All-attitude operation robot

Abstract

The utility model relates to the technical field of underwater operation equipment, in particular to an all-posture operation robot which comprises a bearing beam, an operation driving mechanism is arranged on the bearing beam, one end of the bearing beam is connected with the operation driving mechanism, a lifting frame is arranged at the other end of the bearing beam, and the operation driving mechanism can be composed of a clamping jaw and a clamping jaw driving cylinder. The operation driving mechanism can also be composed of scissors and a scissors driving cylinder, a first propeller, a second propeller and a third propeller are arranged on the bearing beam, a camera is arranged above one face of the bearing beam and connected with the bearing beam through a camera support, and a camera unfolding and folding mechanism is arranged between the camera support and the bearing beam. The camera unfolding and folding mechanism can be composed of a driving motor and a driving shaft, the camera unfolding and folding mechanism can also be composed of an overturning frame, a locking tension spring and a limiting rod, the structure is ingenious, the large-weight target object can be grabbed, the operation modes are diversified, the underwater posture adjustment is rapid and convenient, and the water surface condition can be observed.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater operation equipment, in particular to a full-posture operation robot. Background Art

[0002] An underwater robot is a robot that can perform detection operations on the seabed. It is mainly used in underwater construction, public security firefighting, scientific research and other fields. It can be equipped with a hydraulic or electric underwater manipulator and can perform underwater operations such as underwater salvage, underwater construction, underwater grabbing, underwater sampling, and underwater marking. After searching, the free grabbing device disclosed in Chinese patent CN215618134U includes a support frame, a driving mechanism and a claw mechanism. A floating body is fixed on the support frame and / or the claw mechanism, and a propeller is fixed on the support frame and / or the claw mechanism.

[0003] The shortcomings of the above patent are: first, for some heavy targets, the claw mechanism of the above patent cannot grasp them and they are easy to fall, requiring multiple grasping; second, the above patent can only salvage the target, and the underwater operation method is single; third, in the above patent, the propellers are set in scattered positions, resulting in the above patent needing multiple adjustments when adjusting the posture underwater. After grasping the underwater target, multiple adjustments are required, which is time-consuming and labor-intensive; fourth, the above patent can only observe the underwater situation. When the target is far away from the shore or the ship, the operator cannot understand the water surface situation where the target is located; fifth, when the robot is far away from the operator, the robot's position cannot be found in time, which greatly reduces the underwater operation efficiency. Summary of the invention

[0004] The utility model aims to solve the deficiencies of the prior art and provide a full-posture operating robot which has an ingenious structure, can grasp heavy objects, has various operating modes, can quickly and conveniently adjust its underwater posture, and can observe the water surface conditions.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A full-posture working robot, characterized in that it includes a load-bearing beam, on which is mounted a thruster assembly capable of causing the load-bearing beam to perform full-posture adjustment underwater, an operating drive mechanism being arranged on the load-bearing beam, one end of the load-bearing beam being connected to the operating drive mechanism, and the other end extending outward to form a lifting connection end, so that the weight of the underwater heavy object grasped by the claws can be borne through the load-bearing beam directly connected to the lifting equipment, so that the claws can clamp a target object with a relatively large weight.

[0007] The other end of the load-bearing beam of the utility model is provided with a hanging frame, and the hanging frame is fixedly connected with the load-bearing beam, so as to facilitate the operation driving mechanism of supporting the load-bearing beam after being hung by the hanging frame.

[0008] The operating drive mechanism of the utility model can be composed of a clamping claw and a clamping claw driving cylinder. The lower end of the load-bearing beam is provided with a clamping claw that opens and closes relatively, the upper end of the clamping claw is hinged to the load-bearing beam, and the outer wall of the clamping claw is provided with a clamping claw driving cylinder. One end of the clamping claw driving cylinder is hinged to the clamping claw, and the other end is hinged to the load-bearing beam, so as to support the clamping claw through the load-bearing beam to grab large underwater heavy objects.

[0009] The operation driving mechanism of the utility model can also be composed of scissors and a scissors driving cylinder. The lower end of the load-bearing beam is provided with scissors that open and close relatively, the upper end of the scissors is hinged to the load-bearing beam, and the outer wall of the scissors is provided with a scissors driving cylinder. One end of the scissors driving cylinder is hinged to the scissors, and the other end is hinged to the load-bearing beam, or one end of the scissors driving cylinder is hinged to the scissors, and the other end is hinged to the support frame, and the support frame is fixedly connected to the load-bearing beam, so as to facilitate the clamping or cutting of underwater obstacles or cables by the scissors, thereby improving the flexibility of underwater operations.

