CN108382550A - Robot device and working method under a kind of multifunctional water - Google Patents
Robot device and working method under a kind of multifunctional water Download PDFInfo
- Publication number
- CN108382550A CN108382550A CN201810106189.0A CN201810106189A CN108382550A CN 108382550 A CN108382550 A CN 108382550A CN 201810106189 A CN201810106189 A CN 201810106189A CN 108382550 A CN108382550 A CN 108382550A
- Authority
- CN
- China
- Prior art keywords
- collecting box
- robot device
- matter collecting
- multifunctional water
- seabed
- Prior art date
- 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.)
- Pending
Links
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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
Abstract
The invention discloses robot device and working methods under a kind of multifunctional water,It includes chassis,Matter collecting box,Buoyant means and operation module,The bottom on the chassis is equipped with crawler type walking mechanism,The matter collecting box is arranged on the chassis,And the matter collecting box front and tail portion be respectively equipped with operation module and propulsive mechanism,The operation module is mechanical arm,Crawl can be achieved,Control suction hose pose,The multiple functions such as repair,Propulsive mechanism is made of a pair of of propeller,Both the advance and steering of horizontal direction may be implemented,Can be that matter collecting box manufactures low-pressure area to suck seabed resources simultaneously,The buoyant means include multiple Buoyance adjustment air bags,Realize that the heave to device carries out active control,To,Robot device can enough realize that underwater float and bottom-sitting type are advanced simultaneously under multifunctional water,The present invention can voluntarily reach working sea area in severe sea condition,Carry out dive and floating and seabed operation,Shorten duty cycle,Improve operational security.
Description
Technical field
The present invention relates to robot device and work sides under seabed Collecting technique field more particularly to a kind of multifunctional water
Method.
Background technology
With the rapid development of human social economy and industry, the demand to mineral resources also gradually increases, in order to solve
The problem of land resources increasingly depleted, people start sight to invest ocean.Ocean area takes up an area the 71% of ball surface product, removes
Except offshore oil gas resource and beach ore in sand form, seabed also contains more metals of huge, the great business extraction value of reserves
The metallic mineral resources such as tuberculosis, cobalt bearing crust and Polymetallic sulphide.Rich in nickel, cobalt, copper, manganese and gold, silver gold in these mineral
Belong to etc., gross reserves is higher by tens times to thousands of times of land corresponding reserves respectively.In addition to this, there be the precious water such as sea cucumber in seabed
The mineral resources such as product, amber.China in 2013 is again formal to obtain one piece of Pacific Ocean cobalt bearing crust mining area.Obviously, deep-sea mineral products
The exploitation of resource has to rely on deep-sea mining equipment and carries out.What on May 19th, 2015 announced《Made in China 2025》For " manufacture is strong
State " strategy specifies direction, " marine engineering equipment and high-tech ship " is classified as one of the ten great strategy fields of key breakthrough,
The research and development and nationalization of advanced marine engineering equipment are carried out emphatically.
As the development and automation control of the present computer technology are in manufacturing universal, the intelligence of product, more work(
Energyization also becomes inevitable trend.It is high that ocean engineering operation has the characteristics that operating environment complexity, homework precision require, because
This, realizes that the intelligence of working equipment, automation can successfully manage complicated operating environment with more kinetic energyization, improve operation life
Yield has great significance to the reasonable development of marine resources to reduce human cost.
Existing seabed collection mine equipment has the following disadvantages：
1), not having suspension, floating capacity, when work, needs additional configuration lash ship to be launched and recycled, and cost is higher,
Inefficiency.
2) bottom sticking operation, can only be carried out, due to being only furnished with pedrail mechanism without buoyancy device, can only be relied at work
The equipment such as crawler belt carry out three-degree-of-freedom motion in seabed.Need powerful power that could advance when encountering the sea-floor reliefs such as abrupt slope,
It is easy to burn out host, reduces the reliability of system.Posture cannot be freely adjusted when encountering sea-floor relief complicated and changeable, easily touched
Barrier is touched, certain damage is caused to collection mine equipment.
3), underwater photograph technical is difficult.It is detailed to be carried out to environments such as subsea due to existing seabed collection mine device structure heaviness
, the shooting of all-dimensional multi-angle, need that multiple underwater cameras are installed, have to seabed collection mine device structure layout very high
It is required that also increasing difficulty when equipment design, the input of manpower and materials is improved.
4), due to being not equipped with mechanical arm, barrier can not be cleared up, the ore of smooth bottom can only be drawn, when
Having stone or other sundries to be pressed in must select to abandon operation when drawing on object, by force operation easy damaged nodules collector.
