An underwater self-balancing capture robot

Abstract

An underwater self-balancing capture robot with a capture arm mounted on an assembly box, which is then placed on a self-balancing travel mechanism. A visual sensor is located outside the rotating platform of the self-balancing travel mechanism. The robot boasts a compact structure, high overall rigidity, a strong load-bearing capacity, and the ability to autonomously adapt to changing ground environments.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to an underwater self-balancing capturing robot. Background Art

[0002] With the continuous development of robotics and the increasing demand for underwater operations, the complex underwater fishing environment has brought great challenges to the movement of robots. On the one hand, underwater operation robots with transmission have a small load, and on the other hand, they cannot adapt to the polygonal underwater environment, which makes it impossible to achieve high-efficiency underwater fishing operations. In recent years, with the continuous development of robotics, parallel robot technology has been widely used in many application fields. It can flexibly adjust the movement posture and has the characteristics of high rigidity, compact structure, and strong load-bearing capacity. The adaptive adjustment of underwater fishing robots using parallel robot technology can efficiently adapt to the changing fishing environment, which is of great significance to the application of underwater robots in complex terrestrial environments. Summary of the Invention

[0003] The present invention aims to provide an underwater self-balancing capture robot with a compact structure, high overall rigidity, strong carrying capacity and the ability to autonomously adapt to changing ground environments.

[0004] The present invention mainly comprises a grasping manipulator, an assembly box, a walking mechanism and a visual perception sensor.

[0005] Among them, the grasping manipulator is arranged on the assembly box, the assembly box is placed on the self-balancing walking mechanism, and a visual perception sensor is provided on the outside of the rotating platform of the self-balancing walking mechanism.

[0006] Furthermore, the self-balancing walking mechanism includes a rotary adjustment platform, an RPR branch chain, running wheels, a lifting rod, an RP branch chain, and a support platform. The rotary adjustment platform and the support platform are connected by a lifting rod. One end of the RPR branch chain is connected to the rotary adjustment platform, and one end of the RP branch chain is connected to the support platform. The other end of the RPR branch chain is connected to the other end of the RP branch chain. A running wheel is provided at the connection between the two ends.

[0007] Furthermore, the rotary adjustment platform includes a rotary platform and an adjustment platform, and the rotary platform is arranged on the adjustment platform.

[0008] Furthermore, the RPR branch chain includes a rotating pair B, a hydraulic cylinder A, a connecting frame, and a rotating pair C. One end of the hydraulic cylinder A is connected to the adjustment platform through the rotating pair B, and the other end of the hydraulic cylinder A is connected to the connecting frame, which is connected to the rotating pair C.

[0009] Furthermore, the RP branch chain includes a right-angle rod, a hydraulic cylinder B, and a revolute joint E. The hydraulic cylinder B is connected to the support platform via the revolute joint E. The other end of the hydraulic cylinder B and the connecting frame are connected to the two ends of the right-angle rod. The corners of the right-angle rod are connected to the travel wheels.

[0010] Furthermore, the travel wheel includes a revolving pair D, a wheel body, and a spherical support block. The corner of the right-angle rod is connected to the spherical support block through the revolving pair D, and the wheel body is provided on the spherical support block.

[0011] Furthermore, the assembly box includes a storage box and a control box. The storage box is arranged in the control box, and the storage box opens upward.

[0012] Furthermore, the capture manipulator includes a first rotary joint, a second rotary joint, a third rotary joint and a capture hand. One end of the first rotary joint is arranged on the control box, and the first rotary joint, the second rotary joint, the third rotary joint and the capture hand are movably connected in sequence.

[0013] Furthermore, the control box, the first rotary joint, the second rotary joint, the third rotary joint, and the capture hand are all connected through a rotary joint A.

[0014] Furthermore, visual perception sensor A, visual perception sensor B, and visual perception sensor C are provided on the outer side of the rotating platform of the self-balancing walking mechanism.

[0015] During use, the present invention uses a visual perception sensor to detect the underwater ground environment and feed the information back to the control box. The control box generates an adjustment program to coordinately control the three RPR branches and the three RP branches to achieve self-balancing walking of the robot. When the robot performs a capture operation, the lifting rod is adjusted according to the environmental conditions, and the support platform and the spherical support block are used to provide the robot with the largest support platform. At the same time, the capture manipulator is used to capture the object and place it in the storage box.

[0016] Compared with the prior art, the present invention has the following advantages: compact structure, large overall rigidity, strong bearing capacity, and the ability to autonomously adapt to changing ground environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall structural diagram of the present invention;

[0018] Figure 2 It is a schematic diagram of the operation support of the present invention;

[0019] Figure 3 This is a structural diagram of the self-balancing walking mechanism of the present invention;

[0020] Figure 4 This is a structural diagram of the capture manipulator of the present invention;

[0021] Figure 5 Schematic diagram of the installation of the visual sensor of the present invention;

[0022] Figure 6 Schematic diagram of the capture operation of the present invention;

[0023] In the figure, 1-assembly box, 1-1 storage box, 1-2 control box, 2-grabbing manipulator, 2-1 first rotary joint, 2-1-1 rotation pair A, 2-2 second rotary joint, 2-3 third rotary joint, 2-4 grabber, self-balancing walking mechanism 3, visual perception sensor A3-1, visual perception sensor B 3-2, visual perception sensor C3-3, 4-self-balancing walking mechanism, 4-1 rotating adjustment table, 4-1-1 rotating table, 4-1-2 adjustment table, 4-2RPR branch chain, 4-2-1 rotation pair B, 4-2-2 hydraulic cylinder A, 4-2-3 connecting frame, 4-4-4 rotation pair C, 4-3 walking wheel, 4-3-1 rotation pair D, 4-3-2 wheel body, 4-3-3 spherical support block, 4-4 lifting rod, 4-5RP branch chain, 4-5-1 right-angle rod, 4-5-2 hydraulic cylinder B, rotation pair E4-5-3, 4-6 support platform. DETAILED DESCRIPTION

