CN108313242A - A kind of underwater hardware collecting robot people - Google Patents
A kind of underwater hardware collecting robot people Download PDFInfo
- Publication number
- CN108313242A CN108313242A CN201810325998.0A CN201810325998A CN108313242A CN 108313242 A CN108313242 A CN 108313242A CN 201810325998 A CN201810325998 A CN 201810325998A CN 108313242 A CN108313242 A CN 108313242A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- holder
- electric rotating
- rotating machine
- motor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Multimedia (AREA)
- Toys (AREA)
Abstract
A kind of underwater hardware collecting robot people, there is object keeping box in the application robot body's mid-stent, robot body's holder is equipped with floating roller, rotor structure includes propeller and rotor motor, movable clip crawl structure and electromagnet obtain mechanism and are fixedly mounted on the front and back end holder of robot body's holder by mechanical arm, mechanical arm includes electric rotating machine, connecting rod one, connecting rod Movable motor, connecting rod two, connecting rod rotary electric machine and active motor, movable clip crawl structure includes movable clip and fixing, there is camera electric rotating machine in machinery folder holder side, the shaft of camera electric rotating machine is equipped with adjustable shelf camera, it includes electromagnet that electromagnet, which obtains mechanism, metal detection structure includes supporting rod, metal detector and detector electric rotating machine.The application utilizes mechanical arm and electromagnet, can carry out underwater recycle metal object and collect, to which these discarded metals be recycled, and then the environmentally friendly efficiency of the offer that can economize on resources.
Description
Technical field
The present invention relates to metal object collecting device fields, more particularly to a kind of underwater hardware collecting robot people.
Background technology
Underwater administer is always a problem, and the bottom often has many metal wastes, these wastes often can
With what is be recycled, traditional manner of cleaning up is to scoop up water-bed sundries again to classify, but in real process, this
Sample operating efficiency is extremely low, and is to use to be accomplished manually, and needs a large amount of manpower and materials, can with the continuous development of robot technology
To consider to design a kind of underwater hardware collecting robot people.
Invention content
Above-mentioned in order to solve the problems, such as, the present invention provides a kind of underwater hardware collecting robot people, utilizes mechanical arm
And electromagnet, underwater recycle metal object can be carried out and collected, to recycle these discarded metals, and then can be saved
About resource provides environmentally friendly efficiency, for this purpose, the present invention provides a kind of underwater hardware collecting robot people, including robot master
Body support frame, rotor structure, movable clip capture structure, metal detection structure, electromagnet obtain mechanism, object keeping box, floating roller and
Active motor has object keeping box, the shaft of robot body's holder to be respectively equipped with one in robot body's mid-stent
A floating roller, the rotor structure include propeller and rotor motor, and four angles of robot body's holder are each provided with
One rotor motor, propeller is equipped in the shaft of the rotor motor, and the activity clip crawl structure and electromagnet obtain
Mechanism is taken to be fixedly mounted on the front and back end holder of robot body's holder by mechanical arm, the mechanical arm includes electric rotating
Machine, connecting rod one, connecting rod Movable motor, connecting rod two, connecting rod rotary electric machine and active motor, the active motor are fixed
On the front and back end holder of corresponding robot body's holder, connecting rod flexible lamp is installed in the shaft of the active motor
Machine, connecting rod rotary electric machine one end are connected with two one end of connecting rod, and two other end of the connecting rod is connecting rod flexible lamp
Machine, one one end of extension bar, one other end of the connecting rod are electric rotating machine, the work to the shaft of the connecting rod Movable motor in succession
Dynamic clip crawl structure includes movable clip and fixing, and the activity clip is connected simultaneously with fixing tail end by motor
Holder is pressed from both sides by machinery with the shaft of the electric rotating machine of corresponding mechanical arm to be connected, there is camera rotation in machinery folder holder side
The shaft of motor, the camera electric rotating machine is equipped with adjustable shelf camera, and it includes electromagnet that the electromagnet, which obtains mechanism,
The electromagnet is connected with the shaft of the electric rotating machine of corresponding mechanical arm, and the metal detection structure includes supporting rod, metal spy
Device and detector electric rotating machine are surveyed, the detector electric rotating machine fixed electromagnet obtains the robot master corresponding to actuator base
The shaft of the lower section of body support frame, the detector electric rotating machine is connected with supporting rod one end, and supporting rod other end end has
Metal detector.
