The invention is applicable to the technical field of remote operation of underwater robots, and provides a master-slave underwater two-arm robot convenient to move. The master-slave underwater two-arm robot convenient to move comprises an underwater robot used for underwater moving, operation and collection of video information, a display used for displaying the video information acquired by the underwater robot, a pair of teleoperation gloves, a position and posture visual detection module and a control end, wherein an operator controls the underwater robot to work by changing the position and posture of the teleoperation gloves; the position and posture visual detection module is used for acquiring position and posture data of both hands of the operator; the control end is used for establishing a three-dimensional model virtual scene and processing the position and posture data of the two hands of the operator; the underwater robot comprises an operation type unmanned submersible and mechanical arms; the operation type unmanned submersible is used for underwater movement and forms a mounting main body; and the mechanical arms are oppositely arranged on the operation type unmanned submersible, the ends of the mechanical arms are connected with an operation component, and the mechanical arms are used for forming a driving bending structure.

    本发明适用于水下机器人遥操作技术领域,提供了一种便于移动的主从水下双臂机器人,所述主从水下双臂机器人包括:水下机器人,用于水下移动、作业和采集视频信息;显示器,用于显示水下机器人采集到的视频信息;遥操作手套,操作员通过改变遥操作手套位置和姿态控制水下机器人作业;位姿视觉检测模块,用于获取操作员双手的位置和姿态数据;控制端,用于建立三维模型虚拟场景,并且对操作员双手的位姿数据进行处理;其中,水下机器人包括作业型无人潜水器和机械臂;作业型无人潜水器,用于水下移动,并形成安装主体;机械臂,对置的设置在作业型无人潜水器上,端部连接作业部件,用于形成驱动弯折结构。


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    Title :

    Master-slave underwater two-arm robot convenient to move


    Additional title:

    一种便于移动的主从水下双臂机器人


    Contributors:
    CHEN DONGLIANG (author) / YAO YUYU (author) / LIU GUIFANG (author)

    Publication date :

    2021-06-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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