CN112715141A - Underwater winding and collecting robot - Google Patents
Underwater winding and collecting robot Download PDFInfo
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- CN112715141A CN112715141A CN202011603779.8A CN202011603779A CN112715141A CN 112715141 A CN112715141 A CN 112715141A CN 202011603779 A CN202011603779 A CN 202011603779A CN 112715141 A CN112715141 A CN 112715141A
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D44/00—Harvesting of underwater plants, e.g. harvesting of seaweed
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/077—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material with auxiliary means, e.g. fans, for transporting the mown crop
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W10/00—Technologies for wastewater treatment
- Y02W10/10—Biological treatment of water, waste water, or sewage
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Catching Or Destruction (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses an underwater winding and collecting robot, which comprises: a hull member including a first hull and a second hull; the root removing part comprises a hinged fixing part and a root removing part, and the hinged fixing part is arranged on the first ship body and the second ship body; the hinged fixing piece comprises a hinged pipe, a hinged rod, a lifting fixing rod and a fixing cap, the hinged pipe is arranged on the first ship body and the second ship body, the hinged rod is arranged on the hinged pipe, the lifting fixing rod is arranged on the hinged rod, and the fixing cap is arranged on the lifting fixing rod; a weed winding member including a winding fixing member and a winding dividing member, the winding fixing member being provided on the root removing member; the winding fixing piece comprises a winding fixing plate, a winding shaft, a winding worm, a winding turbine, a winding fixing sleeve and a winding supporting rod. The invention has high automation degree, can obviously reduce the labor intensity of workers and can obviously improve the efficiency of cleaning and transporting submerged plants.
Description
Technical Field
The invention relates to the technical field of automation, in particular to an underwater winding and collecting robot.
Background
The eutrophication of water is a main factor of water quality deterioration of inland rivers and lakes, the eutrophicated water contains abundant nitrogen and phosphorus elements, which can cause breeding and growth of aquatic plants, excessive aquatic plants can consume a large amount of oxygen content in water, resulting in oxygen deficiency of water, the oxygen deficient water can cause death of aquatic animals, the aquatic plants such as duckweeds and submerged plants can not be consumed without the aquatic animals, and the water quality deterioration can be further aggravated due to the corruption of the aquatic plants. At present, the floating plants on the water surface are cleaned by adopting a manual fishing operation mode, workers drive a boat and salvage the floating plants and fallen leaves on the water to the shore by using an intercepting net, but the equipment cannot clean the floating plants and cannot meet the requirement of cleaning the water quality of a river channel and a lake. Meanwhile, the manual salvage operation mode is adopted, so that the defects of low plant cleaning efficiency, large labor capacity of workers, high weed cleaning cost and the like can be caused.
Disclosure of Invention
In order to overcome the defects, the invention provides an underwater winding and collecting robot, which specifically adopts the following technical scheme:
an underwater wind collection robot comprising:
a hull member including a first hull and a second hull;
a boot clearance piece disposed on the hull piece, the boot clearance piece including a hinged fixture and a boot clearance piece, the hinged fixture disposed on the first hull and the second hull; the hinged fixing piece comprises a hinged pipe, a hinged rod, a lifting fixing rod and a fixing cap, the hinged pipe is arranged on the first ship body and the second ship body, the hinged rod is arranged on the hinged pipe, the lifting fixing rod is arranged on the hinged rod, and the fixing cap is arranged on the lifting fixing rod; the root removing part comprises a rotating motor, and the rotating motor is arranged on the fixing cap;
a weed winding member provided on the root removing member, the weed winding member including a winding fixing member provided on the root removing member and a winding partitioning member provided on the winding fixing member; the winding fixing piece comprises a winding fixing plate, a winding shaft, a winding worm, a winding turbine, a winding fixing sleeve and a winding support rod, the winding fixing plate is arranged on the fixing cap, the winding shaft is arranged on the winding fixing plate, the winding worm is arranged on the rotating motor, the winding turbine and the winding fixing sleeve are both arranged on the winding shaft, and the winding support rod is arranged on the winding fixing sleeve;
wherein: the winding piece and the root removing piece share the rotating motor to rotationally move the winding dividing piece to a set position; the automatic submerged plant who will remove after the root of piece is cut apart in the coiling collects to through the coiling mounting will be convoluteed and collected submerged plant the piece is cut apart to the submerged plant after transporting to the settlement position to the coiling.
