The invention relates to the technical field of robots, and provides an underwater fishing robot with a high-degree-of-freedom mechanical arm, which comprises a robot main body, a grabbing mechanism, a driving mechanism and a controller, the robot main body comprises an upper cabin, a lower cabin and a main body frame, and the upper cabin and the lower cabin are connected through the main body frame; the grabbing mechanism is installed on the right side of the front end of the robot main body. The driving mechanism comprises four groups of horizontal plane propellers and four groups of vertical plane propellers; the four groups of horizontal plane propellers are annularly distributed around the lower cabin; the four groups of vertical plane propellers are symmetrically distributed on two sides of the upper cabin in pairs; the controller comprises a control box, a control arm and a zero-buoyancy cable, and the control box is connected with the upper cabin of the robot main body through the zero-buoyancy cable. The robot is reasonable in structure, convenient to use, high in adaptability, wide in application range and good in stability.

    本发明涉及机器人技术领域,提供一种具有高自由度机械臂的水下捕捞机器人,包括:机器人主体、抓取机构、驱动机构和控制器;所述机器人主体包括:上舱、下舱和主体框架,上舱和下舱之间通过主体框架进行连接;所述抓取机构安装在机器人主体前端右侧;所述驱动机构包括:四组水平面推进器以及四组垂直面推进器;四组水平面推进器在下舱的四周呈环形分布;四组垂直面推进器在上舱的两侧两两对称分布;所述控制器包括:控制箱、控制臂和零浮力线缆,所述控制箱通过零浮力线缆与机器人上舱连接。本发明结构合理、使用方便、适应能力强、应用范围广、稳定性好。


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    Title :

    Underwater fishing robot with high-degree-of-freedom mechanical arm


    Additional title:

    一种具有高自由度机械臂的水下捕捞机器人


    Contributors:
    LIU YANG (author) / CONG YUCHEN (author) / LI YINGPING (author) / KONG CHENGYU (author) / LIU SHENGLAN (author) / WANG FEILONG (author) / ZHANG JINRONG (author)

    Publication date :

    2022-01-28


    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 / A01K ANIMAL HUSBANDRY , Tierzucht / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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