[0010] The thruster assembly of the utility model includes a first thruster and a second thruster. The first thruster is arranged on the left and right sides of the upper part of one side of the load-bearing beam, and the first thruster is arranged on the left and right sides of the upper part of the other side. The second thruster is arranged on the left and right sides of the lower part of one side of the load-bearing beam, and the second thruster is arranged on the left and right sides of the lower part of the other side. The first thruster and the second thruster are respectively fixedly connected to the load-bearing beam via a support frame, so that the support frame can freely adjust its posture underwater by arranging the first thruster and the second thruster.

[0011] In the utility model, the first thruster and the second thruster are tilted relative to the load-bearing beam, so that the center of gravity of the support frame can be adjusted by adjusting the tilt angles of the first thruster and the second thruster, so that the robot can better adjust its posture underwater.

[0012] The utility model provides third propellers on both sides of the middle of one side of the load-bearing beam, and third propellers on both sides of the middle of the other side. The third propeller is fixedly connected to the load-bearing beam, or the third propeller is fixedly connected to the load-bearing beam via a support frame, so as to further improve the flexibility of the robot underwater through the third propeller, and at the same time facilitate the robot to quickly leave the water after grabbing heavy objects.

[0013] A camera is arranged above one side of the load-bearing beam of the utility model, and the camera is connected to the load-bearing beam via a camera bracket, so that when the robot floats on the water surface, the camera can observe the nearby water surface conditions above the water surface.

[0014] The utility model provides a camera unfolding and retracting mechanism between the camera support and the load-bearing beam, and the camera support can be flipped and connected to the load-bearing beam via the camera unfolding and retracting mechanism, so that the camera can be erected when in use, and can be flipped and placed on the support frame when not in use, thus saving space.

[0015] The camera extension and retraction mechanism of the utility model can be composed of a driving motor and a driving shaft. The lower end of the camera bracket is provided with a driving shaft, and the driving shaft is fixedly connected to the camera bracket. The driving shaft is driven by the driving motor, and the driving motor is fixedly connected to the load-bearing beam, so that the driving shaft is driven to rotate by the driving motor, and then the camera bracket is driven to rotate, thereby realizing the flipping and retraction of the camera bracket.

[0016] The camera stowage mechanism of the utility model can also be composed of a flip frame, a locking tension spring, and a limit rod, wherein a flip frame is provided between the camera bracket and the load-bearing beam, the lower end of the camera bracket is hinged with the load-bearing beam, the flip frame is provided with an arc guide groove, and the flip frame is fixedly connected to the load-bearing beam, and two ends of the arc guide groove respectively extend toward the center of the arc guide groove to form a limit groove, and a locking tension spring is provided at both sides of the lower end of the camera bracket, and the camera bracket above the locking tension spring is provided with a guide slot, and two ends of the limit rod respectively pass through the guide slot, and the arc guide slot is provided with a limit hole, the middle part of the limit rod is slidably connected with the arc guide slot, and the two ends of the limit rod are connected with the guide slot for upward and downward movement, one end of the locking tension spring is fixedly connected with the camera bracket, and the other end passes through the limit hole for fixing, and the limit rod is clamped in the limit slot to fix the camera bracket with the support frame, so that the camera bracket is flipped by sliding along the arc guide groove through the limit rod, and the position of the camera bracket is fixed by fixing the locking tension spring and the limit rod.

[0017] The camera bracket of the utility model is fixedly provided with red and green signal lights to facilitate operators to find the robot in a complex environment.

[0018] Due to the adoption of the above structure, the utility model has the advantages of ingenious structure, being able to grab heavy targets, having various operation modes, being quick and convenient to adjust the underwater posture, and being able to observe the water surface conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the utility model.

[0020] Figure 2 This utility model Figure 1 sectional view of .

[0021] Figure 3 The utility model is a structural schematic diagram of a camera unfolding and retracting mechanism.

[0022] Figure 4 This utility model Figure 3 Schematic diagram of a state in which the camera bracket is folded.

[0023] Figure 5 It is another structural schematic diagram of the camera unfolding and retracting mechanism of the utility model.

[0024] Figure 6It is another structural schematic diagram of the utility model.

[0025] Figure 7 This utility model Figure 6 Schematic diagram of the scissors closing.

[0026] Figure numerals: support frame 1, operating drive mechanism 2, load-bearing beam 3, clamping claw 4, clamping claw drive cylinder 5, lifting frame 6, first thruster 7, second thruster 8, third thruster 9, camera 10, camera bracket 11, camera extension and retraction mechanism 12, drive motor 13, flip frame 14, arc guide groove 15, limit groove 16, locking tension spring 17, guide slot 18, limit rod 19, limit hole 20, scissors 21, scissors drive cylinder 22. DETAILED DESCRIPTION

[0027] The specific implementation of the utility model is further described in detail below in conjunction with the accompanying drawings.

