CN107671874A - A kind of seabed mine locating robot - Google Patents
A kind of seabed mine locating robot Download PDFInfo
- Publication number
- CN107671874A CN107671874A CN201711153765.9A CN201711153765A CN107671874A CN 107671874 A CN107671874 A CN 107671874A CN 201711153765 A CN201711153765 A CN 201711153765A CN 107671874 A CN107671874 A CN 107671874A
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- mineral
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- bottom plate
- support frame
- hydraulic cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of seabed mine locating robot, including base, mineral drill through part, the first mineral collect bar movable part, the second mineral collect bar movable part, mineral ejector rod part, four turbine portions, it is characterised in that：Four rectangular recess that described mineral drill through part are slidably mounted in four locating rods of base respectively, and described two first gears are intermeshed with two the second racks respectively；The first mineral is collected bar geometrical clamp by the second hydraulic cylinder elongation by base and clamp mineral collection bar, mineral push rod is moved into mineral by the rotation of two the 5th stepper motors and the elongation of the 13rd hydraulic cylinder of mineral ejector rod part bottom plate in next step to collect above bar, then make mineral push rod that mineral are collected into the mineral matter in bar by the rotation of the 6th stepper motor to be put into mineral accumulator tank, make it can be with the mineral products of detecting deep, make application wider, realize and detection mineral products are automated at deep-sea.
Description
Technical field
The present invention relates to seabed mineral exploration and marine resources development technical field, more particularly to a kind of seabed mine locating machine
People.
Background technology
Substantial amounts of mineral products are needed during nation-building, because the mineral products of land are more and more rare, in order to improve
The yield of mineral products, it is therefore desirable to go to deep-sea to explore mineral products, because people can not reach deep-sea, therefore be badly in need of a kind of full-automatic sea
The machine of bottom mine locating.
The content of the invention
In view of the above-mentioned problems, the invention provides a kind of seabed mine locating robot, pass through the second hydraulic cylinder by base
Elongation makes the first mineral collect bar geometrical clamp and clamps mineral to collect bar, then pass through the first stepper motor and the second stepper motor
Rotate and the mineral of ground are collected into bar and mineral in underground collect the separation of bar, then pass through the second mineral and collect bar move portion
The elongation of the 9th hydraulic cylinder, the tenth hydraulic cylinder and two the 12nd hydraulic cylinders that are divided to, which will make the 3rd mineral collect bar geometrical clamp, to pull down
The mineral collection bar cramp come is tight, then mineral collection bar is moved to the top of mineral accumulator tank by the 4th stepper motor, under
The rotation for two the 5th stepper motors that one step passes through mineral ejector rod part bottom plate and the elongation of the 13rd hydraulic cylinder are by mineral top
Bar is moved to mineral and collected above bar, then makes mineral push rod by the ore deposit in mineral collection bar by the rotation of the 6th stepper motor
Material is put into mineral accumulator tank, makes it with the mineral products of detecting deep application can be made wider, is realized and is automated at deep-sea
Detect mineral products.
Technical scheme used in the present invention is：A kind of seabed is prospected robot, including base, mineral drill through part, the
One mineral collect bar movable part, the second mineral collect bar movable part, mineral ejector rod part, four turbine portions, its feature
It is：Four rectangular recess that described mineral drill through part are slidably mounted in four locating rods of base respectively, described
Two first gears be intermeshed respectively with two the second racks；The first described mineral collect the first ore deposit of bar movable part
Thing collects on the right side two the first dovetails that bar movable part bottom plate is slidably mounted on base below by two sliding blocks respectively
In groove, described second gear is intermeshed with the first rack on the right side；The second described mineral collect bar movable part
Two sliding blocks are slidably mounted in two the first dovetail grooves of the side that keeps left of base respectively, the 3rd described gear and the side that keeps left
First rack is intermeshed；Two mineral ejector rod part bottom plates of described mineral ejector rod part slide respectively below by sliding block
In two the second dovetail grooves of base, described two the 4th gears are intermeshed with two the 3rd racks respectively；Institute
Connect respectively with fixation at four angles below the bottom plate of base above four turbine portion bottom plates of four turbine portions stated
Connect；
Described base includes bottom plate, two the first racks, four the first dovetail grooves, mineral and collects bar accumulator tank, top plate, first
Hydraulic cylinder top plate, four first hydraulic cylinders, four locating rods, two the second racks, circular hole, two second hydraulic cylinders, four
Three hydraulic cylinders, 18 mineral accumulator tanks, two the first mineral collect bar geometrical clamps, two the 4th hydraulic cylinders, spring, two the
Two dovetail grooves, two the 3rd racks, described bottom plate are a rectangle planks, and the left and right sides is respectively provided with two the in the above
One dovetail groove, first rack is respectively provided with left and right sides of substrate, the position of two the first racks is respectively at four
The outside of two the first dovetail grooves of one dovetail groove in the outer part；Mineral, which are provided with, in substrate front collects bar accumulator tank；Institute
The top plate stated is slidably mounted in the groove that mineral are collected above bar accumulator tank, in the above provided with semi-circular recesses；Described two
The cylinder base of individual 4th hydraulic cylinder is fixedly mounted on mineral and collects kept left below bar accumulator tank side, its piston rod end and top plate
The baffle plate on the right side is fixedly connected；Described spring upper end is collected with mineral and is fixedly connected below bar accumulator tank, its lower end and top plate
The baffle plate on the right side is fixedly connected；Described first hydraulic cylinder top plate is slidably mounted on mineral and collected in bar accumulator tank；Described four
The cylinder base of individual first hydraulic cylinder is respectively and fixedly installed to mineral and collected at four angles on the bar accumulator tank right side, its tailpiece of the piston rod
Portion is fixedly connected with four angles on the first hydraulic cylinder top plate right side respectively；Four rectangular arrays are provided among substrate
Locating rod；Two described the second racks are respectively and fixedly installed to the locating rod of left side forward locating rod and right side rearward
Lateral surface；Circular hole is provided among substrate, its position is among four locating rods；Two described second hydraulic cylinder cylinder bodies
Bottom is respectively and fixedly installed among below bottom plate on the baffle plate of the left and right sides, and its piston rod is collected with two the first mineral respectively
Bar geometrical clamp lateral surface is fixedly connected；The cylinder base of four described the 3rd hydraulic cylinders is respectively and fixedly installed to below bottom plate
At four angles, supporting plate is respectively equipped with its piston rod end；Locate to be provided with three rows, 18 linear battle arrays rearward in substrate
The mineral accumulator tank of row；Two the second dovetail grooves are provided with substrate, its position is respectively in three rows, 18 linear arrays
