CN104773267B - Adaptive pick-up boat - Google Patents
Adaptive pick-up boat Download PDFInfo
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- CN104773267B CN104773267B CN201510181081.4A CN201510181081A CN104773267B CN 104773267 B CN104773267 B CN 104773267B CN 201510181081 A CN201510181081 A CN 201510181081A CN 104773267 B CN104773267 B CN 104773267B
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- arm
- finger
- hull
- segment
- boat
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Abstract
The invention discloses a kind of adaptive pick-up boat, including hull, the underloading manipulator being arranged on the hull, heavy-duty machinery hand and rubbish storage cabin；The underloading arm end is provided with the string bag for salvaging river surface rubbish, and the heavy-duty machinery hand end is provided with the mechanical paw for capturing river bed weight；The underloading manipulator and heavy-duty machinery hand include upper arm, middle arm, underarm and pedestal；The pedestal is rotationally connected with the hull and drives it to rotate by a rotary drive motor, the adaptive pick-up boat of the present invention can increase the acquisition salvaged to operating environment information and understand, and realize automatic obstacle avoiding, automatic tracking, it can be salvaged simultaneously according to the suitable mechanical arm of salvaging of the different intelligent of salvaged thing selection, meet the performance requirement of pick-up boat utonomous working in complex environment.
Description
Technical field
The present invention relates to automated machine apparatus field, specifically a kind of adaptive pick-up boat.
Background technology
At present, China's pollution of river is increasingly serious, main reason is that the rubbish that can not be decomposed is dumped into river, bag
Include the white garbage and demersal heavy rubbish that can be bubbled through the water column.Because many river course pick-up boats are required for manually at this stage
Operation, inefficiency, meanwhile, in some hazardous environments, life is impacted safely.
Accordingly, it would be desirable to be improved to existing pick-up boat, increase the utonomous working performance of pick-up boat, enable pick-up boat
Realize to unknown river course environment carry out three-dimensional map model construction, and can realize can automatic obstacle avoiding, automatic tracking, meet pick-up boat
The performance requirement of utonomous working in complex environment.
The content of the invention
In view of this, the purpose of the present invention is to overcome defect of the prior art there is provided a kind of adaptive pick-up boat, and it can
The acquisition that increase salvages to operating environment information understands, and realizes automatic obstacle avoiding, automatic tracking, while can be according to salvaged thing
The suitable mechanical arm of salvaging of different intelligent selection salvaged, meet the performance of pick-up boat utonomous working in complex environment
It is required that.
The present invention adaptive pick-up boat, including hull, the underloading manipulator being arranged on hull, heavy-duty machinery hand and
Rubbish storage cabin, underloading arm end is provided with the string bag for salvaging river surface rubbish, and heavy-duty machinery hand end is provided with use
In the mechanical paw of crawl river bed weight, underloading manipulator and heavy-duty machinery hand include upper arm, middle arm, underarm and pedestal, base
Seat is rotationally connected with hull and drives it to rotate by a rotary drive motor；
Further, between the pedestal and underarm, between underarm and middle arm, it is equipped with arm driving dress between middle arm and upper arm
Put, arm drive device includes transmission on bearing pin and drive rod arranged in parallel, bearing pin and is combined with arm driven gear, drives
Transmission is combined with the arm driving gear engaged with arm driven gear on bar；
Further, the mechanical paw includes paw seat and two mechanical fingers for being respectively in paw seat both sides；Machinery
Finger includes interior segment, middle segment and outer segment；Interior segment be fixed on paw seat, middle segment two ends respectively with interior segment and outer finger
Section is rotatably connected and is equipped with finger drive device between interior segment and middle segment, between middle segment and outer segment；Refer to driving dress
Put including finger hinge arranged in parallel and refer to connecting rod；Refer to transmission on hinge and be combined with finger portion driving gear and middle cone tooth
Wheel, refers in the finger portion driven gear for being driven in connecting rod and being combined with and being engaged with finger portion driving gear, paw seat and is provided with the drive of finger portion
Move motor and this refers to the output bevel gear wheel for being fixed with and being engaged with Intermediate bevel gears in portion's driving motor output shaft；
Further, the base bottom is vertically provided with to be driven on rotary-driven shaft and the rotary-driven shaft and is combined with
