CN104290886A - Underwater fishing robot - Google Patents

Abstract

An underwater salvage robot belongs to the technical field of robots. Including manipulator, bottom plate, high-definition camera, support frame, LED light, binocular camera, first airbag, flange plate, first air pump, acrylic cylinder, main thruster, single-chip controller, battery, baffle, notch, side Propeller, slide rail, slider, second claw, first cylinder, first solenoid valve, first support plate, scissor arm, second solenoid valve, second cylinder, telescopic stick, first claw, mechanical claw, Bracket, third solenoid valve, first motor seat, second support plate, third cylinder, first motor, first coupling, connecting shaft, shaft sleeve, mechanical arm, second motor, bearing frame, second coupling Shaft device, screw nut, leading screw, long handle, hook, the second air pump, connecting rod, the second air bag, clamp finger, electric push rod and connecting block, four support frames are installed on the described bottom plate; the advantage of the present invention is : Simple operation, wide range of motion, strong adaptability.

Description

An underwater salvage robot

technical field

The invention relates to an underwater salvage robot, which belongs to the technical field of robots.

Background technique

Underwater robots can complete a lot of work that humans cannot do underwater. The underwater robot is equipped with a camera, and the controller can see the seabed in real time on the ship or on the shore. It can be widely used in the development of seabed mineral resources, underwater construction and military and military. In many aspects such as national defense construction, underwater manipulators and underwater manipulators are the key components of underwater robots. However, the existing designs of manipulators and manipulators have complex structures, which are not conducive to operation, have a small range of motion, and have poor applicability. In order to solve the above difficulties, it is necessary to develop an underwater robot with simple operation, wide range of motion and strong adaptability.

Contents of the invention

The purpose of the present invention is to provide an underwater salvage robot.

The problem to be solved by the present invention is that the structure of the existing design of the manipulator and the mechanical claw is relatively complicated, which is not conducive to operation, has a small range of motion, and has poor applicability.

For realizing the purpose of the present invention, the technical scheme that the present invention adopts is:

An underwater salvage robot, including a manipulator, a bottom plate, a high-definition camera, a support frame, an LED light, a binocular camera, a first airbag, a flange, a first air pump, an acrylic cylinder, a main thruster, a single-chip microcomputer controller, and a battery , baffle plate, gap, side thruster, slide rail, slider, second claw, first cylinder, first solenoid valve, first support plate, scissor arm, second solenoid valve, second cylinder, telescopic stick, The first claw, the mechanical claw, the bracket, the third solenoid valve, the first motor seat, the second support plate, the third cylinder, the first motor, the first coupling, the connecting shaft, the bushing, the mechanical arm, and the second motor , bearing frame, second coupling, screw nut, lead screw, long handle, hook, second air pump, connecting rod, second air bag, clamp finger, electric push rod and connecting block, four supports are installed on the bottom plate Frame, acrylic cylinders are installed on two adjacent support frames, flanges are installed at the left and right ends of the acrylic cylinders, LED lights, binocular cameras and high-definition cameras are installed in the acrylic cylinders on the front side, and the high-definition cameras are facing The installation is inclined downwards, the binocular camera is installed horizontally, and the single-chip controller and battery are installed in the acrylic cylinder on the rear side. The propeller is respectively connected to the LED light, the binocular camera and the high-definition camera through wires, the main thruster is installed on the base plate, the single-chip microcomputer controller is connected to the main propeller through wires, and the two first airbags and two first air pumps are installed on the base plate , the first air bag is connected to the first air pump through the air pipe, and the first air pump is connected to the single-chip controller through wires. The left and right sides of the bottom plate are symmetrically installed with baffles. There are two gaps on the baffle, and side thrusters are installed on the baffle. The manipulator is installed at the front end of the bottom plate, and two mechanical claws are installed at the left and right ends of the bottom plate, and a telescopic stick is installed between the two mechanical claws on the same side. Installation, the second cylinder is installed on the first support plate, the first support plate is installed on the right side of the baffle plate, the second solenoid valve is installed on the first support plate, the second solenoid valve is connected with the second cylinder through a pipeline, and the second solenoid valve is connected to the second cylinder through a pipeline. Two solenoid valves are connected with the single-chip microcomputer controller through wires.

