Underwater operation robot

Abstract

The utility model relates to the technical field of underwater operation equipment, in particular to an underwater operation robot which comprises a main body, a manipulator and an auxiliary floating block. The main body is provided with a control cabin and a propelling part which are connected with each other. The manipulator comprises a mechanical arm, a mechanical claw and a driving part. The mechanical arm is installed on the main body, the driving piece is installed on the mechanical arm, and the driving piece is electrically connected with the control cabin. The auxiliary floating block is installed on the mechanical arm and suitable for balancing the gravity of the mechanical arm. The gravity of the mechanical arm is balanced through the auxiliary floating block, so that power provided by the driving piece does not need to overcome the resistance of the gravity of the mechanical arm. The mechanical arm has the effect that the driving piece can more conveniently drive the mechanical arm to move.

Description

Technical Field

[0001] This application relates to the technical field of underwater operation equipment, and in particular to an underwater operation robot. Background Art

[0002] An underwater operation robot is a robot that can perform various tasks in an underwater environment. Underwater operation robots have a wide range of applications in fields such as ocean exploration, resource development, underwater structure inspection, and scientific research.

[0003] Currently, an underwater obstacle clearing robot with the publication number CN213535068U includes a structure including a bottom frame, an upper shell, a thruster, and several functional components. The bottom frame includes a profile frame and several grid plates. There are several support profiles arranged between the upper shell and the bottom frame, and a working installation cavity is formed between them. A traction member is installed above the upper shell. The functional components of the underwater robot can be provided with several multi-functional grippers, a camera, and a searchlight. Its camera can include a camera part and a camera section.

[0004] Regarding the above related technology, the gripper is usually made of metal and is relatively heavy in water. Therefore, a relatively large power is required to drive the gripper to move. Utility Model Content

[0005] In order to more conveniently drive the movement of the gripper, this application provides an underwater operation robot.

[0006] The underwater operation robot provided by this application adopts the following technical solutions:

[0007] An underwater operation robot, comprising:

[0008] A main body, on which a control cabin and a propulsion member are installed. The propulsion member is connected to the control cabin to drive the propulsion member to propel the movement of the main body through the control cabin;

[0009] A manipulator, including a robotic arm, a robotic claw, and a driving member. The robotic arm is installed on the main body, the driving member is installed on the robotic arm, and the driving member is electrically connected to the control cabin so that the driving member is adapted to drive the movement of the robotic arm and the robotic claw; and

[0010] An auxiliary floating block, installed on the robotic arm, and the auxiliary floating block is adapted to balance the gravity of the robotic arm.

[0011] By adopting the above technical solutions, the control cabin is used to control the driving member to drive the movement of the main body. When the main body moves to the operation area, the control cabin is used to control the driving member to drive the manipulator to perform operations.

[0012] When the driving member drives the manipulator to perform operations, the auxiliary floating block can balance the gravity of the manipulator, enabling the driving member to drive the manipulator to move without having to overcome the resistance of the manipulator's own gravity, thereby making it easier for the driving member to drive the manipulator to move.

[0013] Optionally, the robotic arm includes a rotating base, a main arm, and a forearm. The rotating base is fixedly connected to the main body, the main arm is hinged to the rotating base, one end of the forearm is hinged to the end of the main arm, and the other end is hinged to the robotic claw.

[0014] By adopting the above technical solution, the cooperation of the rotating base, the main arm, and the forearm makes the robotic arm more flexible.

[0015] Optionally, the driving member includes a rotating motor, a main telescopic cylinder, a secondary telescopic cylinder, and a driving cylinder. The rotating motor is installed on the rotating base to drive the rotation of the rotating base; both ends of the main telescopic cylinder are respectively hinged to the rotating base and the main arm to drive the flexion and extension of the main arm; both ends of the secondary telescopic cylinder are respectively hinged to the main arm and the forearm to drive the flexion and extension of the forearm; the driving cylinder is fixedly connected inside the forearm, and the piston rod of the driving cylinder passes through the forearm and is fixedly connected to the robotic claw.

