Self-opening and closing grabbing underwater mobile operation robot and working method

Abstract

The present invention provides a self-opening and closing grasping underwater mobile operation robot and a working method, comprising: a propeller, a robot housing, a pushing mechanism and a grasping mechanism; the propeller, the pushing mechanism and the grasping mechanism are installed on the robot housing, the pushing mechanism is connected to and pushes the grasping mechanism to grasp; the grasping mechanism comprises: a clamping jaw limiting slider, a slider limiting groove and a sliding clamping jaw; the slider limiting groove is vertically installed on the robot housing, the clamping jaw limiting slider is installed on the pushing mechanism and extends in the horizontal direction, the clamping jaw limiting slider passes through the slider limiting groove and slides in the vertical direction relative to the slider limiting groove under the drive of the pushing mechanism, and the sliding clamping jaw is installed on the clamping jaw limiting slider and slides in the horizontal direction relative to the clamping jaw limiting slider. The present invention can realize the two operations of moving and grasping the underwater robot through the heaving and sinking movement of the propeller in combination with the internal spring pushing mechanism.

Description

Technical Field

[0001] The invention relates to the field of underwater robot structures, and in particular to a self-opening and closing grasping underwater mobile operating robot and a working method. Background Art

[0002] The ocean contains abundant resources, including mineral resources, geological resources, biological resources, etc. The exploration of these resources is an important task. In order to complete the exploration of marine resources, it is often necessary to carry out sampling surveys of underwater resources. Due to the complex underwater environment and the depth involved, which is generally greater than the human diving depth, underwater sampling is still mainly completed by underwater robots. Underwater robots mainly include ROV and AUV, that is, underwater vehicles that are manually controlled and autonomously controlled. Underwater mobile grasping operations can be achieved by carrying underwater manipulators. However, underwater robots equipped with manipulators often need to control the underwater manipulators separately from the underwater robot body, which greatly increases the complexity of control. And because the manipulator is installed on the robot later, the mass of the manipulator is often significantly smaller than the robot body, which means that when grasping underwater objects, it is often necessary to drive an underwater robot with a mass and volume far greater than the grasped object to perform the operation, which seriously increases the energy consumption of the grasping operation and makes underwater grasping very inefficient. In addition, when performing underwater grasping operations, the robot is often required to achieve fixed-depth suspension, which is a huge challenge to the robot's underwater power supply and control accuracy. For example, patent CN116619378A discloses an underwater robot and a grasping control method thereof, and patent CN113022825A discloses a grasping device for an underwater robot, both of which fail to solve the problem that the mass of the robot arm is often significantly smaller than the robot body.

[0003] Therefore, developing a small and flexible self-opening and closing underwater mobile operating robot that can reduce the energy consumption and control difficulty of the underwater grasping process will promote the advancement of intelligent underwater mobile operating robot technology and is of great significance. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a self-opening and closing grasping underwater mobile operating robot and a working method.

[0005] A self-opening and closing grasping underwater mobile operating robot provided by the present invention comprises: a propeller, a robot housing, a pushing mechanism and a grasping mechanism;

[0006] The robot housing is provided with a propeller, a pushing mechanism and a grasping mechanism, wherein the pushing mechanism is connected to and pushes the grasping mechanism to grasp;

[0007] The gripping mechanism comprises: a clamping jaw limiting slider, a slider limiting groove and a sliding clamping jaw;

[0008] The slider limit slot is vertically installed on the robot shell, the clamp limit slider is installed on the pushing mechanism and extends in the horizontal direction, the clamp limit slider passes through the slider limit slot and slides in the vertical direction relative to the slider limit slot under the drive of the pushing mechanism, and the sliding clamp is installed on the clamp limit slider and slides in the horizontal direction relative to the clamp limit slider.

[0009] Preferably, the pushing mechanism comprises: a spring, a pushing slider and a clamping claw driving slider;

[0010] A hollow cylindrical structure is arranged inside the robot shell, and a spring, a pushing slider and a clamp driving slider are installed in sequence from inside to outside along the vertical direction of the hollow cylindrical structure. The pushing slider allows sliding in the vertical direction relative to the hollow cylindrical structure and rotating around the axis, and the clamp driving slider allows sliding in the vertical direction relative to the hollow cylindrical structure. The clamp limiting slider is installed on the peripheral side of the clamp driving slider.

