Underwater robot with manipulator

Abstract

The invention relates to the technical field of robots, in particular to an underwater robot with a manipulator, which comprises a main body, a mechanical arm connected to the main body, a conduction mechanism connected to the mechanical arm, an operation mechanism arranged in the conduction mechanism, a vibration isolation mechanism arranged between the mechanical arm and the conduction mechanism, and a pull rope, one end of the pull rope is connected to the mechanical arm, the other end of the pull rope is connected to the conduction mechanism, and the mechanical arm can release or store the pull rope so that the conduction mechanism can make contact with or break away from the mechanical arm; according to the robot, when the main body moves or the mechanical arm swings, the pull rope is in a tightened state, it is ensured that the moving position of the conduction mechanism is accurate at the moment, and during operation, the pull rope is released, the distance between the conduction mechanism and the mechanical arm is increased, vibration transmission is reduced, and the structure of the mechanical arm is protected against vibration damage.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to an underwater robot with a manipulator. Background Art

[0002] In the field of underwater engineering construction and maintenance, due to the complex and changeable underwater environment, the existence of many unfavorable factors such as high pressure, undercurrents, and low visibility, traditional manual operations are not only inefficient but also difficult to ensure safety. Therefore, the demand for underwater robots with manipulators is becoming increasingly urgent.

[0003] Existing underwater robots equipped with manipulators currently face significant challenges during operations due to vibration transmission. The intense vibrations generated by the operating mechanism can easily be transmitted through the manipulator arm to the robot's main body, impacting not only the stability and service life of the main structure but also potentially interfering with the proper functioning of precision instruments on the main body, leading to inaccurate positioning and reduced operational precision, thus compromising construction quality and efficiency.

[0004] To address the issue of vibration transmission, some underwater robots equipped with manipulators have attempted to use simple vibration isolation structures. However, existing vibration isolation methods often have limitations. For example, some fixed-connection vibration isolation components struggle to maintain vibration isolation even when the manipulator arm is moving flexibly. When the manipulator arm needs to adjust its operating position or swing, the vibration isolation structure may not be able to effectively adapt to its motion, resulting in unstable vibration isolation performance. Other vibration isolation solutions, while able to reduce vibration transmission to a certain extent, sacrifice the manipulator arm's control accuracy over the transmission mechanism, making it difficult to precisely control the position and force of the operating mechanism. This makes it difficult to meet the high-precision operation requirements, especially in complex underwater terrain and structural construction. Summary of the Invention

[0005] The present invention provides an underwater robot with a manipulator to solve the problem of shortcomings in existing vibration isolation technology.

[0006] In order to alleviate the above technical problems, the technical solution provided by the present invention is:

[0007] An underwater robot with a manipulator comprises a main body, a manipulator arm connected to the main body, a conduction mechanism connected to the manipulator arm, an operating mechanism arranged in the conduction mechanism, a vibration isolation mechanism arranged between the manipulator arm and the conduction mechanism, the vibration isolation mechanism comprising a pull rope, one end of the pull rope being connected to the manipulator arm, and the other end of the pull rope being connected to the conduction mechanism, the manipulator arm being capable of releasing or storing the pull rope so that the conduction mechanism contacts or separates from the manipulator arm.

[0008] Furthermore, the vibration isolation mechanism also includes a cone ring connected to the bottom end of the robotic arm, and the transmission mechanism includes a mounting tube, and an annular rubber tube is fixedly connected between the port of the mounting tube and the inner wall of the cone ring.

[0009] Furthermore, a spring is connected between the robotic arm and the conducting mechanism.

[0010] Furthermore, the transmission mechanism further includes a mounting shell, the operating mechanism includes a drive motor, the output end of the drive motor is fixedly connected to a rotating drum, a cylindrical cam is inserted into the rotating drum, and two guide rods are symmetrically inserted into the side wall of the rotating drum, and the guide rods are inserted into the grooves of the side wall of the cylindrical cam;

[0011] The bottom end of the cylindrical cam is fixedly connected to a crank, and a mounting rod is rotatably connected to the crank. The bottom end of the mounting rod is connected to a counterweight. When the drive motor rotates forward, the guide rod slides on the cylindrical cam to drive the counterweight to move axially back and forth. When the drive motor rotates reversely, the two guide rods are clamped on the cylindrical cam to drive the counterweight to revolve around the cylindrical cam and rotate on its own axis.