Invention content
The technical issues of present invention mainly solves in the presence of the prior art, to provide it is a kind of without configure lash ship into
Row is launched and recycling, can realize six-freedom motion under water, be effectively shielded from barrier；Realize underwater wide-angle shooting,
Sea-floor relief is detected, suitable mining area is found；Have the ability for clearing up the barriers such as stone in mining area operation, improves and inhale mine
Robot device and working method under the multifunctional water of efficiency and quality.
The above-mentioned technical problem of the present invention is mainly to be addressed by following technical proposals：
Robot device under multifunctional water provided by the invention comprising chassis, matter collecting box, buoyant means and control machine
Structure, the bottom on the chassis are equipped with walking mechanism, and the matter collecting box is arranged on the chassis, and the front of the matter collecting box and
Tail portion is respectively equipped with operation module and propulsive mechanism, and the operation module is used to acquire mineral and be delivered in the matter collecting box,
The buoyant means include multiple Buoyance adjustment air bags, and multiple Buoyance adjustment air bags are laterally right along the top of the matter collecting box
Distribution and the control mechanism is claimed to be connected respectively with the walking mechanism, operation module, propulsive mechanism and Buoyance adjustment air bag
It connects.
Further, the Buoyance adjustment air bag includes airbag body and diaphragm, and the diaphragm is arranged in the air bag sheet
At the bosom position of body, and the inner cavity of the airbag body is divided into the first cavity and the second cavity, first chamber
Bidirectional Air Valve is equipped on body and the second cavity, the Bidirectional Air Valve is connected with the control mechanism.
Further, the airbag body is made using nylon material.
Further, the operation module includes seabed adaptability collection mine device, suction hose and multiple iron ore feeding holes, multiple described
Iron ore feeding hole is arranged in the front of the matter collecting box, and is connected with the matter collecting box, described in the seabed adaptability collection mine device warp
Suction hose is connected with the iron ore feeding hole.
Further, expansion regulating mechanism, the expansion regulating mechanism and the suction hose are additionally provided on the iron ore feeding hole
It is connected, and the collapsing length for adjusting the suction hose.
Further, the propulsive mechanism includes the propeller for being symmetricly set on the matter collecting box two sides of tail, two institutes
It states propeller to be also respectively connected with two driving motors, the inside of the matter collecting box is additionally provided with strainer.
Further, the front of the matter collecting box is additionally provided with levelling bench, and the levelling bench is equipped with mechanical arm, institute
Stating mechanical arm has six-freedom degree, and the cantilever end of the mechanical arm is connected with gripper and/or camera.
Further, position indicator and attitude transducer are housed, the attitude transducer includes three axis on the matter collecting box
Gyroscope and three axis accelerometer.
A kind of working method using robot device under above-mentioned multifunctional water comprising following steps：
S1, the Bidirectional Air Valve of all Buoyance adjustment air bags is opened into air inlet, the buoyancy of robot device is made to be slightly less than gravity；
S2, the diving speed and posture for adjusting robot device；
S3, start propeller, the rotating forward, reversion or differential by controlling propeller 71 rotate, and realize robot device
Advance, retrogressing and steering, until reach specify seabed mining area；
Behind S4, arrival seabed, driving motor is closed, and propeller stops operating, and is started walking mechanism, is utilized Track wheel device
Robot is set continuously and stably to advance in sea bed；
S5, start mechanical arm, control machine machinery claw picks up the sundries such as the stone being covered on ore and is put in designated position；
After S6, mining area sundries clean out, suction hose and seabed adaptability Ji Kuang are launched to designated position, driving is started
Motor makes propeller high speed rotation form powerful suction force, and mineral are sucked in matter collecting box；
Mineral are delivered to relaying storehouse by S7, ore slurry pump, complete a working cycles or close in operating system to dive.
Further, the step S2 is specifically included：Open Bidirectional Air Valve air inlet so that the volume of airbag body can protect
Hold a definite value, it is ensured that robot device can continue dive, and the speed of dive is determined by position indicator, and is passed according to posture
The air inflow of the trim and the appropriate enlarged portion Buoyance adjustment air bag of angle of heel of sensor reaction, allows robot device to return and top-ups
State.
The beneficial effects of the present invention are：
(1), it uses Buoyance adjustment air bag and constitutes buoyant means, can be changed by controlling the open and close of Bidirectional Air Valve
The air inflow for becoming buoyant means, to obtain different buoyancy so that robot can float in water or suspension operation；With
Traditional seabed collection mine equipment is compared, and the present invention is launched and recycled without accessories lash ship before and after work, shortens operation
Time and duty cycle greatly reduce manpower and materials cost.