[0011] Preferably, a first limiting structure is provided in the robot housing, and when the pushing slider and the clamp driving slider move axially along the hollow cylindrical structure, they are limited by the first limiting structure and prevented from falling off;

[0012] A rotation limit block is arranged on the circumferential side of the clamp driving slider, and the rotation limit block falls into a groove in the vertical direction of the robot shell. The clamp driving slider is limited to rotate along the circumferential side by the rotation limit block.

[0013] Preferably, the inner side wall of the robot housing is provided with a first tooth-shaped structure, and a straight groove is vertically provided between every two teeth of the first tooth-shaped structure;

[0014] A sharp inclined top block extending toward the direction of the clamp driving slider is arranged on the peripheral side of the pushing slider, and a tooth structure is arranged on the side of the clamp driving slider facing the pushing slider, and when the pushing slider pushes the clamp driving slider, the sharp inclined top block is matched with the second tooth structure;

[0015] The diameter of the clamping jaw driving slider is smaller than the inner diameter of the first tooth structure, the clamping jaw driving slider moves longitudinally along the inner ring side of the first tooth structure, and half of the sharp inclined top block along the diameter direction is allowed to contact with the clamping jaw driving slider, and the other half is allowed to contact with the first tooth structure;

[0016] When the sharp inclined top block falls into the tooth groove of the first toothed structure, the pushing slider is limited in the vertical direction, the spring is in a compressed state, and the clamping jaw driving slider, the clamping jaw limiting slider and the sliding clamping jaw are in a loose state;

[0017] When the sliding jaw touches the bottom, the sliding jaw pushes the jaw limiting slider and the jaw driving slider to move upward, and the jaw driving slider lifts the pushing slider, and the sharp inclined top block of the pushing slider slides along the second tooth structure of the jaw driving slider and realizes the rotation of the pushing slider. After the pushing slider rotates, the sharp inclined top block slides longitudinally along the straight groove, and the pushing slider pushes the jaw driving slider, the jaw limiting slider and the sliding jaw under the action of the spring force.

[0018] Preferably, the upper section of the sliding clamp is provided with a wing-shaped structure, the middle section is provided with a second limiting structure, and the lower section is provided with a passivation structure;

[0019] The sliding clamp is obliquely and slidably mounted on the clamp limit slider, a plurality of the wing-shaped structures are in an outwardly extended state, and a plurality of the passivation structures are in an inwardly cohesive state.

[0020] Preferably, the wing-shaped structure is composed of two wing-shaped plates connected at an angle, and the two wing-shaped plates are folded toward the ascending direction of the robot;

[0021] The second limiting structure is composed of two protrusions extending from both sides of the sliding jaw rod body, the two protrusions are located at the upper and lower sides of the slide groove of the jaw limiting slider, the sliding jaw is limited to move up and down relative to the jaw limiting slider by the second limiting structure, and the sliding jaw is allowed to slide relative to the slide groove of the jaw limiting slider by the second limiting structure;

[0022] The passivation structure is composed of a plate-like structure which is connected to the bottom of the sliding jaw rod body and is arranged horizontally.

[0023] Preferably, the clamping jaw limiting slider, the slider limiting groove and the sliding clamping jaw are provided in plurality and are evenly distributed along the circumferential direction.

[0024] Preferably, the propeller is mounted on the robot housing via a propeller mounting bracket, a plurality of the propellers are provided and evenly distributed around the robot housing, and the robot moves in the vertical direction via the plurality of the propellers.

[0025] Preferably, a control system is installed in the robot housing, and the control system includes: a battery, a control device and a sensor;

[0026] The battery is connected to a control device and a sensor, and the control device is connected to the sensor and the propeller.

[0027] Preferably, a working method of the self-opening and closing grasping underwater mobile operation robot comprises the following steps:

[0028] Step S1, the propeller starts to reverse and push the robot to dive, and the robot dives under the action of gravity and propulsion force;

[0029] The pushing slider falls into the tooth groove of the first tooth structure of the robot housing, the spring is in a compressed state, and the clamp driving slider, the clamp limiting slider and the sliding clamp are in a loose state;

[0030] Step S2, the robot reaches above the target grasped object under the guidance of the sensor, and the robot is vertically seated on the bottom through fine adjustment of the propeller, the passivation structure of the sliding clamp contacts the bottom soil, and the target grasped object is wrapped in the middle of the sliding clamp;

