Underwater robot and control method

Abstract

The invention discloses an underwater robot and a control method.The robot comprises a robot body, a mechanical arm telescopic assembly, at least three clamping jaws, a clamping jaw joint opening and closing adjusting assembly, a driving gear, a transmission rack and a propeller, the mechanical arm telescopic assembly is arranged at the advancing end of the robot body, and the clamping jaws are movably connected with the mechanical arm telescopic assembly; one end of the clamping jaw joint opening and closing adjusting assembly is connected with the clamping jaw, the other end of the clamping jaw joint opening and closing adjusting assembly is connected with the mechanical arm telescopic assembly, the driving gear is movably arranged at the bottom of the machine body, the transmission rack is in meshed connection with the driving gear, and the propellers are symmetrically arranged on the two sides of the transmission rack and push the machine body. Stretching and retracting control over the mechanical arm is achieved by arranging the mechanical arm stretching and retracting assembly, opening and closing of the clamping jaws are achieved by arranging the at least three clamping jaws, each clamping jaw is connected with the clamping jaw joint opening and closing adjusting assembly, and control over the driving direction of the robot is achieved by arranging the driving gear to drive the transmission rack to rotate.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and in particular relates to an underwater robot and a control method thereof. Background Art

[0002] The ocean covers 71% of the earth's surface and has rich resources, such as marine mineral resources and marine biological resources. A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. Robots can replace humans in highly dangerous environments, polluted environments, and waters with zero visibility to perform long-term underwater operations, providing great convenience for underwater rescue and salvage of underwater objects.

[0003] Underwater robots are divided into two types: cabled underwater robots and cable-free underwater robots. Cabled control can ensure stable cable power acquisition and signal reception, but this also greatly limits the robot's activity space; cable-free control, although it can provide a larger activity space, still has great problems in power supply and endurance.

[0004] At present, most underwater robots basically adopt cable-free control, with thrusters as the main power source, and paddles to achieve changes between various postures. However, the thrusters of underwater robots with cable-free control are not flexible in swimming. The thrusters can only provide power in one direction, and the power control accuracy is low, making it difficult to ensure the accuracy of the swimming position of the underwater robot.

[0005] A Chinese patent with application number 202011620029.1 provides an underwater robot, which includes a body, on which are provided an airbag 1 for rescue, an airbag 2 for salvaging waste items in the water, a receiving assembly, a launching assembly and a driving assembly. Airbag 1 is connected to an inflatable assembly 1 and is provided with a pressure sensor 1 and several electromagnets 1. Airbag 2 is connected to an inflatable assembly 2 and is provided with a pressure sensor 2 and several electromagnets 2. Both sides of the body are provided with manipulators that can move a drowning person to the top of airbag 1 or move waste items to the top of airbag 2. The manipulators are provided with lighting and cameras, but the control accuracy of the manipulators in the patent is poor, and multi-joint clamping control cannot be achieved. Summary of the invention

[0006] The purpose of the present invention is to provide an underwater robot and a control method. The technical problem to be solved is that when the underwater robot in the prior art is driven by a propeller, the direction control progress is poor and the control accuracy of the manipulator of the underwater robot is also poor.

[0007] To achieve the above object, the present invention provides the following technical solutions: In the first aspect, the present invention provides an underwater robot, comprising a fuselage, a manipulator telescopic assembly, a clamp, a clamp joint opening and closing adjustment assembly, a driving gear, a transmission rack and a propeller, wherein the manipulator telescopic assembly is arranged at the forward end of the fuselage, the number of the clamps is at least three and all are movably connected to the manipulator telescopic assembly, one end of the clamp joint opening and closing adjustment assembly is connected to the clamp, and the other end is connected to the manipulator telescopic assembly to drive the clamp opening and closing adjustment, the driving gear is movably arranged at the bottom of the fuselage, the transmission rack is meshed with the driving gear, and the propeller is symmetrically arranged on both sides of the transmission rack to push the fuselage in the adjustment direction.

[0008] The telescopic control of the manipulator is achieved by setting up a manipulator telescopic component, and the opening and closing of the jaws are achieved by setting up at least three jaws, each of which is connected to the jaw joint opening and closing adjustment component, thereby realizing the gripping action of the manipulator and achieving precise control of the manipulator. The direction of the propeller is controlled by setting a driving gear to drive the transmission rack to rotate, thereby achieving precise control of the direction of the underwater robot.

