The invention discloses a stable swimming parent-child robot for grabbing an underwater target. The parent-child robot comprises a parent robot and a child robot which are connected through an electromagnet, wherein the head of the child robot is provided with three ultrasonic receivers, an ultrasonic transmitter and a distance sensing module which are used for controlling the direction; the headof the child robot is further provided with five ICPF membranes which are distributed in a circular shape and used for grabbing objects; and the child robot swims through the ICPF membranes arranged on the child robot. The robot is light in weight, flexible and suitable for working in a narrow environment. The parent robot serves as a transporter of the child robot, the child robot is equivalent to a manipulator capable of moving autonomously, and the defect of unstable movement caused by movement of a mechanical arm is overcome. The robot is internally provided with a speed measuring unit, the moving speed is monitored in real time, a speed feedback system is formed, and it is guaranteed that the robot stably operates at the set speed.

    本发明公开了一种用于水下目标抓取的稳定游动父子机器人,包括通过电磁铁相连的父机器人和子机器人,所述子机器人头部设置有3个超声波接收器和1个超声波发射器和距离感应模块,用于控制方向;子机器人头部还设置5个ICPF膜片,呈圆形排布,用于物体的抓取;子机器人通过其上设置的ICPF膜片实现游动。该机器人重量轻灵活,适合在狭小环境下工作。父机器人充当子机器人的运输器,子机器人相当于可以自主游动的机械手,解决了机械臂运动导致运动不稳定的缺陷。本发明在机器人的内部设置了速度测量单元,实时监测游动速度并形成速度反馈系统,保证机器人按设定速度稳定运行。


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    Title :

    Stable swimming parent-child robot for grabbing underwater target


    Additional title:

    一种用于水下目标抓取的稳定游动父子机器人


    Contributors:
    LI HUI (author) / WANG HAN (author)

    Publication date :

    2020-04-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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