(2), the quantity of Buoyance adjustment air bag has multiple, and along the lateral symmetry distribution in the top of matter collecting box, and buoyancy tune
The bosom of whole air bag be equipped with diaphragm, Buoyance adjustment air bag is equally divided into the first cavity and the second cavity, by laterally or
The difference of person longitudinal direction air inflow, the Buoyance adjustment air bag buoyancy of different sizes in lateral and longitudinal acquisition, to realize under water
The rolling of robot and pitching more flexible can have to enable the invention to realize the movement of underwater six degree of freedom
Effect ground avoiding obstacles, reduce collision and abrasion.
(3), the rotating speed for controlling two propellers respectively by two driving motors, under suspension or floating state, spiral shell
It revolves paddle and realization advance and turning function is rotated by rotating forward, reversion or differential, it can more flexiblely when working under water
Cope with sea-floor relief, environmental load.
(4), it forms powerful suction force using propeller high-speed rotation mineral are sucked out by seabed adaptability collection mine device,
And suction force can control by adjusting revolution speed of propeller, which is combined as a whole power plant and equipment, nothing
It needs extra work pumping to take mineral, the weight of the present invention is considerably reduced, but also the seabed collecting machine device people is more traditional
Collection mine equipment can store the more ores of transport.
(5), it is mounted with the mechanical arm with six-freedom degree, can be carried out at an arbitrary position with any attitude under water
Work.Mechanical arm leading portion is equipped with gripper/or camera, can in real time be replaced according to actual job demand, realizes underwater
Comprehensive, wide-angle shooting, can also clear up barrier, so that seabed adaptability collection mine device efficiently draws ore, in seabed
Failure is encountered when operation also can self-maintain.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 be the present invention multifunctional water under robot device structural schematic diagram；
Fig. 2 be the present invention multifunctional water under robot device another angle structural schematic diagram；
Fig. 3 be the present invention multifunctional water under robot device buoyant means structural schematic diagram.
Specific implementation mode
The preferred embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
The basic conception of the present invention is：The characteristics of according to seabed collection mine operation, by by buoyant means, operation module,
The multifunction of the systems such as seabed adaptability collection mine device and mechanical arm integrates and work compound, improves the effect of undersea mining
Rate, and improve the ability of the sea-floor relief, ocean current load and working condition of coping with complexity.
Refering to fig. 1 shown in -3, robot device under multifunctional water of the invention comprising chassis 1, matter collecting box 2, buoyancy machine or engine
The bottom of structure 3 and control mechanism 4, chassis 1 is equipped with walking mechanism 5, and matter collecting box 2 is arranged on chassis 1, and the front of matter collecting box 2
It is respectively equipped with operation module 6 and propulsive mechanism 7 with tail portion, operation module 6 is floated for acquiring mineral and being delivered in matter collecting box 2
Force mechanisms 3 include multiple Buoyance adjustment air bags, multiple Buoyance adjustment air bags along the lateral symmetry distribution in the top of matter collecting box 2, and
Control mechanism 4 is connected with walking mechanism 5, operation module 6, propulsive mechanism 7 and Buoyance adjustment air bag respectively.Row in the present invention
It can be Track wheel device to walk mechanism 5, Track wheel device can stable motion, resist the interference of the environmental loads such as ocean current, change
The rotating speed of two track drive motors and direction of rotation can also realize the advance of robot, retreat and turning function.
Specifically, Buoyance adjustment air bag includes airbag body 31 and diaphragm 32, and diaphragm 32 is arranged in airbag body 31
Portion's middle position, and the inner cavity of airbag body 31 is divided into the first cavity 33 and the second cavity 34, the first cavity 33 and
Bidirectional Air Valve 35 is equipped on two cavitys 34, Bidirectional Air Valve 35 is connected with control mechanism 4.In the present embodiment, airbag body 31
It is made using nylon material, has the characteristics that deformation performance is good, tensile strength is high, can there is larger shape at work
Become to generate buoyancy, deformation is generated in the environment of Deep-sea high voltage and is also difficult to rupture.
In the present invention, the effect of Buoyance adjustment air bag is as follows：1) suspension, float function, are provided for seabed collecting machine device people.
2) robot pose adjustment and underwater six-freedom motion, are ensured.Specifically, it when work, is controlled by control mechanism 4 two-way
Air valve 35 is opened and closed to control the amount of compressed air in airbag body 31, to obtain different buoyancy so that robot is hanged
Floating capacity；Meanwhile changing the air inflow of left and right airbag body 31, or change the first cavity 33 and second in same airbag body 31
Air inflow in cavity 34 can also realize the movement of underwater pose adjustment and six degree of freedom.