[0016] By adopting the above technical solution, the rotating motor drives the rotating base to drive the main arm to rotate. At the same time, the main telescopic cylinder and the secondary telescopic cylinder are respectively used to drive the main arm and the forearm to bend, and the telescopic movement of the driving cylinder is used to drive the robotic claw to open and close, so that the driving member can freely drive the manipulator to move.

[0017] Optionally, the auxiliary floating block includes a main floating block and a small floating block. The main floating block is fixedly connected to the main arm, and the small floating block is fixedly connected to the forearm.

[0018] By adopting the above technical solution, the main floating block and the small floating block are respectively used to balance the gravity of the main arm and the forearm, making the movement between the main arm and the forearm more flexible.

[0019] Optionally, a main camera and a main searchlight are fixedly connected to the main body, and both the main camera and the main searchlight are arranged facing the robotic claw.

[0020] By adopting the above technical solution, the main searchlight provides sufficient illumination for the working area of the robotic claw to ensure precise operation even in an environment with insufficient light. Then, the main camera is used to capture the real-time image of the operation of the robotic claw, which is convenient for remote monitoring and control of the movement of the robotic claw.

[0021] Optionally, a mounting base is fixedly connected to the main body, a rotary motor is fixedly connected to the mounting base, a rotating table is fixedly connected to the output shaft of the rotary motor, and the main camera is fixedly connected to the rotating table.

[0022] By adopting the above technical solution, with the cooperation of the mounting base, the rotary motor and the rotating table, the main camera can rotate and position at multiple angles, increasing the viewing range of the camera.

[0023] Optionally, an auxiliary camera and an auxiliary searchlight are fixedly connected to the small arm, and both the auxiliary camera and the auxiliary searchlight are oriented towards the mechanical claw.

[0024] By adopting the above technical solution, the arrangement of the auxiliary camera and the auxiliary searchlight on the small arm is used to directly provide real-time images of the operation of the mechanical claw.

[0025] Optionally, multiple manipulators are provided.

[0026] By adopting the above technical solution, multiple manipulators can improve the flexibility and efficiency of operation, and can perform more precise operations in complex environments.

[0027] Optionally, two manipulators are provided, and the two manipulators are respectively fixedly connected to the outer side wall of the main body, and the two manipulators are symmetrically arranged with respect to the main body.

[0028] By adopting the above technical solution, the symmetrically arranged manipulators can provide a more balanced operation, and at the same time, installing the manipulators on the outer side wall of the main body can increase the movement range of the manipulators.

[0029] Optionally, a number of reinforcing ribs are fixedly connected inside the main body, and the reinforcing ribs support the bottom wall and the side wall inside the main body.

[0030] By adopting the above technical solution, the reinforcing ribs can improve the rigidity and stability of the overall structure, ensuring the durability and reliability of the main body.

[0031] In summary, the present application includes at least one of the following beneficial technical effects:

[0032] Through the cooperation of the main body, the control cabin, the propulsion member, the robotic arm, the mechanical claw, the driving member and the auxiliary floating block, the driving member drives the manipulator to perform operations, and the auxiliary floating block can balance the gravity of the manipulator, so that the power of the driving member does not need to overcome the resistance of the self-gravity of the manipulator, and thus the driving member is more convenient to drive the manipulator to move;

[0033] Through the rotating seat, the main arm, the small arm, the rotating motor, the main telescopic cylinder, the secondary telescopic cylinder and the driving cylinder, the robotic arm can move more flexibly;

[0034] Through the cooperation of the main camera, the main searchlight, the auxiliary camera, and the auxiliary searchlight, the main searchlight and the auxiliary searchlight are used to provide sufficient illumination for the working area of the robotic arm, and then the main camera and the auxiliary camera are used to capture real-time images of the operation of the robotic arm, facilitating remote monitoring and control of the actions of the robotic arm. Description of the Drawings

[0035] Figure 1 is a schematic structural diagram of an underwater operation robot in an embodiment of the present application.

[0036] Figure 2 is a schematic structural diagram of a robotic arm in an embodiment of the present application.