[0009] Optionally, each of the clamping jaws includes a first clamping jaw joint and a second clamping jaw joint, the ends of the first clamping jaw joint and the second clamping jaw joint are hinged to each other, and the first clamping jaw joint and the second clamping jaw joint are hinged to the manipulator telescopic assembly through a clamping jaw joint opening and closing adjustment assembly, driving the two joints to open and close, and by setting a clamping jaw joint opening and closing adjustment assembly, the opening and closing control of the two joints of each clamping jaw can be achieved, thereby achieving precise control of the clamping jaw.

[0010] Optionally, the manipulator telescopic assembly includes a push rod for pushing, the push rod is fixed to the forward end of the fuselage, and a fixing plate is sleeved near the end of the push rod; The jaw joint opening and closing adjustment component includes a first jaw joint opening and closing adjustment component and a second jaw joint opening and closing adjustment component. The first jaw joint opening and closing adjustment component is arranged at the end of the push rod, and the second jaw joint opening and closing adjustment component is arranged on the fixed plate.

[0011] Optionally, the first clamping jaw joint opening and closing adjustment assembly includes a turntable, a threaded ring, a gear and a fixed frame, the turntable is rotatably set at the end of the push rod, the threaded ring is fixed on the turntable, the gear teeth are engaged with the threaded ring, one end of the fixed frame is fixed to the outer circumference of the end of the push rod, and the other end is movably engaged with the gear, the gear setting shaft passes through the fixed frame and is fixed to the first clamping jaw joint, and is meshed with the gear by setting the threaded ring, and the gear is rotated by rotating the turntable as the inner diameter of the threaded ring gradually shrinks, thereby realizing the opening and closing adjustment of the first clamping jaw joint.

[0012] Optionally, the second jaw joint opening and closing adjustment component includes a telescopic rod, a connecting plate and a hinged plate, the telescopic rod is arranged on a fixed plate, the connecting plate is arranged at the telescopic end of the telescopic rod, and the two ends of the hinged plate are respectively hinged to the second jaw joint and the connecting plate. The telescopic rod is arranged to be telescopic to drive the hinged plate on the second jaw to move, thereby realizing the opening and closing adjustment of the second jaw joint.

[0013] Optionally, the driving gear includes a front driven gear, a rear driven gear and a driving gear, the front driven gear and the rear driven gear are both movably arranged at the bottom of the fuselage, and the driving gear is meshed and transmission-connected with the front driven gear and the rear driven gear at the same time; The transmission rack includes a first rack and a second rack, and the second rack and the second rack are symmetrically meshed and arranged on both sides of the front driven gear and the rear driven gear. The first rack and the second rack are symmetrically provided with multiple propellers, and the propellers are driven by the transmission rack to adjust the direction, and the driven gear is driven by the rotation of the driving gear, so that the rack can mesh along the edge, thereby realizing the adjustment of the direction of the propellers at both ends.

[0014] Optionally, the underwater robot further includes a camera and lighting assembly, wherein the camera and lighting assembly is arranged at the forward end of the fuselage to perform camera and lighting of the underwater environment, and data collection and transmission of the underwater environment are performed by arranging the camera and lighting assembly.

[0015] In a second aspect, the present invention further provides a control method of an underwater robot according to any one of the first aspects, comprising: The camera and lighting components obtain the current underwater environment data and images; Control the driving gear and the propeller to drive the underwater robot; Control the manipulator to realize the gripping action of the underwater robot.

[0016] Optionally, the controlling the driving gear and the propeller to drive the underwater robot specifically includes: Starting the driving gear drives the front driven gear and the rear driven gear to rotate, and the first rack and the second rack engage the front driven gear and the rear driven gear at the same time, rotating clockwise or counterclockwise, driving the propellers on both sides to adjust the direction and then drive, and the adjustment of the propeller direction is achieved by controlling the rotation angle of the gear, and the control is precise and fast.