[0012] Furthermore, a gear ring is fixedly connected in the mounting shell, a gear is meshed in the gear ring, and the mounting rod key slides on the gear.

[0013] Furthermore, the key in the mounting shell is slidingly connected to a first mounting ring, the key on the cylindrical cam is slidingly connected to a second mounting ring, the second mounting ring is rotatably connected to the first mounting ring through a one-way bearing, and when the drive motor reverses, the second mounting ring can rotate relative to the first mounting ring.

[0014] Furthermore, the end of the guide rod is fixedly connected to a mounting shaft, a ring gear is eccentrically connected to the mounting shaft, and the inner wall of the mounting shell is provided with teeth meshing with the ring gear.

[0015] Furthermore, a cylinder is coaxially connected to the middle of the ring gear, the cylinder is eccentrically connected to the mounting shaft, the ring gear is rotatably connected to the cylinder, and the ring gear and the cylinder are magnetically attracted to each other.

[0016] Furthermore, it also includes a pressure-resistant diving chamber, a ballast water tank and a battery compartment, wherein the battery compartment is connected to the pressure-resistant diving chamber, and a sulfur-lithium battery pack and a seawater fuel cell pack are installed in the battery compartment;

[0017] The pressure-resistant diving chamber is provided with searchlights at both ends of its upper side, two tracks are provided on its outer bottom, and positioning sonars are provided at its four inner corners.

[0018] The pressure-resistant diving cabin running end is provided with a pulse eddy current detector, and an ultrasonic detector is arranged below the pulse eddy current detector.

[0019] The pressure-resistant diving cabin running end is provided with a pulse eddy current detector, and an ultrasonic detector is arranged below the pulse eddy current detector.

[0020] Further, the pressure-resistant diving cabin tail is provided with a vector propeller, which comprises a duct, a spiral blade, an extension shaft and a rotary blade.

[0021] The beneficial effects of the present application are as follows:

[0022] The underwater robot with a mechanical arm comprises a main body, a mechanical arm connected to the main body, a transmission mechanism connected to the mechanical arm, an operation mechanism arranged in the transmission mechanism, and a vibration isolation mechanism arranged between the mechanical arm and the transmission mechanism.

[0023] The main body walks underwater to maintain or construct underwater projects, the mechanical arm controls the operation mechanism of the transmission mechanism to perform accurate operation, the vibration isolation mechanism effectively reduces vibration transmission, protects the main body to be stable, and improves construction efficiency and quality. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the specific embodiments or related art, the drawings needed in the specific embodiments or related art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0026] Figure 2 is a sectional view of the present application;

[0027] Figure 3 is a structural schematic diagram of the vector propeller of the present application;

[0028] Figure 4 is a structural schematic diagram of the environment sensing unit of the present application;

[0029] Figure 5 is a structural schematic diagram of the transmission mechanism of the present application;

[0030] Figure 6 is a sectional view of the transmission mechanism of the present application;

[0031] Figure 7 is a structural schematic diagram of the gear of the present application;

[0032] Figure 8 is a structural schematic diagram of the counterweight of the present application;

[0033] Figure 9 is a structural schematic diagram of the rotating drum of the present application;

[0034] Figure 10 is a structural schematic diagram of the present application Figure 9 is a structural schematic diagram of part A of the present application;

[0035] Figure 11 is a structural schematic diagram of the ring teeth of the present application.

