The invention provides a seven-degree-of-freedom parallel underwater robot docking and recycling mechanism and an underwater robot. The seven-degree-of-freedom parallel underwater robot docking and recycling mechanism comprises a seven-degree-of-freedom parallel robot, a base, a control module and a positioning module; the seven-degree-of-freedom parallel robot is electrically connected with the control module, the positioning module is electrically connected with the control module, the seven-degree-of-freedom parallel robot comprises a static platform and a movable platform, the static platform is installed on the base, and the static platform and the movable platform are connected through a plurality of branch chains. The seven-degree-of-freedom parallel robot can perform seven-degree-of-freedom movement through cooperation of the multiple branch chains, and the movable platform is used for clamping an underwater robot. The position and posture information of the underwater robot is obtained through the positioning module, the position and posture information is solved through the control module, the seven-degree-of-freedom parallel robot is controlled to move to a proper position and a proper rotating angle, grabbing and releasing of the underwater robot are achieved, the requirement for the posture of the underwater robot during capturing can be lowered, and the capturing efficiency of the underwater robot is improved. And a larger capturing range can be obtained, and the docking success rate can be improved.
本发明提供了一种七自由度并联的水下机器人对接回收机构及水下机器人,包括七自由度并联机器人、基座、控制模块以及定位模块;七自由度并联机器人与控制模块电连接,定位模块与控制模块电连接,七自由度并联机器人包括静平台和动平台,静平台安装在基座上,静平台和动平台之间通过多条支链连接,七自由度并联机器人通过多条支链配合能够进行七自由度运动,动平台用于夹持水下机器人。本发明通过定位模块获得水下机器人的位姿信息,通过控制模块解算位姿信息,控制七自由度并联机器人运动到合适的位置和转角,实现对水下机器人的抓取和释放,有助于降低对水下机器人捕获时的姿态要求,有助于获得更大的捕获范围,有助于提高对接成功率。
Seven-degree-of-freedom parallel underwater robot docking recovery mechanism and underwater robot
七自由度并联的水下机器人对接回收机构及水下机器人
2023-04-04
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |