The invention belongs to the field of underwater robots, and particularly relates to an autonomous navigation mechanical arm for underwater operation, which is designed by adopting a modular and reconfigurable thought and comprises a motion propelling module and underwater neutral mechanical arm modules, and the two underwater neutral mechanical arms are arranged on the two sides of the motion propelling module and connected with the motion propelling module through mechanical arm supports; six propellers are arranged on the motion propelling module, so that six-degree-of-freedom propelling can be realized; the underwater mechanical arm achieves underwater neutrality by wrapping a buoyancy material so as to reduce disturbance to the motion propelling module. The underwater operation robot is a new concept underwater operation robot, the operation mode of the underwater operation robot is converted from a submersible vehicle as a core to a mechanical arm as a core, single-hand operation and double-arm collaborative operation can be achieved during operation. Meanwhile, the underwater operation robot and a large-scale operation robot can form a child-mother system to form advantage complementation, and the underwater operation robot is high in practicability. The large-scale operation robot is responsible for large-load tasks, and fine operation is assisted to be carried out.
本发明属于水下机器人领域,具体地说是一种水下作业自主航行机械臂,采用模块化、可重构思想设计,包括运动推进模块和水下中性机械臂模块,两个水下中性机械臂布置在运动推进模块两侧,通过机械臂支架与运动推进模块连接;在运动推进模块上布置六个推进器,可以实现六自由度的推进;水下机械臂通过包裹浮力材实现水下中性以减少对运动推进模块的扰动。本发明是一种新概念水下作业机器人,实现了水下作业机器人作业模式由以潜器为核心向以机械臂为核心的转变,作业时可单手作业,也可双臂协同作业,同时也可与大型作业机器人形成子母系统形成形成优势互补,大型作业机器人负责大负载任务,本发明协助开展精细作业。
Autonomous navigation mechanical arm for underwater operation
一种水下作业自主航行机械臂
2021-07-23
Patent
Electronic Resource
Chinese
Autonomous Underwater Vehicle Navigation
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