[0036] icon:

[0037] 1, vector propeller; 2, searchlight; 3, valve; 4, track; 5, connecting piece; 6, ultrasonic detector; 7, pulse eddy current detector; 8, pressure-resistant diving cabin; 9, environment sensing unit; 10, mechanical claw; 11, mechanical arm; 12, heating element; 13, lithium-sulfur battery pack; 14, self-rescue airbag; 15, seawater fuel cell pack; 16, positioning sonar; 17, general control system; 18, ballast water tank; 19, rotating blade; 20, duct; 21, helical fin; 22, telescopic shaft; 23, upper arm support; 24, lower arm support; 25, spherical connector; 26, battery compartment; 100, transmission mechanism; 110, mounting shell; 111, tooth; 120, drive motor; 130, rotating drum; 200, operation mechanism; 210, cylindrical cam; 220, mounting rod; 230, counterweight; 240, guide rod; 241, mounting shaft; 242, ring tooth; 243, cylinder; 250, second mounting ring; 260, first mounting ring; 270, tooth ring; 280, gear; 300, vibration isolation mechanism; 310, pull rope; 320, mounting cylinder; 330, annular rubber cylinder; 340, spring; 350, conical ring. DETAILED DESCRIPTION

[0038] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] As shown in Figures 1-11 An underwater robot with a mechanical hand includes a main body, a mechanical arm 11 connected to the main body, a transmission mechanism 100 connected to the mechanical arm 11, a work mechanism 200 arranged in the transmission mechanism 100, and a vibration isolation mechanism 300 arranged between the mechanical arm 11 and the transmission mechanism 100. The vibration isolation mechanism 300 includes a pull rope 310, one end of the pull rope 310 is connected to the mechanical arm 11, and the other end of the pull rope 310 is connected to the transmission mechanism 100. The mechanical arm 11 can release or accommodate the pull rope 310, so that the transmission mechanism 100 contacts or separates from the mechanical arm 11.

[0042] The underwater robot with a mechanical hand provided in the embodiment has the following working mechanism:

[0043] The main body moves underwater to inspect or construct underwater projects. The manipulator 11 performs precise operations by controlling the operating mechanism 200 of the transmission mechanism 100. The vibration isolation mechanism 300 effectively reduces vibration transmission, protects the stability of the main body, and improves construction efficiency and quality. The flexibility of the manipulator 11 and the efficient cooperation of the vibration isolation mechanism 300 enable the underwater robot with a manipulator to accurately control the position and force of the operating mechanism 200 when operating in complex environments, and effectively isolate vibration to avoid damage to the main structure, thereby ensuring the stability and safety of the construction process. The pull rope 310 is tightened or released by the driving mechanism of the manipulator 11, which can be motor reeling or hydraulic push and pull. During underwater operations, when the main body moves or the manipulator 11 swings, the pull rope 310 is in a tightened state, which ensures the accurate movement position of the transmission mechanism 100. During operation, the pull rope 310 is released, and the distance between the transmission mechanism 100 and the manipulator 11 is increased, reducing vibration transmission and protecting the structure of the manipulator from vibration damage.

[0044] Among the optional methods of this embodiment, the more preferred ones are:

[0045] The vibration isolation mechanism 300 further includes a cone ring 350 connected to the bottom end of the robotic arm 11 , and the transmission mechanism 100 includes a mounting tube 320 . An annular rubber tube 330 is fixedly connected between the port of the mounting tube 320 and the inner wall of the cone ring 350 .

[0046] When the pull rope 310 is tightened, the installation tube 320 enters the conical ring 350 under the guidance of the inner wall of the conical ring 350. As the pull rope 310 is tightened, the annular rubber tube 330 is compressed and deformed, thereby further shortening the distance between the operating mechanism 200 and the robotic arm 11, ensuring that the robotic arm 11 can drive the operating mechanism 200 to move stably. When the pull rope 310 is released, the annular rubber tube 330 is deformed and restored, so that the operating mechanism 200 moves away from the robotic arm 11. At the same time, the operating mechanism 200 will not separate from the robotic arm 11, so that the vibration transmitted to the robotic arm 11 during the subsequent operation of the operating mechanism 200 is greatly reduced.

[0047] Among the optional methods of this embodiment, the more preferred ones are:

[0048] A spring 340 is connected between the robot arm 11 and the transmission mechanism 100 .

[0049] The spring 340 is connected between the bottom end of the robotic arm 11 and the mounting shell 110 , further enhancing the connection strength between the operating mechanism 200 and the snake-shaped robotic arm 11 .