The manipulator includes a bracket, a third solenoid valve, a first motor seat, a second support plate, a third cylinder, a first motor, a first coupling, a connecting shaft, a shaft sleeve, a mechanical arm, a second motor, and a bearing frame , the second coupling, screw nut, lead screw, long handle, hook, second air pump, connecting rod, second air bag and clamp finger, two brackets are installed on the front end of the bottom plate, and the first motor base is installed on the two brackets , the first motor base is hinged with the two brackets, the first motor is installed on the first motor base, the microcontroller controller is connected to the first motor through wires, the first motor is connected to the connecting shaft through the first coupling, and the shaft sleeve is installed On the connecting shaft, the lower end of the connecting shaft is installed on the mechanical arm, and the second motor is installed on the mechanical arm. The coupling is installed on the bearing frame, the bearing frame is installed on the mechanical arm, the screw nut is installed on the lead screw, the long handle is installed on the screw nut, the hook is installed on the lower end of the long handle, and the two second air pumps are installed on the mechanical arm. The single-chip microcomputer controller is connected with the second air pump through wires, and the electric push rod is installed in the mechanical arm. The single-chip microcomputer controller is connected with the electric push rod through wires. Each hinge finger at the lower end of the connecting rod, the upper end of the finger is located in the mechanical arm, the second air bag is installed inside the finger, the second air bag is connected with the second air pump through the air pipe, the second support plate is installed under the bottom plate, the third solenoid valve and the second air bag The three cylinders are installed on the second support plate, the controller of the single-chip microcomputer is connected with the third electromagnetic valve through the wire, the third electromagnetic valve is connected with the third cylinder through the pipeline, and the piston rod of the third cylinder is hinged with the axle sleeve.

The mechanical claw includes a slide rail, a slide block, a second claw, a first cylinder, a first solenoid valve, a scissor arm and a first claw, the slide rail is hinged under the base plate, the slide block is installed on the slide rail, and the second claw Installed under the slider, the first claw is hinged under the bottom plate, the right end of the first cylinder is installed inside the first claw, the piston rod of the first cylinder is installed inside the second claw, the first solenoid valve is installed inside the first claw, the first The cylinder is connected to the first solenoid valve through the pipeline, and the first solenoid valve is connected to the single-chip controller through the wire. Inside the second claw, the right end of the scissor arm is hinged with the second claw, the left end of the telescopic stick is installed on the right side of the second claw of the previous mechanical claw, and the right end of the telescopic stick is installed on the left side of the first claw of the latter mechanical claw.

The invention has the advantages that: the main thruster controls the up and down of the robot, and the two side thrusters control the horizontal movement direction of the robot; when salvaging an object with a large mass, the single-chip controller controls the first air pump to inflate the first airbag, and the second An airbag can ensure that the robot successfully salvages the salvage and completes the task; the high-definition camera monitors the working conditions of the manipulator, the binocular camera monitors the front of the robot, and guides the course. The video system function provides real-time underwater images to ground operators, which is convenient for operators Give the robot the correct work order; the single-chip controller controls the extension or shortening of the electric push rod, and the two clamps are driven by the connecting rod to separate or move closer to the two sides, so as to realize the clamping of smaller goods; when the goods are fragile and fragile, The single-chip controller inflates the second air bag through the second air pump, so that the fingers are not easy to damage the goods; when the goods are in the shape of a long chain, after the goods are clamped by the fingers, the single-chip controller controls the first motor to rotate forward or reverse , so that the goods can be wound on the mechanical arm; when the goods are in the slender hole or in the slit, the single-chip controller controls the second motor to rotate forward or reverse, and drives the lead screw to rotate forward or reverse, so that the wire nut can take the long The handle moves down along the lead screw, so that the hook enters the hole or slit to hook the goods; the single-chip controller controls the power-on and power-off of the third solenoid valve to control the piston rod of the third cylinder to do telescopic movement, driving the connection The lower end of the shaft swings forward or backward to realize the adjustable angle between the manipulator and the ground, which is convenient for the fingers to pick up the goods; the piston rod of the second cylinder is installed obliquely on the right end of the telescopic stick, and the single-chip controller controls the energization and activation of the second solenoid valve. Turn off the power to control the piston rod of the second cylinder to do telescopic movement, and the piston rod of the second cylinder pushes the telescopic stick to move left or right, so that the four mechanical claws can hug each other and firmly hold the heavy and large objects. Goods; the single-chip controller controls the power on and off of the first solenoid valve to control the telescopic movement of the piston rod of the first cylinder, so that the second claw moves to the right with the piston rod of the first cylinder, and the scissor arm is pulled apart. Make the distance between the first claw and the second claw larger, so that the mechanical claw is suitable for handling goods of different volumes.

