CN110422301A - A kind of seabed garbage cleaning robot - Google Patents
A kind of seabed garbage cleaning robot Download PDFInfo
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- CN110422301A CN110422301A CN201910713798.7A CN201910713798A CN110422301A CN 110422301 A CN110422301 A CN 110422301A CN 201910713798 A CN201910713798 A CN 201910713798A CN 110422301 A CN110422301 A CN 110422301A
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- mechanical arm
- middle node
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- mechanical
- foot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 18
- 230000005021 gait Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000007789 sealing Methods 0.000 claims description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 238000012546 transfer Methods 0.000 claims description 12
- 239000002184 metal Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 238000005303 weighing Methods 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 3
- 239000012208 gear oil Substances 0.000 claims description 2
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- 230000033001 locomotion Effects 0.000 abstract description 14
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- 230000003139 buffering effect Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 238000003860 storage Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 210000002414 leg Anatomy 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 241000592274 Polypodium vulgare Species 0.000 description 2
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- 230000007723 transport mechanism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 230000009189 diving Effects 0.000 description 1
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Classifications
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/06—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which lifting action is generated in or adjacent to vessels or objects
-
- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of seabed garbage cleaning robots, including body structure, crawl structure, foot structure, step by step transmission transport device and sensor；Mechanical gripping portion uses multi-joint mechanical arm, and freedom degree is flexible, uses the form of three-jaw structure and suction fan cooperating in the design of catching robot for underwater crawl stability problem, improves the stability of crawl；Mechanical foot uses Three Degree Of Freedom, multi-link structure, the gait motion of mechanical foot is realized in the rotation of one horizontal plane with the rotation of two vertical planes, the present invention joined elastic construction at sufficient end, robot is set to have buffering in the bottom unbalance and while landing that is disturbed, also it can adapt to complicated landform, increase robot stabilization；A kind of device transmitted step by step is proposed in the storage device design of box house rubbish, realizes that a dive can carry out multiple duty cycles, while having broken limitation of the robot overall volume to crawl rubbish total amount, improves rubbish cleaning efficiency.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of seabed garbage cleaning robot.
Background technique
Since the industrial revolution, with the fast development of human society, we are more and more on the exploitation of ocean and influence,
Consequent is the sharply deterioration of marine environment.Marine environment is caused to deteriorate many because being known as, one of them is big
The seabed rubbish of amount.Nowadays various ocean garbage problem very severes, have not only threatened marine organisms and bird
The safety of class also causes very big influence to the existence of our mankind.The equipment such as current anti-pollution vessel mostly all can only be
Extra large general work, for seabed rubbish nowadays but none very good solution method.Most of areas are now or by diving
Rubbish is picked up in member's dive, this method not only working efficiency bottom and diver is also possible that life danger.
Mode of hiding under the tradition of existing underwater robot is to be transferred by a umbilical cables to seabed, when need to recycle again
It is pulled it back by umbilical cables.But undersea surge and turbulent flow are stronger, and umbilical cables knot frequent occurrence, rush robot whereabouts
Disturbance is hit, it cannot be guaranteed that balance when dive, and single dive is only capable of once duty cycle, recycling rubbish efficiency is lower.
Existing underwater robot mechanical arm is broadly divided into flexible, rigid two major classes, and flexible mechanical arm is current more popular
Research direction, Rigid Robot Manipulator is more traditional, develop it is also more perfect.It is wide that flexible mechanical arm can control range, freedom degree
Height, but it is difficult to realize Accurate Model and control, intelligent soft material preparation and shaping structures are relied on, are limited by energy supply device
System, driving force are smaller.Rigid Robot Manipulator modeling is accurate, is easy to control；Control mode is mature, has complete control system, but
Freedom degree is fixed, and the range that can be reached is smaller, and system is more perfect, visual sensor --- identification --- has been identified using soft or hard
It is controlled at grasping.And the operating system of existing underwater robot is mostly two jaw systems, use scope is smaller, for a few thing mesh
Mark can not be grabbed effectively, such as the object of cup-shaped, spherical shape.