[0028] Example 1

[0029] A full-posture working robot, characterized in that it includes a load-bearing beam 3, on which is mounted a thruster assembly capable of causing the load-bearing beam 3 to perform full-posture adjustment underwater, and on which is disposed an operating drive mechanism 2, one end of the load-bearing beam 3 is connected to the operating drive mechanism 2, and the other end extends outward to form a lifting connection end, so that the weight of the underwater heavy object grasped by the claws can be borne through the load-bearing beam directly connected to the lifting equipment, so that the claws can clamp a target object with a relatively large weight.

[0030] The other end of the load-bearing beam 3 of the utility model is provided with a hanging frame 6, and the hanging frame 6 is fixedly connected to the load-bearing beam 3, so as to facilitate the claws supporting the load-bearing beam to grab a heavy target object after being hung by the hanging frame.

[0031] The operating drive mechanism 2 of the utility model includes a clamping claw 4 and a clamping claw driving cylinder 5. The lower end of the load-bearing beam 3 is provided with a clamping claw 4 that opens and closes relatively. The upper end of the clamping claw 4 is hinged to the load-bearing beam 3. The outer wall of the clamping claw 4 is provided with a clamping claw driving cylinder 5. One end of the clamping claw driving cylinder 5 is hinged to the clamping claw 4, and the other end is hinged to the load-bearing beam 3, or one end of the clamping claw driving cylinder 5 is hinged to the clamping claw 4, and the other end is hinged to the support frame 1. The support frame 1 is fixedly connected to the load-bearing beam 3, so as to facilitate the clamping claw to grasp underwater heavy objects by supporting the load-bearing beam, thereby improving the safety of grasping heavy objects.

[0032] The thruster assembly of the utility model includes a first thruster 7 and a second thruster 8. The first thrusters 7 are arranged on the left and right sides of the upper part of one side of the load-bearing beam 3, and the first thrusters 7 are arranged on the left and right sides of the upper part of the other side. The second thrusters 8 are arranged on the left and right sides of the lower part of one side of the load-bearing beam 3, and the second thrusters 8 are arranged on the left and right sides of the lower part of the other side. The first thruster 7 and the second thruster 8 are fixedly connected to the load-bearing beam 3 via a support frame 1, respectively, so that the support frame can freely adjust its posture underwater by arranging the first thruster and the second thruster.

[0033] In the present invention, the first thruster 7 and the second thruster 8 are tilted relative to the load-bearing beam 3, so as to adjust the center of gravity of the support frame by adjusting the tilt angles of the first thruster and the second thruster, so as to facilitate the robot to better adjust its posture underwater.

[0034] The load-bearing beam 3 of the utility model is provided with a third propeller 9 on both sides of the middle of one side, and a third propeller 9 on both sides of the middle of the other side. The third propeller 9 is fixedly connected to the load-bearing beam 3, or the third propeller 9 is fixedly connected to the load-bearing beam 3 via the support frame 1, so as to further improve the flexibility of the robot underwater through the third propeller, and at the same time facilitate the robot to quickly leave the water after grabbing heavy objects.

[0035] A camera 10 is provided above one side of the load-bearing beam 3 of the utility model. The camera 10 is connected to the load-bearing beam 3 via a camera bracket 11, so that when the robot floats on the water surface, the camera can observe the nearby water surface conditions above the water surface.

[0036] A camera unfolding and retracting mechanism 12 is provided between the camera bracket 11 and the load-bearing beam 3 of the utility model. The camera bracket 11 can be flipped and connected to the load-bearing beam 3 via the camera unfolding and retracting mechanism 12, so that the camera can be erected when in use, and can be flipped and placed on the support frame when not in use, thereby saving space.

[0037] The camera unfolding and retracting mechanism 12 of the utility model can be composed of a driving motor 13 and a driving shaft. The lower end of the camera bracket 11 is provided with a driving shaft, and the driving shaft is fixedly connected to the camera bracket 11. The driving shaft is driven by the driving motor 13, and the driving motor 13 is fixedly connected to the load-bearing beam 3, so that the driving shaft is driven to rotate by the driving motor, thereby driving the camera bracket to rotate, thereby realizing the flipping and retracting of the camera bracket.

