Underwater detection operation integrated structure

Abstract

The invention discloses an underwater detection operation integrated structure. The system comprises a flexible grabbing manipulator, an underwater camera, a multi-beam sonar, an inertial measurement unit IMU and a modular rope-driven flexible mechanical arm, the flexible grabbing manipulator structure comprises an outer ring mechanism and an inner ring mechanism which are coaxial, the outer ring mechanism is fixedly connected with one end of a flexible belt body, and the other end of the flexible belt body is fixedly connected with the inner ring mechanism; the underwater camera is mounted at the center of the inner ring mechanism; the multi-beam sonar is arranged at the vacant position of the upper connecting plate on the side of the flexible grabbing manipulator, and depth information and obstacle distribution of the surrounding underwater environment are obtained in real time; the IMU is fixed on the lower connecting plate; and the modularized rope-driven flexible mechanical arm is connected with the lower connecting plate. Underwater distance and azimuth information is obtained in real time, the structure can optimize grabbing operation, the overall safety and reliability are improved, underwater detection operation is more efficient and flexible, and the underwater detection robot adapts to various requirements in complex underwater environments.

Description

Technical Field

[0001] The invention belongs to the field of underwater operations, and in particular relates to an integrated structure for underwater detection operations. Background Art

[0002] Traditional underwater detection tasks usually adopt a combination design of rigid clamps and a carrying platform, that is, the detection function is implemented in the carrying platform. Although each device can perform specific tasks, the decentralized design leads to complex structure and bulky equipment, which is not conducive to the coordination of underwater operations. Each device needs to be connected and installed separately, which not only increases the total weight of the equipment, but also increases the load of the working platform. Traditional rigid clamps are inconvenient to move in underwater environments, and due to their large inertia, they are difficult to respond quickly to environmental changes. At the same time, the targets that can be grasped are limited, and the grasping process is prone to damage to the operating targets. The present invention proposes an integrated overall structure for underwater detection operations, which achieves lightweight and miniaturization on the basis of meeting the underwater detection operation functions, and realizes a high degree of coordination of detection, grasping, and positioning. This integrated design significantly reduces the volume and weight of the equipment, and improves the flexibility and efficiency of underwater operations. Summary of the invention

[0003] The purpose of the present invention is to provide an integrated structure for underwater detection operations, which solves the technical problems that the existing mechanical grippers are easily damaged when grasping targets and the driving structure is complex and difficult to adapt to underwater operations.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] An integrated structure for underwater detection operations, comprising: a flexible grabbing manipulator, an underwater camera, a multi-beam sonar, an inertial measurement unit IMU and a modular rope-driven flexible manipulator;

[0006] The flexible grasping manipulator structure includes a coaxial outer ring mechanism and an inner ring mechanism, wherein the outer ring mechanism is fixedly connected to one end of a flexible belt body, and the other end of the flexible belt body is fixedly connected to the inner ring mechanism, and the flexible belt body is curved upward, and a group of the flexible belt bodies are staggered in sequence along the circumference of the outer ring mechanism and the inner ring mechanism at equal intervals to form a flexible gripper, and the inner ring mechanism and the outer ring mechanism are driven to perform relative rotation with a phase difference to realize the expansion, gathering or intermediate state of the flexible gripper;

[0007] The underwater camera is installed at the center of the inner ring mechanism;

[0008] The multi-beam sonar is arranged at the vacant position of the upper connecting plate on the side of the flexible grasping manipulator, and can emit a group of sound beams, and obtain the depth information and obstacle distribution of the surrounding underwater environment in real time by receiving the reflected signals;

[0009] The inertial measurement unit IMU is fixed on the lower connecting plate;

[0010] The modular rope-driven flexible mechanical arm is connected to the lower connecting plate.