Existing underwater robot seabed walking manner is mostly crawler type and polypody, and caterpillar type robot is in uneven ground
On mobility it is poor, fuselage shakes serious when driving；Due to not having a swivel wheel and steering mechanism, polypody robot can be
Scraggly ground is walked, across gully, has extensive adaptability；The motion profile of walking robot is series of discrete
Footmark, when movement, only needs discrete point contact ground, can select optimal supporting point on the ground that may be reached, right
Rugged topography it is adaptable.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of seabed garbage cleaning robots.
The present invention is achieved by the following technical solutions:
A kind of seabed garbage cleaning robot, including body structure, crawl structure, foot structure, step by step transmission transport dress
It sets and sensor；
In the body structure upper opening, it is internally provided with and transmits transport device step by step, cabinet two sides are provided with two
A crawl structure and four foot structures；
The crawl structure includes connecting joint, multi-joint mechanical arm and mechanical finger, and the connecting joint is installed on case
Body structure outer wall, the multi-joint mechanical arm are installed in connecting joint, including sequentially connected first mechanical arm, the second machinery
Arm, third mechanical arm and the 4th mechanical arm are equipped with mechanical finger and suction fan on the 4th mechanical arm；
The foot structure includes fixed frame, U-shaped frame, the first middle node, the second middle node, third middle node and last limb
Section, the fixed frame are installed on body structure outer wall, and the U-shaped frame is connected with fixed frame and can rotate around it, and described first
Middle node is mounted on U-shaped frame, and the first middle node is connected with the second middle node, and the second middle node is connected with third middle node, end
Podomere is connected with third middle node, and vola transition frame is set to last podomere end, is provided with vola below the transition frame of vola
Structure；
The transport device of transmission step by step includes fixed frame, either-rotation motor, transfer structure, sealed folder, mesh bag and air bag, institute
The left and right sides that fixed frame is symmetrically disposed on inside body structure is stated, either-rotation motor is provided on fixed frame and is located at double
The transfer structure being driven by it at left and right sides of to motor, the mesh bag are set to the centre of two fixed frames, the transfer structure
It is provided with the sealed folder for clamping mesh bag on chain, air bag is provided on mesh bag；
The sensor includes water depth sensor, height sensor, weighing sensor and detection sensor, and the depth of water passes
Sensor, height sensor are set on fixed frame, and the weighing sensor is set to the bottom surface in the body structure below mesh bag
On, the detection sensor is set to the outer surface (front end or rear end) of body structure.
In the above-mentioned technical solutions, inside the connecting joint there are also No.1 steering engine, first mechanical arm and connecting joint it
Between be provided with No. two steering engines, No. three steering engines, third mechanical arm and the second machine are provided between second mechanical arm and first mechanical arm
No. four steering engines are provided between tool arm, third mechanical arm is divided into two parts, and No. five steering engines are provided between two parts and are allowed to
It is rotated about axis, is provided with No. six steering engines between the third mechanical arm and the 4th mechanical arm；Above-mentioned each steering engine works together most
The function of mechanical arm multiple degrees of freedom crawl is realized afterwards.
In the above-mentioned technical solutions, the hydraulic cylinder and piston referred to for driving manipulator is provided in the 4th mechanical arm
Bar, the piston rod connect corresponding finger.
In the above-mentioned technical solutions, the No.1 steering engine and No. two steering engines use DHLG-02X large size self-sealing steering engine, institute
It states No. three steering engines and No. four steering engines and uses BBPS- using DS500 model self-sealing steering engine, No. five steering engines and No. six steering engines
380 model self-sealing steering engines.
In the above-mentioned technical solutions, the mechanical finger is connect and is driven by it with hydraulic cylinder by piston rod, hydraulic cylinder
Model MOB30*75-FB type, hydraulic pump is CB-B2.5 type, and rated pressure is the gear oil pump of 2.5MPa, and overflow valve is
DBDH10G2.5 type overflow valve, solenoid directional control valve are DSG-03-3C2-D24-N1-50 type reversal valve；Each component phase of hydraulic system
Mutually cooperation, the common crawl work for completing manipulator.
In the above-mentioned technical solutions, the outer body central axis of the central axis with casing at the fixed frame position is orthogonal, to whole
A Mechanical foot device plays fixed supporting role.