[0050] Among the optional methods of this embodiment, the more preferred ones are:

[0051] The transmission mechanism 100 also includes a mounting shell 110, and the operating mechanism 200 includes a drive motor 120. The output end of the drive motor 120 is fixedly connected to the rotating drum 130, and a cylindrical cam 210 is inserted into the rotating drum 130. Two guide rods 240 are symmetrically inserted on the side wall of the rotating drum 130, and the guide rods 240 are inserted into the grooves on the side walls of the cylindrical cam 210; the bottom end of the cylindrical cam 210 is fixedly connected to the crank, and the mounting rod 220 is rotatably connected to the crank, and the bottom end of the mounting rod 220 is connected to the counterweight block 230. When the drive motor 120 rotates forward, the guide rod 240 slides on the cylindrical cam 210 to drive the counterweight block 230 to move back and forth axially. When the drive motor 120 rotates reversely, the two guide rods 240 are clamped on the cylindrical cam 210 to drive the counterweight block 230 to revolve around the cylindrical cam 210 and rotate on its own axis.

[0052] The operating mechanism 200 is capable of radial vibration and axial vibration, and the switching between radial vibration and axial vibration is achieved by controlling the direction of the drive motor 120. When the drive motor 120 rotates forward, it can drive the counterweight block 230 to move axially back and forth, thereby generating axial vibration. When the drive motor 120 reverses, it can drive the counterweight block 230 to revolve around the cylindrical cam 210, thereby causing the operating mechanism 200 to generate radial vibration. Through this design, the operating mechanism 200 can work efficiently under different working conditions, which not only ensures the uniformity of vibration, but also improves the operational flexibility of the robotic arm 11, and further optimizes the stability and durability of the overall equipment.

[0053] Among the optional methods of this embodiment, the more preferred ones are:

[0054] A gear ring 270 is fixedly connected to the mounting shell 110 , a gear 280 is meshed in the gear ring 270 , and the mounting rod 220 slides on the gear 280 .

[0055] Since the mounting rod 220 is rotatably connected to the crank, the gear 280 can be driven to roll in the gear ring 270 when the cylindrical cam 210 rotates, so that the counterweight 230 can rotate and revolve simultaneously. The counterweight 230 is eccentrically connected to the mounting rod 220, thereby enhancing the radial vibration effect of the counterweight 230. The mounting rod 220 is slidably connected to the gear 280, thereby ensuring that the axial movement of the counterweight 230 is not interfered with. Figure 7 As shown, both upper and lower end surfaces of the gear ring 270 are provided with circular rings to press on the two end surfaces of the gear 280, thereby ensuring that the gear 280 will not be out of engagement with the gear ring 270 when the mounting rod 220 moves axially.

[0056] Among the optional methods of this embodiment, the more preferred ones are:

[0057] The first mounting ring 260 is slidingly connected to the key inside the mounting shell 110, and the second mounting ring 250 is slidingly connected to the key on the cylindrical cam 210. The second mounting ring 250 is rotatably connected to the first mounting ring 260 through a one-way bearing. When the drive motor 120 reverses, the second mounting ring 250 can rotate relative to the first mounting ring 260.

[0058] The setting of the one-way bearing enables the cylindrical cam 210 to rotate through the rotating drum 130 when the driving motor 120 reverses, and the cylindrical cam 210 drives the second mounting ring 250 to rotate relative to the first mounting ring 260, thereby causing the counterweight block 230 to vibrate radially. When the driving motor 120 reverses, the second mounting ring 250 cannot rotate relative to the first mounting ring 260 due to the action of the one-way bearing, and the rotation of the cylindrical cam 210 is locked. However, the cylindrical cam 210 can now slide axially relative to the second mounting ring 250, thereby driving the counterweight block 230 to move axially when the rotating drum 130 rotates forward.

[0059] Among the optional methods of this embodiment, the more preferred ones are:

[0060] The end of the guide rod 240 is fixedly connected to a mounting shaft 241 , and a ring gear 242 is eccentrically connected to the mounting shaft 241 . The inner wall of the mounting shell 110 is provided with teeth 111 that mesh with the ring gear 242 .