[0038] The camera stowing mechanism 12 of the utility model can also be composed of a flip frame 14, a locking tension spring 17, and a limit rod 19. A flip frame 14 is provided between the camera bracket 11 and the load-bearing beam 3. The lower end of the camera bracket 11 is hinged to the load-bearing beam 3. An arc guide groove 15 is provided on the flip frame 14. The flip frame 14 is fixedly connected to the load-bearing beam 3. The two ends of the arc guide groove 15 extend toward the center of the arc guide groove 15 to form a limit groove 16. Locking tension springs 17 are provided on both sides of the lower end of the camera bracket 11. A guide card is provided on the camera bracket 11 above the locking tension spring 17. Slot 18, the two ends of the limit rod 19 respectively pass through the guide slot 18, and the arc guide slot 15 is provided with a limit hole 20, the middle part of the limit rod 19 is slidably connected with the arc guide slot 15, and the two ends of the limit rod 19 are connected with the guide slot 18 for up and down movement. One end of the locking tension spring 17 is fixedly connected to the camera bracket 11, and the other end is fixed through the limit hole 20. The limit rod 19 is inserted into the limit slot 16 to fix the camera bracket 11 with the support frame 1, so that the camera bracket can be flipped by sliding along the arc guide slot through the limit rod, and the position of the camera bracket is fixed by fixing it with the locking tension spring and the limit rod.

[0039] The camera support 11 of the utility model is fixedly provided with a red and green signal light to facilitate operators to find the robot in a complex environment.

[0040] As attached Figure 1-5 In the utility model, a control system and sonar can be set on the load-bearing beam 3 or the support frame 1, a floating body is installed on the load-bearing beam 3 or the support frame 1, and a control system such as a PLC control system is used. The gripper drive cylinder 5, the first thruster 7, the second thruster 8, the third thruster 9, the camera 10, and the drive motor 13 are all controlled by the control system. The control system can be connected to the water control platform through cables, so that the operator on the shore or on the ship can timely understand the underwater and surface conditions.

[0041] The utility model sets a camera 10 above the load-bearing beam 3, which can be used to observe complex water surface conditions. The camera 10 can swing relative to the load-bearing beam 3, that is, the height of the camera 10 relative to the load-bearing beam 3 can be adjusted. When in use, the camera 10 is erected. When not in use, the camera 10 is turned over and put close to the load-bearing beam 3. This embodiment provides two camera unfolding and retracting mechanisms 12. One camera unfolding and retracting mechanism 12 is as shown in the attached figure. Figure 3 and attached Figure 4 The camera support 11 can be automatically adjusted by driving the motor 13 to rotate. Figure 4 , the camera bracket 11 is rotated 90° to the left, the camera bracket 11 is close to the support frame 1, and the camera 10 is put away. When in use, the drive motor is started, and the drive motor drives the camera bracket 11 to rotate upward, and the camera bracket 11 is erected to form Figure 1 and Figure 3state, at this time, the camera 10 is located above the load-bearing beam 3. When the load-bearing beam 3 floats on the water surface, the camera 10 is located above the water surface and can observe the surrounding situation. A guide frame can be arranged below the camera bracket 11, the guide frame is fixed to the support frame 1, a guide groove is arranged on the guide frame, a guide rod is fixed at the lower end of the camera bracket 11, the guide rod slides along the guide groove, and guides the rotation of the camera bracket 11. It can be set according to the needs;

[0042] Another camera unfolding and retracting mechanism 12 is shown in the attached Figure 5 , adopt the method of manually adjusting the camera bracket 11, Figure 5 The camera bracket 11 is in the upright state. At this time, the upper end of the locking tension spring 17 is passed through the limiting hole 20, and the limiting rod 19 can be pulled downward by the two locking tension springs 17 on both sides of the camera bracket 11, so that the limiting rod 19 slides downward along the guide slot 18, and the limiting rod 19 is inserted into the limiting slot 16. The limiting rod 19 is limited and fixed. The middle of the limiting rod 19 is cylindrical and can slide along the guide slot 18. The two ends of the limiting rod 19 are flat, so that the two ends of the limiting rod 19 cooperate with the guide slot 18 to move up and down, and cannot move left and right. After the limiting rod 19 is fixed, the camera bracket 11 is fixed in a vertical state and can be used. When it is not needed, the locking tension spring 17 is pulled downward. The upper end of the spring 17 is pulled out from the limit hole 20, and the limit rod 19 is manually lifted upward, so that the limit rod 19 moves upward along the guide slot 18, and the limit rod enters the arc guide slot 15 from the limit slot 16. At this time, the camera bracket 11 is manually rotated, and the camera bracket 11 is rotated downward to be close to the support frame 1. When the camera bracket 11 rotates 90°, it stops. The camera bracket 11 is in a nearly horizontal state. There is also a limit slot 16 at the lower end of the arc guide 15. At this time, the locking tension spring 17 is connected to the upper limit hole 20 of the limit rod 19, and the position of the camera bracket 11 is limited and fixed to realize the folding of the camera. There are two methods, one automatic control and the other manual control, which can be selected according to needs.

