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Underwater robot positioning system based on double-manipulator encircling pile column

An underwater robot and positioning system technology, applied in the direction of manipulators, underwater operating equipment, ships, etc., can solve problems such as low operating efficiency and safety, difficulty in precise operation, and low positioning reliability, so as to improve operating accuracy, The effect of improving positioning reliability

Inactive Publication Date: 2017-03-22
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This technology will effectively solve the technical problems of low positioning reliability, difficulty in precise operation, and low operating efficiency and safety existing in the form of dynamic positioning of underwater robots, vacuum chucks or magnetic chucks.

Method used

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  • Underwater robot positioning system based on double-manipulator encircling pile column
  • Underwater robot positioning system based on double-manipulator encircling pile column

Examples

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Embodiment Construction

[0016] The purpose of the present invention will be further described in detail through specific examples below, and the examples cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following examples.

[0017] Such as figure 1 and figure 2 As shown, the underwater robot positioning system based on double manipulators embracing the pile includes a surface console and an underwater working robot 1 that can be adsorbed on the pile 6. The underwater working robot 1 is symmetrically arranged on both sides for holding The hydraulically embracing dual manipulators 3 of the pile 6, the surface console is connected to the underwater working robot 1 for signal control, and is used to control the actions of the underwater working robot 1 and the hydraulically embracing double manipulators 3.

[0018] The underwater working robot 1 includes a vacuum suction cup for absorbing piles 6, six propellers 2 arranged in vector, a ...

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Abstract

The invention discloses an underwater robot positioning system based on a double-manipulator encircling pile column. The underwater robot positioning system comprises a water surface console and an underwater working robot capable of being absorbed to the pile column. The two sides of the underwater working robot are symmetrically provided with double hydraulic encircling manipulators for tightly holding the pile column. The water surface console is connected with the underwater working robot through a signal and used for controlling the actions of the underwater working robot and the double hydraulic encircling manipulators. By the adoption of the underwater robot positioning system, the positioning capacity and the working efficiency of the underwater working robot are improved greatly, and the problems that the energy consumption of the power positioning manner of the robot is high, it is difficult for the manipulators to align with a target due to the fact that the robot position shakes and consequently the working efficiency is low are solved effectively.

Description

technical field [0001] The invention relates to the technical field of underwater robot positioning, in particular to an underwater robot positioning system based on double manipulators embracing piles. Background technique [0002] The demand for marine operations of underwater robots is increasing day by day. For example, underwater robots have been widely used in the offshore oil and gas mining industry. It cannot be ignored that the operating underwater robot is often in the water environment in a state of zero buoyancy, and is dynamically positioned in the water by means of multiple propeller vector propulsion to overcome ocean current force, wave force, and operating reaction force. Compared with the positioning of the ground operation equipment, the position accuracy of the dynamic positioning of the underwater robot is much worse, and it is easy to break the balance under the change of the external load and greatly deviate from the dynamic positioning position, which...

Claims

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Application Information

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IPC IPC(8): B25J11/00B63C11/52
CPCB25J11/00B63C11/52
Inventor 刘鲲叶家玮邱守强王冬姣梁富琳
Owner SOUTH CHINA UNIV OF TECH
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