[0031] Step S3, the propeller continues to push in reverse, relying on the reaction of the underwater soil to lift the pushing slider of the pushing mechanism, the pushing slider overcomes the elastic force of the spring to move away from the first tooth structure and is pushed into the hollow cylindrical structure of the robot shell, the sharp inclined top block of the pushing slider slides along the second tooth structure of the clamp driving slider in the pushing mechanism and rotates, the sharp inclined top block after rotation falls into the straight groove of the robot shell and pushes the clamp driving slider in the pushing mechanism downward under the action of the spring elastic force, the clamp driving slider drives the clamp limit slider and the sliding clamp to move downward, and the multiple sliding clamps are gradually closed from the open state under the dual limiting action of the clamp limit slider and the slider limiting groove, completing the grasping of the target grasped object, and pushing the robot upward in the reverse direction;

[0032] In step S4, the propeller rotates forward to push the robot upward, and the spring rebounds. The spring pushes the clamping jaw limit slider to remain at the bottom of the slider limit groove. The sliding clamp always remains in a closed state under the compression of the spring. At the same time, the wing-shaped structure of the sliding clamp enhances the closing force of the sliding clamp under the resistance of water flow, ensuring that the target object is grasped.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention can realize the movement and grasping operations of the underwater robot through the heave and sink motion of the propeller and the internal spring pushing mechanism;

[0035] 2. The grabbing mechanism of the robot proposed in the present invention does not require a separate driving source. By using the continued downward propulsion action of the robot after landing as the grabbing start action and combining the closing of the gripper with the ascent action of the robot, the size of the underwater robot and the energy consumption during the operation can be reduced;

[0036] 3. The present invention has good portability and scalability, and can cooperate with the body or external positioning sensors to realize rapid underwater sample sampling tasks. It has broad application scenarios in research fields such as marine technology, marine engineering, and marine science. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0038] Figure 1 This is a schematic diagram of the overall structure of the underwater robot;

[0039] Figure 2 It is a schematic diagram of the driving mechanism;

[0040] Figure 3 is a schematic diagram of the grasping mechanism;

[0041] Figure 4 is a schematic diagram of the sliding jaw;

[0042] Figure 5 This is a schematic diagram of the robot grasping operation process;

[0043] Figure 6 It is a schematic diagram of the structure of the first tooth structure inside the robot shell;

[0044] Markings in the figure: thruster 1, thruster mounting bracket 2, control system 3, spring 4, robot housing 5, first tooth structure 51, straight groove 52, push slider 6, sharp inclined top block 61, clamping jaw driving slider 7, second tooth structure 71, rotation limit block 72, clamping jaw limit slider 8, slider limit groove 9, sliding clamping jaw 10 DETAILED DESCRIPTION

[0045] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0046] Example 1

[0047] like Figure 1As shown, this embodiment includes: a propeller 1, a control system 3, a robot housing 5, a pushing mechanism and a grasping mechanism; the propeller 1, the pushing mechanism and the grasping mechanism are installed on the robot housing 5, and the pushing mechanism is connected and pushes the grasping mechanism to grasp. The propeller 1 is installed on the robot housing 5 through the propeller mounting bracket 2. There are multiple propellers 1 and they are evenly distributed on the side of the robot housing 5. The robot moves vertically through multiple propellers 1. The control system 3 is installed in the robot housing 5. The control system 3 includes: a battery, a control device and a sensor; the battery is connected to the control device and the sensor, and the control device is connected to the sensor and the propeller 1.

[0048] Combination Figure 2 As shown, the pushing mechanism includes: a spring 4, a pushing slider 6 and a gripper driving slider 7; a hollow cylindrical structure is arranged inside the robot housing 5, and the spring 4, the pushing slider 6 and the gripper driving slider 7 are sequentially installed in the hollow cylindrical structure from inside to outside along the vertical direction, the pushing slider 6 allows sliding in the vertical direction and rotating around the axis relative to the hollow cylindrical structure, the gripper driving slider 7 allows sliding in the vertical direction relative to the hollow cylindrical structure, and the gripper limiting slider 8 is installed on the circumference of the gripper driving slider 7. A sharp inclined top block 61 extending toward the gripper driving slider 7 is arranged on the circumference of the pushing slider 6, and a second toothed structure 71 is arranged on the side of the gripper driving slider 7 facing the pushing slider 6. A rotation limit block 72 is arranged on the circumference of the gripper driving slider 7, and the rotation limit block 72 falls into the vertical groove of the robot housing 5, and the gripper driving slider 7 is limited to rotate along the circumference by the rotation limit block 72.