Description of drawings

Fig. 1 is an overall structural diagram of an underwater salvage robot of the present invention;

Figure 2 is an enlarged schematic view of the manipulator;

Fig. 3 is a diagram of the internal structure of the mechanical arm;

Figure 4 is an enlarged schematic view of the mechanical claw;

In the figure: 1. Manipulator 2. Bottom plate 3. HD camera 4. Support frame 5. LED lights 6. Binocular camera 7. First airbag 8. Flange 9. First air pump 10. Acrylic cylinder 11. Main propulsion Device 12. Single-chip microcomputer controller 13. Battery 14. Baffle 15. Notch 16. Side thruster 17. Slide rail 18. Slider 19. Second claw 20. First cylinder 21. First solenoid valve 22. First branch Plate 23, scissor arm 24, second solenoid valve 25, second cylinder 26, telescopic rod 27, first claw 28, mechanical claw 29, bracket 30, third solenoid valve 31, first motor seat 32, second branch Plate 33, Third Cylinder 34, First Motor 35, First Coupling 36, Connecting Shaft 37, Shaft Sleeve 38, Robotic Arm 39, Second Motor 40, Bearing Frame 41, Second Coupling 42, Screw Nut 43. Lead screw 44, long handle 45, hook 46, second air pump 47, connecting rod 48, second air bag 49, clamp finger 50, electric push rod 51 connecting block.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

An underwater salvage robot of the present invention comprises a manipulator 1, a bottom plate 2, a high-definition camera 3, a support frame 4, an LED light 5, a binocular camera 6, a first airbag 7, a flange 8, a first air pump 9, and an acrylic circle Barrel 10, main thruster 11, single-chip microcomputer controller 12, battery 13, baffle plate 14, notch 15, side thruster 16, slide rail 17, slider 18, second claw 19, first cylinder 20, first solenoid valve 21. The first support plate 22, the scissor arm 23, the second solenoid valve 24, the second cylinder 25, the telescopic rod 26, the first claw 27, the mechanical claw 28, the bracket 29, the third solenoid valve 30, and the first motor base 31. The second support plate 32, the third cylinder 33, the first motor 34, the first coupling 35, the connecting shaft 36, the shaft sleeve 37, the mechanical arm 38, the second motor 39, the bearing frame 40, the second coupling Device 41, screw nut 42, lead screw 43, long handle 44, hook 45, second air pump 46, connecting rod 47, second air bag 48, clamp finger 49, electric push rod 50 and connecting block 51, on the bottom plate 2 Four supporting frames 4 are installed, acrylic cylinders 10 are respectively installed on two adjacent supporting frames 4, flanges 8 are respectively installed at the left and right ends of the acrylic cylinders 10, and LED lamps 5, The binocular camera 6 and the high-definition camera 3, the high-definition camera 3 is installed on a downward slope, the binocular camera 6 is installed horizontally, the high-definition camera 3 monitors the working condition of the manipulator 1, the binocular camera 6 monitors the front of the robot, guides the course, and the video system function Provide real-time underwater images to ground operators, so that operators can give correct work instructions to the robot; the acrylic cylinder 10 located on the rear side is installed with a single-chip microcomputer controller 12 and a battery 13, and the battery 13 is connected to the single-chip microcomputer controller 12 through wires , the single-chip controller 12 is connected to the operating system on the shore through the umbilical cable, the single-chip controller 12 is connected to the LED light 5, the binocular camera 6 and the high-definition camera 3 through wires, the main thruster 11 is installed on the base plate 2, and the single-chip controller 12 is connected with the main thruster 11 through wires, and the main thruster 11 controls the up and down of the robot. Two first airbags 7 and two first air pumps 9 are installed on the base plate 2. The first airbag 7 connects with the first air pump through the air pipe. 9 are connected, and the first air pump 9 is connected with the single-chip controller 12 through wires, and when salvaging larger objects, the single-chip controller 12 controls the first air pump 9 to inflate the first air bag 7, and the first air bag 7 can ensure that the robot will salvage Thing is successfully salvaged, and the task is completed; the left and right sides of the bottom plate 2 are symmetrically installed with baffle plates 14, and the baffle plate 14 is provided with two gaps 15, which can be tied to the gap 15 on the baffle plate 14 with ropes or chains of hoists on the shore or on board. The robot is lowered into the water, side thrusters 16 are installed on the baffle plate 14, and the two side thrusters 16 control the horizontal movement direction of the robot; the manipulator 1 is installed at the front end of the bottom plate 2, and two mechanical claws 28 are respectively installed at the left and right ends of the bottom plate 2, Telescopic stick 26 is installed between two mechanical claws 28 of the same side, and the second cylinder 25 piston rods are obliquely installed on the right end of telescopic stick 26, and the second The cylinder 25 and the telescopic stick 26 are installed at 145°, the second cylinder 25 is installed on the first support plate 22, the first support plate 22 is installed on the right side of the baffle plate 14, and the second electromagnetic valve 24 is installed on the first support plate 22 , the second solenoid valve 24 is connected to the second cylinder 25 through pipelines, the second solenoid valve 24 is connected to the single-chip controller 12 through wires, and the single-chip controller 12 controls the power-on and power-off of the second solenoid valve 24 to control the second cylinder The piston rod of 25 performs telescopic movement, and the piston rod of the second cylinder 25 pushes the telescopic stick 26 to move to the left or to the right, so that the four mechanical claws 28 can hug each other and firmly hold the heavy and bulky goods; Camera 3, LED light 5, binocular camera 6, single-chip microcomputer controller 12, main thruster 11, side thruster 16 and electric push rod 50 are all prior art, can directly buy and obtain on the market, main thruster 11, Both the side propeller 16 and the electric push rod 50 are built-in motor structures.