[0017] Optionally, the controlling manipulator implements the gripping action of the underwater robot by gripping claws, specifically including: The drive turntable rotates to drive the thread ring to rotate, and the gear meshing with the thread ring drives the first jaw joint to retract inward, driving the telescopic rod to pull the hinged plate down, and driving the second jaw joint to rotate around the end of the first jaw joint to achieve the gripping of the manipulator jaws. By setting two jaw joints and corresponding opening and closing adjustment components, precise control of the two joints of the manipulator can be achieved.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The underwater robot of the present invention realizes the telescopic control of the manipulator by setting a manipulator telescopic component, and realizes the opening and closing of the jaws by setting at least three jaws, each of which is connected to the jaw joint opening and closing adjustment component, thereby realizing the gripping action of the manipulator and realizing precise control of the manipulator. The direction of the propeller is controlled by setting a driving gear to drive the transmission rack to rotate, thereby realizing precise control of the direction of the underwater robot.

[0019] 2. The underwater robot of the present invention is connected with the gear by setting a threaded ring, and the gear is rotated by rotating the turntable along with the gradually shrinking inner diameter of the threaded ring, thereby realizing the opening and closing adjustment of the first clamping jaw joint, and the hinged plate on the second clamping jaw is driven to move by the telescopic rod to realize the opening and closing adjustment of the second clamping jaw joint.

[0020] 3. The underwater robot of the present invention drives the driven gear by the rotation of the driving gear, thereby realizing the meshing movement of the rack along the edge, and adjusting the direction of the propeller by controlling the rotation angle of the gear, and the direction control is accurate and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is another perspective structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the structure of the manipulator of the present invention; Figure 4 It is a schematic diagram of the clamp connection structure of the present invention; Figure 5 It is a schematic diagram of the enlarged structure of the clamping jaw of the present invention; Figure 6 It is a schematic diagram of the connection of the driving gear and the transmission rack related structures of the present invention; Figure 7 It is a schematic diagram of the connection and installation structure of the propeller part of the present invention.

[0022] In the figure: 1-fuselage, 2-cabin, 3-mounting fixing ring, 4-camera lighting assembly, 5-bump, 6-manipulator telescopic assembly, 61-push rod, 7-fixed plate, 8-claw, 81-first clamping jaw joint, 82-second clamping jaw joint, 9-first clamping jaw joint opening and closing adjustment assembly, 91-central axis, 92-turntable, 93-threaded ring, 94-gear, 95-fixed frame, 10-second clamping jaw joint opening and closing adjustment assembly, 101-telescopic rod, 102-connecting plate, 103-hinged seat, 104-hinged plate, 11-front driven gear, 12-rear driven gear, 13-driving gear, 14-first rack, 15-second rack, 16-connecting rod, 17-mounting plate, 18-rotating rod, 19-rim propeller, 20-tail propeller. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Embodiment 1

[0024] like Figures 1 to 7 As shown, an underwater robot is provided, including a fuselage 1, a cabin 2, a camera and lighting assembly 4, a manipulator, a manipulator telescopic assembly 6, a driving gear, a transmission rack and a propeller. In this embodiment, the cabin 2 is fixed to the top of the fuselage 1, the camera and lighting assembly 4 is fixed to the end of the fuselage 1 in the forward direction, the manipulator is preferably a pair and symmetrically arranged on both sides of the end of the fuselage 1 in the forward direction, the manipulator telescopic assembly 6 is connected to the manipulator, the driving gear is movably arranged at the bottom of the fuselage 1, the transmission rack is meshed with the driving gear, and the propellers are symmetrically arranged on both sides of the transmission rack to push the fuselage 1.

[0025] When in use, the underwater situation is fed back to the operator through the camera and lighting component 4, and the operator controls the driving gear to drive the propeller to drive and control the direction of the underwater robot. The extension and retraction of the manipulator in the water is controlled by the manipulator extension component 6, and rescue, collection, search and other tasks are carried out in the water by connecting and installing the manipulator on the underwater robot.

[0026] refer to Figure 1 As shown, in this embodiment, the cabin 2 is provided with three mounting and fixing rings 3, wherein each mounting and fixing ring 3 is fixed to the top of the fuselage 1 by bolts in the prior art. At the same time, various sensors can be installed on the outer wall of the cabin 2 to timely feedback underwater environmental information. In addition, a sealed cavity (not shown in the figure) is provided in the cabin 2, and the sealed cavity is used to install an electrical control module, which can receive external information and control the operation of the manipulator, driving gear and thruster.

[0027] refer to Figure 1As shown, the camera and lighting assembly 4 in this embodiment includes a camera and a lighting lamp in the prior art, wherein the camera and the lighting lamp are preferably installed at the end of the fuselage 1 in the forward direction. In this embodiment, multiple lighting lamps and cameras can be provided, for example, installed on the side and tail of the fuselage 1 to monitor the environment in which the underwater robot is located. In addition, the camera and lighting assembly 4 in this embodiment also includes a GPS locator, a water depth detector and a water pressure detector in the prior art, and realizes signal transmission by connecting with the electrical control module.