[0049] Combination Figure 3 As shown, the gripping mechanism includes: a clamping jaw limiting slider 8, a slider limiting groove 9 and a sliding clamping jaw 10; the slider limiting groove 9 is vertically installed on the robot housing 5, the clamping jaw limiting slider 8 is installed on the pushing mechanism and extends in the horizontal direction, the clamping jaw limiting slider 8 passes through the slider limiting groove 9 and slides in the vertical direction relative to the slider limiting groove 9 under the drive of the pushing mechanism, and the sliding clamping jaw 10 is installed on the clamping jaw limiting slider 8 and slides in the horizontal direction relative to the clamping jaw limiting slider 8. There are multiple clamping jaw limiting sliders 8, slider limiting grooves 9 and sliding clamping jaws 10 and they are evenly distributed along the circumference.

[0050] Combination Figure 4As shown, the upper section of the sliding jaw 10 is provided with a wing-shaped structure, the middle section is provided with a second limiting structure, and the lower section is provided with a passivation structure; the sliding jaw 10 is obliquely and slidably installed on the jaw limiting slider 8, multiple wing-shaped structures are in an outwardly extended state, and multiple passivation structures are in an inwardly cohesive state. Specifically, the wing-shaped structure is composed of two wing-shaped plates connected at an angle, and the two wing-shaped plates are folded toward the rising direction of the robot; the second limiting structure is composed of two protrusions extending from each side of the rod body of the sliding jaw 10, and the two protrusions are located on the upper and lower sides of the slide groove of the jaw limiting slider 8. The sliding jaw 10 is limited by the second limiting structure to move up and down relative to the jaw limiting slider 8. When the jaw limiting slider 8 moves down, the sliding jaw 10 moves down together under the action of the second limiting structure. When the robot touches the bottom and continues to be pressed down under the action of the thruster 1, the sliding jaw 10 is inclined in the gathering direction of its lower section, and combined with the second limiting structure, it can slide toward the inner side of the slide groove of the jaw limiting slider 8; the passivation structure is composed of a plate-shaped structure horizontally connected to the bottom of the rod body of the sliding jaw 10. When the sliding jaw 10 gathers, the connection between the rod body of the sliding jaw 10 and the plate-shaped structure serves as the claw tip, and the plate-shaped structure is supported on the underwater ground.

[0051] like Figure 6 As shown, the inner wall of the robot housing 5 is provided with a first tooth structure 51, and a straight groove 52 is vertically provided between every two teeth of the first tooth structure 51; a sharp inclined top block 61 extending toward the direction of the clamp driving slider 7 is provided on the peripheral side of the pushing slider 6, and the clamp driving slider 7 is provided with a second tooth structure 71 at one end facing the pushing slider 6; the diameter of the clamp driving slider 7 is smaller than the inner diameter of the first tooth structure 51, and the clamp driving slider 7 moves longitudinally along the inner ring side of the first tooth structure 51, and half of the sharp inclined top block 61 along the diameter direction is allowed to contact with the clamp driving slider 7, and the other half is allowed to contact with the first tooth structure 51; when the sharp inclined top block 61 falls into the first tooth structure 51 When the slider 6 is at the tooth groove, the push slider 6 is limited in the vertical direction, the spring 4 is in a compressed state, the jaw driving slider 7, the jaw limiting slider 8 and the sliding jaw 10 are in a loose state; when the sliding jaw 10 touches the bottom, the sliding jaw 10 pushes the jaw limiting slider 8 and the jaw driving slider 7 to move upward, and the jaw driving slider 7 lifts the push slider 6, and the sharp inclined surface top block 61 of the push slider 6 slides along the second tooth structure 71 of the jaw driving slider 7 and realizes the rotation of the push slider 6. After the push slider 6 rotates, the sharp inclined surface top block 61 slides longitudinally along the straight groove 52, and the push slider 6 pushes the jaw driving slider 7, the jaw limiting slider 8 and the sliding jaw 10 under the elastic force of the spring 4.

[0052] In one embodiment, a first limiting structure is provided at the bottom of the hollow cylindrical structure of the robot housing 5. When the push slider 6 and the clamp driving slider 7 move downward, they are limited by the first limiting structure to avoid falling off.

[0053] The working principle of this embodiment is as follows Figure 5 As shown, including the diving, grabbing and ascending process:

[0054] Diving: The propeller 1 starts to reverse and push the robot to dive. The robot dives under the action of gravity and propulsion force. During the diving process, the sharp inclined top block 61 of the push slider 6 falls into the tooth groove of the first tooth structure 51 of the robot housing 5, so that the push slider 6 is limited in the vertical direction. The push slider 6 pushes the spring 4 in a compressed state. The clamp driving slider 7, the clamp limiting slider 8 and the sliding clamp 10 are not pushed by the push slider 6 at this time, and are in a loose state.