In the above-mentioned technical solutions, the rudder of the DH-03X model 260KG/CM of a sleeve seal is provided in the fixed frame
Machine (steering engine is referred to as the first steering engine at this), sleeve bottom contact fixation with the boss of shell, and the first steering engine axis can be around axis gait
Rotation in angular region drives mechanical foot is whole to swing in horizontal extent.
In the above-mentioned technical solutions, the first steering engine output shaft is sealed with deep groove ball bearing in U-shaped frame head end inner hole
Cooperation, U-shaped frame is the connector of two opening direction phase anti-quadratures, in the inner hole of U-shaped frame end among deep groove ball bearing and first
No. second steering engine output sealing cooperation for including in section, the second steering engine can rotate in gait angular region around axis, drive machine
Tool foot limb rotates in vertical plane.
In the above-mentioned technical solutions, sliding slot, sliding slot bottom and the second intermediate section header are contained inside first middle node
The fixed block in portion seals cooperation, and fixes sleeve, the second steering engine is sealed in sleeve inner.
In the above-mentioned technical solutions, the battery of the second middle node inner sealing driving steering engine, battery bottom have rubber
There is a metal fixed block at insulating base, pedestal both ends, position of the fixed pedestal inside the second middle node, the second middle node tail portion
Fixed block and third middle node sliding slot sealed bottom cooperate, and the sleeve of third middle node sliding slot and sealing third steering engine cooperates.
In the above-mentioned technical solutions, the third for including in deep groove ball bearing and third middle node in the last podomere inner hole
Steering engine exports sealing cooperation, and third middle node rotates in gait angular region in the U-type groove of last podomere, and mechanical foot is driven to exist
It is rotated in vertical plane, is provided with elongated slot inside the last podomere other end, wherein equipped with fraising double leval jib, double leval jib both ends and open circles
The connection of column metal, the spring that both ends hollow cylindrical metal intermediate supports have rigidity very big.Last podomere and anticorrosion rubber vola glue are close
Envelope is connected.Bottom end hollow cylindrical metal is fixed in the inner cylinder slot of anticorrosion rubber feet bottom with bolt.
In the above-mentioned technical solutions, pressure-resistant storehouse is provided on the fixed frame.
In the above-mentioned technical solutions, the fixed frame of the transport device of transmission step by step and cabinet are connected by screw to fixation,
Equipped with water depth sensor, height sensor, pressure-resistant storehouse and five supports on fixed frame, respectively two sprocket shaft bearing supports,
Two conveyer frames supports, a motor bearing seat, each bearing block and fixed frame are connected with screw.
The advantages and benefits of the present invention are:
The beneficial effects of the present invention are a kind of underwater robot with mechanical arm and mechanical foot, easy to operate, extension
The underwater operation period improves seabed rubbish cleaning efficiency.Mechanical gripping portion uses multi-joint mechanical arm, freedom degree spirit
It is living, the shape of three-jaw structure and suction fan cooperating is used in the design of catching robot for underwater crawl stability problem
Formula improves the stability of crawl；Mechanical foot uses Three Degree Of Freedom, multi-link structure, the rotation of horizontal plane and two
The gait motion of mechanical foot is realized in the rotation of vertical plane, and the present invention joined elastic construction at sufficient end, make robot at the bottom
It is disturbed unbalance and there is buffering in while landing, also can adapt to complicated landform, increase robot stabilization；Box house rubbish
A kind of device transmitted step by step is proposed in storage device design, is realized that a dive can carry out multiple duty cycles, is beaten simultaneously
Limitation of the Po Liao robot overall volume to crawl rubbish total amount, improves crawl efficiency.
Detailed description of the invention
Fig. 1 is overlooking structure diagram of the invention.
Fig. 2 is schematic perspective view of the invention.
Fig. 3 is crawl structure scheme of installation of the invention.
Fig. 4 is crawl Standard schematic diagram of the invention.
Fig. 5 is crawl inside configuration cross-sectional view of the invention.
Fig. 6 is foot structure scheme of installation of the invention.
Fig. 7 is foot structure internal view of the invention.
Fig. 8 is box house schematic device of the invention.
Fig. 9 is the structural schematic diagram that the present invention transmits transport device step by step.
Figure 10 is mesh belt structure scheme of installation of the invention.