[0061] like Figure 9 and Figure 10 As shown, when the drum 130 rotates clockwise, the ring tooth 242 rolls on the tooth 111. At this time, the center of the ring tooth 242 is close to the axis of the drum 130, so that the guide rod 240 is not pushed, and the two guide rods 240 will not clamp the cylindrical cam 210. At this time, the two guide rods 240 slide in the groove on the side wall of the cylindrical cam 210, so that the cylindrical cam 210 drives the counterweight block 230 to move axially back and forth. When the drum 130 rotates counterclockwise, the center of the ring tooth 242 is far away from the axis, pushing the guide rod 240 to clamp the cylindrical cam 210, locking the axial movement, and only allowing radial vibration, thereby achieving precise control of the movement mode of the counterweight block 230 and ensuring efficient and stable operation of the mechanical system.

[0062] Among the optional methods of this embodiment, the more preferred ones are:

[0063] The middle of the ring gear 242 is coaxially connected to a cylinder 243 . The cylinder 243 is eccentrically connected to the mounting shaft 241 . The ring gear 242 is rotatably connected to the cylinder 243 , and the ring gear 242 and the cylinder 243 are magnetically attracted to each other.

[0064] There is a magnetic attraction between the cylinder 243 and the ring tooth 242, so that the ring tooth 242 can drive the installation shaft 241 to rotate at the initial stage of the tooth 111. When the two guide rods 240 clamp the cylindrical cam 210, the rotation angle of the installation shaft 241 is locked. At this time, the ring tooth 242 can overcome the magnetic force and rotate relative to the cylinder 243 to avoid the rotation of the rotating drum 130 being affected.

[0065] Among the optional methods of this embodiment, the more preferred ones are:

[0066] It also includes a pressure-resistant diving cabin 8, a ballast water tank 18 and a battery compartment 26. The battery compartment 26 is connected to the pressure-resistant diving cabin 8. A sulfur-lithium battery pack 13 and a seawater fuel cell pack 15 are installed in the battery compartment 26; searchlights 2 are installed at both ends of the upper side of the pressure-resistant diving cabin 8, two tracks 4 are installed on the outer bottom, and positioning sonars 16 are installed at the four corners of the interior; a pulse eddy current detector 7 is installed at the moving end of the pressure-resistant diving cabin 8, and an ultrasonic detector 6 is installed on the lower side of the pulse eddy current detector 7; a bracket is installed on the upper side of the moving end of the pressure-resistant diving cabin 8, and an environmental sensing unit 9 is connected to the bracket.

[0067] The main body of the robot includes a pressure-resistant diving cabin 8, a ballast water tank 18, and a battery compartment 26. The pressure-resistant diving cabin 8 is made of titanium alloy, which is corrosion-resistant and has a compressive strength of one thousand meters deep. The battery compartment 26 and the bottom plate are designed as one piece. The bottom plate is detachable, and the interior of the cabin and the battery can be inspected and replaced regularly. The searchlight 2 is installed at both ends of the upper side of the pressure-resistant diving cabin 8 and can be used for lighting in deep water areas. Two tracks 4 are installed on the outer bottom of the pressure-resistant diving cabin 8. The surface of the track 4 is covered with a non-slip rubber layer, which can adapt to steep slopes and loose sediment terrain. Positioning sonars 16 are installed at the four corners of the pressure-resistant diving cabin 8, which can transmit signals to external preset beacons for precise positioning. A master control system 17 is installed on the top of the inner side of the pressure-resistant diving cabin 8, which is equipped with an autonomous navigation module based on SLAM and an intelligent energy distribution algorithm, such as Figure 2 As shown, the left side is the sulfur lithium battery pack 13, and the right side is the seawater fuel cell pack 15, which are installed in the battery compartment 26 at the bottom of the pressure-resistant diving chamber 8. The battery compartment 26 has a wire interface outside, which can be connected to other systems of the robot and provide power energy for the robot. Figure 1 As shown, a pulsed eddy current detector 7 is installed at the front end of the pressure-resistant diving chamber 8. It is installed in a cylindrical groove at the front end of the pressure-resistant diving chamber 8 through a mechanical bearing and can be disassembled and rotated and retracted to a certain extent. An ultrasonic detector 6 is installed on the baffle at the front end of the pressure-resistant diving chamber 8, below the pulsed eddy current detector 7, and forms a structural detection unit with the pulsed eddy current detector 7, as shown. Figure 2 and 4As shown, a movable bracket is installed on the upper side of the front end of the pressure-resistant diving chamber 8. The front end of the bracket is an environmental sensing unit 9 equipped with a multi-spectral imaging module, which is equipped with an integrated laser scanner and a 4K high-definition camera for real-time collection of underwater environmental data, such as Figure 4 The lower arm bracket 24 is connected to the upper arm bracket 23 through a bearing. The end of the upper arm bracket 23 is a spherical connector 25. The multispectral imaging module is connected through the spherical connector 25 and can be rotated at a large angle.

