The invention belongs to the related technical field of underwater recycling, and discloses an underwater butt joint recycling robot which comprises a shell, a positioning system, a grabbing claw, a telescopic mechanism and a water suction pump, and the positioning system is arranged on the surface of the shell and used for positioning the position of an underwater object to be recycled; the telescopic mechanism is arranged in the shell, and one end of the telescopic mechanism is connected with the grabbing claw; the grabbing claw comprises a plurality of flexible claw arms, each flexible claw arm is provided with at least one suction cup, each flexible claw arm is provided with a gas cavity, the gas cavities are connected with the air cylinders, the shapes of the flexible claw arms are controlled through inflation and exhaust to conduct grabbing, and proximity switches are arranged in the centers of the suction cups. The water suction pump is connected with the suction cup and used for sucking water stored in the suction cup when the suction cup sucks. According to the device, active grabbing and butt joint of various underwater vehicles can be achieved under a certain water depth, the specific butt joint function of the grabbed vehicles does not need to be modified, and grabbed objects can be expanded into underwater objects of other different sizes.

    本发明属于水下回收相关技术领域,其公开了一种用于水下的对接回收机器人,包括壳体、定位系统、抓取爪、伸缩机构以及抽水泵,其中:定位系统设于壳体的表面,用于定位待回收水下物体的位置;伸缩机构设于壳体的内部,伸缩机构的一端与所述抓取爪连接;抓取爪包括多个柔性爪臂,每个柔性爪臂上设有至少一个吸盘,柔性爪臂设有气体腔室,气体腔室与气缸连接,通过充气和排气控制柔性爪臂的形状进行抓取,吸盘设有中心设有接近开关;抽水泵与吸盘连接,用于在吸盘吸附时抽取吸盘中的存水。本申请可在一定水深下对各类水下航行器实现主动抓取对接,无需对被抓取的航行器进行特定对接功能的改造,被抓取对象还可以扩充为其他不同尺寸的水下物体。


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    Title :

    Underwater docking recovery robot


    Additional title:

    一种用于水下的对接回收机器人


    Contributors:
    FU XIAOYUN (author) / PENG YUXUAN (author) / LI BAOREN (author) / ZHANG JIANXING (author) / DONG SHILIU (author) / YUAN CHANG (author) / YANG GANG (author) / GAO LONGLONG (author) / DU JINGMIN (author)

    Publication date :

    2024-05-24


    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



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