CN109515653B

CN109515653B - Deep sea soft robot laying platform device and method

Info

Publication number: CN109515653B
Application number: CN201811420052.9A
Authority: CN
Inventors: 李铁风; 周方浩; 张桢; 曹许诺; 梁艺鸣; 许忠斌
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2018-11-26
Filing date: 2018-11-26
Publication date: 2020-07-24
Anticipated expiration: 2038-11-26
Also published as: CN109515653A

Abstract

The invention provides a deep sea soft robot laying platform device, which comprises a fixed framework, a driving assembly mechanism and a protection mechanism, wherein the fixed framework comprises: a bottom sprag beam, crossbeam, a platform supporting beam, drive assembly mechanism is equipped with driving motor, driving motor can remain the lock throughout under non-operating condition and die, at the during operation, through driving assembly mechanism's drive mechanism drives protection mechanism first half rises, makes deep sea software robot free motion, protection mechanism includes: the device comprises an acrylic cover, an object carrying flat plate, an upper clamp and a lower clamp; the platform device of the invention can protect the soft robot such as soft fish from being impacted by water flow in the sea and keep the hydrostatic pressure of the soft robot consistent with the environment all the time. The device can normally operate under a high-pressure environment, and the protection mechanism of the device can be freely switched in an opening and closing state. By utilizing the flexibility of the aluminum profile, the size of the fixed framework can be changed at any time, and the aluminum profile has excellent expandability.

Description

Deep sea soft robot laying platform device and method

Technical Field

The invention relates to the field of deep sea machinery, in particular to a deep sea soft robot laying platform device and a deep sea soft robot laying platform method.

Background

The deep sea world is always the object of human efforts, however, due to the extremely complicated environment, the manned underwater vehicle is provided with great challenges, and the manned underwater vehicle is difficult to efficiently complete tasks. With the development of science and technology, underwater robots are beginning to be applied to perform various environmental monitoring and exploration and development tasks. The traditional hard underwater robot has the defects of heaviness, poor environmental adaptability, high noise and the like, and the excellent flexibility and strong environmental adaptability of the soft robot provide a new idea for people.

At present, the devices and technologies related to deep-sea soft robots are few, and particularly, the device for laying and protecting the soft robot has no related patent and technical scheme at home and abroad.

Disclosure of Invention

The invention provides a deep-sea soft robot laying platform device and a method aiming at the blank of the prior art.

The fixed skeleton includes: a bottom support beam, a cross beam, a platform support beam; the cross beam and the platform support beam are parallel to each other and horizontally placed on the bottom support beam, and the axial direction of the bottom support beam is vertical to the axial direction of the cross beam and/or the platform support beam; the bottom support beams, the cross beams and the platform support beams are adjustably connected by large triangular aluminum and/or threaded fasteners.

The driving assembly mechanism is provided with a driving motor, the driving motor can be always locked in a non-working state, and when the deep-sea soft robot works, the transmission mechanism of the driving assembly mechanism drives the upper half part of the protection mechanism to rise, so that the deep-sea soft robot can move freely.

The protection mechanism includes: the device comprises an acrylic cover, an object carrying flat plate, an upper clamp and a lower clamp; the upper clamp is elastically arranged on the acrylic cover, and the lower clamp is connected to the objective plate through a threaded fastener.

Furthermore, the bottom supporting beam, the cross beam and the platform supporting beam are respectively composed of two parallel aluminum profiles or light titanium alloy materials, and the distance between the aluminum profiles or the light titanium alloy materials is adjustable.

Further, the drive assembly mechanism further comprises: the transmission frame, the coupler, the rotating shaft and the bearing seat; wherein the drive motor and the bearing seat are placed on the cross beam, and the bearing seat is coupled with the cross beam through a threaded fastener; the driving motor, the coupler and the rotating shaft are connected in a front-back mode.

Further, the transmission frame is composed of an on-shaft fastener, a vertical arm, a horizontal arm and an aluminum triangle, and the rotating shaft is coupled with the vertical arm through the on-shaft fastener by a thread fastener; the vertical arm and the horizontal arm are connected through a triangular aluminum and a threaded fastener.