[0011] Furthermore, the outer ring mechanism includes an outer ring limit plate, a thrust needle roller bearing washer, a thrust needle roller bearing, an outer edge filling seat and an outer ring driving gear which are fixedly arranged in sequence from top to bottom; the outer edge filling seat and the outer ring driving gear are fixedly connected by fixing bolts that pass through them in sequence; the outer edge filling seat is provided with a group of positioning grooves at equal intervals along the circumferential direction, and one end of the flexible belt body connected to the outer ring mechanism is inserted into the positioning groove, and is fixedly connected by bolts that pass through the flexible belt body, the outer edge filling seat and the outer ring driving gear in sequence.

[0012] Furthermore, the rotation mechanism of the flexible grasping manipulator is composed of an outer ring driving gear meshing with the servo driving gear of servo one, and the rotation angle is controlled by driving servo one to achieve precise operation of the gripper. The servo one is installed on a servo support, and the servo support is installed on the upper connecting plate by screws passing through the servo positioning hole.

[0013] Furthermore, the inner ring mechanism includes an inner ring cover plate, an inner ring acrylic gasket, an underwater camera and an inner wall tube which are arranged in sequence from top to bottom, and the inner ring cover plate, the inner ring acrylic gasket and the inner wall tube are fixedly connected in sequence by passing through fixing bolts, and the inner ring acrylic gasket is provided with a group of positioning grooves at equal intervals along the circumferential direction, and one end of the flexible belt body connected to the inner ring mechanism is inserted into the positioning groove, and is fixedly connected by bolts passing through the inner ring cover plate, the inner ring acrylic gasket, and the flexible belt body in sequence; an inner wall tube base is provided under the inner wall tube, and is fixedly connected by fixing screws passing through the inner wall tube base and the upper connecting plate in sequence.

[0014] Furthermore, the multi-beam sonar connection line passes through the wiring hole of the lower connecting plate and the top sleeve of the spine and the center hole of the flexible mechanical arm spine sleeve in sequence, and the multi-beam sonar is provided with a group of sonar positioning holes at equal intervals along the circumferential direction, and the sonar fixing screws (28) pass through the lower connecting plate and the sonar positioning holes in sequence to be fixedly connected.

[0015] Furthermore, the inertial measurement unit IMU is placed in an IMU watertight box, and the IMU watertight box is fixedly connected to the positioning holes of the watertight box bottom plate and the lower connecting plate in sequence through watertight box fixing screws.

[0016] Furthermore, the modular rope-driven flexible robotic arm structure comprises a group of superimposed flexible robotic arm joint modules, the flexible robotic arm joint module comprises a spinal sleeve, a spinous process plate, and a diaphragm, the flexible robotic arm joint module is provided with a group of joint base fixing plates, two servos are respectively fixedly connected to the joint base fixing plates (23) by screws passing through the servo positioning holes in sequence; the servos respectively fix the ropes through two rope wheels and realize stretching and releasing for switching through rope transmission, and the ropes pass through the rope threading holes of the spinous process plate to connect to the lower end flexible robotic arm joint module.

[0017] Furthermore, the spinous process plate is provided with a group of bolt through holes at equal intervals along the circumferential direction, and the diameter of the bolt through holes is larger than the diameter of the bolts, so that the bolts float in the bolt through holes, providing bending space for the bending of the flexible joint, and providing a fulcrum for the bending of the flexible joint together with the diaphragm.

[0018] Furthermore, the bottom of the lower connecting plate has a spine top sleeve connection, and the spine top sleeve is connected to the spinous process plate of the flexible robotic arm joint module.

[0019] Furthermore, the upper connecting plate and the lower connecting plate are fixedly supported by screws.

[0020] The beneficial effects of the present invention are:

[0021] While simplifying the overall structure, the present invention innovatively realizes the organic combination of detection and operation functions, so that the structure exhibits excellent environmental adaptability and operational flexibility in underwater operations, significantly improving the operation success rate, and meeting the application needs in multiple fields such as underwater detection and grasping.

