressure data.

[0052] The processor is used to input and store current ocean current flow data and geographic location data. The ocean current flow data includes ocean current velocity and the corresponding execution control parameters of the rotating mechanism, regulating mechanism and pneumatic components. Then, with the position of the float 6 as the center, the processor adds same-side orientation markers to the first pressure data, second pressure data and third pressure data according to the geographic orientation data. Based on the environmental image, the same-side orientation markers and interval distances of the target object are obtained.

[0053] The processor then compares the interval distance with the set collision distance. If the interval distance is greater than the collision distance, it calculates the corresponding floating distance within the interval time based on the ocean current data. If the floating distance is less than the collision distance, it sends a start command to the rotating mechanism based on the same-side orientation marker. If the floating distance is greater than the collision distance, it sends a standby command to the rotating mechanism, the first pressure sensor 61, the second pressure sensor 62, and the third pressure sensor 63.

[0054] If the interval distance is less than the collision distance, a start command is sent to the first pressure sensor 61, the second pressure sensor 62, and the third pressure sensor 63 according to the same-side orientation mark. Then, the protrusion values ​​of the first and second pressure data at the current time are obtained, and the geographic orientation data corresponding to the protrusion value is compared with the geographic orientation data corresponding to the ocean current flow data. If they match, a start command is sent sequentially to the rotating mechanism, the adjusting mechanism, and the pneumatic component based on the geographic orientation data corresponding to the ocean current flow data. If they do not match, a start command is sent to the rotating mechanism based on the geographic orientation data corresponding to the protrusion value, and the corresponding real-time flow velocity is obtained based on the protrusion value. The execution control parameters are adjusted based on the difference between the real-time flow velocity and the ocean current flow velocity.

[0055] For example, due to the regularity of ocean currents, under normal circumstances, the impact of the current on the float bladder 6 reflects the subsequent contact between the target object and the float bladder 6. First, the environmental image acquired by the camera 8 is used to compare the distance between the target object and the collision distance to determine whether the target object is within the capture range of the mechanical claw body 1. This allows for the control of the standby status of the rotating mechanism, the first pressure sensor 61, the second pressure sensor 62, and the third pressure sensor 63, thereby saving energy and increasing the duration of the floating salvage process.

[0056] When the mechanical claw body 1 is able to retrieve the target object, it compares and processes the first pressure data and the second pressure data marked on the same side to determine whether the changes in the external ocean current match the recorded ocean current flow data, so as to ensure the accuracy of the rotating mechanism, the adjusting mechanism and the pneumatic components during operation, reduce the risk of expansion and improve the retrieval efficiency.

[0057] The specific implementation process is as follows:

[0058] First, based on actual usage needs, the device is installed on the ship through a fixing mechanism to provide a fixed gripping mechanism to facilitate the retrieval of the target object onto the ship; it floats on the sea surface through the floating bladder 6 mechanism, which facilitates remote operation and handling of target objects with safety risks by the crew, so as to ensure the safety of the crew and the ship.

[0059] During the salvage of the target object, the first gear is driven to rotate by the power component. The meshing of the first gear with the gear ring drives the turntable 21 to rotate, which in turn drives the adjustment mechanism on the turntable 21 and the mechanical claw body 1 to adjust their orientation, so that the mechanical claw body 1 can grasp the floating objects on the sea surface in different directions.

[0060] The camera 8 then captures the surrounding environment, and the first hydraulic rod 3 is used to adjust the height of the mechanical claw body 1 so that the mechanical claw body 1 is close to the target object. Then, through the rotation control of the second hydraulic rod 31 and the drive component, the mechanical claw body 1 is made to grip the target object vertically, ensuring the stability of the target object gripping process. The real-time capture by the camera 8 makes it convenient to adjust the control parameters of the adjustment mechanism and the rotation mechanism.

[0061] During the contact process between the mechanical claw body 1 and the target object, the flexible bag 11 is used to contact the target object to form a buffer effect, thereby reducing the potential damage to the target object caused by the rigid contact of the traditional robotic arm, thus improving the safety of retrieving the target object and reducing the risk of expansion.

