The invention belongs to the field of underwater robots, and particularly relates to an underwater variable-structure robot which is characterized in that a main body frame, an operation system and a variable-structure device are all located in a buoyancy adjusting system, the variable-structure device comprises a shear fork mechanism and an electric cylinder, and the electric cylinder and the shear fork mechanism are installed on the main body frame; the output end of the electric cylinder is connected with the shear fork mechanism to drive the shear fork mechanism to ascend and descend. The buoyancy adjusting system comprises an upper buoyancy material and a lower buoyancy material, the lower buoyancy material is installed on the main body frame, the upper buoyancy material is installed on the shear fork mechanism and ascends and descends along with the shear fork mechanism, the shape of the robot is changed through ascending and descending of the upper buoyancy material along with the shear fork mechanism, and switching between a navigation mode and an operation mode of the robot is achieved; by changing the form of the underwater robot, increasing the steady center height of the underwater robot and switching to a stable operation mode, fine operation is achieved through integration of the mechanical arm and the five-finger hand, and the purpose that one platform gives consideration to agile navigation detection and hovering fine operation is achieved.
本发明属于水下机器人领域,具体地说是一种水下变结构机器人,主体框架、作业系统及变结构装置均位于浮力调节系统的内部,变结构装置包括剪叉机构及电动缸,电动缸及剪叉机构分别安装于主体框架上,电动缸的输出端与剪叉机构连接、驱动剪叉机构升降;浮力调节系统包括上、下浮力材,下浮力材安装于主体框架上,上浮力材安装于剪叉机构上,随剪叉机构升降,通过上浮力材随剪叉机构的升降改变机器人的自身形态,实现机器人航行模式与作业模式的切换;通过改变自身形态,增大水下机器人的稳心高,切换到稳定作业模式,通过机械臂与五指手的集成实现精细作业,实现一个平台兼顾敏捷航行探测和悬停精细作业。
Underwater variable-structure robot
一种水下变结构机器人
2023-07-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
Underwater robot frame structure and underwater robot
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|The Variable Structure System Synthesis for Autonomous Underwater Robot
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