Rotary drive gear, electric rotating machine output end transmission is combined with the rotation driving gear engaged with rotary drive gear；
Further, the arm drive device also includes the wet braking for being used to hinder drive rod to rotate being arranged on bearing pin
Device；
The adaptive pick-up boat of the present invention also includes the three-dimensional information for being used to gather operating environment three-dimensional information around hull
Harvester and for receiving the three dimensional signal of three-dimensional information harvester collection and building the central processing unit of three-dimensional map；
Three-dimensional information harvester includes being distributed in the ultrasonic transmission/reception sensor for being used to detect obstacle distance around hull；
Further, the three-dimensional information harvester also includes being arranged at hull front end and being connected with central processing unit signal
Camera；
Present invention additionally comprises the automatic control system worked for adaptive control mechanical paw, automatic control system bag
Include：
Position sensor, is arranged inside underarm and upper arm, the luffing angle for detecting underarm and upper arm；
Vision sensor, is arranged at upper arm, and locus, the posture of object are crawled for detecting, and monitors manipulator
The working condition of finger；
Touch sensor, is arranged at mechanical finger inner surface, and the complete information of object is crawled for active obtaining, and
Monitor the working condition of mechanical finger；
Inside force sensor, the clamping face for being arranged at the outer segment of mechanical finger, the clamp pressure for detecting outer segment,
And monitor the working condition of mechanical finger；Embedded board computer, receive and and processing position sensor, vision sensor,
Touch sensor and force sensor feedack, and send command signal to mechanical paw.
The beneficial effects of the invention are as follows：The adaptive pick-up boat of the present invention, when progress river garbage is salvaged, heavy duty
Manipulator can clear up river surface and the weight of river bed, and multiple underloading manipulators are arranged symmetrically in the both sides of hull, be divided into two groups of associations
With work, rubbish reaches the upper limit in current a pair of underloadings manipulator string bag, then the rubbish storage storehouse by garbage transporting into hull
In, meanwhile, latter that underloading manipulator is started working, iterative cycles, which are realized, to be salvaged；In addition, the pick-up boat of the present invention can be realized
Automatic path planning and automatic salvaging function, the need for meeting pick-up boat to utonomous working in complexity.Adopted by three-dimensional information
Acquisition means, which are acquired to the information of operating environment and collection information is input into central processing unit, carries out three-dimensional map structure, knot
Close control system and realize online overall trajectory planning, while the barrier on path is detected by ultrasonic sensor, with reference to control
System processed carries out local directed complete set to overall planning path, realizes autonomous salvage of the pick-up boat in extreme operating conditions, releases
Pick-up boat needs manually-operated constraints, improves the operating efficiency of pick-up boat, while protecting the person of staff to pacify
Entirely.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is structural representation of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is arm driving device structure schematic diagram of the invention；
Fig. 4 is the structural representation of the mechanical paw of the present invention；
Fig. 5 is the schematic diagram of the automatic control system of the present invention.
Embodiment
Fig. 1 is structural representation of the invention；As illustrated, the adaptive pick-up boat of the present embodiment, including hull 1, set
Underloading manipulator 18, heavy-duty machinery hand 16 and the rubbish storage cabin 17 being placed on hull 1, the end of underloading manipulator 18 is provided with
The string bag 14 for salvaging river surface rubbish, the end of heavy-duty machinery hand 16 is provided with the mechanical paw for capturing river bed weight, gently
Carrying manipulator 18 and heavy-duty machinery hand 16 includes upper arm 13, middle arm 12, underarm 11 and pedestal 10, and pedestal 10 is rotationally connected with
Hull 1 simultaneously drives it to rotate by a rotary drive motor 7；The adaptive pick-up boat of the present embodiment, enters carrying out river garbage
When row is salvaged, heavy-duty machinery hand 16 can clear up river surface and the weight of river bed, and multiple underloading manipulators 18 are arranged symmetrically in hull 1
Both sides, be divided into rubbish in two groups of collaborative works, the current string bag 14 of a pair of underloadings manipulator 18 and reach the upper limit, then by garbage transporting
Into the rubbish storage storehouse in hull 1, meanwhile, latter that underloading manipulator 18 is started working, iterative cycles, which are realized, to be salvaged.