[0062] The camera 8 captures the motion state and size of the target object. By controlling the forward and reverse rotation of the servo motor, the belt drives the meshing second gear 52 to rotate, causing the adjacent second gear 52 to drive the third rod 51 to close or disperse towards the center. This adjusts the spacing between the mechanical claw bodies 1 on the adjacent mounting plates 12 to adapt to the gripping of different sea surface targets, ensuring the adaptability of the mechanical claw body 1 in the contact process with the target object and ensuring the stability of the target object gripping process, thereby improving the target object recovery efficiency.

[0063] In another embodiment, the slip ring 32 is slidably engaged with the output end of the first hydraulic rod 3, and a screw is connected between the slip ring 32 and the output end of the first hydraulic rod 3.

[0064] The specific implementation process is as follows: After the height of the first hydraulic rod 3 is adjusted, the slip ring 32 slides at the output end of the first hydraulic rod 3. The screw passes through the slip ring 32 and abuts against the output end of the first hydraulic rod 3 to keep the support height of the slip ring 32 unchanged, thereby limiting the rotation angle of the first rod 4 and reducing the shaking of the target object gripped on the mechanical claw body 1 due to excessive movement of the first rod 4.

[0065] In another embodiment, a partition 65 is fixedly connected inside the float bladder 6, dividing the float bladder 6 into a first chamber and a second chamber. The first chamber is located below the second chamber, and the partition 65 is provided with a one-way valve for connecting the first chamber and the second chamber. The one-way valve can only allow gas from the first chamber to enter the second chamber. The output end of the pneumatic component is connected to the first chamber through an air pipe 71. In this embodiment, the air pipe 71 passes through the base 2 and is connected to the float bladder 6. The air pipe 71 is sequentially wound around the first hydraulic rod 3, the first rod 4, the second rod 5, and the third rod 51 and is connected to the flexible bladder 11. A first solenoid valve 7 is connected to the side of the float bladder 6 near the first chamber. The first solenoid valve 7 is connected to the outside and is electrically connected to the processor.

[0066] The specific implementation process is as follows: When the device floats on the sea surface, the processor controls the opening and closing of the first solenoid valve 7. When the first chamber is connected to the outside, the first chamber is filled with seawater to increase the weight of the base 2 and lower the overall center of gravity of the device, thereby improving the stability of the bottom support during the mechanical claw gripping process and reducing the shaking of the mechanical claw body 1 during the gripping process.

[0067] In other embodiments, a wheel is rotatably fitted inside the mounting plate 12, and a pull rope 13 is wound around the wheel, with the pull rope 13 located between adjacent mounting plates 12.

[0068] The processor is also used to obtain the shape of the target object based on the environmental image. If the target object is aggregated, the processor obtains the width of the target object and compares the width with the standard gripping range of the set mechanical claw body 1. If the width is greater than the standard gripping range, the servo motor sends an opening command; if the width is less than the standard gripping range, the processor sends a standby command to the servo motor; if the target object is dispersed, the processor sends an opening command to the servo motor, sends a net-catching command to the second hydraulic rod 31 and the drive component, and sends a delayed start command to the first solenoid valve 7.

[0069] For example, by stretching adjacent mounting plates 12 to connect them, the connection strength between adjacent mechanical claw bodies 1 is improved, ensuring the stability of gripping the target object. Furthermore, the shape of the target object is used to adjust the retrieval method accordingly. For aggregated objects, the width of the target object is compared with the standard gripping range of the mechanical claw body 1 to adjust the adaptability of the mechanical claw body 1 during the gripping process, thereby improving the stability of subsequent gripping processes. For dispersed target objects, a rope 13 is used to support and retrieve the target object, reducing damage and dispersion caused by the mechanical claw body 1 during gripping, thus ensuring accurate retrieval of dispersed target objects.

[0070] At the same time, the float bladder 6 is connected to the outside world through the first solenoid valve 7, and the height of the chassis is reduced to facilitate the stretching between the mounting plates 12 and contact with the target object, thereby improving the convenience of retrieving dispersed target objects.

[0071] In other embodiments, a fan-blade mechanism 64 is fixedly connected to the top of the float 6, and a second solenoid valve 72 is connected between the fan-blade mechanism 64 and the interior of the float 6; the processor is also used to compare the second pressure data when the geographic orientation data corresponding to the ocean current data is consistent with the geographic orientation data corresponding to the first pressure sensor 61, and the target object is located between adjacent float 6, obtain the same-side orientation mark corresponding to the larger second pressure data, and send a start command to the second solenoid valve 72 based on the same-side orientation mark.