Specifically, operation module 6 includes seabed adaptability collection mine device (not shown), suction hose 61 and multiple iron ore feeding holes
62, multiple iron ore feeding holes 62 are arranged in the front of matter collecting box 2, and are connected with matter collecting box 2, and seabed adaptability collection mine device is through suction hose
61 are connected with iron ore feeding hole 62.Expansion regulating mechanism is additionally provided on iron ore feeding hole 62, expansion regulating mechanism is connected with suction hose 61,
And the collapsing length for adjusting suction hose 61.Adaptability collection mine device can be accurately shipped to by the expansion regulating mechanism in the present invention
Designated position prevents the winding of suction hose 61.In the present embodiment, expansion regulating mechanism can be for resetting spring etc. in the prior art
The mechanism of conventional control collapsing length.Propeller 71 of the propulsive mechanism 7 including being symmetricly set on 2 two sides of tail of matter collecting box, two
Propeller 71 is also connected with two driving motors 72 respectively.
The operation module 6 of the present invention and the effect of propulsive mechanism 7 are as follows：1), propulsive mechanism 7 provides for the movement of robot
Power, and for the ore acquisition of operation module 6 suction force is provided with absorption.2), operation module 6 is suitable from seabed for storing
The ore of answering property collection mine device acquisition.3), suction hose 61 can be dismantled according to actual job demand, directly suck required ore
Matter collecting box 2 or by propeller 71 invert discharge sewage.
Preferably, the inside of matter collecting box 2 is additionally provided with strainer 21.Strainer 21 can prevent ore from entering 2 tail portion of matter collecting box damage
Bad propeller 71；By changing the type and mesh number of 2 material of strainer, different types of ore or other seabeds money can be realized
The acquisition in source.
Specifically, the front of matter collecting box 2 is additionally provided with levelling bench 22, and levelling bench 22 is equipped with mechanical arm 23, machinery
Arm 23 has six-freedom degree, and the cantilever end of mechanical arm 23 is connected with gripper and/or camera.
In the present invention, the effect of mechanical arm 23 is as follows：1) camera, is clamped, carries out comprehensive, wide-angle and takes the photograph under water
Shadow.2) barrier, is cleared up by gripper.
Preferably, position indicator 24 and attitude transducer 25 are housed, position indicator 24 can be in real time to control machine on matter collecting box 2
Structure 4 reacts the location of robot and movement velocity；Three-axis gyroscope and three axis accelerometer built in attitude transducer 25,
It can reflect machine human body posture, acceleration and angular acceleration in time.
The working method using robot device under above-mentioned multifunctional water of the present invention comprising following steps：
S1, the Bidirectional Air Valve 35 of all Buoyance adjustment air bags is opened into air inlet, the buoyancy of robot device is made to be slightly less than weight
Power；Robot can be with smaller speed dive.
S2, the diving speed and posture for adjusting robot device；
S3, start propeller, the rotating forward, reversion or differential by controlling propeller 71 rotate, and realize robot device
Advance, retrogressing and steering, until reach specify seabed mining area；
Behind S4, arrival seabed, driving motor is closed, and propeller stops operating, and is started walking mechanism, is utilized Track wheel device
Robot is set continuously and stably to advance in sea bed；
S5, start mechanical arm 23, control machine machinery claw picks up the sundries such as the stone being covered on ore and is put in specific bit
It sets；
After S6, mining area sundries clean out, suction hose 61 and seabed adaptability Ji Kuang are launched to designated position, starts and drives
Dynamic motor 72, makes 71 high speed rotation of propeller form powerful suction force, and mineral are sucked in matter collecting box 2；It is larger for particle,
The mineral drawn are difficult to seabed adaptability collection mine device, suction hose 61 can be dismantled before work, when work is directly pressed from both sides with manipulator
Object to be collected is held, is put near iron ore feeding hole 62, unclamps again gripper so that mineral are inhaled into matter collecting box 2.
Mineral are delivered to relaying storehouse by S7, ore slurry pump, complete a working cycles or close in operating system to dive.
Further, during dive, since the pressure of seawater constantly increases, need suitably to open Bidirectional Air Valve 35 into
Gas so that the volume of airbag body 31 can keep a definite value, it is ensured that robot device can continue dive, the speed of dive
It is determined by position indicator 24, and according to the trim and the appropriate enlarged portion Buoyance adjustment of angle of heel of the reaction of attitude transducer 25
The air inflow of air bag, allows robot device to return upright condition.
In conclusion the advantage of the invention is that：
(1), it uses Buoyance adjustment air bag and constitutes buoyant means, can be changed by controlling the open and close of Bidirectional Air Valve
The air inflow for becoming buoyant means, to obtain different buoyancy so that robot can float in water or suspension operation；With
Traditional seabed collection mine equipment is compared, and the present invention is launched and recycled without accessories lash ship before and after work, shortens operation
Time and duty cycle greatly reduce manpower and materials cost.