In the present embodiment, between the pedestal 10 and underarm 11, between underarm 11 and middle arm 12, middle arm 12 and upper arm 13 it
Between be equipped with arm drive device, arm drive device includes being driven on bearing pin 19 and drive rod 21 arranged in parallel, bearing pin 19
It is combined with transmission on arm driven gear 23, drive rod 21 and is combined with the arm driving gear engaged with arm driven gear 23
22, for example, the arm drive device between underarm 11 and middle arm 12, middle arm 12 is fixedly connected with bearing pin 19 and by the bearing pin
19 are hinged with underarm 11, and drive rod 21 is articulated with underarm 11 and is connected with an arm swing motor 20, and drive rod 21 is rotated can
Rotated with driving bearing pin 19 so as to which arm 12 is rotated around underarm 11 in realizing；Between pedestal 10 and underarm 11, middle arm 12 and upper arm 13
Between arm drive device principle it is same, be not repeated herein.
The present embodiment is indulged, and the mechanical paw includes paw seat 5 and two mechanical fingers for being respectively in 5 both sides of paw seat
6；Two mechanical fingers 6 are bent simultaneously can realize the crawl to rubbish, and mechanical finger 6 includes interior segment 25, the and of middle segment 30
Outer segment 31；Interior segment 25 is fixed on paw seat 5, and the middle two ends of segment 30 are rotatably connected with interior segment 25 and outer segment 31 respectively
And it is equipped with finger drive device between interior segment 25 and middle segment 30, between middle segment 30 and outer segment 31；Refer to drive device bag
Include finger hinge 33 arranged in parallel and refer to connecting rod 28；Refer to transmission on hinge 33 and be combined with finger portion driving gear 32 and centre
Bevel gear 27, refers to transmission in connecting rod 28 and is combined with the finger portion driven gear 29 engaged with finger portion driving gear 32, paw seat 5
It is provided with finger portion motor 24 and this refers to and is fixed with the output engaged with Intermediate bevel gears 27 on the output shaft of portion's motor 24
Bevel gear 26, refers to portion's motor 24 and can refer to hinge 33 and rotate, and drive finger connecting rod 28 is rotated around hinge 33 is referred to, so as to realize
Relatively rotated between interior segment 25 and middle segment 30, middle segment 30 and outer segment 31, realize the bending clamping of mechanical finger 6
River garbage.
In the present embodiment, the bottom of pedestal 10 is vertically provided with rotary-driven shaft 3 and the rotary-driven shaft 3 is uploaded
Dynamic to be combined with rotary drive gear 2, the transmission of electric rotating machine output end is combined with the rotation driving tooth engaged with rotary drive gear 2
Wheel 9, it is ensured that the string bag 14 or or mechanical paw can rotate in the horizontal direction, improve mechanical arm freedom of motion.
In the present embodiment, the arm drive device also hinders drive rod 21 to rotate including being arranged at being used on drive rod 21
Wet brake；After set angle is reached between upper arm 13 and middle arm 12, middle arm 12 and underarm 11, wet brake can
Drive rod 21 is stopped operating, keep its angle.
The adaptive pick-up boat of the present embodiment also includes being used for the three-dimensional letter for gathering the surrounding operating environment three-dimensional information of hull 1
Cease harvester and handled for receiving the three dimensional signal of three-dimensional information harvester collection and building the central of three-dimensional map
Device 40；Three-dimensional information harvester includes being distributed in the ultrasonic transmission/reception sensor for being used to detect obstacle distance around hull 1
42；Three-dimensional information harvester also includes binocular vision sensor 41, is arranged above hull, for gathering three-dimensional environment letter
Breath, and computer progress environmental map structure is transmitted information to by image pick-up card 37.