Mineral accumulator tank front and rear sides；Two the 3rd racks are provided with substrate, its position is respectively in two the second dovetail grooves
Front and rear sides；
Described mineral drill through part including mineral drill through part backplane, the first stepper motor, four rectangular recess, two the
Two stepping motor, two first gears, circular slab, three the 5th hydraulic cylinders, three the second mineral collect bar geometrical clamp, mineral are received
Collect bar, mineral collect rod bit, it is a rectangle plank that described mineral, which drill through part backplane, the first described stepper motor
Place straight down, its side is fixedly mounted on mineral and drilled through above part backplane, and its motor shaft drills through partial bottom through mineral
Circular hole above plate above circular slab with being fixedly connected；The cylinder base of three described the 5th hydraulic cylinders is respectively and fixedly installed to
Three circumferentially on the baffle plate of array below circular slab, its piston rod end is collected outside bar geometrical clamps with three the second mineral respectively
Side is fixedly connected；Three described the second mineral collect the inner side of bar geometrical clamp and mineral are collected bar upper end lateral surface and fixed and connect
Connect；Described mineral are collected rod bit upper surface and are fixedly connected with mineral collection bar lower end；On mineral drill through part backplane
Rectangular recess provided with four rectangular arrays, it is slidably mounted in four locating rods of base respectively；Described two
Second stepper motor is horizontal positioned, and its side is respectively and fixedly installed on two contiguous blocks below circular slab, its motor shaft point
It is not fixedly connected with two first gears, described two first gears are intermeshed with two the second racks respectively；
Described the first mineral collect bar movable part include the first mineral collect bar movable part bottom plate, the 3rd stepper motor,
Second gear, the first extension sleeve, the first expansion link, the 6th hydraulic cylinder, the first steering wheel, sliding bar, sliding sleeve, the 7th hydraulic cylinder,
Second extension sleeve, the second expansion link, the 8th hydraulic cylinder, electromagnet geometrical clamp, the first described mineral collect bar movable part
Bottom plate is a rectangle plank, is slidably mounted on the right side two the first swallows of base respectively by two sliding blocks below
In stern notch；The 3rd described stepper motor is horizontal positioned, and its side is fixedly mounted on the first mineral and collects bar movable part bottom plate
Above, its motor shaft is fixedly connected with second gear；Described second gear is intermeshed with the first rack；Described first stretches
Contracting sleeve lower surface is fixedly mounted on the first mineral and collects bar movable part substrate, and groove is provided with its upper surface；It is described
The first expansion link lower slide be arranged on the first extension sleeve upper surface groove in；The cylinder body bottom of the 6th described hydraulic cylinder
Portion is fixedly mounted on the baffle plate on the first extension sleeve left side, and the baffle plate on its piston rod end and the first expansion link left side, which is fixed, to be connected
Connect；The first described steering wheel is horizontal positioned, and its side is fixedly mounted on the first expansion link upper surface, and its motor shaft is right with sliding bar
Face is fixedly connected；Described sliding sleeve is slidably mounted on sliding bar；The cylinder base of the 7th described hydraulic cylinder is fixedly mounted on
On the baffle plate of sliding bar left side, its piston rod end is fixedly connected with the baffle plate above sliding sleeve；The second described extension sleeve
Upper surface is fixedly mounted on below sliding sleeve, and groove is provided with its lower surface；The second described expansion link upper end is slidably mounted on
In the groove of two extension sleeve lower surfaces, its lower surface is fixedly connected with electromagnet geometrical clamp upper surface；The 8th described hydraulic pressure
The cylinder base of cylinder is fixedly mounted on the baffle plate on the second extension sleeve left side, its piston rod end and the second expansion link left side
Baffle plate is fixedly connected；
The second described mineral, which collect bar movable part, includes the second mineral collection bar movable part bottom plate, two sliding blocks, four
Stepper motor, the 3rd gear, supporting plate, the 3rd extension sleeve, the 4th extension sleeve, the 4th expansion link, the 9th hydraulic cylinder, the tenth
Hydraulic cylinder, the 4th expansion link top plate, two the 11st hydraulic cylinders are fixed, two the 3rd mineral collect bar geometrical clamps, two the tenth
Two hydraulic cylinders, it is a rectangle plank that the second described mineral, which collect bar movable part bottom plate, in its lower section each side
Provided with a sliding block, described two sliding blocks are slidably mounted in two the first dovetail grooves on the right side respectively；Described the 4th
Stepper motor is horizontal positioned, and its side is fixedly mounted on the second mineral and collects bar movable part substrate, its motor shaft and the
Three gears are fixedly connected；The 3rd described gear and the first rack are intermeshed；Bar movable part bottom plate is collected in the second mineral
Supporting plate is provided with above, and the left side of the 3rd described extension sleeve is fixedly mounted on the supporting plate right side, is provided with its left side
Groove；The 4th described extension sleeve left side is slidably mounted in the groove of the 3rd extension sleeve right side, in its right side
Provided with groove；The left end of the 4th described expansion link is slidably mounted in the groove of the 4th extension sleeve right side, in its right-hand member
Face is provided with the 4th expansion link top plate；The cylinder base of the 9th described hydraulic cylinder is fixedly mounted on the gear above the 3rd extension sleeve
On plate, its piston rod end is fixedly connected with the baffle plate above the 4th extension sleeve；The cylinder base of the tenth described hydraulic cylinder
It is fixedly mounted on the baffle plate above the 4th extension sleeve, its piston rod end is fixed with the baffle plate above the 4th expansion link to be connected
Connect；A the 11st hydraulic cylinder fixed plate is respectively provided with the 4th expansion link top plate right side upper and lower sides；Two described the 3rd mineral
The left end for collecting bar geometrical clamp is slidably mounted in the groove of two the 11st hydraulic cylinder fixed plates respectively；Described two the tenth
The cylinder base of two hydraulic cylinders is respectively and fixedly installed to two the 11st hydraulic cylinder fixed plate left sides, its piston rod end respectively with
The baffle plate that two the 3rd mineral are collected behind bar geometrical clamp is fixedly connected；
Described mineral ejector rod part include two mineral ejector rod part bottom plates, two the 5th stepper motors, two the 4th gears,
Two support bars, support bar top plate, the 3rd dovetail groove, slide plate, the 6th stepper motor, the 5th gear, the 13rd hydraulic cylinder, mineral
Push rod, the 4th rack, described two mineral ejector rod part bottom plates are a rectangle planks, are slided respectively by sliding block below
It is dynamic to be arranged in two the second dovetail grooves, a support bar is respectively provided with the above；Two described the 5th stepper motors are horizontal
Place, its side is respectively and fixedly installed to two mineral ejector rod part substrates, its motor shaft respectively with two the 4th gears
It is fixedly connected；Two described the 4th gears are intermeshed with two the 3rd racks respectively；Distinguish in two post upper faces
It is fixedly connected with the left and right sides below support bar top plate；The 3rd dovetail groove is provided with support bar top plate；Under described slide plate