Figure 11 is that mesh belt of the invention installs partial enlargement diagram.
Figure 12 is sealed clamp device schematic diagram of the invention.
Figure 13 is airbag apparatus schematic diagram of the invention.
Wherein: 1 is crawl structure；2 be foot structure；3 be to transmit transport device step by step；4 be body structure；
1-1 is first mechanical arm；1-2 is second mechanical arm；1-3 is third mechanical arm；1-4 is the 4th mechanical arm；1-5 is
No.1 steering engine；1-6 is No. two steering engines；1-7 is No. three steering engines；1-8 is No. four steering engines；1-9 is No. five steering engines；1-10 is No. six rudders
Machine；1-11 is suction fan；1-12 is hydraulic cylinder；1-13 is piston rod；1-14 is mechanical finger；1-15 is connecting joint；
2-1 is fixed frame；2-2 is U-shaped frame；2-3 is the first middle node；2-4 is the second middle node；2-5 is among third
Section；2-6 is last podomere；2-7 is vola transition frame；2-8 is vola；2-9 is the first steering engine；2-10 is the second steering engine；2-11 is
Battery；2-12 is third steering engine；2-13 is hollow cylindrical metal fixing piece；2-14 is spring；The sealing of the vola 2-15；
3-1 is transfer structure；3-2 is sealed folder；3-2-1 is intermediate plate；3-2-2 is fixed plate；3-3 is mesh bag；3-4 is solid
Determine frame；3-5 is air bag transport mechanism；3-5-1 is folded airbag；3-5-2 is gas cylinder；3-5-3 is air bag mounting box；3-5-4 is
Air bag controlled valve；3-6 is water depth sensor；3-7 is height sensor；3-8 is sprocket shaft bearing support；3-9 is conveyer frames support；
3-10 is motor bearing seat；3-11 is shaft coupling；3-12 is either-rotation motor；3-13 is pressure-resistant storehouse；
4-1 is shell；4-2 is weighing sensor；4-3 is detection sensor.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, combined with specific embodiments below furtherly
Bright technical solution of the present invention.
Embodiment
It is a kind of with mechanical arm and the underwater robot of mechanical foot include: body structure 4, crawl structure 1, foot structure 2,
Transport device 3 is transmitted step by step.
Robot front-rear direction is set as longitudinal axis.The box portion is longitudinally arranged, two crawl structures and four
Foot structure is arranged symmetrically portion two sides outside the enclosure, is transmitted transport device step by step and is arranged symmetrically in box house two sides, on cabinet
Side leaves a blank, and is put into convenient for rubbish pickup.
One, structure is grabbed
Referring to Fig. 2-Fig. 5, the crawl structure includes connecting joint 1-15, multi-joint mechanical arm and mechanical finger 1-14,
The connecting joint is installed on body structure outer wall, and the multi-joint mechanical arm is installed in connecting joint, including is sequentially connected
First mechanical arm 1-1, second mechanical arm 1-2, third mechanical arm 1-3 and the 4th mechanical arm 1-4, pacify on the 4th mechanical arm
1-11 is fanned equipped with mechanical finger and suction；
There are also No.1 steering engine 1-5 inside the connecting joint, and No. two rudders are provided between first mechanical arm and connecting joint
Machine 1-6 is provided with No. three steering engine 1-7, between third mechanical arm and second mechanical arm between second mechanical arm and first mechanical arm
Be provided with No. four steering engine 1-8, third mechanical arm is divided into two parts, be provided between two parts No. five steering engine 1-9 allow to around
Axis rotation, is provided with No. six steering engine 1-10 between the third mechanical arm and the 4th mechanical arm；Above-mentioned each steering engine works together
Finally realize the function of mechanical arm multiple degrees of freedom crawl.
Disk rotational in No.1 servo driving connecting joint can allow arm to be realized in disk plane and significantly put
Dynamic, No. two servo driving first mechanical arms realize in the direction perpendicular to disk plane and significantly swing that the two steering engines are common
Effect realizes the function of mechanical arm Large Amplitude Motion.Especially in the conversion for grabbing and collecting two processes, No.1 steering engine is wanted
Carry out 180 ° of rotation.