[0072] For example, by controlling the second solenoid valve 72, the gas inside the float bladder 6 is discharged to drive the fan blade mechanism 64 to rotate. This can both push the target on the water surface to move towards the center, providing sufficient support space for subsequent gripping by the mechanical claw body 1, and also clean the surface of the target object to reduce surface deposits and facilitate subsequent gripping.

[0073] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A multifunctional hydraulic manipulator device, comprising a plurality of mechanical claw bodies (1) for gripping a target object, one end of each mechanical claw body (1) being connected to a base (2) for support, the bottom of the base (2) being detachably connected to a fixing mechanism for fixed connection with a vessel and a floating bladder mechanism for floating on the water surface, characterized in that, An adjustment mechanism for adjusting the support height of the mechanical claw body (1) and a rotation mechanism for adjusting the rotation direction of the mechanical claw body (1) are provided between the mechanical claw body (1) and the base (2); It also includes mounting plates (12) that are hinged to the top of the mechanical claw body (1). The mounting plates (12) are arranged symmetrically with the base (2) as the center. The mounting plates (12) are connected to the adjustment mechanism by a separation mechanism for driving adjacent mounting plates (12) to close and separate. Each mechanical claw body (1) is fitted with a flexible bladder (11) for bending and expanding after inflation. The flexible bladder (11) is connected to a pneumatic component for controlling the expansion of the flexible bladder (11) through an air tube (71). A camera (8) for acquiring environmental images is fixedly connected to the mounting plate (12). The camera (8) is electrically connected to a processor for controlling the adjustment mechanism, rotation mechanism, separation mechanism and pneumatic components based on the environmental images.

2. The multifunctional hydraulic manipulator device according to claim 1, characterized in that, The adjustment mechanism includes a first hydraulic rod (3), one end of which is coaxially fixedly connected to a turntable (21), which rotates with the base (2). The other end of the first hydraulic rod (3) is hinged to a first rod (4), and a second hydraulic rod (31) is connected between the first rod (4) and the first hydraulic rod (3). One end of the second hydraulic rod (31) is hinged to a slip ring (32), which is sleeved on the output end of the first hydraulic rod (3). The other end of the second hydraulic rod (31) is hinged to a slider, which slides with the first rod (4). The first rod (4) is fixedly connected to a drive unit at the end away from the first hydraulic rod (3), and the output shaft of the drive unit is fixedly connected to a second rod (5). The separation mechanism is installed on the second rod (5). The rotating mechanism includes a power component that is fixedly connected to the base (2). The output shaft of the power component is coaxially fixedly connected to a first gear. The first gear meshes with a gear ring, which is fixedly connected to the bottom of the turntable (21).

3. The multifunctional hydraulic manipulator device according to claim 2, characterized in that, The slip ring (32) is slidably engaged with the output end of the first hydraulic rod (3), and a screw is connected between the slip ring (32) and the output end of the first hydraulic rod (3).

4. The multifunctional hydraulic manipulator device according to claim 3, characterized in that, The separation mechanism includes a third rod (51) that rotates with the second rod (5), and the end of the third rod (51) away from the second rod (5) is hinged to the mounting plate (12); The third rod (51) is fixedly connected to the second gear (52) at one end near the second rod (5). The second gear (52) rotates and engages with the second rod (5), and the adjacent second gears (52) mesh. A servo motor also rotates and engages inside the second rod (5). The servo motor is electrically connected to the processor, and a belt connects the servo motor and the second gear (52).

5. The multifunctional hydraulic manipulator device according to claim 4, characterized in that, The fixing mechanism includes several threaded holes on the base (2), and bolts are threaded into each of the threaded holes; The floatation bladder mechanism includes floatation bladders (6) located on both sides of the bottom of the base (2). The top of the floatation bladders (6) is detachably connected to the base (2) by bolts. Pressure sensors are fixedly connected to both sides of the floatation bladders (6). The pressure sensors are used to detect the pressure applied to the floatation bladders (6) by the sea surface current or the target object. The pressure is sent to the processor. The processor is also used to adjust the operation of the adjustment mechanism, the rotation mechanism, the separation mechanism and the pneumatic components based on the applied pressure.