Face is slidably mounted on the 3rd dovetail groove by sliding block；The 6th described stepper motor is horizontal positioned, and its side is fixedly mounted on
Above slide plate, its motor shaft is fixedly connected with the 5th gear；The cylinder base of the 13rd described hydraulic cylinder is fixedly mounted on branch
On baffle plate above strut top plate, its piston rod end is fixedly connected with the baffle plate of slide plate upper surface；Under described mineral push rod
End is slidably mounted in the groove above slide plate, and face is provided with the 4th rack behind；The 4th described rack and the 5th gear phase
Mutually engagement；
Described turbine portion includes turbine portion bottom plate, five the 14th hydraulic cylinders, the second disk, the second steering engine seat, second
Steering wheel, circular arc fixed cover, the 7th stepper motor fixed seat, the 3rd steering wheel, four connecting poles, the 7th stepper motor, turbine branch
Fagging, turbine, turbine case, described turbine portion bottom plate are a rectangle planks, fixed below its above and bottom plate to connect
Connect；The cylinder base of circumferentially the 14th hydraulic cylinder of array of described five is fixedly mounted on turbine portion plate outer side face
On baffle plate, its piston rod end is fixedly connected with the second disk；The second steering engine seat is provided with the second disk lateral surface；Described
Two steering wheels are horizontal positioned, and its bottom is fixedly mounted in the second steering engine seat, and its motor shaft is fixed with circular arc fixed cover lateral surface
Connection；The upper and lower side of the 7th described stepper motor fixed seat is arranged on above and below circular arc fixed cover by axis of rotation respectively
In the circular hole in face, four connecting poles of four rectangular arrays are provided with its lateral surface；The 3rd described steering wheel is put straight up
Put, its side is fixedly mounted on below circular arc fixed cover, and its motor shaft is with being rotatably installed in circular hole below circular arc fixed cover
In rotating shaft be fixedly connected；The outer face of four described connecting poles is fixedly connected with the medial surface of turbine support plate；Described
Turbine support plate is fixedly mounted on the inner side of turbine case；The 7th described stepper motor is horizontal positioned, and its bottom is fixedly mounted
In the groove in the outside of the 7th stepper motor fixed seat, its motor shaft is fixed through the circular hole among turbine support plate with turbine
Connection, its position is in the centre of four connecting poles.
Beneficial effects of the present invention：The first mineral is collected bar geometrical clamp by the second hydraulic cylinder elongation of base and clamp ore deposit
Thing collects bar, and the mineral of ground then are collected into bar and in underground by the rotation of the first stepper motor and the second stepper motor
Mineral collect the separation of bar, then pass through the 9th hydraulic cylinder of the second mineral collection bar movable part, the tenth hydraulic cylinder and two
The elongation of 12nd hydraulic cylinder makes the 3rd mineral collection bar geometrical clamp that the mineral removed collection bar cramp is tight, then passes through the 4th
Mineral collection bar is moved to the top of mineral accumulator tank by stepper motor, passes through two of mineral ejector rod part bottom plate the in next step
Mineral push rod is moved to mineral and collected above bar by the rotation of five stepper motors and the elongation of the 13rd hydraulic cylinder, then by the
The rotation of six stepper motors makes mineral push rod that the mineral matter in mineral collection bar is put into mineral accumulator tank, detects it
The mineral products at deep-sea, make application wider, realize and detection mineral products are automated at deep-sea.
Brief description of the drawings
Fig. 1, Fig. 2, Fig. 3 are the overall structure diagram of the present invention.
Fig. 4, Fig. 5, Fig. 6, Fig. 7 are the structural representation of the base of the present invention.
Fig. 8, Fig. 9 are that the mineral of the present invention drill through the structural representation of part.
Figure 10, Figure 11 are that the first mineral of the present invention collect the structural representation of bar movable part.
Figure 12, Figure 13 are that the second mineral of the present invention collect the structural representation of bar movable part.
Figure 14, Figure 15, Figure 16 are the structural representation of the mineral ejector rod part of the present invention.
Figure 17, Figure 18, Figure 19 are the structural representation of the turbine portion of the present invention.
Drawing reference numeral：1- bases, 2- mineral drill through part, the mineral of 3- first collect bar movable part, the mineral of 4- second are received
Collect bar movable part, 5- mineral ejector rod part, 6- turbine portions, 101- bottom plates, the racks of 102- first, the dovetail grooves of 103- first,
104- mineral collect bar accumulator tank, 105- top plates, 106- first hydraulic cylinders top plate, 107- first hydraulic cylinders, 108- locating rods,
The racks of 109- second, 110- circular holes, 111- second hydraulic cylinders, the hydraulic cylinders of 112- the 3rd, 113- mineral accumulator tank, the ore deposits of 114- first
Thing is collected bar geometrical clamp, the hydraulic cylinders of 115- the 4th, 116- springs, the dovetail grooves of 117- second, the racks of 118- the 3rd, 201- mineral and bored
Take part backplane, the stepper motors of 202- first, 203- rectangular recess, the stepper motors of 204- second, 205- first gears, 206-
Circular slab, the hydraulic cylinders of 207- the 5th, the mineral of 208- second collect bar geometrical clamp, 209- mineral collect bar, 210- mineral collect bar
Drill bit, the mineral of 301- first are collected bar movable part bottom plate, the stepper motors of 302- the 3rd, 303- second gears, 304- first and stretched
Contracting sleeve, the expansion links of 305- first, the hydraulic cylinders of 306- the 6th, the steering wheels of 307- first, 308- sliding bars, 309- sliding sleeves, 310-
Seven hydraulic cylinders, the extension sleeves of 311- second, the expansion links of 312- second, the hydraulic cylinders of 313- the 8th, 314- electromagnet geometrical clamp, 401-
Second mineral collect bar movable part bottom plate, 402- sliding blocks, the stepper motors of 403- the 4th, the gears of 404- the 3rd, 405- supporting plates,
The extension sleeves of 406- the 3rd, the extension sleeves of 407- the 4th, the expansion links of 408- the 4th, the hydraulic cylinders of 409- the 9th, the hydraulic pressure of 410- the tenth
Cylinder, the expansion link top plates of 411- the 4th, the hydraulic cylinders of 412- the 11st are fixed, the mineral of 413- the 3rd collect bar geometrical clamp, 414- the tenth
Two hydraulic cylinders, 501- mineral ejector rod parts bottom plate, the stepper motors of 502- the 5th, the gears of 503- the 4th, 504- support bars, 505- branch
Strut top plate, the dovetail grooves of 506- the 3rd, 507- slide plates, the stepper motors of 508- the 6th, the gears of 509- the 5th, the hydraulic pressure of 510- the 13rd
Cylinder, 511- mineral push rod, the racks of 512- the 4th, 601- turbine portions bottom plate, the hydraulic cylinders of 602- the 14th, the disks of 603- second,
The steering engine seats of 604- second, the steering wheels of 605- second, 606- circular arcs fixed cover, the stepper motor fixed seats of 607- the 7th, 608- the 3rd
Steering wheel, 609- connecting poles, the stepper motors of 610- the 7th, 611- turbine supports plate, 612- turbines, 613- turbine cases.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14,
Shown in Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, a kind of seabed mine locating robot, including base 1, mineral drill through part 2, first
Mineral collect bar movable part 3, the second mineral collect 5, four bar movable part 4, mineral ejector rod part turbine portions 6, and it is special
Sign is：Four rectangular recess 203 that described mineral drill through part 2 are slidably mounted on four locating rods of base 1 respectively