[0055] Under the guidance of the sensor, the robot reaches above the target object, and the robot is vertically seated on the bottom through fine adjustment of the propeller 1. The passivation structure of the sliding clamp 10 contacts the bottom soil, and the target object is wrapped in the middle of the sliding clamp 10.

[0056] Grasping: The thruster 1 continues to reverse and push downward, relying on the reaction force of the underwater soil, and lifts the push slider 6 of the push mechanism through the sliding clamp 10, the clamp limit slider 8 and the clamp drive slider 7 in turn. The push slider 6 overcomes the elastic force of the spring 4 and gradually moves away from the first tooth structure 51 and is pushed into the hollow cylindrical structure of the robot housing 5. The sharp inclined top block 61 of the push slider 6 slides along the tooth inclined surface of the second tooth structure 71 to achieve rotation, and rotates until the sharp inclined top block 61 falls into the teeth of the second tooth structure 71. When the robot is in the straight groove, the sharp inclined top block 61 is just aligned with the straight groove 52, and the sharp inclined top block 61 can slide longitudinally along the straight groove 52 and is no longer limited by the first tooth structure 51. At this time, the push slider 6 pushes the clamp driving slider 7 downward under the elastic force of the spring 4, and the clamp driving slider 7 drives the clamp limiting slider 8 and the sliding clamp 10 to move downward. Under the dual limiting action of the clamp limiting slider 8 and the slider limiting groove 9, multiple sliding clamps 10 gradually close from an open state, completing the grasping of the target grasped object and pushing the robot upward in the reverse direction.

[0057] Ascending: The thruster 1 rotates forward to push the robot upward, and the spring 4 continues to rebound. The spring 4 pushes the clamping jaw limit slider 8 to remain at the bottom of the slider limit slot 9. The sliding jaw 10 always remains in a closed state under the compression of the spring 4. At the same time, the wing-shaped structure of the sliding jaw 10 enhances the closing force of the sliding jaw 10 under the resistance of the water flow, ensuring that the target object is grasped.

[0058] Example 2

[0059] Example 2 is a preferred example of Example 1.

[0060] like Figure 1As shown, this embodiment specifically includes: a thruster 1, a control system 3, a spring 4, a robot housing 5, a push slider 6, a clamp driving slider 7, a clamp limiting slider 8, a slider limiting groove 9 and a sliding clamp 10. The thruster 1 is fixed to the thruster mounting bracket 2 by bolts. The thruster mounting bracket 2 is fixed to the robot housing 5 by bolts. The control system 3 is installed inside the robot housing 5. The slider limiting groove 9 is fixed to the lower end of the robot housing 5. The spring 4 is coaxial with the robot housing 5, the upper end of the spring 4 is fixed inside the robot housing 5, and the lower end of the spring 4 is in contact with the push slider 6 but not fixed. The push slider 6 is installed inside the robot housing 5, coaxial with the robot housing 5, and can move along the axis and rotate around the axis. A first limiting structure is provided inside the robot housing 5 to prevent the push slider 6 from sliding out from the lower end. The second toothed structure 71 at the upper end of the clamp driving slider 7 is in contact with the sharp inclined top block 61 at the lower end of the push slider 6. The clamp driving slider 7 is coaxial with the robot housing 5, can move up and down along the axis and is limited by the first limiting structure inside the robot housing 5 to prevent the clamp driving slider 7 from sliding out from the lower end. The clamp limiting slider 8 is fixed to the lower end of the clamp driving slider 7 by bolts and passes through the slider limiting groove 9. The middle section of the sliding clamp 10 passes through the clamp limiting slider 8 and can move radially in the clamp limiting slider 8. The lower section of the sliding clamp 10 passes through the slider limiting groove 9 and can slide along a specific angle in the slider limiting groove 9.

[0061] like Figure 2 As shown, the pushing mechanism is specifically composed of a spring 4, a pushing slider 6 and a clamping jaw driving slider 7. The outside of the pushing slider 6 is evenly arranged around the axis with three top blocks 61 with sharp inclined surfaces at the lower ends, which transmit the thrust of the spring 4 to the clamping jaw driving slider 7 below.