6. The multifunctional hydraulic manipulator device according to claim 5, characterized in that, A partition (65) is fixedly connected inside the float (6). The partition (65) divides the float (6) into a first chamber and a second chamber. The first chamber is located below the second chamber. A one-way valve is provided on the partition (65) to connect the first chamber and the second chamber. The one-way valve can only allow the gas in the first chamber to enter the second chamber. The output end of the pneumatic component is connected to the first chamber through an air pipe (71). The side of the float (6) near the first chamber is connected to the first solenoid valve (7). The first solenoid valve (7) is connected to the outside and is electrically connected to the processor.

7. The multifunctional hydraulic manipulator device according to claim 6, characterized in that, The pressure sensor includes a first pressure sensor (61), a second pressure sensor (62), and a third pressure sensor (63). The first pressure sensor (61) is located on the side of the float (6) close to the mechanical claw body (1), the second pressure sensor (62) is located between adjacent floats (6), and the third pressure sensor (63) is located on the side of the float (6) away from the base (2). The pressure detected by the first pressure sensor (61) is the first pressure data, the pressure detected by the second pressure sensor (62) is the second pressure data, and the pressure detected by the third pressure sensor (63) is the third pressure data. The processor is used to input and store current ocean current flow data and geographic location data. The ocean current flow data includes ocean current velocity and the corresponding rotation mechanism, adjustment mechanism and pneumatic component execution control parameters. Then, with the location of the floating bag (6) as the center, the same-side orientation mark is added to the first pressure data, second pressure data and third pressure data according to the geographic orientation data. The same-side orientation mark and interval distance of the target are obtained based on the environmental image. The processor then compares the interval distance with the set collision distance. If the interval distance is greater than the collision distance, it calculates the corresponding floating distance within the interval time based on the ocean current flow data. If the floating distance is less than the collision distance, it sends a start command to the rotating mechanism based on the same side orientation mark. If the floating distance is greater than the collision distance, it sends a standby command to the rotating mechanism, the first pressure sensor (61), the second pressure sensor (62), and the third pressure sensor (63). If the interval distance is less than the collision distance, start commands are sent to the first pressure sensor (61), the second pressure sensor (62), and the third pressure sensor (63) according to the same side orientation mark; then the protruding values ​​of the first pressure data and the second pressure data at the current time are obtained, and the geographic orientation data corresponding to the protruding value is compared with the geographic orientation data corresponding to the ocean current flow data. If they are consistent, start commands are sent to the rotating mechanism, the adjusting mechanism, and the pneumatic component in sequence based on the geographic orientation data corresponding to the ocean current flow data. If they are inconsistent, start commands are sent to the rotating mechanism based on the geographic orientation data corresponding to the protruding value, and the corresponding real-time flow velocity is obtained based on the protruding value. The execution control parameters are adjusted based on the difference between the real-time flow velocity and the ocean current flow velocity.

8. The multifunctional hydraulic manipulator device according to claim 7, characterized in that, The mounting plate (12) is fitted with a rotating disc, and a pull rope (13) is wound on the disc. The pull rope (13) is located between adjacent mounting plates (12). The processor is also used to obtain the shape of the target object based on the environmental image. If the shape of the target object is aggregated, the width of the target object is obtained. The width is compared with the standard gripping range of the set mechanical claw body (1). If the width is greater than the standard gripping range, the servo motor sends an opening command; if the width is less than the standard gripping range, a standby command is sent to the servo motor. If the target object is in a dispersed state, an opening command is sent to the servo motor, and a net-catching command is sent to the second hydraulic rod (31) and the drive component.

9. The multifunctional hydraulic manipulator device according to claim 8, characterized in that, The processor is also used to send a delayed start command to the first solenoid valve (7) when the target object is in a dispersed state.

10. The multifunctional hydraulic manipulator device according to claim 9, characterized in that, A fan blade mechanism (64) is fixedly connected to the top of the float (6), and a second solenoid valve (72) is connected between the fan blade mechanism (64) and the inside of the float (6); The processor is also used to compare the second pressure data when the geographic orientation data corresponding to the ocean current flow data is consistent with the geographic orientation data corresponding to the first pressure sensor (61) and the target is located between adjacent floating bladders (6), obtain the same-side orientation mark corresponding to the larger value of the second pressure data, and send a start command to the second solenoid valve (72) based on the same-side orientation mark.

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