On 108, described two first gears 205 are intermeshed with two the second racks 109 respectively；The first described mineral collect bar
First mineral of movable part 3 collect bar movable part bottom plate 301 and are slidably mounted on base 1 respectively below by two sliding blocks
In two the first dovetail grooves 103 on the right side, described second gear 303 is intermeshed with the first rack 102 on the right side；Institute
Two sliding blocks 402 of the second mineral collection bar movable part 4 stated are slidably mounted on two first of the side that keeps left of base 1 respectively
In dovetail groove 103, the 3rd described gear 404 and the first rack 102 of the side that keeps left are intermeshed；Described mineral ejector rod part
5 two mineral ejector rod part bottom plates 501 are slidably mounted on two the second dovetail grooves 117 of base 1 below by sliding block respectively
In, described two the 4th gears 503 are intermeshed with two the 3rd racks 118 respectively；The four of four described turbine portions 6
It is fixedly connected respectively with four angles below the bottom plate 101 of base 1 above individual turbine portion bottom plate 601；
Described base 1 includes 101, two the first racks of bottom plate, 102, four the first dovetail grooves 103, mineral collect bar accumulator tank
104th, top plate 105,106, four, first hydraulic cylinder top plate, 108, two the second racks of locating rod of first hydraulic cylinder 107, four
109th, the second hydraulic cylinder 111, four of circular hole 110, the two mineral accumulator tank 113, two first of the 3rd hydraulic cylinder 112,18
Mineral collect 114, two the 4th hydraulic cylinders 115 of bar geometrical clamp, spring 116, two the second dovetail grooves, 117, two the 3rd racks
118, described bottom plate 101 is a rectangle plank, and the left and right sides is respectively provided with two the first dovetail grooves 103 in the above,
The left and right sides is respectively provided with first rack 102 to bottom plate 101 above, and the position of two the first racks 102 is respectively at four first
The outside of two the first dovetail grooves 103 of dovetail groove 103 in the outer part；Front is provided with mineral and collects bar storage on bottom plate 101
Deposit groove 104；Described top plate 105 is slidably mounted in the groove that mineral are collected above bar accumulator tank 104, in the above provided with semicircle
Connected in star；The cylinder base of two described the 4th hydraulic cylinders 115 is fixedly mounted on mineral collection bar accumulator tank 104 and kept left below
Side, its piston rod end are fixedly connected with the baffle plate on the right side of top plate 105；Bar storage is collected with mineral in the described upper end of spring 116
Groove 104 is fixedly connected below, and its lower end is fixedly connected with the baffle plate on the right side of top plate 105；Described first hydraulic cylinder top plate 106 is slided
The dynamic mineral that are arranged on are collected in bar accumulator tank 104；The cylinder base of four described first hydraulic cylinders 107 is respectively and fixedly installed to
Mineral are collected at four angles on the right side of bar accumulator tank 104, its piston rod end respectively with the right side of first hydraulic cylinder top plate 106 four
It is fixedly connected at individual angle；The locating rod 108 of four rectangular arrays is provided among on bottom plate 101；Described two second
Rack 109 is respectively and fixedly installed to the lateral surface of the locating rod 108 of left side forward locating rod 108 and right side rearward；In bottom plate
Circular hole 110 is provided among above 101, its position is among four locating rods 108；Two described cylinder bodies of second hydraulic cylinder 111
Bottom be respectively and fixedly installed to bottom plate 101 below among the left and right sides baffle plate on, its piston rod respectively with two the first mineral
The lateral surface of bar geometrical clamp 114 is collected to be fixedly connected；The cylinder base of four described the 3rd hydraulic cylinders 112 is respectively and fixedly installed to
At four angles below bottom plate 101, supporting plate is respectively equipped with its piston rod end；Place is provided with three rearward on bottom plate 101
The mineral accumulator tank 113 of the linear array of row 18；Two the second dovetail grooves 117, its position point are provided with bottom plate 101
Not three rows, 18 linear arrays mineral accumulator tank 113 front and rear sides；Two the 3rd teeth are provided with bottom plate 101
Bar 118, its position is respectively two front and rear sides of the second dovetail groove 117；
Described mineral drill through part 2 and drill through 202, four part backplane 201, the first stepper motor rectangular recess including mineral
203rd, 206, three two the second stepper motors, 204, two first gears 205, circular slab the 5th hydraulic cylinders 207, three second
Mineral collect bar geometrical clamp 208, mineral collect bar 209, mineral collect rod bit 210, and described mineral drill through part backplane 201
It is a rectangle plank, the first described stepper motor 202 is placed straight down, and its side is fixedly mounted on mineral and drills through portion
Divide above bottom plate 201, its motor shaft drills through the circular hole above part backplane 201 and fixed company above circular slab 206 through mineral
Connect；The cylinder base of three described the 5th hydraulic cylinders 207 is respectively and fixedly installed to following three of circular slab 206 circumferentially array
Baffle plate on, its piston rod end is collected the lateral surfaces of bar geometrical clamp 208 with three the second mineral and is fixedly connected respectively；Described three
Individual second mineral collect the inner side of bar geometrical clamp 208 and mineral are collected the upper end lateral surface of bar 209 and are fixedly connected；Described mineral are received
The lower end of bar 209 is collected with mineral and is fixedly connected in the collection upper surface of rod bit 210；Four are provided with mineral drill through part backplane 201
The rectangular recess 203 of individual rectangular array, it is slidably mounted in four locating rods 108 of base 1 respectively；Described two
Second stepper motor 204 is horizontal positioned, and its side is respectively and fixedly installed on two contiguous blocks below circular slab 206, its electricity
Arbor is fixedly connected with two first gears 205 respectively, described two first gears 205 respectively with two the second racks 109
Intermeshing；
The first described mineral, which collect bar movable part 3, includes the first mineral collection bar movable part bottom plate 301, the 3rd stepping electricity
Machine 302, second gear 303, the first extension sleeve 304, the first expansion link 305, the 6th hydraulic cylinder 306, the first steering wheel 307, cunning
Lever 308, sliding sleeve 309, the 7th hydraulic cylinder 310, the second extension sleeve 311, the second expansion link 312, the 8th hydraulic cylinder 313, electricity
Magnet geometrical clamp 314, it is a rectangle plank that the first described mineral, which collect bar movable part bottom plate 301, is passed through below
Two sliding blocks are slidably mounted on the right side two the first dovetail grooves 103 of base 1 respectively；The 3rd described stepper motor
302 is horizontal positioned, and its side is fixedly mounted on the first mineral and collected above bar movable part bottom plate 301, its motor shaft and second
Gear 303 is fixedly connected；Described second gear 303 is intermeshed with the first rack 102；The first described extension sleeve 304
Lower surface is fixedly mounted on the first mineral and collected above bar movable part bottom plate 301, and groove is provided with its upper surface；Described
The lower slide of one expansion link 305 is arranged in the groove of the upper surface of the first extension sleeve 304；The 6th described hydraulic cylinder 306
Cylinder base is fixedly mounted on the baffle plate on the left side of the first extension sleeve 304, its piston rod end and the left side of the first expansion link 305