[0043] As attached Figure 1 and attached Figure 2 The operation driving mechanism 2 may be a claw operation mechanism, including a clamping claw 4 and a clamping claw driving cylinder 5. The clamping claw 4 is driven by the clamping claw driving cylinder 5 to open, grab the underwater heavy object, and salvage the underwater heavy object.

[0044] Before use, adjust the camera bracket 11 to the unfolded state, as shown in the attached Figure 1As shown, the utility model is then hoisted into the water, the hoisting equipment is connected to the hoisting frame 6 through the hoisting rope, the posture of the utility model in the water is adjusted by the first propeller 7, the second propeller 8, and the third propeller 9, the water surface situation is observed by the camera 10, the target object is found, the first propeller 7, the second propeller 8, and the third propeller 9 are started, so that the utility model moves above the target object, the clamping claw drive cylinder 5 is started, the clamping claw 4 is opened, and the clamping claw 4 is driven downward by the first propeller 7, the second propeller 8, and the third propeller 9 to grab the target object and then close it. Because the clamping claw 4 is installed on the load-bearing beam 3, the upper end of the load-bearing beam 3 is connected to the hoisting equipment through the hoisting frame 6 and the hoisting rope, a heavy target object can be grabbed through the hoisting equipment and the load-bearing beam 3, and the target object can be lifted. The target object is brought away from the water surface to achieve the capture of the target object. The utility model has an ingenious structure. By setting a load-bearing beam, the weight of the heavy target object to be captured is transmitted to the lifting frame through the load-bearing beam. The lifting frame is connected to the lifting equipment through a lifting rope to achieve heavy weight salvage. The target object is highly safe and will not fall. It can be captured in one time without repeated capture. In addition, the utility model is provided with 4 first thrusters 7 and 4 second thrusters 8. The 8 thrusters are all inclined, and the inclination angle of the 8 thrusters is preferably 45°. In addition, the utility model is also provided with 4 third thrusters 9. The third thrusters 9 are arranged up and down, so that the utility model can achieve full posture control in the water, can capture targets with various postures in the water, and adapt to various working environments.

[0045] Example 2

[0046] A full-posture working robot, characterized in that it includes a load-bearing beam 3, on which is mounted a thruster assembly capable of causing the load-bearing beam 3 to perform full-posture adjustment underwater, and on which is disposed an operating drive mechanism 2, one end of the load-bearing beam 3 is connected to the operating drive mechanism 2, and the other end extends outward to form a lifting connection end, so that the weight of the underwater heavy object grasped by the claws can be borne through the load-bearing beam directly connected to the lifting equipment, so that the claws can clamp a target object with a relatively large weight.

[0047] The other end of the load-bearing beam 3 of the utility model is provided with a hanging frame 6, and the hanging frame 6 is fixedly connected to the load-bearing beam 3, so as to facilitate the claws supporting the load-bearing beam to grab a heavy target object after being hung by the hanging frame.

[0048] The operation driving mechanism 2 of the utility model comprises a pair of scissors 21 and a scissor driving cylinder 22. The lower end of the load-bearing beam 3 is provided with a pair of scissors 21 that open and close relatively. The upper end of the scissors 21 is hinged to the load-bearing beam 3. The outer wall of the scissors 21 is provided with a scissor driving cylinder 22. One end of the scissor driving cylinder 22 is hinged to the scissors 21, and the other end is hinged to the load-bearing beam 3, or one end of the scissor driving cylinder 22 is hinged to the scissors 21, and the other end is hinged to the support frame 1. The support frame 1 is fixedly connected to the load-bearing beam 3, so as to facilitate the clamping or cutting of underwater obstacles or cables by the scissors, thereby improving the flexibility of underwater operations.

[0049] The thruster assembly of the utility model includes a first thruster 7 and a second thruster 8. The first thrusters 7 are arranged on the left and right sides of the upper part of one side of the load-bearing beam 3, and the first thrusters 7 are arranged on the left and right sides of the upper part of the other side. The second thrusters 8 are arranged on the left and right sides of the lower part of one side of the load-bearing beam 3, and the second thrusters 8 are arranged on the left and right sides of the lower part of the other side. The first thruster 7 and the second thruster 8 are fixedly connected to the load-bearing beam 3 via a support frame 1, respectively, so that the support frame can freely adjust its posture underwater by arranging the first thruster and the second thruster.

