The invention relates to the field of underwater robots, in particular to an intelligent underwater robot and a motion control method thereof, and the intelligent underwater robot comprises a robot body, a rotary table, a waterproof box, a waterproof motor and a sector gear. The robot body is provided with a propeller and a lifting frame, the lifting frame is in driving connection with a vertical plate, the vertical plate is provided with rollers, and the rollers are provided with electromagnetic rings. The driving assembly is in driving connection with the mechanical arm. The waterproof box is arranged at the output end of the mechanical arm, a double-face rack is slidably arranged in the waterproof box, and a saw blade is arranged at the end of the double-face rack. The waterproof motor is arranged in the waterproof box and is in driving connection with the gear A, rotating shafts are symmetrically arranged on the two sides of the gear A, gears B are arranged on the rotating shafts, and the gears B on the two sides are in meshed connection with the gear A. And the sector gears are arranged on the rotating shafts on the two sides, are parallel to each other and are alternately connected with the double-sided rack. The device is low in energy consumption, and can be used for cleaning and removing impurities in narrow gaps.

    本发明涉及水下机器人领域,特别是涉及一种智能水下机器人及其运动控制方法,其包括机器人本体、转台、防水箱、防水电机和扇形齿轮。机器人本体上设置推进器,机器人本体上设置升降架,升降架驱动连接竖板,竖板上设置滚轮,滚轮上设置电磁环。转台设置在支架上,驱动组件驱动连接机械臂。防水箱设置在机械臂的输出端,防水箱内滑动设置双面齿条,双面齿条端部设置锯条。防水电机设置在防水箱内,防水电机驱动连接齿轮A,齿轮A两侧对称设置转轴,且转轴上均设置齿轮B,两侧齿轮B均与齿轮A啮合连接。扇形齿轮设置在两侧转轴上,两侧扇形齿轮相互平行,且两侧扇形齿轮交替与双面齿条。本发明能耗低,且能够对狭小的缝隙进行清理除杂。


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    Title :

    Intelligent underwater robot and motion control method thereof


    Additional title:

    一种智能水下机器人及其运动控制方法


    Contributors:
    ZHANG YANCHANG (author) / XU BOQIANG (author) / SUN DEQI (author) / PAN XIUCHUN (author)

    Publication date :

    2023-01-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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