(2), the quantity of Buoyance adjustment air bag has multiple, and along the lateral symmetry distribution in the top of matter collecting box, and buoyancy tune
The bosom of whole air bag be equipped with diaphragm, Buoyance adjustment air bag is equally divided into the first cavity and the second cavity, by laterally or
The difference of person longitudinal direction air inflow, the Buoyance adjustment air bag buoyancy of different sizes in lateral and longitudinal acquisition, to realize under water
The rolling of robot and pitching more flexible can have to enable the invention to realize the movement of underwater six degree of freedom
Effect ground avoiding obstacles, reduce collision and abrasion.
(3), the rotating speed for controlling two propellers respectively by two driving motors, under suspension or floating state, spiral shell
It revolves paddle and realization advance and turning function is rotated by rotating forward, reversion or differential, it can more flexiblely when working under water
Cope with sea-floor relief, environmental load.
(4), it forms powerful suction force using propeller high-speed rotation mineral are sucked out by seabed adaptability collection mine device,
And suction force can control by adjusting revolution speed of propeller, which is combined as a whole power plant and equipment, nothing
It needs extra work pumping to take mineral, the weight of the present invention is considerably reduced, but also the seabed collecting machine device people is more traditional
Collection mine equipment can store the more ores of transport.
(5), it is mounted with the mechanical arm with six-freedom degree, can be carried out at an arbitrary position with any attitude under water
Work.Mechanical arm leading portion is equipped with gripper/or camera, can in real time be replaced according to actual job demand, realizes underwater
Comprehensive, wide-angle shooting, can also clear up barrier, so that seabed adaptability collection mine device efficiently draws ore, in seabed
Failure is encountered when operation also can self-maintain.
More than, specific implementation mode only of the invention, but scope of protection of the present invention is not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should be covered by the protection scope of the present invention.Therefore, protection of the invention
Range should be determined by the scope of protection defined in the claims.
Claims (10)
1. robot device under a kind of multifunctional water, which is characterized in that including chassis, matter collecting box, buoyant means and control mechanism,
The bottom on the chassis is equipped with walking mechanism, and the matter collecting box is arranged on the chassis, and the front of the matter collecting box and tail
Portion is respectively equipped with operation module and propulsive mechanism, and the operation module is for acquiring mineral and being delivered in the matter collecting box, institute
It includes multiple Buoyance adjustment air bags to state buoyant means, and multiple Buoyance adjustment air bags are lateral symmetry along the top of the matter collecting box
Distribution and the control mechanism are connected with the walking mechanism, operation module, propulsive mechanism and Buoyance adjustment air bag respectively
It connects.
2. robot device under multifunctional water as described in claim 1, which is characterized in that the Buoyance adjustment air bag includes gas
Capsule ontology and diaphragm, the diaphragm are arranged at the bosom position of the airbag body, and will be in the airbag body
Chamber is divided into the first cavity and the second cavity, and Bidirectional Air Valve, the two-way gas are equipped on first cavity and the second cavity
Valve is connected with the control mechanism.
3. robot device under multifunctional water as claimed in claim 2, which is characterized in that the airbag body uses nylon material
Material is made.
4. robot device under multifunctional water as described in any one of claims 1-3, which is characterized in that the operation module packet
Seabed adaptability collection mine device, suction hose and multiple iron ore feeding holes, multiple iron ore feeding holes are included to be arranged in the front of the matter collecting box, and
It is connected with the matter collecting box, the seabed adaptability collection mine device is connected through the suction hose with the iron ore feeding hole.
5. robot device under multifunctional water as claimed in claim 4, which is characterized in that be additionally provided on the iron ore feeding hole flexible
Regulating mechanism, the expansion regulating mechanism are connected with the suction hose, and the collapsing length for adjusting the suction hose.
6. robot device under multifunctional water as claimed in claim 5, which is characterized in that the propulsive mechanism includes symmetrically setting
The propeller in the matter collecting box two sides of tail is set, two propellers are also connected with two driving motors respectively,
The inside of the matter collecting box is additionally provided with strainer.
7. robot device under multifunctional water as described in claim 1, which is characterized in that the front of the matter collecting box is additionally provided with
Levelling bench, the levelling bench are equipped with mechanical arm, and the mechanical arm has six-freedom degree, and the mechanical arm
Cantilever end be connected with gripper and/or camera.
8. robot device under multifunctional water as claimed in claim 7, which is characterized in that position indicator is housed on the matter collecting box
And attitude transducer, the attitude transducer include three-axis gyroscope and three axis accelerometer.