There are at least two rows of leakage holes in further improvement of the present invention, the object keeping box bottom, consider that metal takes in water for a long time
Liquid is had after going out, and therefore leakage hole is often arranged in object keeping box.
Further improvement of the present invention, respectively there are one air bags for the object keeping box both sides, can just in case an emergency situation is encountered
To be floated by air bag.
Further improvement of the present invention is respectively equipped with a pair of of topographical observation camera shooting on robot body's holder front and back end
Head, this camera are mainly used for being monitored water surface floating animal.
Further improvement of the present invention, respectively there are one headlamps, setting to shine for installation for robot body's holder front and back end
Bright lamp can be monitored with auxiliary camera.
The present invention provides a kind of underwater hardware collecting robot people, there is two sets of collection systems, a set of to be matched by gripper
The collection that camera can be used for large-sized object is closed, it is another set of that electromagnet is coordinated by metal detector, it is small that some can be carried out
The collection of part metal object, and low-latitude flying can be carried out with mating rotor, whole operation unmanned can carry out, and save in this way
A large amount of manpower, and circulating collection ultrahigh in efficiency can be carried out, it can be used for the use of the shallow waters area such as rivers and lakes.
Description of the drawings
Fig. 1 is schematic diagram of the present invention；
Fig. 2 is partial schematic diagram one of the present invention；
Fig. 3 is partial schematic diagram two of the present invention；
It illustrates:
1, movable clip；2, electric rotating machine；3, connecting rod one；4, connecting rod Movable motor；5, connecting rod two；6, object keeping box；7,
Air bag；8, floating roller；9, electromagnet；10, supporting rod；11, metal detector；12, connecting rod rotary electric machine；13, spiral
Paddle；14, rotor motor；15, fixing；16, camera electric rotating machine；17, adjustable shelf camera；18, topographical observation camera shooting
Head；19, headlamp；20, detector electric rotating machine；21, active motor.
Specific implementation mode
Present invention is further described in detail with specific implementation mode below in conjunction with the accompanying drawings：
The present invention provides a kind of underwater hardware collecting robot people, using mechanical arm and electromagnet, can carry out recycling gold under water
Belong to object to collect, to which these discarded metals be recycled, and then the environmentally friendly efficiency of the offer that can economize on resources.
As an embodiment of the present invention, the present invention provides a kind of underwater hardware collecting robot people, including robot master
Body support frame, rotor structure, movable clip capture structure, and metal detection structure, electromagnet obtain mechanism, object keeping box 6, floating roller 8
With active motor 21, there are object keeping box 6, the shaft of robot body's holder respectively to install in robot body's mid-stent
There are one floating rollers 8, and the rotor structure includes propeller 13 and rotor motor 14, four angles of robot body's holder
It is each provided with a rotor motor 14, propeller 13, the activity clip crawl are installed in the shaft of the rotor motor 14
Structure and electromagnet obtain mechanism and are fixedly mounted on the front and back end holder of robot body's holder by mechanical arm, the machinery
Arm includes electric rotating machine 2, connecting rod 1, connecting rod Movable motor 4, connecting rod 25, connecting rod rotary electric machine 12 and active electricity
Machine 21, the active motor 21 are fixedly mounted on the front and back end holder of corresponding robot body's holder, the active motor 21
Shaft on connecting rod Movable motor 12 is installed, described 12 one end of connecting rod rotary electric machine is connected with 25 one end of connecting rod, institute
It is connecting rod Movable motor 4 to state 25 other end of connecting rod, the shaft of the connecting rod Movable motor 4 one 3 one end of extension bar in succession,
One 3 other end of the connecting rod is electric rotating machine 2, and the activity clip crawl structure includes movable clip 1 and fixing 15,
The activity clip 1 and 15 tail end of fixing are connected by motor and press from both sides the electric rotating of holder and corresponding mechanical arm by machinery
The shaft of machine 2 is connected, and there are camera electric rotating machine 16, the shaft of the camera electric rotating machine 16 in machinery folder holder side
Adjustable shelf camera 17 is installed, it includes electromagnet 9, the electromagnet 9 and corresponding mechanical arm that the electromagnet, which obtains mechanism,
The shaft of electric rotating machine 2 is connected, and the metal detection structure includes supporting rod 10, metal detector 11 and detector electric rotating machine
20,20 fixed electromagnet of detector electric rotating machine obtains the lower section of robot body's holder corresponding to actuator base, institute
The shaft for stating detector electric rotating machine 20 is connected with 10 one end of supporting rod, and there is metal detector in 10 other end end of the supporting rod
11。
As a kind of specific embodiment of the present invention, the present invention provides a kind of underwater hardware as shown in Figs. 1-3 and collects machine
Device people, including robot body's holder, rotor structure, movable clip capture structure, and metal detection structure, electromagnet obtain machine
Structure, object keeping box 6, floating roller 8 and active motor 21 have object keeping box 6, the object keeping box 6 in robot body's mid-stent