No. three steering engines are responsible for the movement of second mechanical arm, in the process of grasping can more accurately adjusting mechanical arm position
It sets, during collection, since the scope of activities of first mechanical arm is limited, second mechanical arm is mechanical for adjusting in this case
The position of hand is particularly important.
No. four steering engines are responsible for the movement of third mechanical arm, and No. five steering engines are responsible for third mechanical arm itself around the rotation of axis,
The freedom degree that mechanical arm can be increased in this way makes movement more flexible.
No. six steering engines are responsible for the movement of the 4th mechanical arm, control the experiencing small oscillating movements of manipulator, increase accuracy.
There are hydraulic cylinder and suction fan etc. inside the 4th mechanical arm, provides power for the movement of manipulator.Three claw robot
With the common completion crawl work of suction fan cooperation, crawl reliability of structure is improved.
Buoyant material can be placed to increase buoyancy in the spare space of mechanical arm, on the one hand can reduce energy consumption,
On the one hand the accuracy of manipulator motion can also be improved.
Grab the course of work of structure division are as follows: after confirmation crawl target, mechanical arm is by each servo driving to mobile
To suitable position, Driven by Hydraulic Cylinder piston rod opens gripper, at the same suction fan start to work, grab target object it
Afterwards, in the refuse bag that steering engine drives mechanical arm that rubbish is put into cabinet again, gripper opens, while suction fan stops turning
Dynamic, rubbish is placed to suitable position, completes collection work, and one action circulation is completed.
Two, foot structure
Referring to Fig. 6, Fig. 7, the foot structure carries out foot by the way of the foot structure of bionical galleyworm
Design.The foot structure of insect is copied to be divided into waist joint, hip joint, knee joint, leg structure of the invention is divided into fixed frame 2-
1, U-shaped frame 2-2, the first middle node 2-3, the second middle node 2-4, third middle node 2-5, last podomere 2-6, pass through control steering engine
It rotates to imitate the movement in galleyworm joint.
First steering engine 2-9 is fixed on cabinet, copies the waist joint of multiple groups insect, drives U-shaped frame and entire foot front and back
It swings.
Second steering engine is connected with the first middle node, copies the hip joint of galleyworm, the rotatable angle of the second steering engine 2-10
About about 30 ° of degree, the first middle node, the second middle node, third middle node and last podomere is driven to swing up and down.
Third steering engine 2-12 is connected with last podomere, copies the knee joint of galleyworm, and last podomere is driven to swing.Therefore, lead to
Lifting and fall vertically for last podomere may be implemented in the rotation for crossing while controlling the second steering engine and third steering engine, prevents entire machine
The centre-of gravity shift of people causes robot to be toppled over.
In view of the influence of seabed water resistance, the leg configuration of robot is designed as streamlined by the present invention, is not only improved
It is sealed, can also reduce the resistance of water.
In view of the complexity of sea-floor relief, the present invention joined elastic construction at sufficient end, make robot the bottom by
It disturbs unbalance and there is buffering in while landing, also can adapt to complicated landform, increase robot stabilization.
The spare space of foot structure increases the buoyancy of robot leg in water, prevents machine for storing buoyant material
Device people leg is overweight, and the excessive consumption of the electric energy for carrying robot reduces energy benefit on the gravity for overcoming robot leg
Use efficiency.
The course of work that four foot structure cooperations are advanced are as follows: carry out path planning using sensor and integrated chip
Afterwards, advanced using slow Crawl gait, only one each foot works, and successively primary move forward is completed in movement.Wait move
It moves to after destination, all steering engines stop working, and complete the underwater moving process of robot.
Three, transport device and sensor are transmitted step by step
The transport device of transmission step by step is that transfer structure 3-1, sealed folder 3-2 and air bag transport mechanism 3-5 cooperate work
Make.
The transfer structure is four cooperatings, and single transfer structure is made of sprocket wheel chain component, type selecting standard
The sprocket wheel of model 12A is selected on each unit component and has the chain of connecting bracket.The sprocket wheel of each component passes through sprocket shaft
It holds support to be mounted on fixed frame, sprocket shaft is connect with the one end shaft coupling 3-11, and the shaft coupling other end and either-rotation motor is same
Side connection, each either-rotation motor realize the connection with ipsilateral two sprocket shafts by shaft coupling.