[0028] refer to Figure 1 As shown, in this embodiment, a pair of protrusions 5 are symmetrically arranged on both sides of the end of the fuselage 1 in the forward direction, wherein the protrusions 5 are fixed with a manipulator telescopic assembly 6. In this embodiment, the manipulator telescopic assembly 6 preferably adopts a push rod 61 in the prior art, and a manipulator is installed at the end of each push rod 61. The control of the telescopic operation of the manipulator is achieved by controlling the telescopic operation of the push rod 61.

[0029] refer to Figure 3 , Figure 4 and Figure 5 As shown, the manipulator in this embodiment includes a jaw 8 and a jaw joint opening and closing adjustment component. In this embodiment, each manipulator includes four jaws 8 arranged in a circular array, wherein each jaw 8 is connected through a separate jaw joint opening and closing adjustment component. The jaws 8 are controlled by the jaw joint opening and closing adjustment component, thereby achieving precise control of the opening and closing of the manipulator.

[0030] refer to Figure 3 , Figure 4 and Figure 5 As shown, in this embodiment, each jaw 8 includes a first jaw joint 81 and a second jaw joint 82; each jaw joint opening and closing adjustment assembly includes a first jaw joint opening and closing adjustment assembly 9 and a second jaw joint opening and closing adjustment assembly 10, wherein the ends of the first jaw joint 81 and the second jaw joint 82 are movably hinged through an axis formed by a rod in the prior art. In this embodiment, the first jaw joint 81 and the first jaw joint opening and closing adjustment assembly 9 are connected to the push rod 61, and the second jaw joint 82 and the second jaw joint opening and closing adjustment assembly 10 are connected to the push rod 61. When in use, the first jaw joint opening and closing adjustment assembly 9 is used to control and adjust the first jaw joint 81, and the second jaw joint opening and closing adjustment assembly 10 is used to control and adjust the second jaw joint 82.

[0031] refer to Figure 4 and Figure 5As shown, in this embodiment, the first jaw joint opening and closing adjustment component 9 includes a central shaft 91, a rotating disk 92, a gear 94 and a fixed frame 95. The central shaft 91 in this embodiment is movably arranged inside the push rod 61, wherein the push rod 61 is fixedly installed with a motor in the prior art for driving the central shaft 91 to rotate, wherein the central shaft 91 passes through the outside of the push rod 61, and the end is fixedly connected to the rotating disk 92. In this embodiment, the rotating disk 92 is fixed with a threaded ring 93, wherein the threaded ring 93 can be formed by a spiral groove with a diameter gradually decreasing toward the center, or can be formed by a spiral groove with a diameter gradually decreasing toward the center. The first clamping jaw joint 81 in the present embodiment is a two-piece structure, wherein the end of the first clamping jaw joint 81 of the two-piece structure fixes the gear 94 with the gear 94 and the fixing frame 95 is preferably a two-arc sheet structure, one end of which is fixed to the outer wall of the end of the push rod 61, and the other end clamps the gear 94 therein, wherein the central axis of the gear 94 passes through the fixing frame 95 to the outside and is fixedly connected to the first clamping jaw joint 81. The first clamping jaw joint 81 in the present embodiment is a two-piece structure, wherein the end of the first clamping jaw joint 81 of the two-piece structure fixes the gear 94 with the fixing frame 95, wherein the first clamping jaw joint 81 and the gear 94 are movably connected to the fixing frame 95.

[0032] During use, when it is necessary to control the clamping of the first clamping jaw joint 81, the motor located inside the push rod 61 is started to rotate the central shaft 91, thereby driving the turntable 92 to rotate, and the gear 94 engaged with the threaded ring 93 on the turntable 92 drives the first clamping jaw joint 81 to move under the action of the fixed frame 95, thereby realizing opening and closing adjustment and achieving precise control of individual joints.