At least two rows of leakage holes are arranged at bottom, and consideration metal has liquid after taking out in water for a long time therefore leakage hole is often arranged in object keeping box, institute
Stating 6 both sides of object keeping box, respectively there are one air bags 7, can be floated by air bag just in case an emergency situation is encountered, the machine
Respectively there are one floating rollers 8 for installation for the shaft of device human agent's holder, and the rotor structure includes propeller 13 and rotor motor 14, institute
Four angles for stating robot body's holder are each provided with a rotor motor 14, and spiral shell is equipped in the shaft of the rotor motor 14
Paddle 13 is revolved, a pair of of topographical observation camera 18 is respectively installed on robot body's holder front and back end, this camera is mainly used
It is monitored in water surface floating animal, respectively there are one headlamp 19, setting illuminations for installation for robot body's holder front and back end
Lamp can be monitored with auxiliary camera, and the activity clip crawl structure and electromagnet obtain mechanism and fixed by mechanical arm and pacified
On the front and back end holder of robot body's holder, the mechanical arm includes electric rotating machine 2, connecting rod 1, connecting rod activity
Motor 4, connecting rod 25, connecting rod rotary electric machine 12 and active motor 21, the active motor 21 are fixedly mounted on corresponding machine
On the front and back end holder of human agent's holder, connecting rod Movable motor 12, the company are installed in the shaft of the active motor 21
12 one end of extension bar rotary electric machine is connected with 25 one end of connecting rod, and 25 other end of the connecting rod is connecting rod Movable motor 4, institute
The shaft of connecting rod Movable motor 4 one 3 one end of extension bar in succession is stated, one 3 other end of the connecting rod is electric rotating machine 2, the work
Dynamic clip crawl structure includes movable clip 1 and fixing 15, and the activity clip 1 and 15 tail end of fixing pass through motor
It is connected and holder is pressed from both sides by machinery and be connected with the shaft of the electric rotating machine 2 of corresponding mechanical arm, machinery folder holder side is taken the photograph
As head electric rotating machine 16, the shaft of the camera electric rotating machine 16 is equipped with adjustable shelf camera 17, and the electromagnet obtains
Mechanism includes electromagnet 9, and the electromagnet 9 is connected with the shaft of the electric rotating machine 2 of corresponding mechanical arm, the metal detection structure
Including supporting rod 10, metal detector 11 and detector electric rotating machine 20,20 fixed electromagnet of detector electric rotating machine obtains
Take the lower section of robot body's holder corresponding to actuator base, shaft and the supporting rod 10 1 of the detector electric rotating machine 20
End is connected, and there is metal detector 11 in 10 other end end of the supporting rod.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and according to the technical essence of the invention made by any modification or equivalent variations, still fall within present invention model claimed
It encloses.
Claims (5)
1. a kind of underwater hardware collecting robot people, including robot body's holder, rotor structure, movable clip capture structure,
Metal detection structure, electromagnet obtain mechanism, object keeping box（6）, floating roller（8）And active motor（21）, which is characterized in that it is described
There is object keeping box in robot body's mid-stent（6）, respectively there are one floating rollers for installation for the shaft of robot body's holder
（8）, the rotor structure includes propeller（13）And rotor motor（14）, four angles of robot body's holder are respectively arranged
There are one rotor motors（14）, the rotor motor（14）Shaft on propeller is installed（13）, the activity clip crawl
Structure and electromagnet obtain mechanism and are fixedly mounted on the front and back end holder of robot body's holder by mechanical arm, the machinery
Arm includes electric rotating machine（2）, connecting rod one（3）, connecting rod Movable motor（4）, connecting rod two（5）, connecting rod rotary electric machine
（12）And active motor（21）, the active motor（21）It is fixedly mounted on the front and back end holder of corresponding robot body's holder
On, the active motor（21）Shaft on connecting rod Movable motor is installed（12）, the connecting rod rotary electric machine（12）One
End and connecting rod two（5）One end is connected, the connecting rod two（5）The other end is connecting rod Movable motor（4）, the connecting rod work
Dynamic motor（4）Shaft extension bar one in succession（3）One end, the connecting rod one（3）The other end is electric rotating machine（2）, the activity
It includes movable clip that clip, which captures structure,（1）And fixing（15）, the activity clip（1）And fixing（15）Tail end is logical
Cross the electric rotating machine that motor is connected and presss from both sides holder and corresponding mechanical arm by machinery（2）Shaft be connected, it is described machinery folder holder
There is camera electric rotating machine in side（16）, the camera electric rotating machine（16）Shaft adjustable shelf camera is installed（17）,
It includes electromagnet that the electromagnet, which obtains mechanism,（9）, the electromagnet（9）With the electric rotating machine of corresponding mechanical arm（2）Shaft
It is connected, the metal detection structure includes supporting rod（10）, metal detector（11）With detector electric rotating machine（20）, the spy
Survey device electric rotating machine（20）Fixed electromagnet obtains the lower section of robot body's holder corresponding to actuator base, the detector
Electric rotating machine（20）Shaft and supporting rod（10）One end is connected, the supporting rod（10）There is metal detector in other end end
（11）.