9. a kind of working method using such as robot device under claim 1-8 any one of them multifunctional waters, feature
It is, includes the following steps：
S1, the Bidirectional Air Valve of all Buoyance adjustment air bags is opened into air inlet, the buoyancy of robot device is made to be slightly less than gravity；
S2, the diving speed and posture for adjusting robot device；
S3, start propeller, the rotating forward, reversion or differential by controlling propeller 71 rotate, before realizing robot device
Into, retreat and turn to, until reach specify seabed mining area；
Behind S4, arrival seabed, driving motor is closed, and propeller stops operating, and is started walking mechanism, is made machine using Track wheel device
Device people can continuously and stably advance in sea bed；
S5, start mechanical arm, control machine machinery claw picks up the sundries such as the stone being covered on ore and is put in designated position；
After S6, mining area sundries clean out, suction hose and seabed adaptability Ji Kuang are launched to designated position, start driving electricity
Machine makes propeller high speed rotation form powerful suction force, and mineral are sucked in matter collecting box；
Mineral are delivered to relaying storehouse by S7, ore slurry pump, complete a working cycles or close in operating system to dive.
10. the working method of robot device under multifunctional water as claimed in claim 9, which is characterized in that the step S2
It specifically includes：Open Bidirectional Air Valve air inlet so that the volume of airbag body can keep a definite value, it is ensured that robot device's energy
Enough continue dive, the speed of dive is determined by position indicator, and suitable according to the trim and angle of heel of attitude transducer reaction
When the air inflow of enlarged portion Buoyance adjustment air bag, robot device is allowed to return upright condition.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810106189.0A CN108382550A (en) | 2018-02-02 | 2018-02-02 | Robot device and working method under a kind of multifunctional water |
| PCT/CN2018/116809 WO2019148943A1 (en) | 2018-02-02 | 2018-11-21 | Suspendable crawler-type underwater operations robot for extremely soft ground |
| US16/597,456 US11498378B2 (en) | 2018-02-02 | 2019-10-09 | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810106189.0A CN108382550A (en) | 2018-02-02 | 2018-02-02 | Robot device and working method under a kind of multifunctional water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108382550A true CN108382550A (en) | 2018-08-10 |
Family
ID=63075017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810106189.0A Pending CN108382550A (en) | 2018-02-02 | 2018-02-02 | Robot device and working method under a kind of multifunctional water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108382550A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015754A (en) * | 2018-08-23 | 2018-12-18 | 东莞市奇趣机器人科技有限公司 | A kind of underwater robot adapts to the supporting and protecting frame of more landform |
| CN109229316A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109262578A (en) * | 2018-09-05 | 2019-01-25 | 嘉善县陶庄小学 | A kind of underwater collecting vehicle |
| CN109291743A (en) * | 2018-10-08 | 2019-02-01 | 上海交通大学 | Be adapted to extremely dilute soft geological can suspension crawler type special type underwater operation robot |
| CN110065603A (en) * | 2018-12-25 | 2019-07-30 | 浙江海洋大学 | A kind of solar energy underwater robot |
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
| CN111941438A (en) * | 2020-08-19 | 2020-11-17 | 安徽理工大学 | Amphibious operation robot that cruises |
| WO2020228029A1 (en) * | 2019-05-16 | 2020-11-19 | 深圳市大疆创新科技有限公司 | Detachable robot |
| CN111959721A (en) * | 2020-04-30 | 2020-11-20 | 中船第九设计研究院工程有限公司 | Buoyancy adjusting device of underwater walking mechanism and control method thereof |
| CN112223964A (en) * | 2020-10-19 | 2021-01-15 | 安徽理工大学 | Amphibious robot for waste mine pumped storage power station |
| CN112282761A (en) * | 2020-09-28 | 2021-01-29 | 车现明 | Deep sea manganese nodule acquisition robot |
| CN112357023A (en) * | 2020-11-05 | 2021-02-12 | 哈尔滨工程大学 | Underwater detection robot |
| CN112622546A (en) * | 2020-12-29 | 2021-04-09 | 江苏大学镇江流体工程装备技术研究院 | Crawler-type amphibious pump truck |
| CN112744036A (en) * | 2021-01-12 | 2021-05-04 | 浙江海洋大学 | Amphibious robot |