[0033] refer to Figure 5 As shown, in this embodiment, the second jaw joint opening and closing adjustment component 10 includes a telescopic rod 101, a connecting plate 102, and a fixed plate 7 is sleeved on the end near the push rod 61 in this embodiment, wherein the outermost end of the fixed plate 7 is preferably larger than the projection of the first jaw joint 81 on its plane. In this embodiment, the telescopic rod 101 corresponds to the number of jaws 8 and is fixed on the fixed plate 7 below each first jaw joint 81, wherein the telescopic end of the telescopic rod 101 is fixedly connected with a connecting plate 102, and in this embodiment, both ends of the connecting plate 102 are hingedly provided with a hinge plate 104 through a hinge seat 103 in the prior art, wherein the hinge plate 104 is composed of two pieces and the other end is symmetrically hinged on the second jaw joint 82, and in this embodiment, the clamping surface of the second jaw joint 82 is provided with an arc groove structure, and the clamping surface at the arc groove is also spaced apart with a corrugated structure to increase the friction force of the second jaw joint 82 when clamping.

[0034] During use, when it is necessary to control the clamping of the second jaw joint 82, the telescopic rod 101 located on the fixed plate 7 is started, and the telescopic rod 101 drives the hinge plate 104 to rotate around the hinge point of the first jaw joint 81 and the second jaw joint 82, thereby realizing the rotation of the second jaw joint 82, realizing opening and closing adjustment, and realizing precise control of a single joint.

[0035] In this embodiment, four jaws 8 are used, each jaw 8 includes a first jaw joint 81 and a second jaw joint 82 that are individually controlled. Through the coordinated use of the first jaw joint opening and closing adjustment component 9 and the second jaw joint 10, the manipulator can simultaneously control more than three jaws 8, each jaw 8 including two individually controlled joints, thereby improving the control accuracy of the manipulator of the underwater robot.

[0036] refer to Figure 6 and Figure 7 As shown, in this embodiment, the driving gear includes a front driven gear 11, a rear driven gear 12 and a driving gear 13. In this embodiment, the front driven gear 11 is preferably fixed at the bottom of the fuselage 1 near the forward end, and the rear driven gear 12 is preferably fixed at the bottom of the fuselage 1 away from the forward end. The driving gear 13 is preferably engaged and clamped between the front driven gear 11 and the rear driven gear 12. In this embodiment, the shaft of the driving gear 13 is driven by a motor in the prior art through a transmission connection.

[0037] In this embodiment, the transmission rack includes a first rack 14 and a second rack 15. In this embodiment, the first rack 14 and the second rack 15 are symmetrically meshed and connected on both sides of the front driven gear 11 and the rear driven gear 12. More specifically, in this embodiment, the ends of the first rack 14 and the second rack 15 are both set to an arc shape, which is adapted to the outer circumference of the front driven gear 11 and the rear driven gear 12, and the edges are set to an angle structure to achieve the front driven gear 11 and the rear driven gear 12 being embedded and connected in the first rack 14 and the second rack 15. In this embodiment, connecting rods 16 are symmetrically fixed on the first rack 14 and the second rack 15, wherein the connecting rods 16 located on the same horizontal line are movably connected to the mounting plate 17. In this embodiment, rim propellers 19 are fixed at both ends of each mounting plate 17, and in this embodiment, the rim propeller 19 preferably adopts the shaftless rim drive propeller in the prior art.

[0038] refer to Figure 7As shown, in this embodiment, a rotating rod 18 is rotatably connected to a mounting plate 17 connected to a transmission rack at the front and rear ends of the fuselage 1, wherein the rotating rod 18 passes through both ends and is connected to the rim propeller 19 at its end. It should be noted that in this embodiment, in order to increase the driving speed of the robot in water, a pair of tail propellers 20 are installed at the tail of the fuselage 1, wherein the tail propeller 20 is preferably a propeller with greater power than the rim propeller 19 in the prior art.

[0039] When in use, the main driving force of the underwater robot is achieved by starting the tail thruster 20. When the robot's forward direction needs to be adjusted, the driving gear 13 is started, and the driving gear 13 rotates to drive the front driven gear 11 and the rear driven gear 12 to rotate, thereby driving the first rack 14 and the second rack 15 that are meshed at the edges. The two racks rotate in opposite directions, and the mounting plate 17 connected to the first rack 14 and the second rack 15 is rotated, thereby changing the angle between the rim thrusters 19 at both ends of the mounting plate 17 and the fuselage 1, thereby achieving a rotation in direction. In this embodiment, the angle between the rim thrusters 19 and the fuselage 1 is controlled by controlling the number of rotations of the driving gear 13, thereby achieving precise control of the rotation direction. Similarly, in this embodiment, the rim thrusters 19 at the ends of the mounting plates 17 at the front and rear ends of the fuselage 1 can also be changed by rotating the rotating rod 18 to accelerate the floating and sinking rates of the robot. Embodiment 2

[0040] like Figures 1 to 7 As shown, this embodiment further provides a control method for an underwater robot based on the first embodiment, including: acquiring current underwater environment data and images through the camera lighting component 4, processing the received data and issuing control instructions through the electrical control module, controlling the driving gear and the thruster to drive the underwater robot; and controlling the manipulator to realize the gripping action of the underwater robot's claws.