[0068] Among the optional methods of this embodiment, the more preferred ones are:

[0069] A vector thruster 1 is installed at the tail of the pressure-resistant diving chamber 8. The vector thruster 1 includes a duct 20, a spiral sheet 21, a telescopic shaft 22, and a rotating blade 19. The telescopic shaft 22 is connected to the pressure-resistant diving chamber 8. The telescopic shaft 22 passes through the duct 20 and is connected to the spiral sheet 21. The rotating blade 19 is rotatably connected in the duct 20.

[0070] A vector thruster 1 is installed at the rear end of the pressure-resistant submersible chamber 8. The vector thruster 1 consists of four parts: a duct 20, a spiral blade 21, a telescopic shaft 22, and a rotating blade 19. The telescopic shaft 22 can freely control the length of the telescopic shaft. As the telescopic shaft 22 is extended or retracted, the angle of the spiral blade 21 is adjusted, thereby changing the direction of travel of the main body. The duct 20 is designed to protect the spiral blade 21 when operating in an environment with impurities. The rotating blade 19 can be activated when the spiral blade 21 becomes entangled to cut off the entanglement, ensuring the efficient operation of the vector thruster 1 in complex waters and improving the overall maneuverability and safety of the submersible chamber.

[0071] A self-rescue airbag 14 is installed at the bottom of the outer side of the pressure-resistant diving chamber 8, which can make the robot float up under the action of the airbag when the robot fails;

[0072] The bottom wall of the pressure-resistant diving chamber 8 is provided with a heating element 12, which is activated in a low-temperature environment to ensure that the inside of the robot is at a normal temperature;

[0073] The pressure-resistant diving chamber 8 is composed of two front and rear baffles and a bottom plate and a top plate connected by a connector 5. The connector 5 is made of high-strength material to ensure the stability of the chamber structure. An intelligent control system is installed in the chamber.

[0074] Start the master control system 17 and begin to control the propulsion system. At this time, the operator can operate the vector thruster 1 and crawler 4 to move the robot forward until it is submerged in the water. Then, the operator controls the water injection amount in the ballast tank 18 by operating the valve 3 to make the robot start to dive. Then, the environmental perception unit 9 and the searchlight 2 are started. The operator remotely observes the position of the robot in the water through the positioning sonar 16 and micro-manipulates the robot's movements in conjunction with the autonomous navigation module until the robot moves to the construction location. After arriving at the construction location, the structural detection unit, the pulsed eddy current detector 7 and the ultrasonic detector 6 are started, and the pulsed eddy current detector 7 is operated to be close to the location to be detected.

[0075] In addition, a robotic claw 10 may be installed on the robotic arm 11 to perform other operations.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater robot with a manipulator, characterized in that: The invention comprises a main body, wherein a robotic arm (11) is connected to the main body, a conducting mechanism (100) is connected to the robotic arm (11), an operating mechanism (200) is arranged in the conducting mechanism (100), a vibration isolation mechanism (300) is arranged between the robotic arm (11) and the conducting mechanism (100), and the vibration isolation mechanism (300) comprises a pull rope (310), one end of the pull rope (310) is connected to the robotic arm (11), and the other end of the pull rope (310) is connected to the conducting mechanism (100), and the robotic arm (11) can release or store the pull rope (310) so that the conducting mechanism (100) contacts or separates from the robotic arm (11).