Further, the driving motor transmits the motion to the transmission frame through the coupler and the rotating shaft.

Furthermore, the acrylic cover consists of a top plate, a front plate, a rear plate and two side plates, and is glued by an adhesive.

Further, the adhesive is AB glue.

Furthermore, the yakeli cover is connected with the horizontal arm of the driving assembly mechanism through a threaded fastener, and the objective plate is connected with the platform supporting beam of the fixed framework through a threaded fastener.

Further, the upper clamp is coupled to the acrylic cover by an elastic member, and the lower clamp is coupled to the carrier plate by a threaded fastener.

Furthermore, there are a plurality of cylindric archs on the concave surface of going up anchor clamps and lower anchor clamps, by the archs with the contact of software robot, the clearance between the archs can let rivers pass through, avoids the software robot by hydrostatic pressure on anchor clamps under operating condition.

Further, the elastic piece is an adjustable elastic piece.

Further, the soft-body robot is a soft-body fish.

Furthermore, a plurality of transmission frames and protection mechanisms can be arranged on the rotating shaft to place more soft robots.

The deep sea deployment method of the soft robot by using the deep sea soft robot deployment platform device comprises the following steps:

the fixed framework, the driving assembly mechanism and the protection mechanism are formed by connecting large triangular aluminum, triangular aluminum and/or threaded fasteners;

setting the driving motor of the driving assembly mechanism to be in a non-working state, always keeping locking, and adjusting an elastic piece to firmly fix the soft robot in the protection mechanism;

lowering the platform device to a preset position in the deep sea;

and starting the driving motor, wherein the driving motor drives the upper half part of the protection mechanism to rise through a transmission mechanism, so that the deep-sea soft robot can move freely to complete the laying task.

The invention has the advantages that the soft robot such as soft fish can be protected from being impacted by water flow in the sea, and the hydrostatic pressure of the soft robot is always kept consistent with the environment. The device can normally operate under a high-pressure environment, and the protection mechanism of the device can be freely switched in an opening and closing state. By utilizing the flexibility of the aluminum profile, the size of the fixed framework can be changed at any time, and the aluminum profile has excellent expandability.

Drawings

FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention.

FIG. 2 is a schematic side view of the structure of the device of the present invention.

Fig. 3 is a schematic view of the working state of the device of the present invention.

Fig. 4 is a partial schematic view of the protection mechanism of the present invention.

Fig. 5 is a schematic diagram of an expanded structure of the present invention.

In the figure, a bottom support beam 1, a cross beam 2, a platform support beam 3, a large triangular aluminum 4, a transmission frame 5, an on-shaft fastening piece 51, a vertical arm 52, a horizontal arm 53, a triangular aluminum 54, a driving motor 6, a coupler 7, a rotating shaft 8, a bearing seat 9, an acrylic cover 10, a top plate 101, a front plate 102, a rear plate 103, a side plate 104, an object carrying flat plate 11, an upper clamp 12, a lower clamp 13, an elastic piece 14 and a bulge 15.

Detailed description of the preferred embodiment 1

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 is a schematic diagram of the overall structure of the device. The invention relates to a deep-sea soft fish laying platform device which comprises a fixed framework, a driving assembly mechanism and a protection mechanism.

The fixed skeleton includes: a bottom supporting beam 1, a cross beam 2, a platform supporting beam 3 and large triangular aluminum 4. The bottom support beams 1 are two in number and are arranged in parallel. The two beams 2 and the two platform support beams 3 are respectively arranged on the bottom support beam 1 horizontally, and the axial angle is vertical to the bottom support beam; the beam 2 and the platform support beam 3 are parallel to each other. The aluminum profiles of the fixed framework are connected by large triangular aluminum 4 and a threaded fastener. The distance between the aluminum profiles can be adjusted according to actual needs.