[0041] In this embodiment, controlling the driving gear and the propeller to drive the underwater robot specifically includes: The rim propeller 19 and the tail propeller 20 are started to drive the robot to move, and the driving gear 13 is started to drive the front driven gear 11 and the rear driven gear 12 to rotate. The first rack 14 and the second rack 15 are simultaneously engaged with the front driven gear 11 and the rear driven gear 12 to move in opposite directions. The mounting plate 17 is rotated clockwise or counterclockwise by controlling the forward and reverse rotation of the driving gear 13, driving the rim propellers 19 on both sides to adjust the direction and then drive.

[0042] In this embodiment, controlling the manipulator to realize the gripping action of the underwater robot specifically includes: The driving motor drives the central axis 91 and the turntable 92 fixedly connected thereto to rotate, thereby driving the threaded ring 93 on the turntable 92 to rotate. At this time, the gear 94 meshing with the threaded ring 93 drives the first jaw joint 81 to retract inward, drives the telescopic rod 101 to pull down the hinge plate 104, and drives the second jaw joint 82 to rotate around the hinge point at the end of the first jaw joint 81, thereby realizing the inward contraction of the second jaw joint 82, thereby realizing the opening and closing of the two joints of the manipulator, and improving the accuracy of the gripping action.

[0043] Working principle: The underwater situation is observed in real time through the camera and lighting assembly 4, and the movement of the underwater robot in the water is driven by the rim thruster 19 and the tail thruster 20. The clockwise or counterclockwise rotation of the driving gear 13 is controlled to drive the rotation of the first rack 14 and the second rack 15 on the side of the front driven gear 11 and the rear driven gear 12. The driving direction of the rim thruster 19 is adjusted by connecting the connecting rod 16 and the mounting plate 17 with the rack, and the direction of the rim thruster 19 at the end of the mounting plate 17 at the front and rear ends of the fuselage 1 is changed by the rotating rod 18 to change the floating and sinking rates of the robot.

[0044] By starting the motor located inside the push rod 61, the central shaft 91 is rotated to drive the rotation, thereby driving the turntable 92 to rotate, and the gear 94 meshing with the threaded ring 93 on the turntable 92 drives the first jaw joint 81 to move under the action of the fixed frame 95. By starting the telescopic rod 101 located on the fixed plate 7, the telescopic rod 101 drives the hinge plate 104 to rotate around the hinge point of the first jaw joint 81 and the second jaw joint 82, thereby realizing the rotation of the second jaw joint 82. This solution realizes that the manipulator can simultaneously control more than three jaws 8, each jaw 8 including two separately controlled joints, through the coordinated use of the first jaw joint opening and closing adjustment component 9 and the second jaw joint 10, thereby realizing the improvement of the manipulator control accuracy of the underwater robot.

[0045] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An underwater robot, characterized in that: The invention comprises a machine body (1), a manipulator telescopic assembly (6), a clamping jaw (8), a clamping jaw joint opening and closing adjustment assembly, a driving gear, a transmission rack and a propeller, wherein the manipulator telescopic assembly (6) is arranged at the forward end of the machine body (1), the clamping jaws (8) are at least three and are all movably connected to the manipulator telescopic assembly (6), one end of the clamping jaw joint opening and closing adjustment assembly is connected to the clamping jaw (8), and the other end is connected to the manipulator telescopic assembly (6) to drive the clamping jaw (8) to open and close adjustment, the driving gear is movably arranged at the bottom of the machine body (1), the transmission rack is meshed with the driving gear, and the propeller is symmetrically arranged on both sides of the transmission rack to push the machine body (1) in the adjustment direction.

