The invention discloses an underwater small-space grabbing robot which comprises a robot body formed by connecting frameworks in a lap joint mode, wherein a watertight cabin is fixed to the framework connected with the robot body in a lap joint mode. and underwater rising and submerging propellers, wherein the two underwater rising and submerging propellers are embedded into a shell at the top of the robot body, and the two underwater rising and submerging propellers and the four propelling propellers form a movement mechanism on the robot body. According to the underwater small-space grabbing robot, ascending and descending power is provided for the robot through the two underwater ascending and descending propellers, front-back and left-right power is provided for the robot through the four propelling propellers, and therefore the robot can shoot organisms or objects needing to be grabbed through the camera under the action of the control module; and after the target is locked, the flexible clamp is used for clamping, the target object can be wrapped in a self-adaptive mode, the constraint that the size of the clamped object is equal is eliminated, and higher safety and higher efficiency are achieved.
本发明公开了一种水下小空间抓取机器人,包括:机器人主体,由骨架搭接而成,搭接所述机器人主体的骨架上固定有水密舱室;水下升潜推进器,2个水下升潜推进器嵌入在所述机器人主体顶部的外壳上,并2个所述水下升潜推进器和4个推进螺旋桨组成所述机器人主体上的运动机构。该水下小空间抓取机器人,通过两个水下升潜推进器为机器人提供上升下降的动力,四个推进螺旋桨则为机器人提供前后左右的动力,从而使机器人能够在控制模块的作用下按照需要夹取的生物或物品通过摄像机摄取,锁定目标后由柔性夹子进行夹取,能够自适应地包覆住目标物体,摆脱了夹取对象尺寸均等的束缚,更加安全和高效。
Underwater small-space grabbing robot
一种水下小空间抓取机器人
2021-05-28
Patent
Electronic Resource
Chinese