Baffle plate be fixedly connected；The first described steering wheel 307 is horizontal positioned, and its side is fixedly mounted on the upper surface of the first expansion link 305,
Its motor shaft is fixedly connected with the right side of sliding bar 308；Described sliding sleeve 309 is slidably mounted on sliding bar 308；Described the 7th
The cylinder base of hydraulic cylinder 310 is fixedly mounted on the baffle plate of the left side of sliding bar 308, on its piston rod end and sliding sleeve 309
The baffle plate in face is fixedly connected；The described upper surface of the second extension sleeve 311 is fixedly mounted on below sliding sleeve 309, in its lower surface
Provided with groove；The described upper end of the second expansion link 312 is slidably mounted in the groove of the lower surface of the second extension sleeve 311, under it
End face is fixedly connected with the upper surface of electromagnet geometrical clamp 314；The cylinder base of the 8th described hydraulic cylinder 313 is fixedly mounted on
On the baffle plate on the left side of two extension sleeve 311, its piston rod end is fixedly connected with the baffle plate on the left side of the second expansion link 312；
The second described mineral, which collect bar movable part 4, includes the second mineral collection bar movable part 401, two sliding blocks of bottom plate
402nd, the 4th stepper motor 403, the 3rd gear 404, supporting plate 405, the 3rd extension sleeve 406, the 4th extension sleeve 407,
411, two four expansion links 408, the 9th hydraulic cylinder 409, the tenth hydraulic cylinder 410, the 4th expansion link top plate the 11st hydraulic cylinders are consolidated
Fixed 412, two the 3rd mineral collect bar 413, two the 12nd hydraulic cylinders 414 of geometrical clamp, and the second described mineral are collected bar and moved
Dynamic part backplane 401 is a rectangle plank, and the left and right sides is respectively provided with a sliding block 402, described two cunnings in its lower section
Block 402 is slidably mounted in two the first dovetail grooves 103 on the right side respectively；The 4th described stepper motor 403 is horizontal positioned,
Its side is fixedly mounted on the second mineral and collected above bar movable part bottom plate 401, and its motor shaft and the 3rd gear 404 are fixed and connected
Connect；The 3rd described gear 404 is intermeshed with the first rack 102；On the second mineral collect bar movable part bottom plate 401
Provided with supporting plate 405, the left side of the 3rd described extension sleeve 406 is fixedly mounted on the right side of supporting plate 405, in its left side
Provided with groove；The described left side of the 4th extension sleeve 407 is slidably mounted in the groove of the right side of the 3rd extension sleeve 406,
Groove is provided with its right side；The left end of the 4th described expansion link 408 is slidably mounted on the right side of the 4th extension sleeve 407
In groove, the 4th expansion link top plate 411 is provided with its right side；The cylinder base of the 9th described hydraulic cylinder 409 is fixedly mounted
On the baffle plate above the 3rd extension sleeve 406, its piston rod end is fixed with the baffle plate above the 4th extension sleeve 407 to be connected
Connect；The cylinder base of the tenth described hydraulic cylinder 410 is fixedly mounted on the baffle plate above the 4th extension sleeve 407, its piston
Boom end is fixedly connected with the baffle plate above the 4th expansion link 408；One is respectively provided with the right side upper and lower sides of the 4th expansion link top plate 411
Individual 11st hydraulic cylinder fixed plate 412；The left end that two described the 3rd mineral collect bar geometrical clamp 413 is slidably mounted on respectively
In the groove of two the 11st hydraulic cylinder fixed plates 412；The cylinder base of two described the 12nd hydraulic cylinders 414 is fixed respectively
Installed in two left sides of the 11st hydraulic cylinder fixed plate 412, its piston rod end is collected bar with two the 3rd mineral respectively and fixed
Baffle plate behind folder 413 is fixedly connected；
Described mineral ejector rod part 5 includes the 5th stepper motor 502, two of two mineral ejector rod part bottom plates 501, two the
Four support bars 504 of gear 503, two, support bar top plate 505, the 3rd dovetail groove 506, slide plate 507, the 6th stepper motor 508,
5th gear 509, the 13rd hydraulic cylinder 510, mineral push rod 511, the 4th rack 512, described two mineral ejector rod part bottoms
Plate 501 is a rectangle plank, is slidably mounted on respectively by sliding block in two the second dovetail grooves 117 below, thereon
Face is respectively provided with a support bar 504；Two described the 5th stepper motors 502 are horizontal positioned, and its side is respectively and fixedly installed to
Above two mineral ejector rod part bottom plates 501, its motor shaft is fixedly connected with two the 4th gears 503 respectively；Described two
4th gear 503 is intermeshed with two the 3rd racks 118 respectively；Two upper surfaces of support bar 504 respectively with support bar top
The left and right sides is fixedly connected plate 505 below；The 3rd dovetail groove 506 is provided with support bar top plate 505；Described slide plate 507
It is slidably mounted on below by sliding block on the 3rd dovetail groove 506；The 6th described stepper motor 508 is horizontal positioned, and its side is consolidated
Above slide plate 507, its motor shaft is fixedly connected with the 5th gear 509 for Dingan County；The cylinder body of the 13rd described hydraulic cylinder 510
Bottom is fixedly mounted on the baffle plate above support bar top plate 505, and the baffle plate of its piston rod end and the upper surface of slide plate 507 is fixed
Connection；The described lower slide of mineral push rod 511 is arranged in the groove above slide plate 507, and face is provided with the 4th rack behind
512；The 4th described rack 512 is intermeshed with the 5th gear 509；
Described turbine portion 6 includes turbine portion bottom plate 601, five the 14th hydraulic cylinders 602, the second disk 603, the second rudders
608, four support 604, the second steering wheel 605, circular arc fixed cover 606, the 7th stepper motor fixed seat 607, the 3rd steering wheel companies
Connect post 609, the 7th stepper motor 610, turbine support plate 611, turbine 612, turbine case 613, described turbine portion bottom plate
601 be a rectangle plank, and it is fixedly connected below with bottom plate 101 above；Described five circumferentially array the 14th
The cylinder base of hydraulic cylinder 602 is fixedly mounted on the baffle plate of the lateral surface of turbine portion bottom plate 601, its piston rod end and second
Disk 603 is fixedly connected；The second steering engine seat 604 is provided with the lateral surface of the second disk 603；The described level of the second steering wheel 605 is put
Put, its bottom is fixedly mounted in the second steering engine seat 604, and its motor shaft is fixedly connected with the lateral surface of circular arc fixed cover 606；Institute
The upper and lower side for the 7th stepper motor fixed seat 607 stated is arranged on circular arc fixed cover about 606 by axis of rotation respectively
In the circular hole in face, four connecting poles 609 of four rectangular arrays are provided with its lateral surface；The 3rd described steering wheel 608 is vertical
Place upwards, its side is fixedly mounted on below circular arc fixed cover 606, and its motor shaft is with being rotatably installed in circular arc fixed cover
Rotating shaft below 606 in circular hole is fixedly connected；The outer face of four described connecting poles 609 and the inner side of turbine support plate 611
Face is fixedly connected；Described turbine support plate 611 is fixedly mounted on the inner side of turbine case 613；The 7th described stepper motor
610 is horizontal positioned, and its bottom is fixedly mounted in the groove in the outside of the 7th stepper motor fixed seat 607, and its motor shaft passes through
Circular hole among turbine support plate 611 is fixedly connected with turbine 612, and its position is in the centre of four connecting poles 609.