2. An underwater robot according to claim 1, characterized in that: Each of the clamping jaws (8) comprises a first clamping jaw joint (81) and a second clamping jaw joint (82), the ends of the first clamping jaw joint (81) and the second clamping jaw joint (82) being hinged to each other, and the first clamping jaw joint (81) and the second clamping jaw joint (82) are both hinged to the manipulator telescopic assembly (6) via a clamping jaw joint opening and closing adjustment assembly, thereby driving the two joints to open and close.

3. An underwater robot according to claim 2, characterized in that: The manipulator telescopic assembly (6) comprises a push rod (61) for pushing, wherein the push rod (61) is fixed to the forward end of the fuselage (1), and a fixing plate (7) is sleeved near the end of the push rod (61); The clamping jaw joint opening and closing adjustment assembly comprises a first clamping jaw joint opening and closing adjustment assembly (9) and a second clamping jaw joint opening and closing adjustment assembly (10), wherein the first clamping jaw joint opening and closing adjustment assembly (9) is arranged at the end of the push rod (61), and the second clamping jaw joint opening and closing adjustment assembly (10) is arranged on the fixing plate (7).

4. An underwater robot according to claim 3, characterized in that: The first clamping jaw joint opening and closing adjustment component (9) comprises a rotating disk (92), a threaded ring (93), a gear (94) and a fixing frame (95); the rotating disk (92) is rotatably arranged at the end of the push rod (61); the threaded ring (93) is fixed on the rotating disk (92); the gear teeth of the gear (94) are engaged with the threaded ring (93); one end of the fixing frame (95) is fixed to the outer peripheral surface of the end of the push rod (61); the other end is movably engaged with the gear (94); the gear (94) is provided with a shaft that passes through the fixing frame (95) and is fixed to the first clamping jaw joint (81).

5. The underwater robot according to claim 3, characterized in that: The second clamping jaw joint opening and closing adjustment assembly (10) comprises a telescopic rod (101), a connecting plate (102) and a hinged plate (104); the telescopic rod (101) is arranged on a fixed plate (7); the connecting plate (102) is arranged at the telescopic end of the telescopic rod (101); and the two ends of the hinged plate (104) are respectively hinged to the second clamping jaw joint (82) and the connecting plate (102).

6. An underwater robot according to claim 1, 3 or 4, characterized in that: The driving gear comprises a front driven gear (11), a rear driven gear (12) and a driving gear (13); the front driven gear (11) and the rear driven gear (12) are both movably arranged at the bottom of the fuselage (1); the driving gear (13) is simultaneously meshed and transmission-connected with the front driven gear (11) and the rear driven gear (12); The transmission rack comprises a first rack (14) and a second rack (15); the second rack (14) and the second rack (15) are symmetrically meshed and arranged on both sides of a front driven gear (11) and a rear driven gear (12); the first rack (14) and the second rack (15) are symmetrically provided with a plurality of propellers, and the propellers are driven by the transmission rack to adjust the direction.

7. An underwater robot according to claim 6, characterized in that: The underwater robot also comprises a video camera and lighting assembly (4), wherein the video camera and lighting assembly (4) is arranged at the forward end of the body (1) to perform video camera and lighting on the underwater environment.

8. A method for controlling an underwater robot according to any one of claims 1 to 7, characterized in that: include: The camera and lighting component (4) obtains current underwater environment data and images; Control the driving gear and the propeller to drive the underwater robot; The manipulator is controlled to realize the gripping action of the gripper (8) of the underwater robot.

9. The control method of an underwater robot according to claim 8, characterized in that: The control driving gear and the propeller to drive the underwater robot specifically includes: The driving gear (13) is started to drive the front driven gear (11) and the rear driven gear (12) to rotate, and the first rack (14) and the second rack (15) simultaneously mesh with the front driven gear (11) and the rear driven gear (12), and rotate clockwise or counterclockwise, driving the propellers on both sides to adjust their directions and then drive.

10. The control method of an underwater robot according to claim 8, characterized in that: The control manipulator realizes the gripping action of the gripper (8) of the underwater robot, specifically comprising: The driving turntable (92) rotates to drive the threaded ring (93) to rotate, and the gear (94) meshing with the threaded ring (93) drives the first clamping jaw joint (81) to retract inward, drives the telescopic rod (101) to drive the hinged plate (104) to pull down, and drives the second clamping jaw joint (82) to rotate around the end of the first clamping jaw joint (81), thereby achieving the gripping of the manipulator clamping jaw (8).

Images