Either-rotation motor drives ipsilateral sprocket wheel to operate synchronously, the upward one-way only operation of sprocket wheel chain mechanism, is pressed from both sides by sealed by net
Bag is transported step by step to designated position.
Sealed clamping structure totally six, include a sealed clamping fixed board 3-2-2 and intermediate plate 3-2-1 in each structure.Wherein
Sealed clamping fixed board is connect by screw with chain unit component, and intermediate plate clamps up mesh bag, in sprocket wheel towards box house
Side linearly arrange 12 sealed clamping fixed boards, pass through screw and a sealed folder connection on every two adjacent fixed plate.
Mesh belt device includes connection component there are five six identical flexible mesh belt structures and the configurations of each mesh belt.Wherein six
A flexible net band is arranged by the way of successively stacking along transmission device operative orientation, passes through four connection components and spring
Folder connection.Airbag connector is arranged in the adjacent surface upper edge for connecting installation with spring clip.
Airbag apparatus uses the life saving air bag structure of model BHLT-01, including folded airbag 3-5-1, gas cylinder 3-5-2,
Air bag mounting box 3-5-3 and air bag control valve 3-5-4.By a fixed rotating shaft outside air bag mounting box, the upper and lower end cap of box body is around this
Shaft carries out opening and closing, while the shaft is mounted on the connection that airbag apparatus and mesh belt are realized on the airbag connector of mesh belt side.
Side inside airbag apparatus close to fixed rotating shaft is disposed with gas cylinder installation space and air bag controlled valve opening, and the other side is to fold
Air bag space.
The body structure outside front ends are equipped with detection sensor 4-3, and inside bottom is equipped with weighing sensor 4-2, claim
It retransmits sensor and is placed in mesh bag lower end, pick up rubbish gravity for acquiring, detection sensor picks up the amount of rubbish for identification, prevents
Only rubbish is more than to pick up network capacity amount, causes pickup net that can not fasten；Water depth sensor 3-6 and height are provided on the fixed frame
Sensor 3-7, for sounding the depth of the water and rubbish height.
When rubbish total amount reaches specified gravity or height sensor detects certain rubbish height, meet in the two any
When condition, sensor issues signal, and transfer structure runs up next stage designated position, air bag controlled valve control in operational process
Gas cylinder processed is opened, and is inflated air bag and is flicked air bag mounting box.
In the present embodiment, it is fastened as the carry out air bag floating of inflation pulls mesh bag.Mesh bag by total external force direction to
On, each sealed sealed folder opening after pressing from both sides the tensioning nargin for reaching setting, top net band is detached from robot cabinet with gas bag floationg
It waits and artificially collecting on to the water surface.
At the same time, robot transfer structure has moved an impulse stroke, and next layer of refuse net bag is transported to top layer
Layer is used as new, to start the garbage collection in subsequent work period.Realize single dive, the mesh of multiple garbage collection
's.After structure to be transmitted is transported to afterbody, all the sensors stop working, complete the dive of robot single work into
Journey.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object,
Without any sequence or art-recognized meanings.And " connection ", " connection " described in the application, unless otherwise instructed, include directly and
It is indirectly connected with (connection).In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", " left side ",
The orientation of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside", " clockwise ", " counterclockwise " or position are closed
System is merely for convenience of description of the present invention and simplification of the description to be based on the orientation or positional relationship shown in the drawings, rather than indicates
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitation of the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
Illustrative description has been done to the present invention above, it should explanation, the case where not departing from core of the invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent replacement of creative work equal
Fall into protection scope of the present invention.