Operation principle of the present invention：Multiple mineral collection bar 209 is horizontally placed to mineral first when in use and collected by the present invention
The inside of bar accumulator tank 104, then being rotated by the second steering wheel 605 and the 3rd steering wheel 608 makes 607 turns of the 7th stepper motor fixed seat
Turbine 612 is turned to so as to reach, is rotated by the 7th stepper motor 610 of four turbine portions 6 to drive 612 turns of turbine
It is dynamic, machine is advanced, machine is reached the predetermined area, then drive four by the elongation of four the 3rd hydraulic cylinders 112
Jacking block makes machine steadily be fixed on seabed, collects 302 turns of the 3rd stepper motor of bar movable part 3 by the first mineral in next step
It is dynamic the first mineral collection bar movable part 3 is moved to appointed place, then pass through four Hes of first hydraulic cylinder 107 of base 1
The mineral collection bar that the elongation of two the 4th hydraulic cylinders 115 collects mineral in bar accumulator tank 104 is put into recessed above top plate 105
In groove and certain altitude is increased to, collecting the 3rd stepper motor 302 of bar movable part 3 by the first mineral in next step makes first
The electromagnet geometrical clamp 314 that mineral collect bar movable part 3 is moved to the top of mineral collection bar 209, then passes through the 6th hydraulic pressure
The elongation of cylinder 306, the 7th hydraulic cylinder 310 and the 8th hydraulic cylinder 313 makes electromagnet geometrical clamp 314 clamp mineral collection bar, then
Rotated by the first steering wheel 307 and cooperated with the 7th hydraulic cylinder 310 and the elongation of the 8th hydraulic cylinder 313, by electromagnet geometrical clamp
Mineral collection bar 209 in 314 is put into mineral and drilled through among three the second mineral collection bar geometrical clamp 208 of part 2, Ran Houtong
Crossing the elongation of three the 5th hydraulic cylinders 207 makes three the second mineral collection bar geometrical clamps 208 clamp mineral collection bar 209, then
Mineral collection bar 209 is squeezed into by seabed by the rotation of the first stepper motor 202 and two the second stepper motors 204, when getting to
The depth needed, the first mineral is collected bar geometrical clamp 114 by the elongation of second hydraulic cylinder 111 of base 1 in next step and clamp ore deposit
Thing collects bar 209, and mineral then are collected into bar 209 and ore deposit by the rotation of the first stepper motor 202 and the second stepper motor 204
Thing is collected rod bit 210 and separated, and the 9th hydraulic cylinder 409, the tenth hydraulic cylinder of bar movable part 4 are then collected by the second mineral
410 and the collaborative works of two the 12nd hydraulic cylinders 414 make the 3rd mineral collect bar geometrical clamp 413 to collect the mineral removed
Bar cramp is tight, then mineral collection bar is moved to the top of mineral accumulator tank 113 by the 4th stepper motor 403, logical in next step
Cross the rotation of two the 5th stepper motors 502 of mineral ejector rod part bottom plate 501 and stretching mineral for the 13rd hydraulic cylinder 510
Push rod 511 is moved to mineral and collected above bar, then makes mineral push rod 511 by mineral by the rotation of the 6th stepper motor 508
The mineral matter collected in bar is put into mineral accumulator tank 113, collects the 9th liquid of bar movable part 4 by the second mineral in next step
Mineral matter collection bar is put into the first mineral and received by the contraction of cylinder pressure 409, the tenth hydraulic cylinder 410 and two the 12nd hydraulic cylinders 414
In the electromagnet geometrical clamp 314 for collecting bar movable part 3, then rotate sliding sleeve 309 by the rotation of the first steering wheel 307, then
Mineral matter collection bar is put into base 1 by flexible by the 7th hydraulic cylinder 310, the 8th hydraulic cylinder 313 and the 6th hydraulic cylinder 306
Mineral are collected in bar accumulator tank 104.
In the description of the invention, it is necessary to explanation, term " on ", " under ", "front", "rear",
The orientation or position relationship of the instructions such as "left", "right" are or the hair based on orientation shown in the drawings or position relationship
Bright product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, rather than
Indicate or imply that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore can not
It is interpreted as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, without being understood that
To indicate or implying relative importance.