[0050] In the present invention, the first thruster 7 and the second thruster 8 are tilted relative to the load-bearing beam 3, so as to adjust the center of gravity of the support frame by adjusting the tilt angles of the first thruster and the second thruster, so as to facilitate the robot to better adjust its posture underwater.

[0051] The load-bearing beam 3 of the utility model is provided with a third propeller 9 on both sides of the middle of one side, and a third propeller 9 on both sides of the middle of the other side. The third propeller 9 is fixedly connected to the load-bearing beam 3, or the third propeller 9 is fixedly connected to the load-bearing beam 3 via the support frame 1, so as to further improve the flexibility of the robot underwater through the third propeller, and at the same time facilitate the robot to quickly leave the water after grabbing heavy objects.

[0052] A camera 10 is provided above one side of the load-bearing beam 3 of the utility model. The camera 10 is connected to the load-bearing beam 3 via a camera bracket 11, so that when the robot floats on the water surface, the camera can observe the nearby water surface conditions above the water surface.

[0053] A camera unfolding and retracting mechanism 12 is provided between the camera bracket 11 and the load-bearing beam 3 of the utility model. The camera bracket 11 can be flipped and connected to the load-bearing beam 3 via the camera unfolding and retracting mechanism 12, so that the camera can be erected when in use, and can be flipped and placed on the support frame when not in use, thereby saving space.

[0054] The camera unfolding and retracting mechanism 12 of the utility model can be composed of a driving motor 13 and a driving shaft. The lower end of the camera bracket 11 is provided with a driving shaft, and the driving shaft is fixedly connected to the camera bracket 11. The driving shaft is driven by the driving motor 13, and the driving motor 13 is fixedly connected to the load-bearing beam 3, so that the driving shaft is driven to rotate by the driving motor, thereby driving the camera bracket to rotate, thereby realizing the flipping and retracting of the camera bracket.

[0055] The camera stowing mechanism 12 of the utility model can also be composed of a flip frame 14, a locking tension spring 17, and a limit rod 19. A flip frame 14 is provided between the camera bracket 11 and the load-bearing beam 3. The lower end of the camera bracket 11 is hinged to the load-bearing beam 3. An arc guide groove 15 is provided on the flip frame 14. The flip frame 14 is fixedly connected to the load-bearing beam 3. The two ends of the arc guide groove 15 extend toward the center of the arc guide groove 15 to form a limit groove 16. Locking tension springs 17 are provided on both sides of the lower end of the camera bracket 11. A guide card is provided on the camera bracket 11 above the locking tension spring 17. Slot 18, the two ends of the limit rod 19 respectively pass through the guide slot 18, and the arc guide slot 15 is provided with a limit hole 20, the middle part of the limit rod 19 is slidably connected with the arc guide slot 15, and the two ends of the limit rod 19 are connected with the guide slot 18 for up and down movement. One end of the locking tension spring 17 is fixedly connected to the camera bracket 11, and the other end is fixed through the limit hole 20. The limit rod 19 is inserted into the limit slot 16 to fix the camera bracket 11 with the support frame 1, so that the camera bracket can be flipped by sliding along the arc guide slot through the limit rod, and the position of the camera bracket is fixed by fixing it with the locking tension spring and the limit rod.

[0056] The camera support 11 of the utility model is fixedly provided with a red and green signal light to facilitate operators to find the robot in a complex environment.

[0057] As attached Figure 3-7 In the utility model, a control system and sonar can be set on the load-bearing beam 3 or the support frame 1, a floating body is installed on the load-bearing beam 3 or the support frame 1, and a control system such as a PLC control system is used. The scissor drive cylinder 22, the first thruster 7, the second thruster 8, the third thruster 9, the camera 10, and the drive motor 13 are all controlled by the control system. The control system can be connected to the water control platform through cables, so that the operator on the shore or on the ship can timely understand the underwater and surface conditions.

[0058] The utility model sets a camera 10 above the load-bearing beam 3, which can be used to observe complex water surface conditions. The camera 10 can swing relative to the load-bearing beam 3, that is, the height of the camera 10 relative to the load-bearing beam 3 can be adjusted. When in use, the camera 10 is erected. When not in use, the camera 10 is turned over and put close to the load-bearing beam 3. This embodiment provides two camera unfolding and retracting mechanisms 12. One camera unfolding and retracting mechanism 12 is as shown in the attached figure. Figure 3 and attached Figure 4The camera support 11 can be automatically adjusted by driving the motor 13 to rotate. Figure 4 , the camera bracket 11 is rotated 90° to the left, the camera bracket 11 is close to the support frame 1, and the camera 10 is put away. When in use, the drive motor is started, and the drive motor drives the camera bracket 11 to rotate upward, and the camera bracket 11 is erected to form Figure 1 and Figure 3 state, at this time, the camera 10 is located above the load-bearing beam 3. When the load-bearing beam 3 floats on the water surface, the camera 10 is located above the water surface and can observe the surrounding situation. A guide frame can be arranged below the camera bracket 11, the guide frame is fixed to the support frame 1, a guide groove is arranged on the guide frame, a guide rod is fixed at the lower end of the camera bracket 11, the guide rod slides along the guide groove, and guides the rotation of the camera bracket 11. It can be set according to the needs;