| CN113320667A (en) * | 2021-07-06 | 2021-08-31 | 中国人民解放军国防科技大学 | Modular underwater intelligent equipment platform |
| CN113562133A (en) * | 2021-09-22 | 2021-10-29 | 北京史河机器人科技有限公司 | Underwater detection robot |
| CN113669065A (en) * | 2020-05-13 | 2021-11-19 | 上海中车艾森迪海洋装备有限公司 | Mining device and mining method |
| CN113719288A (en) * | 2021-11-03 | 2021-11-30 | 滨州学院 | Submarine mining robot |
| CN114033497A (en) * | 2021-11-25 | 2022-02-11 | 上海市东方海事工程技术有限公司 | Walking type underwater relay station for deep sea mining |
| CN114509905A (en) * | 2020-10-28 | 2022-05-17 | 株式会社理光 | Buoyancy adjusting mechanism and shell |
| WO2022156825A1 (en) * | 2021-03-05 | 2022-07-28 | 广东海洋大学 | All-terrain traveling suction type seabed cleaning device |
| CN114852296A (en) * | 2022-05-24 | 2022-08-05 | 华能盐城大丰新能源发电有限责任公司 | Motion control method and system of full-attitude underwater robot |
| US11498378B2 (en) | 2018-02-02 | 2022-11-15 | Shanghai Jiao Tong University | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
| NO20211239A1 (en) * | 2021-10-14 | 2023-04-17 | Loke Marine Minerals As | Method for sampling subsea mineral nodules |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085900A (en) * | 2013-01-23 | 2013-05-08 | 长沙矿冶研究院有限责任公司 | Deep sea rare soft substrate mine collector walking chassis |
| WO2013144711A1 (en) * | 2012-03-28 | 2013-10-03 | Pandora Underwater Equipment Sa | A safe automatic buoyancy control device |
| CN103818533A (en) * | 2012-11-18 | 2014-05-28 | 上海市浦东新区知识产权保护协会 | Multi-functional underwater operation robot |
| CN204568035U (en) * | 2015-04-08 | 2015-08-19 | 王素刚 | A kind of multi-function operation type under-water robot |
| CN205670091U (en) * | 2016-05-27 | 2016-11-02 | 河海大学 | The remote-controlled water sample collection instrument of submersible type |
| CN106812529A (en) * | 2017-03-28 | 2017-06-09 | 上海交通大学 | A kind of concentrating type deep seafloor Ji Kuang equipments based on vortex hydrodynamic characterisitic |
| CN107503752A (en) * | 2017-09-15 | 2017-12-22 | 山东大学 | A kind of buoyant lift type seabed mineral quarrying apparatus |
-
2018
- 2018-02-02 CN CN201810106189.0A patent/CN108382550A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013144711A1 (en) * | 2012-03-28 | 2013-10-03 | Pandora Underwater Equipment Sa | A safe automatic buoyancy control device |
| CN103818533A (en) * | 2012-11-18 | 2014-05-28 | 上海市浦东新区知识产权保护协会 | Multi-functional underwater operation robot |
| CN103085900A (en) * | 2013-01-23 | 2013-05-08 | 长沙矿冶研究院有限责任公司 | Deep sea rare soft substrate mine collector walking chassis |
| CN204568035U (en) * | 2015-04-08 | 2015-08-19 | 王素刚 | A kind of multi-function operation type under-water robot |
| CN205670091U (en) * | 2016-05-27 | 2016-11-02 | 河海大学 | The remote-controlled water sample collection instrument of submersible type |
| CN106812529A (en) * | 2017-03-28 | 2017-06-09 | 上海交通大学 | A kind of concentrating type deep seafloor Ji Kuang equipments based on vortex hydrodynamic characterisitic |
| CN107503752A (en) * | 2017-09-15 | 2017-12-22 | 山东大学 | A kind of buoyant lift type seabed mineral quarrying apparatus |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11498378B2 (en) | 2018-02-02 | 2022-11-15 | Shanghai Jiao Tong University | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
| CN109015754A (en) * | 2018-08-23 | 2018-12-18 | 东莞市奇趣机器人科技有限公司 | A kind of underwater robot adapts to the supporting and protecting frame of more landform |
| CN109262578A (en) * | 2018-09-05 | 2019-01-25 | 嘉善县陶庄小学 | A kind of underwater collecting vehicle |
| CN109291743A (en) * | 2018-10-08 | 2019-02-01 | 上海交通大学 | Be adapted to extremely dilute soft geological can suspension crawler type special type underwater operation robot |
| CN109291743B (en) * | 2018-10-08 | 2020-10-30 | 上海交通大学 | Suspensible crawler-type special underwater operation robot suitable for extremely thin and soft geology |
| CN109229316B (en) * | 2018-10-12 | 2020-09-11 | 上海彩虹鱼深海装备科技有限公司 | Submersible frame structure and submersible |
| CN109229316A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN110065603A (en) * | 2018-12-25 | 2019-07-30 | 浙江海洋大学 | A kind of solar energy underwater robot |
| WO2020228029A1 (en) * | 2019-05-16 | 2020-11-19 | 深圳市大疆创新科技有限公司 | Detachable robot |
| CN111959721A (en) * | 2020-04-30 | 2020-11-20 | 中船第九设计研究院工程有限公司 | Buoyancy adjusting device of underwater walking mechanism and control method thereof |