2. a kind of underwater hardware collecting robot people according to claim 1, it is characterised in that：The object keeping box（6）Bottom
There are at least two rows of leakage holes in portion.
3. a kind of underwater hardware collecting robot people according to claim 1, it is characterised in that：The object keeping box（6）Two
Respectively there are one air bags for side（7）.
4. a kind of underwater hardware collecting robot people according to claim 1, it is characterised in that：Robot body's branch
A pair of of topographical observation camera is respectively installed on frame front and back end（18）.
5. a kind of underwater hardware collecting robot people according to claim 1, it is characterised in that：Robot body's branch
Respectively there are one headlamps for installation for frame front and back end（19）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810325998.0A CN108313242A (en) | 2018-04-12 | 2018-04-12 | A kind of underwater hardware collecting robot people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810325998.0A CN108313242A (en) | 2018-04-12 | 2018-04-12 | A kind of underwater hardware collecting robot people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108313242A true CN108313242A (en) | 2018-07-24 |
Family
ID=62897391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810325998.0A Pending CN108313242A (en) | 2018-04-12 | 2018-04-12 | A kind of underwater hardware collecting robot people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108313242A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262578A (en) * | 2018-09-05 | 2019-01-25 | 嘉善县陶庄小学 | A kind of underwater collecting vehicle |
| CN109515655A (en) * | 2018-12-03 | 2019-03-26 | 江苏科技大学 | A kind of multi-functional six crawler types underwater robot |
| CN110979605A (en) * | 2020-01-04 | 2020-04-10 | 三门梅格测量仪器有限公司 | Metal detection robot used in water |
| CN113246127A (en) * | 2021-05-20 | 2021-08-13 | 桂林电子科技大学 | Underwater pipeline inspection cleaning robot |
| CN116495136A (en) * | 2023-06-21 | 2023-07-28 | 山东魁丰生物科技有限公司 | Underwater salvaging robot |
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| CN107585273A (en) * | 2017-08-08 | 2018-01-16 | 邬冯值 | underwater salvage robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109262578A (en) * | 2018-09-05 | 2019-01-25 | 嘉善县陶庄小学 | A kind of underwater collecting vehicle |
| CN109515655A (en) * | 2018-12-03 | 2019-03-26 | 江苏科技大学 | A kind of multi-functional six crawler types underwater robot |
| CN110979605A (en) * | 2020-01-04 | 2020-04-10 | 三门梅格测量仪器有限公司 | Metal detection robot used in water |
| CN110979605B (en) * | 2020-01-04 | 2020-10-27 | 三门梅格测量仪器有限公司 | Metal detection robot used in water |
| CN113246127A (en) * | 2021-05-20 | 2021-08-13 | 桂林电子科技大学 | Underwater pipeline inspection cleaning robot |
| CN113246127B (en) * | 2021-05-20 | 2022-05-24 | 桂林电子科技大学 | Underwater pipeline inspection cleaning robot |
| CN116495136A (en) * | 2023-06-21 | 2023-07-28 | 山东魁丰生物科技有限公司 | Underwater salvaging robot |
| CN116495136B (en) * | 2023-06-21 | 2023-09-01 | 山东魁丰生物科技有限公司 | Underwater salvaging robot |
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Application publication date: 20180724 |
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| RJ01 | Rejection of invention patent application after publication |