A backpack underwater robot with manipulator

Abstract

A manipulator backpack type underwater robot is composed of a main body frame, a buoyancy block system, a multi-joint manipulator, a collection box system, a control cabinet, an auxiliary adjusting buoyancy block system, a propeller system and a shooting and illuminating system. The whole manipulator backpack type underwater robot is arranged in a horizontal compressed mode, and continuous operation is facilitated; the eight-propeller power system is adopted so that the robot can reach a working zone more conveniently and rapidly; through the auxiliary adjusting buoyancy block system and extension-length-adjustable push-pull rods matched with the auxiliary adjusting buoyancy block system, the robot can adapt to the complex underwater working environment; the shooting and illuminating system similar to binocular vision is adopted for the working zone, so that the working zone is more tridimensional and visual, and the manipulator can perform operation conveniently and accurately; the multi-joint design is adopted for the manipulator, so that the manipulator is more flexible and can grab and place objects more conveniently, and the working range is relatively enlarged; and the manipulator can be folded or unfolded, so that the space utilization rate is improved.

Description

Technical field [0001] The invention relates to the field of underwater robots, and belongs to a knapsack operation type underwater robot with a multi-joint folding manipulator, which is suitable for operation in shallow waters. Background technique [0002] Among the common work robots on the market, small work-level underwater robots are generally two-axis type, with the manipulator placed on the bottom of the body as a whole, and the manipulator hand is extended or closed forward. There are many blind spots in this kind of operation, the function is simple, and continuous operation cannot be performed without the collection basket. Large-scale operation underwater robots generally have two manipulators installed in the front, and a collection basket is placed in the middle of the two manipulators. The collection basket of this robot conflicts with the space of the manipulator, so it cannot be too large and the goods are limited. Since the manipulator has five or seven joints...

AI Technical Summary

Problems solved by technology

However, the key point of the working underwater robot is that it can quickly and accurately locate the object when it is close to the object, and it can be adjusted to a suitable position very quickly and conveniently. The waterproof and pressure-resistant structure of electrical components should be considered, so the thrust-to-weight ratio should be as large as possible. Since the streamlined structure can only meet the movement requirements in one direction, and the volume contained in the streamlined shell and the water facing surface when moving laterally are larger, it is best Or make a frame-type hollow structure, so that the water filled inside will not move together when the direction is suddenly changed, the inertia is much smaller, and the change of movement is very fast and labor-saving, so the streamlined design is not suitable for the operation level, but more suitable for large voyages search type

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