[0059] Another camera unfolding and retracting mechanism 12 is shown in the attached Figure 5 , adopt the method of manually adjusting the camera bracket 11, Figure 5 The camera bracket 11 is in the upright state. At this time, the upper end of the locking tension spring 17 is passed through the limiting hole 20, and the limiting rod 19 can be pulled downward by the two locking tension springs 17 on both sides of the camera bracket 11, so that the limiting rod 19 slides downward along the guide slot 18, and the limiting rod 19 is inserted into the limiting slot 16. The limiting rod 19 is limited and fixed. The middle of the limiting rod 19 is cylindrical and can slide along the guide slot 18. The two ends of the limiting rod 19 are flat, so that the two ends of the limiting rod 19 cooperate with the guide slot 18 to move up and down, and cannot move left and right. After the limiting rod 19 is fixed, the camera bracket 11 is fixed in a vertical state and can be used. When it is not needed, the locking tension spring 17 is pulled downward. The upper end of the spring 17 is pulled out from the limit hole 20, and the limit rod 19 is manually lifted upward, so that the limit rod 19 moves upward along the guide slot 18, and the limit rod enters the arc guide slot 15 from the limit slot 16. At this time, the camera bracket 11 is manually rotated, and the camera bracket 11 is rotated downward to be close to the support frame 1. When the camera bracket 11 rotates 90°, it stops. The camera bracket 11 is in a nearly horizontal state. There is also a limit slot 16 at the lower end of the arc guide 15. At this time, the locking tension spring 17 is connected to the upper limit hole 20 of the limit rod 19, and the position of the camera bracket 11 is limited and fixed to realize the folding of the camera. There are two methods, one automatic control and the other manual control, which can be selected according to needs.

[0060] As attached Figure 6 and attached Figure 7 The operation driving mechanism 2 can be a scissor operation mechanism, including scissors 21 and a scissor driving cylinder 22. The scissor driving cylinder 22 drives the scissors 21 to open and clamp underwater obstacles or cables, and the scissor driving cylinder 22 drives the scissors 21 to close and cut the underwater obstacles or cables. The two methods can be selected and installed according to needs.

[0061] Before use, adjust the camera bracket 11 to the unfolded state, as shown in the attached Figure 6 As shown, the utility model is then hoisted into the water, the hoisting equipment is connected to the hoisting frame 6 through a hoisting rope, the posture of the utility model in the water is adjusted by the first propeller 7, the second propeller 8, and the third propeller 9, the water surface situation is observed by the camera 10, obstacles or cables are found, the first propeller 7, the second propeller 8, and the third propeller 9 are started, so that the utility model moves to the top of the target object, the scissor drive cylinder 22 is started, the scissors 21 are opened, and the scissors 21 are driven by the first propeller 7, the second propeller 8, and the third propeller 9 to clamp the target object downward and then close it to cut it into pieces or cut it, and the first propeller 7, the second propeller 8, and the third propeller 9 are started to move the scissors 21 to the top of the next target object to be cut into pieces or cut, and the operation is continued. The utility model can not only salvage heavy objects, but also cut and cut underwater heavy objects. The operation mode is diverse, which broadens the scope of use of the utility model.

[0062] Due to the adoption of the above structure, the utility model has the advantages of ingenious structure, being able to grab heavy targets, having various operation modes, being quick and convenient to adjust the underwater posture, and being able to observe the water surface conditions.

Claims

1. A full-stance working robot, characterized in that: The invention comprises a load-bearing beam (3), on which is mounted a thruster assembly capable of causing the load-bearing beam (3) to perform full posture adjustment underwater, and on which is disposed an operation drive mechanism (2), one end of the load-bearing beam (3) being connected to the operation drive mechanism (2), and the other end of the load-bearing beam (3) extending outwards to form a lifting connection end.

2. The full-stance working robot according to claim 1, characterized in that: A hanging frame (6) is provided at the other end of the load-bearing beam (3), and the hanging frame (6) is fixedly connected to the load-bearing beam (3).

