The underwater grabbing robot comprises a closed machine shell, a booster fixedly connected with the machine shell, a guide mechanism, a grabbing mechanism, a movable detection mechanism and a distance sensor. The machine shell comprises a main shell body, a rear cover and a front cover. The booster comprises a propeller and a servo motor for controlling the propeller to rotate, and is fixed on the rear cover; the guiding mechanism comprises three connecting rod wheel mechanisms which are driven by guiding air cylinders and evenly distributed in the circumferential direction of the robot. The grabbing mechanism is fixed to the front side of the machine shell and comprises a first five-freedom-degree mechanical arm and a two-finger manipulator fixed to the front end of the first five-freedom-degree mechanical arm. The movable detection mechanism is fixed to the front side of the machine shell and comprises a second five-freedom-degree mechanical arm, a laser scanner and a metal detector, wherein the laser scanner and the metal detector are fixed to the front end of the five-freedom-degree mechanical arm. The distance sensor is fixedly installed on the front cover of the machine shell. The method is suitable for grabbing the target objects such as metal pieces underwater, especially at the bottom of an underwater pipeline, the target object recognition precision is high, grabbing is reliable, and the application prospect is good.

    本发明公开了一种水下抓取机器人,包括:封闭的机壳,与机壳固定连接的助推器、导向机构、抓取机构、活动检测机构、距离传感器;所述机壳包括主壳体、后盖、前盖;助推器,包括螺旋桨及控制其旋转的伺服电机,固定在后盖上;导向机构包括由三个由导向气缸驱动、均匀分布在机器人周向的连杆轮机构;抓取机构固定在机壳前侧,包括第一五自由度机械臂和固定在其前端的两指机械手;活动检测机构固定在机壳前侧,包括第二五自由度机械臂和固定在五自由度机械臂前端的激光扫描仪、金属探测仪;距离传感器固定安装在机壳前盖上。本发明适合在水下,尤其是在水下管道底部抓取金属件等目标物,识别目标物的精度高,抓取可靠,应用前景好。


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    Title :

    Underwater grabbing robot


    Additional title:

    一种水下抓取机器人


    Contributors:
    ZHANG JUNJIE (author) / HE TAO (author) / CHEN XILIN (author) / WANG YUQI (author) / JIA DONGSHENG (author)

    Publication date :

    2023-02-03


    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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