[0037] Figure 3 is a schematic structural diagram of a main body in an embodiment of the present application.

[0038] Description of the Reference Numerals:

[0039] 1. Main body; 11. Control cabin; 12. Propulsion member; 13. Main body floating block; 14. Towing block; 15. Handle; 16. Reinforcing rib; 2. Robotic arm; 21. Robot arm; 211. Rotating seat; 212. Main arm; 213. Forearm; 22. Robotic claw; 23. Driving member; 231. Rotating motor; 232. Main telescopic cylinder; 233. Secondary telescopic cylinder; 234. Driving cylinder; 3. Auxiliary floating block; 31. Main floating block; 32. Small floating block; 4. Main camera; 5. Main searchlight; 6. Auxiliary camera; 7. Auxiliary searchlight; 8. Mounting seat; 81. Rotating motor; 82. Rotating table. Detailed Embodiment

[0040] The following is a further detailed description of the present application in conjunction with the attached Figures 1 - 3 drawings.

[0041] An embodiment of the present application discloses an underwater operation robot.

[0042] Referring to Figure 1 and Figure 2 , an underwater operation robot includes a main body 1, a robotic arm 2, and an auxiliary floating block 3. A control cabin 11 and a propulsion member 12 are installed on the main body 1, and the propulsion member 12 is connected to the control cabin 11. The robotic arm 2 includes a robot arm 21, a robotic claw 22, and a driving member 23. The robot arm 21 is installed on the main body 1, the driving member 23 is installed on the robot arm 21, and the driving member 23 is electrically connected to the control cabin 11. The auxiliary floating block 3 is installed on the robot arm 21, and the auxiliary floating block 3 is adapted to balance the gravity of the robot arm 21. By using the auxiliary floating block 3 to balance the gravity of the robot arm 21, the driving force of the driving member 23 does not need to overcome the resistance of the self-gravity of the robotic arm 2, so that the driving member 23 can more easily drive the robotic arm 2 to move.

[0043] Both the upper side and the lower side of the main body 1 are fixedly connected with main body floating blocks 13, and the main body floating blocks 13 are adapted to balance the gravity of the control cabin 11 and the propulsion members 12 in the main body 1, facilitating the propulsion device to control the smooth movement of the main body 1 underwater.

[0044] In this embodiment, the propulsion members 12 are spiral impellers, and there are 8 in this embodiment. Among them, the axes of 4 spiral impellers are arranged vertically, and the axes of the other 4 spiral impellers are arranged longitudinally. The vertically arranged spiral impellers control the up and down floating of the main body 1 in the water, while the longitudinally arranged spiral impellers control the horizontal movement of the main body 1 in the water. The 8 spiral impellers are used together to propel the main body 1 to move in any direction in the water.

[0045] A towing block 14 is fixedly connected to the central position of the upper side of the main body 1. By connecting a towing rope to the towing block 14, the main body 1 can be quickly towed ashore by winding the towing rope.

[0046] A handle 15 is also fixedly connected to the outer edge of the main body 1. The setting of the handle 15 facilitates the operator to move the main body 1.

[0047] A number of reinforcing ribs 16 are fixedly connected inside the main body 1, and the reinforcing ribs 16 support on the bottom wall and the side wall inside the main body 1. The use of the reinforcing ribs 16 can improve the rigidity and stability of the overall structure, and ensure the durability and reliability of the main body 1.

[0048] There are multiple manipulators 2. In this embodiment, there are two manipulators 2, and in other embodiments, it can also be set to three, four, etc. The two manipulators 2 can improve the flexibility and efficiency of the operation, and can perform more delicate operations in complex environments.

[0049] The two manipulators 2 are respectively fixedly connected to the outer side wall of the main body 1, and the two manipulators 2 are symmetrically arranged with respect to the main body 1. The symmetrically arranged manipulators 2 can provide a more balanced operation, and at the same time, the installation of the manipulators 2 on the outer side wall of the main body 1 can increase the movement range of the manipulators 2.