Claims (10)
1. a kind of seabed garbage cleaning robot, it is characterised in that: including body structure, crawl structure, foot structure, step by step pass
Send transport device and sensor；
In the body structure upper opening, it is internally provided with and transmits transport device, the setting of cabinet two sides step by step there are two grabbing
Take structure and four foot structures；
The crawl structure includes connecting joint, multi-joint mechanical arm and mechanical finger, and the connecting joint is installed on cabinet knot
Structure outer wall, the multi-joint mechanical arm are installed in connecting joint, including sequentially connected first mechanical arm, second mechanical arm,
Third mechanical arm and the 4th mechanical arm are equipped with mechanical finger and suction fan on the 4th mechanical arm；
The foot structure includes fixed frame, U-shaped frame, the first middle node, the second middle node, third middle node and last podomere, institute
It states fixed frame and is installed on body structure outer wall, the U-shaped frame is connected with fixed frame and can rotate around it, first middle node
Be mounted on U-shaped frame, the first middle node is connected with the second middle node, and the second middle node is connected with third middle node, last podomere with
Third middle node is connected, and vola transition frame is set to last podomere end, is provided with sole structure below the transition frame of vola；
The transport device of transmission step by step includes fixed frame, either-rotation motor, transfer structure, sealed folder, mesh bag and air bag, described solid
Determine the left and right sides that frame is symmetrically disposed on inside body structure, either-rotation motor is provided on fixed frame and is located at two-way electricity
The transfer structure being driven by it at left and right sides of machine, the mesh bag are set to the centre of two fixed frames, the chain of the transfer structure
On be provided with sealed folder for clamping mesh bag, air bag is provided on mesh bag；
The sensor includes water depth sensor, height sensor, weighing sensor and detection sensor, the depth of water sensing
Device, height sensor are set on fixed frame, and the weighing sensor is set on the bottom surface in the body structure below mesh bag,
The detection sensor is set to the outer surface of body structure.
2. a kind of seabed garbage cleaning robot according to claim 1, it is characterised in that: inside the connecting joint also
There is No.1 steering engine, No. two steering engines is provided between first mechanical arm and connecting joint, between second mechanical arm and first mechanical arm
No. three steering engines are provided with, No. four steering engines are provided between third mechanical arm and second mechanical arm, third mechanical arm is divided into two parts,
It is provided with No. five steering engines between two parts to allow to be rotated about axis, is arranged between the third mechanical arm and the 4th mechanical arm
There are No. six steering engines；Above-mentioned each steering engine works together the last function of realizing the crawl of mechanical arm multiple degrees of freedom.
3. a kind of seabed garbage cleaning robot according to claim 2, it is characterised in that: the No.1 steering engine and No. two
Steering engine uses DHLG-02X large size self-sealing steering engine, and No. three steering engines and No. four steering engines use DS500 model self-sealing steering engine,
No. five steering engines and No. six steering engines use BBPS-380 model self-sealing steering engine.
4. a kind of seabed garbage cleaning robot according to claim 1, it is characterised in that: set in the 4th mechanical arm
It is equipped with the hydraulic cylinder and piston rod referred to for driving manipulator, the piston rod connects corresponding finger.
5. a kind of seabed garbage cleaning robot according to claim 3, it is characterised in that: the mechanical finger passes through work
Stopper rod connect and is driven by it with hydraulic cylinder, the model MOB30*75-FB type of hydraulic cylinder, and hydraulic pump is CB-B2.5 type, specified
Pressure is the gear oil pump of 2.5MPa, and overflow valve is DBDH10G2.5 type overflow valve, solenoid directional control valve DSG-03-3C2-D24-
N1-50 type reversal valve；Each component of hydraulic system cooperates, the common crawl work for completing manipulator.
6. a kind of seabed garbage cleaning robot according to claim 1, it is characterised in that: in the fixed frame position
Mandrel line is orthogonal with the outer body central axis of casing, plays fixed supporting role to entire Mechanical foot device；It is set in the fixed frame
It is equipped with the steering engine of the DH-03X model 260KG/CM of a sleeve seal, sleeve bottom contacts fixation, the first rudder with the boss of shell
Arbor can rotate in axis gait angular region, drive mechanical foot is whole to swing in horizontal extent.
7. a kind of seabed garbage cleaning robot according to claim 1, it is characterised in that: the first steering engine output
Deep groove ball bearing sealing cooperates in axis and U-shaped frame head end inner hole, and U-shaped frame is the connector of two opening direction phase anti-quadratures, U-shaped
No. second steering engine output sealing cooperation for including in frame end inner hole deep-groove ball middle (center) bearing and the first middle node, the second steering engine can
It is rotated in gait angular region around axis, mechanical foot limb is driven to rotate in vertical plane.