Described manipulator 1 comprises support 29, the 3rd electromagnetic valve 30, the 1st motor base 31, the 2nd support plate 32, the 3rd air cylinder 33, the 1st motor 34, the 1st coupling 35, connecting shaft 36, axle sleeve 37 , mechanical arm 38, second motor 39, bearing frame 40, second coupling 41, screw nut 42, leading screw 43, long handle 44, hook 45, second air pump 46, connecting rod 47, second air bag 48 and Finger 49, two brackets 29 are installed on the front end of the base plate 2, the first motor base 31 is installed on the two brackets 29, the first motor base 31 is hinged with the two brackets 29, the first motor 34 is installed on the first motor base 31 Above, the single-chip microcomputer controller 12 is connected with the first motor 34 through wires, and the first motor 34 is connected with the connecting shaft 36 through the first coupling 35. When the goods are in the shape of a long chain, after the clamp finger 49 clamps the goods, the single-chip microcomputer The controller 12 controls the first motor 34 to rotate forward or reverse, so that the goods can be wound on the mechanical arm 38; On the mechanical arm 38, the single-chip microcomputer controller 12 is connected with the second motor 39 through wires, and the second motor 39 is connected with the lead screw 43 through the second coupling 41, and the second coupling 41 is installed on the bearing frame 40, and the bearing The frame 40 is installed on the mechanical arm 38, the screw nut 42 is installed on the lead screw 43, the long handle 44 is installed on the screw nut 42, the hook 45 is installed on the lower end of the long handle 44, and when the goods are positioned in the elongated hole or in the slit, The single-chip controller 12 controls the second motor 39 to rotate forward or reverse, and drives the lead screw 43 to rotate forward or reverse, so that the screw nut 42 moves down along the lead screw 43 with the long handle 44, so that the hook 45 enters the hole Or hook goods in the slit; two second air pumps 46 are installed on the mechanical arm 38, the single-chip microcomputer controller 12 links to each other with the second air pump 46 through the wire, the electric push rod 50 is installed in the mechanical arm 38, the single-chip microcomputer controller 12 is connected through the wire Connected with the electric push rod 50, the connecting block 51 is installed on the front end of the electric push rod 50, two connecting rods 47 are hinged on the connecting block 51, and the lower ends of each connecting rod 47 are respectively hinged with the clamp finger 49, and the upper end of the clamp finger 49 is located in the mechanical arm 38 , the single-chip microcomputer controller 12 controls the extension or shortening of the electric push rod 50, and the two gripper fingers 49 are driven by the connecting rod 47 to separate or move closer to both sides, so that the gripper fingers 49 can clamp smaller goods; Air bag 48, the second air bag 48 links to each other with the second air pump 46 through the trachea, when the goods are fragile and fragile, the single-chip microcomputer controller 12 inflates the second air bag 48 through the second air pump 46, so that the fingers 49 are not easy to damage the goods; The support plate 32 is installed under the bottom plate 2, the third electromagnetic valve 30 and the third cylinder 33 are installed on the second support plate 32, the single-chip microcomputer controller 12 is connected with the third electromagnetic valve 30 through wires, and the third electromagnetic valve 30 is connected through a pipeline. Connected with the third cylinder 33, the piston rod of the third cylinder 33 is hinged with the bushing 37, the bushing 37 can prevent the third cylinder 33 from rotating with the connecting shaft 36, and the controller controls the power on and off of the third solenoid valve 30. Electricity controls the piston rod of the third cylinder 33 to do telescopic movement, and drives the lower end of the connecting shaft 36 to swing forward or backward, so that the angle between the manipulator 1 and the ground is adjustable, and the pincers 49 are convenient for gripping goods.