2. The underwater robot with a manipulator according to claim 1, characterized in that: The vibration isolation mechanism (300) further includes a cone ring (350) connected to the bottom end of the robotic arm (11), and the transmission mechanism (100) includes a mounting cylinder (320), wherein an annular rubber cylinder (330) is fixedly connected between a port of the mounting cylinder (320) and an inner wall of the cone ring (350).

3. The underwater robot with a manipulator according to claim 2, characterized in that: A spring (340) is connected between the mechanical arm (11) and the conducting mechanism (100).

4. The underwater robot with a manipulator according to claim 2, characterized in that: The transmission mechanism (100) further includes a mounting shell (110), and the operating mechanism (200) includes a driving motor (120), an output end of the driving motor (120) is fixedly connected to a rotating drum (130), a cylindrical cam (210) is inserted into the rotating drum (130), and two guide rods (240) are symmetrically inserted into the side wall of the rotating drum (130), and the guide rods (240) are inserted into grooves on the side wall of the cylindrical cam (210); The bottom end of the cylindrical cam (210) is fixedly connected to a crank, and a mounting rod (220) is rotatably connected to the crank. The bottom end of the mounting rod (220) is connected to a counterweight (230). When the drive motor (120) rotates forward, the guide rod (240) slides on the cylindrical cam (210) to drive the counterweight (230) to move axially back and forth. When the drive motor (120) rotates reversely, the two guide rods (240) are clamped on the cylindrical cam (210) to drive the counterweight (230) to revolve around the cylindrical cam (210) and rotate on its own axis.

5. The underwater robot with a manipulator according to claim 4, characterized in that: A gear ring (270) is fixedly connected to the mounting shell (110), a gear (280) is meshed in the gear ring (270), and the mounting rod (220) slides on the gear (280).

6. The underwater robot with a manipulator according to claim 4, characterized in that: The mounting shell (110) is slidably connected to a first mounting ring (260) via a key inside, and the cylindrical cam (210) is slidably connected to a second mounting ring (250) via a key on. The second mounting ring (250) is rotatably connected to the first mounting ring (260) via a one-way bearing. When the drive motor (120) is reversed, the second mounting ring (250) can rotate relative to the first mounting ring (260).

7. The underwater robot with a manipulator according to claim 4, characterized in that: The end of the guide rod (240) is fixedly connected to a mounting shaft (241), a ring gear (242) is eccentrically rotatably connected to the mounting shaft (241), and the inner wall of the mounting shell (110) is provided with teeth (111) meshing with the ring gear (242).

8. The underwater robot with a manipulator according to claim 7, characterized in that: The middle of the ring gear (242) is coaxially connected to a cylinder (243), the cylinder (243) is eccentrically connected to the mounting shaft (241), the ring gear (242) is rotatably connected to the cylinder (243), and the ring gear (242) and the cylinder (243) are magnetically attracted to each other.

9. The underwater robot with a manipulator according to claim 1, characterized in that: It also includes a pressure-resistant diving chamber (8), a ballast water tank (18), and a battery compartment (26), wherein the battery compartment (26) is connected to the pressure-resistant diving chamber (8), and a sulfur-lithium battery pack (13) and a seawater fuel cell pack (15) are installed in the battery compartment (26); The pressure-resistant diving chamber (8) is equipped with searchlights (2) at both ends of its upper side, two crawlers (4) are installed on its outer bottom, and positioning sonars (16) are installed at its four inner corners. A pulsed eddy current detector (7) is installed at the traveling end of the pressure-resistant diving chamber (8), and an ultrasonic detector (6) is installed on the lower side of the pulsed eddy current detector (7); A bracket is installed on the upper side of the traveling end of the pressure-resistant diving chamber (8), and an environment sensing unit (9) is connected to the bracket.

10. The underwater robot with a manipulator according to claim 9, characterized in that: A vector thruster (1) is installed at the rear of the pressure-resistant diving chamber (8). The vector thruster (1) comprises a duct (20), a spiral blade (21), a telescopic shaft (22), and a rotating blade (19). The telescopic shaft (22) is connected to the pressure-resistant diving chamber (8). The telescopic shaft (22) passes through the duct (20) and is connected to the spiral blade (21). The rotating blade (19) is rotatably connected in the duct (20).

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