[0062] like Figure 3 As shown, the gripping mechanism is composed of a clamping jaw limiting slider 8, a slider limiting slot 9 and a sliding clamping jaw 10. The clamping jaw limiting slider 8 passes through the slider limiting slot 9 and moves up and down along the robot axis. The sliding clamping jaw 10 passes through the clamping jaw limiting slider 8 and the slider limiting slot 9. The clamping jaw limiting slider 8 converts the axial motion into the radial motion of the sliding clamping jaw 10. The slider limiting slot 9 limits the motion direction of the sliding clamping jaw 10.

[0063] like Figure 4As shown, the sliding jaw 10 is divided into an upper wing-shaped structure, a middle second limiting structure, and a lower passivation structure. The upper wing-shaped structure is used to ensure that the underwater robot relies on the water flow resistance to fix the sliding jaw 10 during the ascent process. The middle second limiting structure is used to convert the propulsion force of the jaw limiting slider 8. The lower passivation structure is used to prevent the jaw from sinking into the seabed soil. The jaw limiting slider 8 reciprocates up and down along the axis with the jaw driving slider 7. The jaw limiting slider 8 drives the sliding jaw 10 to move up and down along the axis through the middle second limiting structure of the sliding jaw 10, and at the same time limits the radial movement range of the sliding jaw 10. The slider limit groove 9 limits the sliding angle of the sliding jaw 10. There are 8 holes at the lower position of the slider limit groove 9. The holes themselves are set with an inclined angle. The long rod of the sliding jaw 10 is limited in angle when passing through this hole. Cooperating with the jaw limit slider 8, the sliding jaw 10 can only move radially within a certain range when making axial movement. The opening and closing grasping action is realized through the cooperation of multiple sliding jaws 10.

[0064] like Figure 5 As shown in the figure, when the robot changes from the "diving and releasing" state to the "grasping operation" state and then to the "ascending and recovering" state, the following steps are specifically included:

[0065] In step one, the propeller 1 starts to reverse and push the underwater robot to dive. The robot dives quickly under the action of gravity and propulsion, and reaches above the target object under the guidance of the fuselage or external sensors. The robot is vertically seated on the bottom through fine-tuning of the propeller 1. The passivation structure of the sliding clamp 10 contacts the bottom soil, and the target object is wrapped inside the sliding clamp 10.

[0066] In step 2, the thruster 1 continues to push in the reverse direction, relying on the reaction of the underlying soil to lift the push slider 6, so that it can be pushed to the inner groove of the robot shell 5 while overcoming the pressure of the spring 4, and the sharp inclined top block 61 of the push slider 6 pushes the clamp driving slider 7 downward, driving the clamp limit slider 8 and the sliding clamp 10 to move downward. Under the dual limiting action of the clamp limit slider 8 and the slider limit groove 9, the sliding clamp 10 changes from an open state to a closed state, completing the grasping of the target object, and pushing the underwater robot upward in the reverse direction.

[0067] Step three, the propeller 1 rotates forward, and the robot moves upward to complete the recovery work. The sliding jaw 10 always remains in a closed state under the compression of the spring 4. At the same time, due to the resistance-increasing effect of the back of the wing-shaped structure of the sliding jaw 10, the closing force of the sliding jaw 10 is enhanced under the resistance of the water flow, ensuring that the target object is grasped.

[0068] In one embodiment, the robot housing 5 has a streamlined structure to reduce the resistance of the robot to rising and sinking in water. The robot is generally in a vertical state in water, with the center of gravity located at the lower end.

[0069] In one embodiment, the lower end of the robot housing 5 is a hollow cylindrical structure for installing the pushing mechanism. The inner wall of the lower end of the robot housing 5 has a sliding groove structure for realizing the rotation limit of the gripper driving slider 7.

[0070] In one embodiment, there are no less than two thrusters 1 which are evenly installed around the axis on the upper part of the robot housing 5 and form a certain angle with the axis of the robot housing 5. When the robot is rising and sinking in the water, the direction of the robot can be properly adjusted to increase the freedom of movement.

[0071] In one embodiment, the push slider 6 is in a hollow cylindrical shape to avoid adding redundant mass, and top blocks with sharp bevels at the bottom are evenly arranged around the axis. When driven by the spring 4, it can move up and down along the axis within a certain range and can rotate around the axis.

[0072] In one embodiment, the slider limit slot 9 is fixedly connected to the lower end of the robot housing 5, and has a limit slot that limits the up and down movement range of the clamp driving slider 7 and the sliding clamp 10, and at the same time prevents the clamp driving slider 7 from rotating.