[0022] The present invention realizes the deployment or gathering of multiple staggered flexible belts through the combination of an outer ring mechanism, an inner ring mechanism and multiple flexible belts, forming a flexible mechanical gripper capable of grasping a target. At the same time, the drive structure is simplified, and it is suitable for underwater operations. By staggering multiple flexible belts in an arc shape, the grasping ability of the grasping target is improved, and the flexible belts are easier to capture the grasping target when they are gathered. While realizing the grasping function, the destructiveness to the grasping target can be reduced, and the success rate of the grasping operation can be improved.

[0023] The present invention fixes the underwater camera to the inner ring of the manipulator, thereby realizing the grasping function and further improving the flexibility of the manipulator and the compactness of the system as a whole. The real-time monitoring function of the underwater camera enables the system to quickly adapt to various underwater environments and make corresponding adjustments, thereby improving the accuracy and success rate of the grasping operation.

[0024] The present invention can comprehensively improve the environmental perception capability of the system by integrating multiple detection means into the design to assist the manipulator in performing detection operations. It not only improves the efficiency of detection, but also reduces data transmission and processing delays in multi-device systems, greatly optimizing the overall response speed of the system.

[0025] The flexible grasping manipulator of the present invention is composed of an outer ring mechanism, an inner ring mechanism and a flexible belt body. The steering gear drives the outer ring to rotate, thereby controlling the manipulator to expand or gather. The underwater camera is fixed to the palm of the inner ring of the manipulator through the inner wall tube to provide accurate target observation. Multiple modular flexible manipulators can be stacked together with the connecting base through the top shaft sleeve. The inertial measurement unit is placed in a watertight box and fixed to the lower connecting plate with the sonar by bolts. The sonar is arranged on the side of the manipulator to obtain underwater distance and azimuth information in real time. This structure can optimize the grasping operation and improve overall safety and reliability. This integrated design makes underwater detection operations more efficient and flexible, and adapts to various needs in complex underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0027] Attached Figure 2 It is a structural schematic diagram of the flexible grasping manipulator of the present invention.

[0028] Attached Figure 3 1 is an exploded view of the flexible grasping manipulator of the present invention (the flexible belt body is not shown).

[0029] Attached Figure 4 It is a schematic diagram of the hole positions of the upper connecting plate of the present invention.

[0030] Attached Figure 5 It is a structural schematic diagram of the inner wall tube of the present invention.

[0031] In the attached figure: 1: flexible belt body, 2: inner ring acrylic gasket, 3: outer ring limit plate, 4: thrust needle roller bearing gasket, 5: servo drive gear, 6: upper connecting plate, 7: screw, 8: servo, 9: camera, 10: spine top sleeve, 11: camera fixing buckle, 12: lower connecting plate, 13: IMU watertight box, 14: multi-beam sonar, 15: outer edge filling seat, 16: outer ring drive gear, 17: inner ring cover plate, 18: inner wall tube, 19: servo, 20: rope threading hole, 21: diaphragm, 22: rope winding wheel, 23: joint base fixing plate, 24: spine sleeve, 25: spinous process plate, 26: camera fixing screw, 27: lower connecting plate wiring hole, 28: sonar fixing screw, 29: watertight box fixing screw, 30: thrust needle roller bearing, 31: watertight box bottom plate, 32: inner wall tube base. DETAILED DESCRIPTION

[0032] The present invention is further described below in conjunction with the accompanying drawings.

[0033] Embodiment 1:

[0034] This embodiment provides an integrated structure for underwater detection operations based on a flexible grasping manipulator, as shown in the attached Figure 1 As shown, it includes: a flexible grasping manipulator, an underwater camera 9, a multi-beam sonar 14, an inertial measurement unit IMU and a modular rope-driven flexible manipulator;

[0035] As attached Figure 2-3 As shown, the flexible grasping manipulator described in this embodiment includes an outer ring mechanism and an inner ring mechanism that can rotate relative to each other, a plurality of flexible belt bodies 1 connecting the outer ring mechanism and the inner ring mechanism, and a driving device that drives the outer ring mechanism and the inner ring mechanism to rotate relative to each other, and the outer ring mechanism and the inner ring mechanism are coaxially arranged.