The drive assembly mechanism includes: the device comprises a transmission frame 5, a driving motor 6, a coupler 7, a rotating shaft 8 and a bearing seat 9. The transmission frame 5 is composed of an on-shaft fastener 51, a vertical arm 52, a horizontal arm 53 and triangular aluminum 54, as shown in fig. 2. The driving motor 6 and the bearing seat 9 are placed on the beam 2 of the fixed framework, and the bearing seat 9 is connected with the beam 2 through a threaded fastener. The drive motor 6 is connected to the rotating shaft 8 by means of a coupling 7, and the rotating shaft 8 is provided with a shaft fastening 51 coupled with a vertical arm 52 with a threaded fastening. The vertical arm 52 and the horizontal arm 53 are connected by a triangular aluminum 54 and a threaded fastener.

The driving motor 6 is always kept in a locked state in a non-working state, so that the rotating shaft 8 connected with the driving motor through the coupler 7 cannot move, and the soft fish is ensured to be firmly fixed in the protection mechanism.

As shown in fig. 3, when the driving motor 6 works, the rotating shaft 8 drives the transmission frame 5 to move, so that the upper half part of the protection mechanism is lifted, and the soft fish can move freely.

The protection mechanism includes: an acrylic cover 10, a carrier plate 11, an upper clamp 12, a lower clamp 13 and an elastic piece 14. The acrylic cover 10 is composed of a top plate 101, a front plate 102, a rear plate 103 and two side plates 104, and is glued by AB glue. The acrylic cover 10 is coupled with the horizontal arm 53 of the drive assembly mechanism 2 with a threaded fastener. The carrier plate 11 is attached to the platform support beam 3 of the fixed framework by threaded fasteners. The upper clamp 13 is arranged on the acrylic cover 10, and the upper clamp and the acrylic cover are connected through an elastic piece 14; the lower clamp 13 is provided on the carrier plate 11 and coupled with a screw fastener.

Specifically, the concave surfaces of the upper and

lower clamps

12 and 13 have a plurality of cylindrical protrusions 15, and the protrusions 15 are in contact with soft fishes. The gaps between the bulges 15 can ensure that water flows through, so that the soft fish cannot be influenced by hydrostatic pressure on the clamp in the working state.

As shown in FIG. 4, the clamping force of the upper clamp 12 and the lower clamp 13 on the soft fish can be adjusted by adjusting the elastic member 14 according to actual needs.

The method for laying the soft robot in the deep sea by using the deep sea soft robot laying platform device comprises the following steps: the method comprises the following steps:

the fixed framework, the driving assembly mechanism and the protection mechanism are formed by the connection of large triangular aluminum (4), triangular aluminum (54) and/or threaded fasteners;

the driving motor (6) of the driving assembly mechanism is set to be in a non-working state and always kept locked, and the elastic piece (14) is adjusted to enable the soft robot to be firmly fixed in the protection mechanism;

lowering the platform device to a preset position in the deep sea;

and (3) starting the driving motor (6), wherein the driving motor (6) drives the upper half part of the protection mechanism to rise through a transmission mechanism, so that the deep sea soft robot can move freely to complete the laying task.

Detailed description of the preferred embodiment 2

As shown in fig. 5, on the basis of the embodiment 1, a plurality of transmission frames 5 and protection mechanisms can be installed on the rotating shaft 8 of the driving assembly mechanism 2 to place more robotic fish, not only limited to one.

The above-mentioned embodiments are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions, equivalents, etc. made within the scope of the principles of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a platform device is put to deep sea software robot cloth which characterized in that: comprises a fixed framework, a driving assembly mechanism and a protection mechanism;