[0073] In one embodiment, the upper end surface of the clamp driving slider 7 is a second tooth structure 71, and the first tooth structure 51 on the inner wall of the robot housing 5 has 6 conical tooth surfaces, and the interval between the two conical tooth surfaces is a conical limit tooth bottom or straight groove 52 that alternates in sequence. When the clamp driving slider 7 lifts the push slider 6, the upper and lower conical surfaces of the two structures will slide relative to each other, causing the push slider 6 to rotate, and then the sharp inclined surface top block 61 of the push slider 6 will fall into the conical limit tooth bottom or straight groove 52 on the inner wall of the robot housing 5. When the sharp inclined surface top block 61 falls into the conical limit tooth bottom of the inner wall of the robot housing 5, the sliding displacement of the push slider 6 along the axis is short, and the clamp driving slider 7, the clamp limit slider 8 and the sliding clamp 10 are in a floating state. When the sharp inclined surface top block 61 falls into the straight groove 52 on the inner wall of the robot housing 5, the sliding displacement of the push slider 6 along the axis is long, which will be transmitted in sequence to lock the sliding clamp 10.

[0074] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0075] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A self-opening and closing grabbing underwater mobile operating robot, characterized in that: include: A propeller (1), a robot housing (5), a pushing mechanism, and a grasping mechanism; The robot housing (5) is provided with a propeller (1), a pushing mechanism and a grasping mechanism, wherein the pushing mechanism is connected to and pushes the grasping mechanism to grasp; The gripping mechanism comprises: a clamping claw limiting slide block (8), a slide block limiting groove (9) and a sliding clamping claw (10); The slider limit groove (9) is vertically mounted on the robot housing (5); the clamp limit slider (8) is mounted on the pushing mechanism and extends in the horizontal direction; the clamp limit slider (8) passes through the slider limit groove (9) and slides in the vertical direction relative to the slider limit groove (9) under the drive of the pushing mechanism; and the sliding clamp (10) is mounted on the clamp limit slider (8) and slides in the horizontal direction relative to the clamp limit slider (8); The pushing mechanism comprises: a spring (4), a pushing slider (6) and a clamping claw driving slider (7); A hollow cylindrical structure is arranged inside the robot housing (5), and a spring (4), a push slider (6), and a gripper driving slider (7) are installed in sequence from inside to outside along the vertical direction of the hollow cylindrical structure, the push slider (6) is allowed to slide in the vertical direction relative to the hollow cylindrical structure and rotate around an axis, the gripper driving slider (7) is allowed to slide in the vertical direction relative to the hollow cylindrical structure, and the gripper limiting slider (8) is installed on the circumference of the gripper driving slider (7); The inner side wall of the robot housing (5) is provided with a first tooth-shaped structure (51), and a straight groove (52) is vertically provided between every two teeth of the first tooth-shaped structure (51); A sharp inclined top block (61) extending in the direction of the clamping jaw driving slider (7) is provided on the peripheral side of the pushing slider (6); and a second tooth structure (71) is provided on one end of the clamping jaw driving slider (7) facing the pushing slider (6); The diameter of the clamping jaw driving slider (7) is smaller than the inner diameter of the first toothed structure (51), the clamping jaw driving slider (7) moves longitudinally along the inner ring side of the first toothed structure (51), and half of the sharp inclined top block (61) along the diameter direction is allowed to contact the clamping jaw driving slider (7), and the other half is allowed to contact the first toothed structure (51); When the sharp inclined top block (61) falls into the tooth groove of the first toothed structure (51), the pushing slider (6) is limited in the vertical direction, the spring (4) is in a compressed state, and the clamping jaw driving slider (7), the clamping jaw limiting slider (8) and the sliding clamping jaw (10) are in a loose state; When the sliding clamp (10) touches the bottom, the sliding clamp (10) pushes the clamp limit slider (8) and the clamp drive slider (7) to move upward, the clamp drive slider (7) lifts the push slider (6), and the sharp inclined top block (61) of the push slider (6) slides along the second tooth structure (71) of the clamp drive slider (7) and realizes the rotation of the push slider (6). After the push slider (6) rotates, the sharp inclined top block (61) slides longitudinally along the straight groove (52), and the push slider (6) pushes the clamp drive slider (7), the clamp limit slider (8) and the sliding clamp (10) under the elastic force of the spring (4); The upper section of the sliding clamp (10) is provided with a wing-shaped structure, the middle section is provided with a second limiting structure, and the lower section is provided with a passivation structure; The sliding clamp (10) is installed on the clamp limit slider (8) in an inclined and sliding manner, and a plurality of the wing-shaped structures are in an outwardly extended state, and a plurality of the passivation structures are in an inwardly cohesive state.