[0036] One end of the flexible belt body 1 is bent inward and fixedly connected to the outer ring mechanism, and the other end of the flexible belt body 1 is bent inward and fixedly connected to the inner ring mechanism, so that the flexible belt body 1 is bent upward in an arc shape. Multiple flexible belt bodies 1 are arranged at equal intervals along the circumference of the outer ring mechanism and the inner ring mechanism, so that adjacent flexible belt bodies 1 are arranged in sequence in an interlaced manner to form a flexible gripper that can be expanded or gathered. The inner ring mechanism or the outer ring mechanism is driven by a driving device to perform relative rotation with a phase difference to achieve the expansion or gathering of the flexible gripper.

[0037] The outer ring mechanism comprises a flexible belt body 1, an outer edge filling seat 15, and an outer ring driving gear 16 which are coaxially arranged in sequence from top to bottom and are fixedly connected by bolts.

[0038] The inner ring mechanism includes an inner ring cover plate 17, an inner ring acrylic gasket 2, an underwater camera 9 and an inner wall tube 18 which are arranged in sequence from top to bottom, and are fixedly connected by fixing bolts that pass through the inner ring cover plate 17, the inner ring acrylic gasket 2 and the inner wall tube 18 in sequence.

[0039] The underwater camera is placed at the center of the inner ring mechanism of the flexible grasping manipulator, and is fixedly connected by the camera fixing screw 26 that passes through the camera fixing buckle 11 and the lower connecting plate 12 in sequence.

[0040] The upper connecting plate 6 is provided with a steering gear support, which is fixedly connected by screws passing through the steering gear 8 positioning holes.

[0041] The multi-beam sonar 14 is arranged in the vacant part of the upper connecting plate 6 on the side of the manipulator. The multi-beam sonar 14 is provided with a plurality of sonar positioning holes at equal intervals along the circumferential direction. The sonar fixing screws 28 pass through the lower connecting plate 12 and the positioning holes in sequence to be fixedly connected. The close combination with the flexible grasping manipulator makes the detection and grasping operations complement each other. The multi-beam sonar can emit multiple sound beams and obtain the depth information and obstacle distribution of the surrounding underwater environment in real time by receiving the reflected signals. In this way, during the grasping process, the manipulator can make real-time adjustments according to the information fed back by the sonar to avoid collisions, optimize the operation path, and improve the grasping efficiency and safety.

[0042] The inertial measurement unit is placed in the IMU watertight box 13 , and the watertight box fixing screws 29 are fixedly connected through the positioning holes of the watertight box bottom plate 31 and the lower connecting plate 12 in sequence.

[0043] The connecting wire passes through the wiring hole 27 of the lower connecting plate and the spine top sleeve 10 in turn and passes through the center hole of the spine sleeve of the flexible mechanical arm to be connected to the power source.

[0044] As attached Figure 4 As shown, the inner wall tube 18 described in this embodiment is installed on the inner wall tube base 32.

[0045] As attached Figure 5 As shown, the upper connecting plate described in this embodiment has a camera fixing screw 26, a lower connecting plate wiring hole 27, a sonar fixing screw 28, and a watertight box fixing screw 29.

[0046] Again as attached Figure 1 As shown, the modular rope-driven flexible mechanical arm structure described in this embodiment includes a servo 2 19 mounted on a joint base fixing plate 23, and is fixedly connected to the joint base fixing plate 23 by screws passing through the servo 2 19 positioning holes in sequence. The servo 2 19 fixes the rope by winding the rope wheel 22 and realizes stretching and releasing to switch directions through rope transmission. The rope passes through the rope threading hole 14 of the spinous process plate 25 to connect the lower end flexible mechanical arm joint module. The structure can stack and install flexible mechanical arm joint modules to form a rope-driven flexible mechanical arm structure with a length N times that of a single modular flexible mechanical arm.

[0047] The two steering gears 19 control the movement of the flexible robotic arm joint module in four directions, namely, front, back, left, and right, through four rope winding wheels 22 respectively.