the fixed skeleton includes: the device comprises a bottom supporting beam (1), a cross beam (2) and a platform supporting beam (3); the cross beam (2) and the platform supporting beam (3) are parallel to each other and horizontally placed on the bottom supporting beam (1), and the axial direction of the bottom supporting beam (1) is vertical to the axial direction of the cross beam (2) and/or the platform supporting beam (3); the bottom support beam (1), the cross beam (2) and the platform support beam (3) are adjustably connected by adopting large triangular aluminum (4) and/or threaded fasteners; the driving assembly mechanism is provided with a driving motor (6), the driving motor (6) can be always locked in a non-working state, and when the deep sea soft robot works, the transmission mechanism of the driving assembly mechanism drives the upper half part of the protection mechanism to rise, so that the deep sea soft robot can move freely; the protection mechanism includes: the device comprises an acrylic cover (10), an object carrying flat plate (11), an upper clamp (12) and a lower clamp (13); the upper clamp (12) is elastically arranged on the acrylic cover (10), and the lower clamp (13) is connected to the objective plate (11) through a threaded fastener.

2. The deep-sea soft robot laying platform device according to claim 1, wherein: the bottom supporting beam (1), the cross beam (2) and the platform supporting beam (3) are respectively composed of two parallel aluminum profiles or light titanium alloy materials, and the distance between the aluminum profiles or the light titanium alloy materials is adjustable.

3. The deep-sea soft robot laying platform device according to claim 1, wherein: the drive assembly mechanism further comprises: the transmission device comprises a transmission frame (5), a coupler (7), a rotating shaft (8) and a bearing seat (9); wherein the drive motor (6) and the bearing block (9) are placed on the cross beam (2), and the bearing block (9) is coupled with the cross beam (2) by a threaded fastener; the driving motor (6), the coupler (7) and the rotating shaft (8) are connected in a front-back mode.

4. The deep-sea soft robot laying platform device according to claim 3, wherein: the transmission frame (5) consists of an on-shaft fastener (51), a vertical arm (52), a horizontal arm (53) and triangular aluminum (54), and the rotating shaft (8) is connected with the vertical arm (52) through the on-shaft fastener (51) by a threaded fastener; the vertical arm (52) and the horizontal arm (53) are connected through triangular aluminum (54) and threaded fasteners.

5. The deep-sea soft robot laying platform device according to claim 4, wherein: the driving motor (6) transmits motion to the transmission frame (5) through the coupler (7) and the rotating shaft (8).

6. The deep-sea soft robot laying platform device according to any one of claims 1 to 5, wherein: the acrylic cover (10) consists of a top plate (101), a front plate (102), a rear plate (103) and two side plates (104), and is glued by an adhesive.

7. The deep-sea soft robot laying platform device of claim 6, wherein: the adhesive is AB glue.

8. The deep-sea soft robot laying platform device according to any one of claims 1 to 5, wherein: acrylic cover (10) with horizontal arm (53) of drive assembly mechanism (2) are with the coupling of threaded fastener, carry dull and stereotyped (11) with fixed skeleton the platform supporting beam (3) are with the coupling of threaded fastener.

9. The deep-sea soft robot laying platform device according to any one of claims 1 to 5, wherein: the upper clamp (12) is connected to the acrylic cover (10) through an elastic piece (14), and the lower clamp (13) is connected to the objective plate (11) through a threaded fastener.

10. The deep-sea soft robot laying platform device according to any one of claims 1 to 5, wherein: go up on the concave surface of anchor clamps (12) and lower anchor clamps (13) have a plurality of cylindric archs (15), by arch (15) with the contact of software robot, the clearance between arch (15) can let rivers pass through, avoids the software robot by hydrostatic pressure on anchor clamps under operating condition.

11. The deep-sea soft robot deployment platform device of claim 9, wherein: the elastic piece (14) is an adjustable elastic piece.

12. The deep-sea soft robot laying platform device according to any one of claims 1 to 5, wherein: the soft robot is a soft fish.

13. The deep-sea soft robot laying platform device according to any one of claims 3 to 5, wherein: the rotating shaft (8) can be provided with a plurality of transmission frames (5) and protection mechanisms to place more soft robots.

14. A deep sea deployment method of soft robot based on the deep sea soft robot deployment platform device of any one of claims 1 to 13, characterized in that: the method comprises the following steps:

lowering the platform device to a preset position in the deep sea;