Described mechanical claw 28 comprises slide rail 17, slide block 18, second claw 19, first cylinder 20, first electromagnetic valve 21, scissor arm 23 and first claw 27, and slide rail 17 is hinged under base plate 2, slides The block 18 is installed on the slide rail 17, the second claw 19 is installed under the slide block 18, the first claw 27 is hinged under the bottom plate 2, the right end of the first cylinder 20 is installed inside the first claw 27, and the piston rod of the first cylinder 20 is installed Inside the second claw 19, the first solenoid valve 21 is installed inside the first claw 27, the first cylinder 20 is connected to the first solenoid valve 21 through a pipeline, and the first solenoid valve 21 is connected to the single-chip controller 12 through a wire. The left end of the yoke arm 23 is installed inside the first claw 27, the left end of the scissor arm 23 is hinged with the first claw 27, the right end of the scissor arm 23 is installed inside the second claw 19, the right end of the scissor arm 23 is hinged with the second claw 19, and the single chip microcomputer The controller 12 controls the power-on and power-off of the first electromagnetic valve 21 to control the piston rod of the first cylinder 20 to perform telescopic movement, so that the second claw 19 moves to the right along with the piston rod of the first cylinder 20, so that the scissor arm 23 Pull it apart to make the distance between the first claw 27 and the second claw 19 larger, so that the mechanical claw 28 is suitable for carrying goods of different volumes. The left end of the telescopic stick 26 is installed on the right side of the second claw 19 of the previous mechanical claw 28. The right end of the telescopic stick 26 is installed on the left side of the first claw 27 of the last mechanical claw 28, and the second cylinder 25 piston rod is obliquely installed on the right end of the telescopic stick 26, and the single-chip controller 12 controls the power-on and power-off of the second solenoid valve 24 to control The piston rod of the second cylinder 25 performs telescopic movement, and the piston rod of the second cylinder 25 pushes the telescopic stick 26 to move to the left or to the right, so that the four mechanical claws 28 can hug each other firmly to hold the larger and heavier objects. goods.