[0024] exist Figures 1 to 6In the schematic diagram of the present invention shown, the assembly box 1 includes a storage box 1-1 and a control box 1-2. The storage box 1-1 is located within the control box 1-2 and is open upward. The capture manipulator 2 includes a first rotary joint 2-1, a second rotary joint 2-2, a third rotary joint 2-3, and a capture arm 2-4. One end of the first rotary joint 2-1 is located on the control box, and the control box, the first rotary joint 2-1, the second rotary joint 2-2, the third rotary joint 2-1, and the capture arm 2-4 are all connected by a revolute pair A2-1-1. The assembly box is placed on the self-balancing walking mechanism 4, which includes a rotary adjustment platform 4-1, an RPR branch chain 4-2, a running wheel 4-3, a lifting rod 4-4, an RP branch chain 4-5, and a support platform 4-6. The rotary adjustment platform 4-1 includes a rotary platform 4-1-1 and an adjustment platform 4-1-2, and the rotary platform 4-1-1 is located on the adjustment platform 4-1-2. The adjustment platform 4-1-2 is connected to the support platform 4-6 via a lifting rod 4-4. The RPR branch chain 4-2 consists of a revolute joint B4-2-1, a hydraulic cylinder A4-2-2, a connecting frame 4-2-3, and a revolute joint C4-4-4. One end of hydraulic cylinder A4-2-2 is connected to the adjustment platform via a revolute joint B4-2-1. The other end of hydraulic cylinder A is connected to the connecting frame 4-2-3, which is in turn connected to the revolute joint C4-2-4. The RP branch chain 4-5 consists of a right-angle rod 4-5-1, a hydraulic cylinder B4-5-2, and a revolute joint E4-5-3. Hydraulic cylinder B4-5-2 is connected to the support platform via a revolute joint E4-5-3. The other end of hydraulic cylinder B and the connecting frame are both connected to the two ends of the right-angle rod 4-5-1. The corners of the right-angle rod are connected to the travel wheels 4-3. The travel wheel 4-3 consists of a revolute joint D4-3-1, a wheel body 4-3-2, and a spherical support block 4-3-3. The corner of the right-angle rod is connected to the spherical support block 4-3-3 via a revolute joint D. The wheel body 4-3-2 is mounted on the spherical support block 4-3-3. Visual sensors A3-1, B3-2, and C3-3 are located outside the rotating platform of the self-balancing travel mechanism.

Claims

1. An underwater self-balancing capture robot, comprising a capture manipulator, an assembly box, a self-balancing walking mechanism, and a visual perception sensor, characterized in that: The capture manipulator is arranged on the assembly box, which includes a storage box and a control box. The storage box is arranged in the control box, and the storage box opens upward. The assembly box is placed on the self-balancing walking mechanism. A visual perception sensor is provided on the outside of the rotating table of the self-balancing walking mechanism. The self-balancing walking mechanism includes a rotating adjustment table, an RPR branch chain, a walking wheel, a lifting rod, an RP branch chain and a support table. The rotating adjustment table includes a rotating table and an adjustment table. The rotating table is arranged on the adjustment table. The rotating adjustment table and the support table are connected by a lifting rod. One end of the RPR branch chain is connected to the rotating adjustment table, one end of the RP branch chain is connected to the support table, and the other end of the RPR branch chain is connected to the RP branch chain. A traveling wheel is provided at the connection of the other end. The RPR branch chain includes a rotating pair B, a hydraulic cylinder A, a connecting frame, and a rotating pair C. One end of the hydraulic cylinder A is connected to the adjustment platform through the rotating pair B, and the other end of the hydraulic cylinder A is connected to the connecting frame, which is connected to the rotating pair C. The RP branch chain includes a right-angle rod, a hydraulic cylinder B, and a rotating pair E. The hydraulic cylinder B is connected to the support platform through the rotating pair E. The two end points of the right-angle rod are respectively connected to the other end of the hydraulic cylinder B and the connecting frame. The corner of the right-angle rod is connected to the traveling wheel. The control box generates an adjustment program to coordinate the control of the three RPR branches and the three RP branches to realize the self-balancing walking of the robot.

2. The underwater self-balancing capture robot according to claim 1, characterized in that: The traveling wheel includes a rotating pair D, a wheel body, and a spherical support block. The corner of the right-angle rod is connected to the spherical support block through the rotating pair D, and the wheel body is provided on the spherical support block.

3. The underwater self-balancing capture robot according to claim 1, characterized in that: The capture manipulator includes a first rotary joint, a second rotary joint, a third rotary joint and a capture hand. One end of the first rotary joint is arranged on the control box. The first rotary joint, the second rotary joint, the third rotary joint and the capture hand are movably connected in sequence.

4. The underwater self-balancing capture robot according to claim 3, characterized in that: The control box, the first rotary joint, the second rotary joint, the third rotary joint and the catcher are all connected through a rotary joint A.

5. The underwater self-balancing capture robot according to claim 1, characterized in that: Visual perception sensor A, visual perception sensor B, and visual perception sensor C are provided on the outer side of the rotating platform of the self-balancing walking mechanism.

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