The invention belongs to the technical field of robots, and relates to an underwater light butterfly-shaped bionic operation robot and a working method thereof.The underwater light butterfly-shaped bionic operation robot comprises a butterfly-shaped all-posture movement body, a trunk-imitating mechanical arm is installed below the butterfly-shaped all-posture movement body, and a self-adaptive negative pressure adsorption system is arranged at the bottom end of the trunk-imitating mechanical arm; the operation direction changing assembly is arranged between the butterfly-shaped all-posture movement body and the elephant-nose-imitating mechanical arm, and rotation of the self-adaption negative pressure adsorption system and the elephant-nose-imitating mechanical arm relative to the butterfly-shaped all-posture movement body is achieved. And the shore station console is arranged on the shore or a mother ship and is electrically connected with the butterfly-shaped all-attitude motion body. The overall water resistance is smaller, and the movement performance is higher; omni-directional and all-attitude flexible movement of the robot body is achieved through the six propeller structures. Due to the double-wing nozzle pipelines on the two sides, the vertical movement and the horizontal movement are almost zero coupling, and the movement is more flexible; the trunk-imitating mechanical arm enables the self-adaptive negative pressure adsorption system to have more degrees of freedom, and the application range and the adsorption capacity are stronger.

    本发明属于机器人技术领域,涉及一种水下轻量蝶形仿生作业机器人及其工作方法,包括蝶形全姿态运动本体,仿象鼻机械臂安装于蝶形全姿态运动本体下方,自适应负压吸附系统设置于仿象鼻机械臂的底端;作业方位变换组件设置于蝶形全姿态运动本体和仿象鼻机械臂之间,实现自适应负压吸附系统和仿象鼻机械臂相对蝶形全姿态运动本体之间的转动;岸站控制台设置于岸边或母船上,岸站控制台与蝶形全姿态运动本体电气连接。整体水阻更小、运动性能更强;六组推进器结构实现机器人本体全向全姿态灵活运动;两侧双翼喷嘴管路使垂向和水平运动近乎零耦合,运动更加灵活;仿象鼻机械臂使自适应负压吸附系统自由度更多,适用范围和吸附力更强。


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    Title :

    Underwater lightweight butterfly-shaped bionic operation robot and working method thereof


    Additional title:

    一种水下轻量蝶形仿生作业机器人及其工作方法


    Contributors:
    GUO TINGTING (author) / ZHANG XU (author) / DONG CHEN (author) / ZHANG HUIQING (author) / LI XINRAN (author) / ZHAO YIWEI (author) / XIAO HUI (author)

    Publication date :

    2023-11-03


    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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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