In the present embodiment, the three-dimensional information harvester also includes being arranged at the front end of hull 1 and believed with central processing unit
Number connection camera；
Present invention additionally comprises the automatic control system worked for adaptive control mechanical paw, automatic control system bag
Include：
Position sensor 35, is arranged inside underarm 11 and upper arm 13, the angle of pitch for detecting underarm 11 and upper arm 13
Degree；
Vision sensor 34, is arranged at upper arm 13, and locus, the posture of object, and monitoring machine are crawled for detecting
The working condition of tool finger 6；
Touch sensor 36, is arranged at the inner surface of mechanical finger 6, and the complete letter of object is crawled for active obtaining
Breath, and monitor the working condition of mechanical finger 6；
Inside force sensor 38, the clamping face for being arranged at the outer segment 31 of mechanical finger 6, the folder for detecting outer segment 31
Pressure is held, and monitors the working condition of mechanical finger 6；
Embedded board computer 39, is received and and processing position sensor 35, vision sensor 34, touch sensor
36 and the feedack of force sensor 38, and send command signal to mechanical paw；
Therefore, the pick-up boat of the present embodiment can realize automatic path planning and automatic salvaging function, meet pick-up boat
The need for utonomous working in complexity.The information of operating environment is acquired by three-dimensional information harvester and collection is believed
Breath is input to central processing unit and carries out three-dimensional map structure, realizes online overall trajectory planning with reference to control system, passes through simultaneously
Barrier on ultrasonic sensor detection path, local directed complete set is carried out to overall planning path with reference to control system, and realization is beaten
Autonomous salvage of the ship in extreme operating conditions is dragged for, relieving pick-up boat needs manually-operated constraint, improves pick-up boat
Operating efficiency, while protecting the personal safety of staff.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (5)
1. a kind of adaptive pick-up boat, it is characterised in that：Including hull, the underloading manipulator being arranged on the hull, heavy duty
Manipulator and rubbish storage cabin；The underloading manipulator is provided with two pairs along before and after hull, and its end is provided with for salvaging river
The string bag of face rubbish, the heavy-duty machinery hand end is provided with the mechanical paw for capturing river bed weight；The underloading machinery
Hand and heavy-duty machinery hand include upper arm, middle arm, underarm and pedestal；The pedestal is rotationally connected with the hull and by one
Rotary drive motor drives it to rotate；The mechanical paw includes paw seat and two machines for being respectively in the paw seat both sides
Tool finger；The mechanical finger includes interior segment, middle segment and outer segment；The interior segment is fixed on the paw seat, described
Middle segment two ends be rotatably connected respectively with interior segment and outer segment and between the interior segment and middle segment, middle segment with it is outer refer to
Finger drive device is equipped between section；The finger drive device includes finger hinge arranged in parallel and refers to connecting rod；It is described
Refer to be driven to be combined with to be driven in finger portion driving gear and Intermediate bevel gears, the finger connecting rod on hinge and be combined with and the finger portion
Finger portion motor is provided with the finger portion driven gear of driving gear engagement, the paw seat and this refers to portion's motor output
The output bevel gear wheel engaged with the Intermediate bevel gears is fixed with axle；Between the pedestal and underarm, between underarm and middle arm,
Arm drive device is equipped between middle arm and upper arm；The arm drive device includes bearing pin and drive rod arranged in parallel；
Transmission is combined with to be driven to be combined with arm driven gear, the drive rod and engaged with the arm driven gear on the bearing pin
Arm driving gear；The arm drive device also includes the wet type for being used to hinder drive rod to rotate being arranged on the bearing pin
Brake.
2. adaptive pick-up boat according to claim 1, it is characterised in that：The base bottom is vertically provided with rotation
Turn on driven shaft and the rotary-driven shaft transmission and be combined with rotary drive gear, the electric rotating machine output end transmission be combined with
The rotation driving gear of the rotary drive gear engagement.
3. adaptive pick-up boat according to claim 1, it is characterised in that：Also include being used to gather operation ring around hull
The three-dimensional information harvester of border three-dimensional information and for receiving the three dimensional signal of three-dimensional information harvester collection simultaneously
Build the central processing unit of three-dimensional map；The three-dimensional information harvester includes being distributed in be used to detect barrier around hull
The ultrasonic transmission/reception sensor of distance.