8. a kind of seabed garbage cleaning robot according to claim 1, it is characterised in that: in first middle node
Sliding slot is contained in portion, and the fixed block sealing on sliding slot bottom and the second middle node head cooperates, and fixes sleeve, the second steering engine is sealed in set
Cylinder is internal；The battery of the second middle node inner sealing driving steering engine, battery bottom have rubber-covered pedestal, and pedestal both ends have
Metal fixed block, position of the fixed pedestal inside the second middle node, the fixed block and third middle node of the second middle node tail portion
The sleeve of the cooperation of sliding slot sealed bottom, third middle node sliding slot and sealing third steering engine cooperates；It is deep in the last podomere inner hole
The third steering engine output sealing cooperation for including in ditch ball bearing and third middle node, U-type groove of the third middle node in last podomere
In rotated in gait angular region, drive mechanical foot to rotate in vertical plane, be provided with elongated slot inside the last podomere other end, wherein
Equipped with fraising double leval jib, double leval jib both ends are connect with hollow cylindrical metal, and both ends hollow cylindrical metal intermediate supports have rigidity very
Big spring, last podomere are connected with the sealing of anticorrosion rubber vola glue, and bottom end hollow cylindrical metal is inside anticorrosion rubber feet bottom
It is fixed in cylinder groove with bolt.
9. a kind of seabed garbage cleaning robot according to claim 1, it is characterised in that: be provided on the fixed frame
Pressure-resistant storehouse.
10. a kind of seabed garbage cleaning robot according to claim 1, it is characterised in that: the transmission transport step by step
The fixed frame and cabinet of device are connected by screw to fixation, equipped with water depth sensor, height sensor, pressure-resistant storehouse on fixed frame
And five supports, respectively two sprocket shaft bearing supports, two conveyer frames supports, a motor bearing seat, each bearing block and solid
Determine frame to be connected with screw.
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| CN201910713798.7A CN110422301A (en) | 2019-08-02 | 2019-08-02 | A kind of seabed garbage cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910713798.7A CN110422301A (en) | 2019-08-02 | 2019-08-02 | A kind of seabed garbage cleaning robot |
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| Publication Number | Publication Date |
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| CN110422301A true CN110422301A (en) | 2019-11-08 |
Family
ID=68414049
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910713798.7A Pending CN110422301A (en) | 2019-08-02 | 2019-08-02 | A kind of seabed garbage cleaning robot |
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| CN111762301A (en) * | 2020-07-20 | 2020-10-13 | 上海陆根智能传感技术有限公司 | Salvaging and recycling robot |
| CN111776173A (en) * | 2020-07-20 | 2020-10-16 | 上海陆根智能传感技术有限公司 | Remote control underwater fishing robot |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN112722218A (en) * | 2020-12-31 | 2021-04-30 | 六安乾稳环保科技有限公司 | Underwater transport vehicle for sundry fishing and river garbage fishing method |
| CN113246127A (en) * | 2021-05-20 | 2021-08-13 | 桂林电子科技大学 | Underwater pipeline inspection cleaning robot |
| CN113389237A (en) * | 2021-06-11 | 2021-09-14 | 青岛黄海学院 | Seabed garbage cleaning robot |
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| CN113733070B (en) * | 2021-09-18 | 2023-01-20 | 江苏三铭智达科技有限公司 | Waterborne intelligent rescue robot and use method thereof |
| CN113733070A (en) * | 2021-09-18 | 2021-12-03 | 江苏三铭智达科技有限公司 | Waterborne intelligent rescue robot and use method thereof |
| CN113955025A (en) * | 2021-11-29 | 2022-01-21 | 青岛科技大学 | Gliding type marine garbage recycling device |
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| CN114889788A (en) * | 2022-06-06 | 2022-08-12 | 常州工学院 | Bionic bat ray |
| CN116495143A (en) * | 2023-03-23 | 2023-07-28 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
| CN116495143B (en) * | 2023-03-23 | 2023-11-03 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
| CN116160429A (en) * | 2023-04-06 | 2023-05-26 | 云南涟浪机器人科技有限公司 | Industrial robot applied to complex ground and having balance function |
| CN116160429B (en) * | 2023-04-06 | 2023-09-15 | 云南涟浪机器人科技有限公司 | Industrial robot applied to complex ground and having balance function |
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