Preferably, the fixing cap is tubular, two end faces of the fixing cap are closed, a first rotary through hole is formed in the circle center of one end face of the fixing cap, and a second rotary through hole is formed in the circle center of the other end face of the fixing cap; two fixing caps are arranged; the root removing part comprises a left root removing part and a right root removing part, the left root removing part and the right root removing part have the same structure, and the left root removing part and the right root removing part are respectively and correspondingly arranged on the two fixing caps; the rotating motor is a double-output-shaft motor, one rotating shaft of the rotating motor penetrates through the first rotating through hole, and the other rotating shaft of the rotating motor penetrates through the second rotating through hole.
Preferably, the winding fixing plates are provided with two first winding through holes, and the two winding fixing plates are fixedly arranged on the other end surfaces of the two fixing caps one by one correspondingly; winding bearings are sleeved at two ends of the winding shaft, and the two ends of the winding shaft are respectively and correspondingly embedded in the two first winding through holes one by one through the winding bearings; one end of each winding worm is fixedly arranged on the other rotating shaft of the rotating motor, the axis of each winding worm is superposed with the axis of the other rotating shaft of the rotating motor, two winding worms are arranged, and the two winding worms are correspondingly connected with the two rotating motors one by one; the number of the winding worm wheels is two, the two winding worm wheels are sleeved on two ends of the winding shaft one by one correspondingly, and the winding worm wheels are meshed with the winding worm one by one correspondingly; the winding fixed sleeve is fixedly sleeved on the winding shaft and rotates along with the rotation of the winding shaft; the winding support rod is provided with a plurality of rods, wherein one end of one half of the winding support rods is uniformly and fixedly arranged on the winding fixing sleeve around one end of the winding fixing sleeve; and one end of the other half of the winding support rods is uniformly and fixedly arranged on the winding fixing sleeve around the other end of the winding fixing sleeve.
Preferably, the winding partition member includes a winding support plate, a winding drum, a winding motor, and a weed cutting member, the winding support plate being disposed on the winding support rod, the winding drum, the winding motor, and the weed cutting member being disposed on the winding support plate; the winding support plate is provided with a plurality of second winding through holes, and the winding support plates are correspondingly and fixedly arranged at the other ends of the plurality of winding support rods one by one.
Preferably, the winding drum is tubular, two end faces of the winding drum are closed, winding teeth are arranged on the side wall of the winding drum, the winding teeth are rod-shaped, a plurality of winding teeth are arranged, the winding teeth are evenly divided into a plurality of groups, each group of winding teeth are evenly and fixedly arranged on the side wall of the winding drum along the axial direction of the winding drum, and the plurality of groups of winding teeth are evenly distributed in the circumferential direction of the winding drum; and cutting through holes are formed in the winding drum on two sides of each group of winding teeth, and the length of each cutting through hole is not more than that of the winding drum.
Preferably, the two end surfaces of the winding drum are respectively provided with a rotating rod, the rotating rods are hollow and tubular, the rotating rods are communicated with the winding drum, and each rotating rod is sleeved with a cutting bearing; the winding drum is correspondingly embedded in the second winding through holes at two ends of the winding fixing sleeve one by one through the cutting bearings at two ends.
Preferably, a plurality of winding drums are arranged, the structures of the plurality of winding drums are completely the same, and the plurality of winding drums are respectively and correspondingly embedded in the second winding through holes at two ends of the winding fixing sleeve one by one through the cutting bearings; the winding motor is provided with a plurality of winding motors, the winding motors are fixedly arranged on the winding support plate positioned at one end of the winding drum one by one correspondingly, and the rotating shafts of the winding motors are fixedly connected with the rotating rods one by one correspondingly.
Preferably, the weed cutting member comprises a cutting motor, a cutting shaft, a reciprocating nut, a cutting connecting rod and a cutting knife, wherein the cutting motor is arranged on the winding support plate, the cutting shaft is arranged on the cutting motor, the reciprocating nut is arranged on the cutting shaft, the cutting connecting rod is arranged on the reciprocating nut, and the cutting knife is arranged on the cutting connecting rod; the cutting motor is fixedly arranged on the winding support plate at the other end of the winding fixing sleeve, and the rotating shaft of the cutting motor penetrates through the rotating rod and extends into the winding drum.
Preferably, the cutting shaft is a reciprocating screw, one end of the cutting shaft is fixedly arranged on the rotating shaft of the cutting motor, and the axis of the cutting shaft is overlapped with the axis of the rotating shaft of the cutting motor; the reciprocating nut is sleeved on the cutting shaft, and the reciprocating nut can reciprocate on the cutting shaft; the cutting connecting rod is provided with many, many cutting connecting rod one end centers on reciprocal nut circumference is evenly fixed to be set up on the reciprocal nut.