4. adaptive pick-up boat according to claim 3, it is characterised in that：The three-dimensional information harvester also includes setting
It is placed in hull front end and the camera being connected with the central processing unit signal.
5. adaptive pick-up boat according to claim 1, it is characterised in that：Also include being used for adaptive control mechanical paw
The automatic control system of work, the automatic control system includes：
Position sensor, is arranged inside the underarm and upper arm, the luffing angle for detecting underarm and upper arm；
Vision sensor, is arranged at the upper arm, and locus, the posture of object are crawled for detecting, and monitors manipulator
The working condition of finger；
Touch sensor, is arranged at mechanical finger inner surface, and the complete information of object is crawled for active obtaining, and monitors
The working condition of mechanical finger；
Inside force sensor, the clamping face for being arranged at the outer segment of mechanical finger, for detecting the clamp pressure of outer segment, and supervise
Depending on the working condition of mechanical finger；
Embedded board computer, is received and and processing position sensor, vision sensor, touch sensor and force sensing
Device feedack, and send command signal to mechanical paw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510181081.4A CN104773267B (en) | 2015-04-16 | 2015-04-16 | Adaptive pick-up boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510181081.4A CN104773267B (en) | 2015-04-16 | 2015-04-16 | Adaptive pick-up boat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104773267A CN104773267A (en) | 2015-07-15 |
| CN104773267B true CN104773267B (en) | 2017-08-08 |
Family
ID=53615115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510181081.4A Expired - Fee Related CN104773267B (en) | 2015-04-16 | 2015-04-16 | Adaptive pick-up boat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104773267B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108442287A (en) * | 2018-04-04 | 2018-08-24 | 昆明理工大学 | A kind of dismantled and assembled midsplit type garbage cleaning device |
| CN109204715A (en) * | 2018-09-29 | 2019-01-15 | 上海海迅机电工程有限公司 | A kind of unmanned operation ship and its workflow |
| CN109469034B (en) * | 2018-11-14 | 2020-11-03 | 滁州市瑞景园林建设有限公司 | Urban river rubbish fishing device |
| CN109826152B (en) * | 2019-04-04 | 2021-08-20 | 义乌市航英科技有限公司 | Wisdom garden rubbish transfer structure |
| WO2021000237A1 (en) * | 2019-07-01 | 2021-01-07 | 唐山哈船科技有限公司 | Cleaning robot and cleaning method for sea surface garbage |
| CN110823639A (en) * | 2019-12-13 | 2020-02-21 | 深圳市宇驰检测技术股份有限公司 | Automatic sampling device for bottom mud of river and lake |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002240780A (en) * | 2001-02-14 | 2002-08-28 | Kure Dia:Kk | Catamaran type refuse collecting ship |
| DE10121739A1 (en) * | 2001-05-04 | 2002-11-21 | Ocs Opto Clean Service Gmbh | Amphibious vehicle for recover of dead wood has pontoons on both sides of body |
| CN1888996A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Intelligent watersurface garbage collecting boat apparatus |
| CN2848696Y (en) * | 2005-11-30 | 2006-12-20 | 饶光德 | Boat for cleaning water surface garbage |
| CN103448879A (en) * | 2013-09-02 | 2013-12-18 | 苏州张扬能源科技有限公司 | Solar-powered comprehensive watercourse treatment device |
| CN203665529U (en) * | 2013-12-31 | 2014-06-25 | 重庆交通大学 | Mechanical arm with crossed and staggered mechanical fingers |
| CN104229083B (en) * | 2014-09-05 | 2016-11-30 | 武汉理工大学 | Water surface modularity fishing device |
| CN204527555U (en) * | 2015-04-16 | 2015-08-05 | 重庆交通大学 | Intelligence salvor |
-
2015
- 2015-04-16 CN CN201510181081.4A patent/CN104773267B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN104773267A (en) | 2015-07-15 |
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Address after: No. 1, Fuxing Avenue, Shuang Fu new area, Jiangjin District, Chongqing Patentee after: chongqing jiaotong university Address before: 400074 Chongqing Nan'an District University Avenue, No. 66 Patentee before: chongqing jiaotong university |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170808 Termination date: 20200416 |