Claims (2)
- The robot 1. a kind of seabed is prospected, including base（1）, support frame fixed part（2）, two the turn of the screw parts（3）, four Running gear（4）, support frame transport section（5）, it is characterised in that：Described support frame fixed part（2）Two first cunning Block（201）Base is slidably mounted on respectively（1）Two the first dovetail grooves above（103）In, described two the second parallel machines Structure bottom plate（218）Outside is respectively and fixedly installed to two the first supporting plates（102）Inner side；Two described the turn of the screw parts（3） Four the second sliding blocks（304）Base is slidably mounted on respectively（1）Four following the second dovetail grooves（114）In, described four Individual 4th hydraulic cylinder（301）Cylinder body bottom be respectively and fixedly installed to four the 4th hydraulic cylinder fixed plates（113）Inner side；It is described Four running gears（4）The second extension sleeve（401）Upper surface is separately mounted to bottom plate（101）At four following angles； Described support frame transport section（5）Two following the 3rd sliding blocks（502）Base is slidably mounted on respectively（1）Following two 3rd dovetail groove（115）In, described two second gears（508）Respectively with two the first racks（116）Intermeshing；Described base（1）Including bottom plate（101）, two the first supporting plates（102）, two the first dovetail grooves（103）, 20 Hemispherical groove（104）, 20 balls（105）, the first rectangular recess（106）, six first hydraulic cylinders（107）, six First hydraulic cylinder supporting plate（108）, six support frame barrier plates（109）, two F connected in stars（110）, six the first support frame gears Plate（111）, the second support frame baffle plate（112）, four the 4th hydraulic cylinder fixed plates（113）, four the second dovetail grooves（114）, two Individual 3rd dovetail groove（115）, two the first racks（116）, described bottom plate（101）It is an I-shaped plank, in the above Middle forward position is provided with first rectangular recess（106）, middle rearward position is recessed provided with two F shapes in the above Groove（110）, in bottom plate（101）Six the first support frame baffle plates are provided with above（111）, it is divided into two groups, and its position is in two F Connected in star（110）Outside；In bottom plate（101）Six first hydraulic cylinder supporting plates are provided with above（108）, its position is in bottom plate （101）The left and right sides above, described six first hydraulic cylinders（107）Cylinder body bottom is respectively and fixedly installed to six the first liquid Cylinder pressure supporting plate（108）Inner side, its piston rod end and support frame barrier plate（109）It is fixedly connected；In bottom plate（101）Above Rearward position is provided with the second support frame baffle plate（112）；In bottom plate（101）20 hemispherical grooves are provided with above（104）, its Two groups are divided into, every group of vertical two row, its position is in the first rectangular recess（106）The left and right sides；20 described rollings Pearl（105）It is rotatably installed in 20 hemispherical grooves（104）In；In bottom plate（101）Two the first dovetail grooves are provided with above （103）, its position is in hemispherical groove（104）The left and right sides；Two the first supporting plates are provided with substrate（102）, its Position is in every group of hemispherical groove（104）Above；In bottom plate（101）Two the 3rd dovetail grooves are arranged below（115）, its position exists Two F connected in stars（110）Outside；In bottom plate（101）Two the first racks are arranged below（116）, its position is at two the 3rd Dovetail groove（115）Outside；In bottom plate（101）Four the second dovetail grooves are provided with above（114）, it is divided into two groups, its position In the first rectangular recess（106）The left and right sides；In bottom plate（101）Four the 4th hydraulic cylinder fixed plates are provided with above（113）, Its position is in four the second dovetail grooves（114）Outside；Described support frame fixed part（2）Including two the first sliding blocks（201）, two support frame fixed part bottom plates（202）、 Six location-plates（203）, two the second racks（204）, two the first stepper motors（205）, two first gears（206）, two Individual first slide plate（207）, two second hydraulic cylinders（208）, two second hydraulic cylinder fixed plates（209）, two the 4th dovetail grooves （210）, two the second slide plates（211）, two the second stepper motor fixed blocks（212）, two the second stepper motors（213）, two Individual support frame fixed mount（214）, two the first parallel institution bottom plate fixed plates（215）, two the first parallel institution bottom plates （216）, six the 3rd hydraulic cylinders（217）, two the second parallel institution bottom plates（218）, the second rectangular recess（219）, it is described Support frame fixed part bottom plate（202）It is a rectangle plank, outside in its lower section is provided with the first sliding block（201）, institute The first sliding block stated（201）It is slidably mounted on two the first dovetail grooves（103）In；In support frame fixed part bottom plate（202）On Face is provided with three location-plates in equilateral triangle arrangement（203）, the location-plate in outside（203）Outside be provided with the second rack （204）；In support frame fixed part bottom plate（202）Front side be provided with the first parallel institution bottom plate fixed plate（215）, described One parallel institution bottom plate（216）Bottom surface is fixedly mounted on the first parallel institution bottom plate fixed plate（215）Outside, described three Three hydraulic cylinders（217）Cylinder body bottom is provided with sliding sleeve, and it is slidably mounted on the second parallel institution bottom plate（218）On axle on side, its Piston rod end and the first parallel institution bottom plate fixed plate（215）It is rotatablely connected at angle；The first described slide plate（207）Slide peace Mounted in six location-plates（203）On, a supporting plate, the first described stepper motor are respectively provided with left and right sides of it（205）Water Placing flat, its side are fixedly mounted on the first slide plate（207）In the supporting plate of side, its motor shaft and first gear（206）Gu Fixed connection；Described first gear（206）With the second rack（204）Intermeshing；In the first slide plate（207）Centre position above Provided with second rectangular recess（219）, in the first slide plate（207）Two second hydraulic cylinder fixed plates are provided with above（209）, Its position is in the second rectangular recess（219）The left and right sides；Two described second hydraulic cylinders（208）Cylinder body bottom is solid respectively Dingan County is mounted in two second hydraulic cylinder fixed plates（209）Inner side, its piston rod end and the second slide plate（211）Supporting plate above It is fixedly connected；The second described slide plate（211）Following sliding block is slidably mounted on the 4th dovetail groove（210）In；In the second slide plate （211）The second stepper motor fixed block is arranged below（212）, described the second stepper motor（213）Horizontal positioned, its side is consolidated Dingan County is mounted in the second stepper motor fixed block（212）Side, its motor shaft and support frame fixed mount（214）Axle pass through shaft coupling It is fixedly connected, described support frame fixed mount（214）Axle be rotatably installed in the second stepper motor fixed block（212）Following is recessed In groove, in support frame fixed mount（214）Inner side is provided with rubber；Described the turn of the screw part（3）Including two the 4th hydraulic cylinders（301）, two the 4th hydraulic cylinder top plates（302）, second slide Block fixed plate（303）, two the second sliding blocks（304）, the 3rd parallel institution bottom plate（305）, three the 5th