[0050] The robotic arm 21 includes a rotating base 211, a main arm 212 and a forearm 213. The rotating base 211 is fixedly connected to the main body 1, the main arm 212 is hinged to the rotating base 211, one end of the forearm 213 is hinged to the end of the main arm 212, and the other end is hinged to the robotic claw 22. The cooperation of the rotating base 211, the main arm 212 and the forearm 213 makes the robotic arm 21 more flexible.

[0051] The driving member 23 is suitable for driving the mechanical arm 21 and the mechanical claw 22 to move, and the driving member 23 includes a rotating motor 231, a main telescopic cylinder 232, a secondary telescopic cylinder 233 and a driving cylinder 234. The rotating motor 231 is installed on the rotating seat 211 to drive the rotating seat 211 to rotate. The two ends of the main telescopic cylinder 232 are hinged to the rotating seat 211 and the main arm 212 to drive the main arm 212 to flex and extend. The two ends of the secondary telescopic cylinder 233 are hinged to the main arm 212 and the small arm 213 to drive the small arm 213 to flex and extend. The driving cylinder 234 is fixedly connected in the small arm 213, and the piston rod of the driving cylinder 234 passes through the small arm 213 and is fixedly connected to the mechanical claw 22.

[0052] The rotating motor 231 is used to drive the rotating seat 211 to drive the main arm 212 to rotate, the main telescopic cylinder 232 drives the main arm 212 to flex and extend relative to the rotating seat 211, the secondary telescopic cylinder 233 and the main telescopic cylinder 232 drive the small arm 213 to flex and extend relative to the main arm 212, and finally the extension and retraction of the driving cylinder 234 is used to drive the mechanical claw 22 to open and close, so that the driving part 23 can freely drive the robot 2 to move.

[0053] The auxiliary floating block 3 in this embodiment includes a main floating block 31 and a small floating block 32, that is, the auxiliary floating block 3 is set separately in multiple blocks, the main floating block 31 is fixedly connected to the main arm 212, and the small floating block 32 is fixedly connected to the small arm 213. In other embodiments, the auxiliary floating block 3 can also be set as a whole, and a movable clearance groove is reserved at the joint. In this embodiment, the main floating block 31 is used to balance the gravity of the main arm 212, and the small floating block 32 is used to balance the gravity of the small arm 213, so that the movement between the main arm 212 and the small arm 213 is more flexible.

[0054] Reference Figure 2 and Figure 3 The main body 1 is fixedly connected with a main camera 4 and a main searchlight 5, and both the main camera 4 and the main searchlight 5 are arranged toward the mechanical claw 22. The main searchlight 5 is used to provide sufficient lighting for the working area of ​​the mechanical claw 22, ensuring that accurate operation can be performed even in an environment with insufficient light, and then the main camera 4 is used to capture the real-time image of the operation of the mechanical claw 22, so as to facilitate remote monitoring and control of the movement of the mechanical claw 22.

[0055] At the same time, the forearm 213 is fixedly connected with an auxiliary camera 6 and an auxiliary searchlight 7, and the auxiliary camera 6 and the auxiliary searchlight 7 are also arranged toward the mechanical claw 22. The auxiliary camera 6 and the auxiliary searchlight 7 on the forearm 213 are arranged to directly provide a real-time image of the operation of the mechanical claw 22, thereby reducing the capture blind area of ​​the main camera 4 and the main searchlight 5.

[0056] In an alternative embodiment, a mounting base 8 is fixedly connected to the main body 1, a rotary motor 81 is fixedly connected to the mounting base 8, a rotating table 82 is fixedly connected to the output shaft of the rotary motor 81, and the main camera 4 is fixedly connected to the rotating table 82. By means of the cooperation of the mounting base 8, the rotary motor 81 and the rotating table 82, the main camera 4 can rotate and position at multiple angles, increasing the viewing range of the camera.

[0057] The implementation principle of the underwater operation robot according to the embodiment of the present application is as follows: The main body 1 is placed in water, and then the control cabin 11 is used to control the driving member 23 to drive the main body 1 to move in water. When the main body 1 moves to the operation area, the control cabin 11 is used to control the driving member 23 to drive the manipulator 2 to perform operations.