3. A full-stance working robot according to claim 1 or 2, characterized in that: The operation drive mechanism (2) comprises a clamping claw (4) and a clamping claw driving cylinder (5); the lower end of the load-bearing beam (3) is provided with a clamping claw (4) that opens and closes relatively; the upper end of the clamping claw (4) is hinged to the load-bearing beam (3); the outer wall of the clamping claw (4) is provided with a clamping claw driving cylinder (5); one end of the clamping claw driving cylinder (5) is hinged to the clamping claw (4), and the other end is hinged to the load-bearing beam (3).

4. The full-stance working robot according to claim 1 or 2, characterized in that: The operation drive mechanism (2) comprises a pair of scissors (21) and a scissor drive cylinder (22); the lower end of the load-bearing beam (3) is provided with a pair of scissors (21) that open and close relative to each other; the upper end of the scissors (21) is hinged to the load-bearing beam (3); the outer wall of the scissors (21) is provided with a scissor drive cylinder (22); one end of the scissor drive cylinder (22) is hinged to the scissors (21) and the other end is hinged to the load-bearing beam (3); or one end of the scissor drive cylinder (22) is hinged to the scissors (21) and the other end is hinged to the support frame (1); the support frame (1) is fixedly connected to the load-bearing beam (3), so as to facilitate the scissors to clamp or cut up underwater obstacles or cables, thereby improving the flexibility of underwater operations.

5. The full-stance working robot according to claim 1 or 2, characterized in that: The thruster assembly comprises a first thruster (7) and a second thruster (8); the first thrusters (7) are arranged on both left and right sides of an upper portion of one side of the load-bearing beam (3), and the first thrusters (7) are arranged on both left and right sides of an upper portion of the other side; the second thrusters (8) are arranged on both left and right sides of a lower portion of one side of the load-bearing beam (3), and the second thrusters (8) are arranged on both left and right sides of a lower portion of the other side; the first thruster (7) and the second thruster (8) are respectively fixedly connected to the load-bearing beam (3) via a support frame (1).

6. The full-stance working robot according to claim 5, characterized in that: The first thruster (7) and the second thruster (8) are arranged obliquely relative to the load-bearing beam (3).

7. The full-stance working robot according to claim 5, characterized in that: The load-bearing beam (3) has third thrusters (9) on both sides of the middle of one side, and has third thrusters (9) on both sides of the middle of the other side. The third thrusters (9) are fixedly connected to the load-bearing beam (3), or the third thrusters (9) are fixedly connected to the load-bearing beam (3) via the support frame (1).

8. The full-stance working robot according to claim 1 or 2 or 6 or 7, characterized in that: A camera (10) is provided above one side of the load-bearing beam (3), and the camera (10) is connected to the load-bearing beam (3) via a camera bracket (11).

9. The full-stance working robot according to claim 8, characterized in that: A camera unfolding and retracting mechanism (12) is provided between the camera support (11) and the load-bearing beam (3); the camera support (11) is flipably connected to the load-bearing beam (3) via the camera unfolding and retracting mechanism (12); the camera unfolding and retracting mechanism (12) is composed of a drive motor (13) and a drive shaft; a drive shaft is provided at the lower end of the camera support (11); the drive shaft is fixedly connected to the camera support (11); the drive shaft is driven by the drive motor (13); and the drive motor (13) is fixedly connected to the load-bearing beam (3).

10. The full-stance working robot according to claim 9, characterized in that: The camera unfolding and retracting mechanism (12) is composed of a flip frame (14), a locking tension spring (17), and a limit rod (19). A flip frame (14) is provided between the camera bracket (11) and the load-bearing beam (3). The lower end of the camera bracket (11) is hinged to the load-bearing beam (3). An arc-shaped guide groove (15) is provided on the flip frame (14). The flip frame (14) is fixedly connected to the load-bearing beam (3). Both ends of the arc-shaped guide groove (15) extend toward the center of the arc-shaped guide groove (15) to form a limit groove (16). Locking tension springs (17) are provided on both sides of the lower end of the camera bracket (11). The locking tension springs (17) are provided on the lower ends of the camera bracket (11). A guide slot (18) is provided on the camera bracket (11) above the tension spring (17); two ends of the limit rod (19) respectively pass through the guide slot (18); and the arc-shaped guide slot (15) is provided with a limit hole (20); the middle of the limit rod (19) is slidably connected with the arc-shaped guide slot (15); two ends of the limit rod (19) are connected with the guide slot (18) to move up and down; one end of the locking tension spring (17) is fixedly connected with the camera bracket (11), and the other end passes through the limit hole (20) to be fixed; the limit rod (19) is inserted into the limit slot (16) to fix the camera bracket (11) with the support frame (1).

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