| CN111959721B (en) * | 2020-04-30 | 2022-09-27 | 中船第九设计研究院工程有限公司 | Buoyancy adjusting device of underwater walking mechanism and control method thereof |
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
| CN113669065A (en) * | 2020-05-13 | 2021-11-19 | 上海中车艾森迪海洋装备有限公司 | Mining device and mining method |
| CN111941438A (en) * | 2020-08-19 | 2020-11-17 | 安徽理工大学 | Amphibious operation robot that cruises |
| CN112282761A (en) * | 2020-09-28 | 2021-01-29 | 车现明 | Deep sea manganese nodule acquisition robot |
| CN112223964B (en) * | 2020-10-19 | 2024-03-29 | 安徽理工大学 | Amphibious robot for waste mine pumped storage power station |
| CN112223964A (en) * | 2020-10-19 | 2021-01-15 | 安徽理工大学 | Amphibious robot for waste mine pumped storage power station |
| CN114509905A (en) * | 2020-10-28 | 2022-05-17 | 株式会社理光 | Buoyancy adjusting mechanism and shell |
| CN112357023A (en) * | 2020-11-05 | 2021-02-12 | 哈尔滨工程大学 | Underwater detection robot |
| CN112622546A (en) * | 2020-12-29 | 2021-04-09 | 江苏大学镇江流体工程装备技术研究院 | Crawler-type amphibious pump truck |
| CN112744036B (en) * | 2021-01-12 | 2022-06-24 | 浙江海洋大学 | Amphibious robot |
| CN112744036A (en) * | 2021-01-12 | 2021-05-04 | 浙江海洋大学 | Amphibious robot |
| WO2022156825A1 (en) * | 2021-03-05 | 2022-07-28 | 广东海洋大学 | All-terrain traveling suction type seabed cleaning device |
| CN113320667A (en) * | 2021-07-06 | 2021-08-31 | 中国人民解放军国防科技大学 | Modular underwater intelligent equipment platform |
| CN113562133A (en) * | 2021-09-22 | 2021-10-29 | 北京史河机器人科技有限公司 | Underwater detection robot |
| NO20211239A1 (en) * | 2021-10-14 | 2023-04-17 | Loke Marine Minerals As | Method for sampling subsea mineral nodules |
| CN113719288A (en) * | 2021-11-03 | 2021-11-30 | 滨州学院 | Submarine mining robot |
| CN114033497A (en) * | 2021-11-25 | 2022-02-11 | 上海市东方海事工程技术有限公司 | Walking type underwater relay station for deep sea mining |
| CN114033497B (en) * | 2021-11-25 | 2024-02-27 | 上海市东方海事工程技术有限公司 | Walking type underwater relay station for deep sea mining |
| CN114852296A (en) * | 2022-05-24 | 2022-08-05 | 华能盐城大丰新能源发电有限责任公司 | Motion control method and system of full-attitude underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108382550A (en) | Robot device and working method under a kind of multifunctional water | |
| CN208085978U (en) | One kind can the multi-functional underwater robot of suspension crawler type | |
| CN109291743A (en) | Be adapted to extremely dilute soft geological can suspension crawler type special type underwater operation robot | |
| WO2019148943A1 (en) | Suspendable crawler-type underwater operations robot for extremely soft ground | |
| CN110065607A (en) | Assist bionic machine fish | |
| US20220017194A1 (en) | Systems, modules, and submersible vehicles for collecting material from a seafloor | |
| CN111874193B (en) | Small multifunctional underwater robot and working method thereof | |
| CN110116793A (en) | A kind of leg-arm-paddle composite underwater robot | |
| CN106741763B (en) | A kind of mini underwater observation humanoid robot | |
| CN110422301A (en) | A kind of seabed garbage cleaning robot | |
| CN109973096B (en) | Deep sea multi-metal nodule mining operation system | |
| CN105350968A (en) | Submarine ore collecting vehicle and ore collecting method thereof | |
| CN104527352A (en) | Novel spherical amphibious robot and working method thereof | |
| US20190063218A1 (en) | Cluster-type deep-sea submarine mining equipment based on vortex hydrodynamic characteristics | |
| CN102582710A (en) | Rope robot with serial driving wheels | |
| CN106761761A (en) | A kind of intelligent work compound seabed Ji Kuang equipments | |
| CN110125950A (en) | A kind of underwater caterpillar type robot for becoming appearance | |
| CN206468353U (en) | A kind of intelligent work compound seabed Ji Kuang equipments | |
| CN109533238A (en) | A kind of undersea detection spherical shape fighter toy | |
| CN2934066Y (en) | Submerged gliding detector | |
| CN112249286B (en) | Bionic robot fish with multiple driving systems | |
| CN106904258B (en) | Bi-motor is multidirectional to promote underwater autonomous robot | |
| CN210152650U (en) | Mining operation system for deep sea multi-metal nodule mine | |
| CN110282103B (en) | Survey equipment power device | |
| CN111941438A (en) | Amphibious operation robot that cruises |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |