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发明公开
CN106514668A 基于双机械手环抱桩柱的水下机器人定位系统 无效 - 驳回

基于双机械手环抱桩柱的水下机器人定位系统
摘要：
本发明公开了一种基于双机械手环抱桩柱的水下机器人定位系统，包括水面控制台、可吸附在桩柱上的水下作业机器人，所述水下作业机器人两侧对称设置有用于抱紧桩柱的液压环抱双机械手，所述水面控制台与水下作业机器人信号连接，用于控制水下作业机器人及液压环抱双机械手的动作。本发明大幅提高水下作业机器人定位能力及作业效率，以及有效地克服了机器人动力定位”形式能耗高、因机器人位置抖动机械手对准目标困难而导致作业效率低的问题。
摘要（英）：

The invention discloses an underwater robot positioning system based on a double-manipulator encircling pile column. The underwater robot positioning system comprises a water surface console and an underwater working robot capable of being absorbed to the pile column. The two sides of the underwater working robot are symmetrically provided with double hydraulic encircling manipulators for tightly holding the pile column. The water surface console is connected with the underwater working robot through a signal and used for controlling the actions of the underwater working robot and the double hydraulic encircling manipulators. By the adoption of the underwater robot positioning system, the positioning capacity and the working efficiency of the underwater working robot are improved greatly, and the problems that the energy consumption of the power positioning manner of the robot is high, it is difficult for the manipulators to align with a target due to the fact that the robot position shakes and consequently the working efficiency is low are solved effectively.

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