hydraulic cylinders（306）, Four parallel institution bottom plates（307）, two the 3rd stepper motors（308）, the 3rd stepper motor fixed plate（309）, two the turn of the screws Sleeve（310）, two springs（311）, the first extension sleeve（312）, the first expansion link（313）, the first expansion link top plate （314）, described the 3rd stepper motor fixed plate（309）It is a rectangle plank, the first described extension sleeve（312）On End is fixedly mounted on the 3rd stepper motor fixed plate（309）Middle position below, the first described expansion link（313）It is slidably installed In the first extension sleeve（312）In following groove, below with the first expansion link top plate（314）It is fixedly connected；Described two Individual spring（311）Upper end is fixedly mounted on the 3rd stepper motor fixed plate（309）Below, its position is in the first extension sleeve （312）The left and right sides, its lower end and the first expansion link top plate（314）It is fixedly connected above；Described two the 3rd steppings electricity Machine（308）Place straight down, its side is fixedly mounted on the 3rd stepper motor fixed plate（309）Above, its motor shaft passes through 3rd stepper motor fixed plate（309）Hole above and the turn of the screw sleeve（310）It is fixedly connected below；Described the turn of the screw sleeve （310）It is rotatably installed in the first expansion link top plate（314）On circular hole in；The 3rd described parallel institution bottom plate（305）Below It is fixedly mounted on the 3rd stepper motor fixed plate（309）Above, three the 5th hydraulic cylinders（306）Cylinder body bottom be provided with slide Set, it is slidably mounted on the 3rd parallel institution bottom plate respectively（305）On axle on side, its piston rod end is in parallel with the 4th respectively Organization soleplate（307）Hinge connection at angle；The second described sliding block fixed plate（303）The 4th parallel institution is fixedly mounted on below Bottom plate（307）Above, in the second sliding block fixed plate（303）Two the second sliding blocks are provided with above（304）, it is slidably mounted on two Second dovetail groove（114）In；In the second sliding block fixed plate（303）Both sides are respectively provided with a 4th hydraulic cylinder top plate（302）, it is described The 4th hydraulic cylinder（301）Cylinder body bottom be fixedly mounted on the 4th hydraulic cylinder fixed plate（113）Inner side, its piston rod end with 4th hydraulic cylinder top plate（302）It is fixedly connected；Described running gear（4）Including the second extension sleeve（401）, the second expansion link（402）, the 6th hydraulic cylinder（403）, rudder Machine（404）, Wheel housings（405）, wheel axle（406）, wheel（407）, the 4th stepper motor（408）, the 4th stepper motor fixes Plate（409）, described four the second extension sleeves（401）Upper surface is fixedly mounted on bottom plate（101）Four angles at, under it Face is provided with groove, the second described expansion link（402）It is slidably mounted on the second extension sleeve（401）In following groove, at it Groove, the 6th described hydraulic cylinder is arranged below（403）Cylinder body bottom and the second extension sleeve（401）The supporting plate of side is consolidated Fixed connection, its piston rod end and the second expansion link（402）The supporting plate of side is fixedly connected；Described steering wheel（404）Vertically Place downwards, its side is fixedly mounted on the second expansion link（402）In the groove of downside, its motor shaft and Wheel housings（405）On Face is fixedly connected；In Wheel housings（405）Outside is provided with the 4th stepper motor fixed plate（409）, described the 4th stepper motor （408）Horizontal positioned, its side is fixedly mounted on the 4th stepper motor fixed plate（409）Below, its motor shaft and wheel axle （406）It is fixedly connected by shaft coupling, described wheel axle（406）It is rotatably installed in Wheel housings（405）Circular hole in, it is described Wheel（407）It is fixedly mounted on wheel axle（406）On, its position is in Wheel housings（405）The inside.
- A kind of 2. seabed mine locating robot according to claim 1, it is characterised in that：Described support frame transport section （5）Including support frame transport section bottom plate（501）, two the 3rd sliding blocks（502）, support column（503）, I-shaped plank（504）、 Four the 6th hydraulic cylinders（505）, two T-shaped fix arbor（506）, two the 5th stepper motors（507）, two second gears （508）, described support frame transport section bottom plate（501）It is a rectangle plank, in the above provided with two the 3rd sliding blocks （502）, it is slidably mounted on two the 3rd dovetail grooves respectively（115）In；Two described the 5th stepper motors（507）Level is put Put, its side is fixedly mounted on support frame transport section bottom plate（501）Below, its motor shaft and second gear（508）It is fixed to connect Connect；Described second gear（508）With the first rack（116）Intermeshing；In support frame transport section bottom plate（501）In below Meta has installed support column（503）, described I-shaped plank（504）It is fixedly mounted on support column（503）Under, described four 6th hydraulic cylinder（505）Cylinder body bottom is fixedly mounted on I-shaped plank（504）Upside, its piston rod end are transported through support frame Defeated part backplane（501）Arbor is fixed in hole above with T-shaped（506）It is fixedly connected below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711153765.9A CN107671874A (en) | 2017-11-20 | 2017-11-20 | A kind of seabed mine locating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711153765.9A CN107671874A (en) | 2017-11-20 | 2017-11-20 | A kind of seabed mine locating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107671874A true CN107671874A (en) | 2018-02-09 |
Family
ID=61148980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711153765.9A Pending CN107671874A (en) | 2017-11-20 | 2017-11-20 | A kind of seabed mine locating robot |
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| Country | Link |
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| CN (1) | CN107671874A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639280A (en) * | 2018-05-03 | 2018-10-12 | 迈博知识产权代理秦皇岛有限公司 | A kind of ground mine placement robot |
| CN108742940A (en) * | 2018-04-03 | 2018-11-06 | 仝文杰 | A kind of special injection instrument of sheep |
| CN109025824A (en) * | 2018-08-16 | 2018-12-18 | 招远市铱璐光电科技有限公司 | Drilling machine people is surveyed in a kind of armor crab seabed |
| CN112729923A (en) * | 2021-01-15 | 2021-04-30 | 苏东义 | Desert region resource exploration vehicle |
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| CN204150135U (en) * | 2014-10-14 | 2015-02-11 | 钟琳 | Intelligent environment exploration robot |
| CN107160356A (en) * | 2017-07-24 | 2017-09-15 | 孟庆仕 | A kind of high-tension bus-bar support frame installs car |
| CN107335161A (en) * | 2017-07-24 | 2017-11-10 | 孟庆仕 | A kind of cell fire emergency relief car |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204150135U (en) * | 2014-10-14 | 2015-02-11 | 钟琳 | Intelligent environment exploration robot |
| CN107160356A (en) * | 2017-07-24 | 2017-09-15 | 孟庆仕 | A kind of high-tension bus-bar support frame installs car |
| CN107335161A (en) * | 2017-07-24 | 2017-11-10 | 孟庆仕 | A kind of cell fire emergency relief car |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742940A (en) * | 2018-04-03 | 2018-11-06 | 仝文杰 | A kind of special injection instrument of sheep |
| CN108639280A (en) * | 2018-05-03 | 2018-10-12 | 迈博知识产权代理秦皇岛有限公司 | A kind of ground mine placement robot |
| CN109025824A (en) * | 2018-08-16 | 2018-12-18 | 招远市铱璐光电科技有限公司 | Drilling machine people is surveyed in a kind of armor crab seabed |
| CN112729923A (en) * | 2021-01-15 | 2021-04-30 | 苏东义 | Desert region resource exploration vehicle |
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