Using method of the present invention: tie the gap 15 on the baffle plate 14 with ropes or chains of hoists on the shore or on board, lower the robot into the water, the main propeller 11 controls the up and down of the robot, and the two side propellers 16 control The direction of the robot’s horizontal movement; when salvaging a larger object, the single-chip controller 12 controls the first air pump 9 to inflate the first air bag 7, and the first air bag 7 can ensure that the robot successfully salvages the salvaged object and completes the task; the high-definition camera 3 Monitor the working conditions of the manipulator 1, the binocular camera 6 monitors the front of the robot, guides the course, and the video system function provides real-time underwater images to the ground operators, so that the operators can give correct work instructions to the robot; the single-chip controller 12 controls the electric pusher The rod 50 is elongated or shortened, and the two gripper fingers 49 are separated or moved closer to both sides under the drive of the connecting rod 47, so that the gripper fingers 49 can clamp smaller goods; Inflate the second air bag 48, so that the clamp finger 49 is not easy to damage the goods; The goods can be wound on the mechanical arm 38; when the goods are located in the elongated hole or in the slit, the single-chip microcomputer controller 12 controls the second motor 39 to rotate forward or reversely, and drives the lead screw 43 to rotate forwardly or reversely, so that the screw nut 42 Move down along the lead screw 43 with the long handle 44, so that the hook 45 enters the hole or the slit to hook the goods; the single-chip controller 12 controls the power-on and power-off of the third solenoid valve 30 to control the third cylinder 33 The piston rod of the second cylinder does telescopic movement, which drives the lower end of the connecting shaft 36 to swing forward or backward, so that the angle between the manipulator 1 and the ground can be adjusted, which is convenient for the clamp finger 49 to pick up the goods; the piston rod of the second cylinder 25 is obliquely installed on the telescopic rod At the right end of 26, the single-chip controller 12 controls the power-on and power-off of the second electromagnetic valve 24 to control the piston rod of the second cylinder 25 to perform telescopic movement, and the piston rod of the second cylinder 25 pushes the telescopic rod 26 to move left or right, Realize that four mechanical claws 28 hug each other firmly to hold the goods with larger weight and larger volume; the single-chip microcomputer controller 12 controls the power-on and power-off of the first electromagnetic valve 21 to control the piston rod of the first cylinder 20 to do telescopic movement, Make the second claw 19 move to the right along with the piston rod of the first air cylinder 20, make the scissor arm 23 pull away, make the distance between the first claw 27 and the second claw 19 become larger, make the mechanical claw 28 suitable for handling different Finally, the robot is pulled out of the water with a winch on the shore or on the ship.

Claims (3)

1. a underwater salvage robot, comprises manipulator (1), base plate (2), high-definition camera (3), bracing frame (4), LED (5), binocular camera (6), first air bag (7), flange (8), first air pump (9), acrylic cylinder (10), main thruster (11), singlechip controller (12), storage battery (13), baffle plate (14), breach (15), side propeller (16), slide rail (17), slide block (18), second pawl (19), first cylinder (20), first electromagnetic valve (21), first support plate (22), scissor arm (23), second electromagnetic valve (24), second cylinder (25), flexible stick (26), first pawl (27), gripper (28), support (29), 3rd electromagnetic valve (30), first motor cabinet (31), second support plate (32), 3rd cylinder (33), first electrical motor (34), first coupler (35), adapter shaft (36), axle sleeve (37), mechanical arm (38), second electrical motor (39), bearing frame (40), second coupler (41), screw (42), leading screw (43), long handle (44), hook (45), second air pump (46), connecting rod (47), second air bag (48), folder refers to (49), electric pushrod (50) and contiguous block (51), it is characterized in that: upper installation four bracing frames (4) of described base plate (2), the upper each installation acrylic cylinder (10) of adjacent two bracing frames (4), the each mounting flange in acrylic cylinder (10) two ends, left and right (8), are positioned at acrylic cylinder (10) mounted LED lamp (5) of front side, binocular camera (6) and high-definition camera (3), high-definition camera (3) is downward-sloping installation, binocular camera (6) is level installation, the acrylic cylinder (10) being positioned at rear side installs singlechip controller (12) and storage battery (13), storage battery (13) is connected with singlechip controller (12) by wire, singlechip controller is connected with operating system on the bank by umbilical cables, singlechip controller (12) by wire respectively with LED (5), binocular camera (6) is connected with high-definition camera (3), main thruster (11) is arranged on base plate (2), singlechip controller (12) is connected with main thruster (11) by wire, two the first air bags (7) and two the first air pumps (9) are arranged on base plate (2), first air bag (7) is connected with the first air pump (9) by tracheae, first air pump (9) is connected with singlechip controller (12) by wire, base plate (2) is each side symmetrical installs baffle plate (14), baffle plate (14) is provided with two breach (15), the upper installation side propelling unit (16) of baffle plate (14), base plate (2) front end installation manipulator (1), two grippers (28) are respectively installed at base plate (2) two ends, left and right, between two grippers (28) of homonymy, flexible stick (26) is installed, second cylinder (25) piston rod is inclined and mounted on flexible stick (26) right-hand member, second cylinder (25) and flexible stick (26) are installed in 145 °, second cylinder (25) is arranged on the first support plate (22), first support plate (22) is arranged on baffle plate (14) right side, second electromagnetic valve (24) is arranged on the first support plate (22), second electromagnetic valve (24) is connected with the second cylinder (25) by pipeline, second electromagnetic valve (24) is connected with singlechip controller (12) by wire.