[0048] The spinous process plate 25 is provided with a plurality of bolt through holes at equal intervals along the circumferential direction, and the diameter of the bolt through holes is slightly larger than that of the bolt so that the bolt can float in the hole, thereby providing bending space for the bending of the flexible joint and providing a fulcrum for the bending of the flexible joint together with the diaphragm 21.

[0049] The diaphragm is provided with a plurality of bolt through holes at equal intervals along the circumference, and these threaded through holes work together with the gasket to play a role of support and elastic reset, thereby realizing multi-degree-of-freedom bending of the flexible robotic arm joint.

[0050] The working method of this embodiment is as follows:

[0051] The inner ring mechanism is fixed by a fixing piece, and the steering gear 8 drives the steering gear driving gear 5 to mesh with the outer ring mechanism, thereby driving the outer ring mechanism to rotate to realize the expansion or gathering of the overall flexible gripper.

[0052] The rotating mechanism of the flexible grasping manipulator is driven by the gear at the outer ring through the steering gear to control the rotation angle to achieve precise operation of the grasper. The flexible belt body is arranged at equal intervals along the circumference of the outer ring mechanism and the inner ring mechanism to form an overall grasping structure to enhance the grasping ability and adaptability.

[0053] Embodiment 2:

[0054] According to the integrated structure of underwater detection operations based on a flexible grasping manipulator described in Example 1, the flexible belt body 1 can also use a flexible hard plastic belt or a steel rope to adapt to the underwater operating environment, further reduce the destructiveness of the operation process to the underwater target, and effectively improve the success rate of underwater grasping operations.

[0055] According to actual needs, one side of the flexible belt body 1 can be sharpened, so that the sampling of certain marine organisms and the picking up of various soil and environmental factors can be realized during the grabbing operation.

[0056] The present invention can comprehensively improve the environmental perception capability of the system by integrating multiple detection means into the design to assist the manipulator in performing detection operations. It not only improves the efficiency of detection, but also reduces data transmission and processing delays in multi-device systems, greatly optimizing the overall response speed of the system.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An integrated structure for underwater detection operations, characterized in that: include: Flexible grasping manipulator, underwater camera (9), multi-beam sonar (14), inertial measurement unit IMU and modular rope-driven flexible manipulator; The flexible grasping manipulator structure comprises a coaxial outer ring mechanism and an inner ring mechanism, wherein the outer ring mechanism is fixedly connected to one end of a flexible belt body (1), and the other end of the flexible belt body (1) is fixedly connected to the inner ring mechanism, and the flexible belt body (1) is curved upward in an arc shape, and a group of the flexible belt bodies (1) are arranged in a staggered manner along the circumference of the outer ring mechanism and the inner ring mechanism at equal intervals to form a flexible gripper, and the inner ring mechanism and the outer ring mechanism are driven to perform relative rotation with a phase difference, so as to realize the expansion, gathering or intermediate state of the flexible gripper; The underwater camera (9) is installed at the center of the inner ring mechanism; The multi-beam sonar (14) is arranged at a vacant position of the upper connecting plate (6) on the side of the flexible grasping manipulator, and is capable of emitting a group of sound wave beams, and by receiving reflected signals, obtaining depth information and obstacle distribution of the surrounding underwater environment in real time; The inertial measurement unit IMU is fixed on the lower connecting plate (12); The modular rope-driven flexible mechanical arm is connected to the lower connecting plate (12).

2. The integrated structure for underwater detection operations according to claim 1, characterized in that: The outer ring mechanism comprises an outer ring limit plate (3), a thrust needle roller bearing washer (4), a thrust needle roller bearing (30), an outer edge filling seat (15) and an outer ring driving gear (16) which are fixedly arranged in sequence from top to bottom; the outer edge filling seat (15) and the outer ring driving gear (16) are fixedly connected by fixing bolts that pass through the outer edge filling seat (15) and the outer ring driving gear (16) in sequence; the outer edge filling seat (15) is provided with a group of positioning grooves at equal intervals along the circumferential direction, and one end of the flexible belt body (1) connected to the outer ring mechanism is inserted into the positioning groove, and is fixedly connected by bolts that pass through the flexible belt body (1), the outer edge filling seat (15) and the outer ring driving gear (16) in sequence.