2. The self-opening and closing grabbing underwater mobile operating robot according to claim 1, characterized in that: A first limiting structure is provided in the robot housing (5), and when the pushing slider (6) and the clamp driving slider (7) move axially along the hollow cylindrical structure, they are limited by the first limiting structure and prevented from falling off; A rotation limit block (72) is provided on the circumferential side of the gripper driving slider (7), and the rotation limit block (72) falls into a groove in the vertical direction of the robot housing (5). The gripper driving slider (7) is restricted from rotating along the circumferential side by the rotation limit block (72).

3. The self-opening and closing grabbing underwater mobile operating robot according to claim 2 is characterized in that: The wing-shaped structure is composed of two wing-shaped plates connected at an angle, and the two wing-shaped plates are folded toward the ascending direction of the robot; The second limiting structure is composed of two protrusions extending from both sides of the rod body of the sliding clamp (10), the two protrusions are located on the upper and lower sides of the slide groove of the clamp limit slider (8), the sliding clamp (10) is limited by the second limiting structure to move up and down relative to the clamp limit slider (8), and the sliding clamp (10) is allowed to slide relative to the slide groove of the clamp limit slider (8) through the second limiting structure; The passivation structure is composed of a plate-like structure which is connected to a horizontally arranged bottom of the rod body of the sliding clamp (10).

4. The self-opening and closing grabbing underwater mobile operating robot according to claim 2, characterized in that: The clamping jaw limiting slide block (8), the slide block limiting groove (9) and the sliding clamping jaw (10) are provided in plurality and are evenly distributed along the circumferential direction.

5. The self-opening and closing grabbing underwater mobile operating robot according to claim 2, characterized in that: The thruster (1) is mounted on the robot housing (5) via a thruster mounting bracket (2); a plurality of thrusters (1) are provided and evenly distributed around the robot housing (5); and the robot moves in a vertical direction via the plurality of thrusters (1).

6. The self-opening and closing grabbing underwater mobile operating robot according to claim 2, characterized in that: A control system (3) is installed in the robot housing (5), and the control system (3) comprises: a battery, a control device, and a sensor; The battery is connected to a control device and a sensor, and the control device is connected to the sensor and the propeller (1).

7. A method for operating the self-opening and closing underwater mobile manipulating robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step S1, the propeller (1) starts to reverse and propel the robot downward, and the robot dives under the action of gravity and propulsion force; The pushing slider (6) falls into the tooth groove of the first tooth structure (51) of the robot housing (5), the spring (4) is in a compressed state, and the clamping jaw driving slider (7), the clamping jaw limiting slider (8) and the sliding clamping jaw (10) are in a loose state; Step S2, the robot reaches above the target grasped object under the guidance of the sensor, and the robot is vertically seated on the bottom through fine adjustment of the propeller (1), the passivation structure of the sliding clamp (10) contacts the bottom soil, and the target grasped object is wrapped in the middle of the sliding clamp (10); In step S3, the propeller (1) continues to push in the reverse direction, relying on the reaction force of the underwater soil to lift the push slider (6) of the push mechanism, the push slider (6) overcomes the elastic force of the spring (4) to move away from the first tooth structure (51) and is pushed into the hollow cylindrical structure of the robot housing (5), the sharp inclined top block (61) of the push slider (6) slides along the second tooth structure (71) of the clamp driving slider (7) in the push mechanism and rotates, and the sharp inclined top block after rotation (61) falls into the straight groove (52) of the robot housing (5) and pushes the clamp driving slider (7) in the pushing mechanism downward under the elastic force of the spring (4), and the clamp driving slider (7) drives the clamp limit slider (8) and the sliding clamp (10) to move downward. The plurality of sliding clamps (10) gradually close from an open state under the dual limiting action of the clamp limit slider (8) and the slider limit groove (9), thereby completing the grasping of the target grasped object and pushing the robot upward in the reverse direction; In step S4, the propeller (1) rotates forward to push the robot upward, and the spring (4) continues to rebound. The spring (4) pushes the clamping jaw limiting slider (8) to remain at the bottom of the slider limiting groove (9). The sliding clamp (10) always remains in a closed state under the compression of the spring (4). At the same time, the wing-shaped structure of the sliding clamp (10) enhances the closing force of the sliding clamp (10) under the resistance of the water flow, ensuring that the target object is grasped.

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