2. a kind of underwater salvage robot according to claim 1, it is characterized in that: described manipulator (1) comprises support (29), 3rd electromagnetic valve (30), first motor cabinet (31), second support plate (32), 3rd cylinder (33), first electrical motor (34), first coupler (35), adapter shaft (36), axle sleeve (37), mechanical arm (38), second electrical motor (39), bearing frame (40), second coupler (41), screw (42), leading screw (43), long handle (44), hook (45), second air pump (46), connecting rod (47), second air bag (48) and folder refer to (49), two supports (29) are arranged on base plate (2) front end, first motor cabinet (31) is arranged on two supports (29), first motor cabinet (31) is hinged with two supports (29), first electrical motor (34) is arranged on the first motor cabinet (31), singlechip controller (12) is connected with the first electrical motor (34) by wire, first electrical motor (34) is connected with adapter shaft (36) by the first coupler (35), axle sleeve (37) is arranged on adapter shaft (36), adapter shaft (36) lower end is arranged on mechanical arm (38), second electrical motor (39) is arranged on mechanical arm (38), singlechip controller (12) is connected with the second electrical motor (39) by wire, second electrical motor (39) is connected with leading screw (43) by the second coupler (41), second coupler (41) is arranged on bearing frame (40), bearing frame (40) is arranged on mechanical arm (38), screw (42) is arranged on leading screw (43), long handle (44) is arranged on screw (42), hook (45) is arranged on long handle (44) lower end, two the second air pumps (46) are arranged on mechanical arm (38), singlechip controller (12) is connected with the second air pump (46) by wire, in mechanical arm (38), electric pushrod (50) is installed, singlechip controller (12) is connected with electric pushrod (50) by wire, contiguous block (51) is arranged on electric pushrod (50) front end, upper hinged two connecting rods (47) of contiguous block (51), the each toggle clamp in each connecting rod (47) lower end refers to (49), folder refers to that (49) upper end is positioned at mechanical arm (38), folder refers to that the second air bag (48) is installed in (49) inner side, second air bag (48) is connected with the second air pump (46) by tracheae, under second support plate (32) is arranged on base plate (2), 3rd electromagnetic valve (30) and the 3rd cylinder (33) are arranged on the second support plate (32), singlechip controller (12) is connected with the 3rd electromagnetic valve (30) by wire, 3rd electromagnetic valve (30) is connected with the 3rd cylinder (33) by pipeline, 3rd cylinder (33) piston rod and axle sleeve (37) hinged.

3. a kind of underwater salvage robot according to claim 1, it is characterized in that: described gripper (28) comprises slide rail (17), slide block (18), second pawl (19), first cylinder (20), first electromagnetic valve (21), scissor arm (23) and the first pawl (27), under slide rail (17) is hinged on base plate (2), slide block (18) is arranged on slide rail (17), under second pawl (19) is arranged on slide block (18), under first pawl (27) is hinged on base plate (2), it is inner that first cylinder (20) right-hand member is arranged on the first pawl (27), it is inner that first cylinder (20) piston rod is arranged on the second pawl (19), it is inner that first electromagnetic valve (21) is arranged on the first pawl (27), first cylinder (20) is connected with the first electromagnetic valve (21) by pipeline, first electromagnetic valve (21) is connected with singlechip controller (12) by wire, it is inner that scissor arm (23) left end is arranged on the first pawl (27), scissor arm (23) left end and the first pawl (27) hinged, it is inner that scissor arm (23) right-hand member is arranged on the second pawl (19), scissor arm (23) right-hand member and the second pawl (19) hinged, flexible stick (26) left end is arranged on the second pawl (19) right side of previous gripper (28), flexible stick (26) right-hand member is arranged on the first pawl (27) left side of a rear gripper (28).