3. The integrated structure for underwater detection operations according to claim 2, characterized in that: The rotation mechanism of the flexible grasping manipulator is a mechanism in which an outer ring driving gear (16) meshes with a steering gear driving gear (5) of a steering gear one (8), and the steering gear one (8) is driven to control the rotation angle so as to achieve precise operation of the grasping hand. The steering gear one (8) is mounted on a steering gear support, and the steering gear support is mounted on the upper connecting plate (6) by screws passing through steering gear positioning holes.

4. The integrated structure for underwater detection operations according to claim 1, characterized in that: The inner ring mechanism comprises an inner ring cover plate (17), an inner ring acrylic gasket (2), an underwater camera (9) and an inner wall tube (18) which are arranged in sequence from top to bottom. The inner ring cover plate (17), the inner ring acrylic gasket (2) and the inner wall tube (18) are fixedly connected by passing through fixing bolts in sequence. The inner ring acrylic gasket (2) is provided with a group of positioning grooves at equal intervals along the circumferential direction. One end of the flexible belt body (1) connected to the inner ring mechanism is inserted into the positioning groove and is fixedly connected by passing through the inner ring cover plate (17), the inner ring acrylic gasket (4) and the flexible belt body (1) in sequence by bolts; an inner wall tube base (32) is provided below the inner wall tube (18), and is fixedly connected by passing through the inner wall tube base (32) and the upper connecting plate (6) in sequence by fixing screws.

5. The integrated structure for underwater detection operations according to claim 1, characterized in that: The multi-beam sonar (14) connection line passes through the wiring hole (27) of the lower connecting plate and the spine top sleeve (10) in sequence and passes through the center hole of the flexible mechanical arm spine sleeve. The multi-beam sonar (14) is provided with a group of sonar positioning holes at equal intervals along the circumferential direction. The sonar fixing screws (28) pass through the lower connecting plate (12) and the sonar positioning holes in sequence and are fixedly connected.

6. The integrated structure for underwater detection operations according to claim 1, characterized in that: The inertial measurement unit (IMU) is placed in an IMU watertight box (13), and the IMU watertight box (13) is fixedly connected to the positioning holes of the watertight box bottom plate (31) and the lower connecting plate (12) in sequence through watertight box fixing screws (29).

7. The integrated structure for underwater detection operations according to claim 1, characterized in that: The modular rope-driven flexible robotic arm structure comprises a group of superimposed flexible robotic arm joint modules, wherein the flexible robotic arm joint module comprises a spinal sleeve (24), a spinous process plate (25), and a diaphragm (21); the flexible robotic arm joint module is provided with a group of joint base fixing plates (23); two servos (19) are respectively fixedly connected to the joint base fixing plates (23) by screws passing through the servo positioning holes in sequence; the servos (19) respectively fix the ropes through two rope winding wheels (22) and realize stretching and release for switching through rope transmission; the ropes pass through the rope threading holes (14) of the spinous process plate (25) to connect to the lower end flexible robotic arm joint module.

8. The integrated structure for underwater detection operations according to claim 7, characterized in that: The spinous process plate (24) is provided with a group of bolt through holes at equal intervals along the circumferential direction. The diameter of the bolt through hole is larger than the diameter of the bolt, so that the bolt floats in the bolt through hole, providing bending space for the bending of the flexible joint, and providing a fulcrum for the bending of the flexible joint together with the diaphragm (21).

9. The integrated structure for underwater detection operations according to claim 7, characterized in that: The bottom of the lower connecting plate (12) is connected with a spinal column top sleeve (10), and the spinal column top sleeve (10) is connected to the spinous process plate (25) of the flexible mechanical arm joint module.

10. The integrated structure for underwater detection operations according to claim 1, characterized in that: The upper connecting plate (6) and the lower connecting plate (12) are fixedly supported by screw rods (7).

Images