[0058] When the driving member 23 drives the manipulator 2 to perform operations, the auxiliary floating block 3 can balance the self-gravity of the manipulator 2, so that the power provided by the driving member 23 does not need to overcome the resistance caused by the self-gravity of the manipulator 2, and thus the driving member 23 is more convenient to drive the manipulator 2 to move.

[0059] The above are all the preferred embodiments of the present application. The protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. An underwater operation robot, characterized in that, Comprising: A main body (1) with a control cabin (11) and a propulsion member (12) installed thereon. The propulsion member (12) is connected to the control cabin (11) to drive the propulsion member (12) to propel the movement of the main body (1) through the control cabin (11); A manipulator (2), including a robotic arm (21), a robotic claw (22), and a driving member (23). The robotic arm (21) is installed on the main body (1), the driving member (23) is installed on the robotic arm (21), and the driving member (23) is electrically connected to the control cabin (11) so that the driving member (23) is adapted to drive the movement of the robotic arm (21) and the robotic claw (22); and An auxiliary floating block (3) installed on the robotic arm (21), and the auxiliary floating block (3) is adapted to balance the gravity of the robotic arm (21).

2. The underwater operation robot according to claim 1, wherein: The robotic arm (21) includes a rotating base (211), a main arm (212), and a forearm (213). The rotating base (211) is fixedly connected to the main body (1), the main arm (212) is hinged to the rotating base (211), one end of the forearm (213) is hinged to the end of the main arm (212), and the other end is hinged to the robotic claw (22).

3. The underwater operation robot according to claim 2, characterized in that: The driving member (23) includes a rotating motor (231), a main telescopic cylinder (232), a secondary telescopic cylinder (233), and a driving cylinder (234). The rotating motor (231) is installed on the rotating base (211) to drive the rotation of the rotating base (211); both ends of the main telescopic cylinder (232) are respectively hinged to the rotating base (211) and the main arm (212) to drive the flexion and extension of the main arm (212); both ends of the secondary telescopic cylinder (233) are respectively hinged to the main arm (212) and the forearm (213) to drive the flexion and extension of the forearm (213); the driving cylinder (234) is fixedly connected inside the forearm (213), and the piston rod of the driving cylinder (234) passes through the forearm (213) and is fixedly connected to the robotic claw (22).

4. The underwater operation robot according to claim 2, characterized in that: The auxiliary floating block (3) includes a main floating block (31) and a small floating block (32). The main floating block (31) is fixedly connected to the main arm (212), and the small floating block (32) is fixedly connected to the forearm (213).

5. The underwater operation robot according to claim 2, characterized in that: A main camera (4) and a main searchlight (5) are fixedly connected to the main body (1), and both the main camera (4) and the main searchlight (5) are arranged facing the robotic claw (22).

6. The underwater operation robot according to claim 5, characterized in that: An installation seat (8) is fixedly connected to the main body (1), a rotating motor (81) is fixedly connected to the installation seat (8), a rotating table (82) is fixedly connected to the output shaft of the rotating motor (81), and the main camera (4) is fixedly connected to the rotating table (82).

7. The underwater operation robot according to claim 2, characterized in that: An auxiliary camera (6) and an auxiliary searchlight (7) are fixedly connected to the forearm (213), and both the auxiliary camera (6) and the auxiliary searchlight (7) are arranged facing the robotic claw (22).

8. The underwater operation robot according to claim 1, characterized in that: There are multiple manipulators (2).

9. The underwater operation robot according to claim 8, wherein: There are two manipulators (2), and the two manipulators (2) are respectively fixedly connected to the side walls of the main body (1), and the two manipulators (2) are symmetrically arranged with respect to the main body (1).

10. The underwater operation robot according to claim 1, wherein: A number of reinforcing ribs (16) are fixedly connected inside the main body (1), and the reinforcing ribs (16) support the bottom wall and the side walls inside the main body (1).

Images