Preferably, the cutting knife is in a rectangular groove shape, and the depth of the cutting knife groove is not less than the length of the winding tooth; the bottom of the cutting knife groove is fixedly arranged at the other end of the cutting connecting rod, and the wall of the cutting knife groove penetrates through the cutting through hole and is sleeved on the winding teeth; the cutting device comprises a plurality of cutting knives, a plurality of cutting knives and a plurality of cutting connecting rods, wherein the plurality of cutting knives are arranged on the other end of the cutting connecting rod one by one correspondingly; the weed cutting pieces are arranged in a plurality of numbers, and the weed cutting pieces are correspondingly arranged on the winding support plates positioned at the other end of the winding fixing sleeve one by one.
The invention at least comprises the following beneficial effects:
1) the underwater winding and collecting robot has reasonable structural design and high automation degree, can obviously reduce the labor intensity of workers and can obviously improve the efficiency of cleaning and transporting submerged plants;
2) the underwater winding and collecting robot is provided with a weed winding part, the weed winding part comprises a winding fixing part and a winding and dividing part, the winding fixing part is arranged on the root clearing part, the winding and dividing part comprises a winding support plate, a winding drum, a winding motor and a weed cutting part, the winding fixing part is driven by a rotating motor shared with the root clearing part to automatically rotate and move the winding drum to a set position, the winding drum is driven by the winding motor to automatically wind and collect the submerged plants after the roots are removed, the winding drum wound with the submerged plants is continuously driven by the winding fixing part to automatically rotate and move to the water surface, then the weed cutting part is started to cut and separate the submerged plants, the cut and separated submerged plants fall on the weed conveying part to be transported away, the automation degree is obviously improved, and the submerged plant cleaning and transporting efficiency is obviously improved, the labor intensity of workers is obviously reduced.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a front view of an underwater winding collection robot of the present invention;
FIG. 2 is a top view of the underwater winding collection robot of the present invention;
FIG. 3 is a schematic view of the left side of the underwater winding collection robot of the present invention;
FIG. 4 is an enlarged view of a portion of C of FIG. 3 of the underwater wind collection robot of the present invention;
FIG. 5 is a front end elevation view of the underwater winding collection robot of the present invention;
FIG. 6 is an enlarged view of a portion of the underwater wind collection robot of the present invention as shown at D in FIG. 5;
FIG. 7 is a schematic diagram of the right side perspective structure of the underwater winding collection robot of the present invention;
FIG. 8 is an enlarged view of a portion E of FIG. 7 of the underwater wind collection robot of the present invention;
FIG. 9 is a front view of the underwater winding collection robot of the present invention taken along the line A-A in FIG. 2;
FIG. 10 is an enlarged view of a portion of F of FIG. 9 of the underwater wind collection robot of the present invention;
FIG. 11 is a schematic view of the cross-sectional perspective view of the underwater winding collection robot in the direction B-B in FIG. 2;
fig. 12 is a partially enlarged view of G of fig. 11 of the underwater winding collection robot of the present invention.
Wherein: 1-a first hull, 2-a second hull, 4-a root-removing piece, 5-a fixing cap, 6-a hinge pipe, 7-a hinge rod, 8-a lifting fixing rod, 9-a left root-removing piece, 10-a right root-removing piece, 11-a winding fixing plate, 12-a winding shaft, 13-a winding worm, 14-a winding turbine, 15-a winding fixing sleeve, 16-a winding support rod, 17-a winding support plate, 18-a winding barrel, 19-a winding motor, 20-a winding tooth, 21-a cutting through hole, 22-a rotating rod, 23-a cutting bearing, 24-a cutting motor, 25-a cutting shaft, 26-a reciprocating nut, 27-a cutting connecting rod and 28-a cutting knife.
Detailed Description
Technical solutions of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
According to fig. 1 to 12, an underwater winding collection robot includes a boat body member, a root removing member provided on the boat body member, and a weed winding member provided on the root removing member. The hull element comprises a first hull 1 and a second hull 2, a connecting bridge arranged on the first hull 1 and the second hull 2, and a weed transporter arranged on the connecting bridge. The connecting bridge is plate-shaped, and two side edges of the connecting bridge are respectively connected with the first ship body 1 and the second ship body 2, so that the first ship body 1 and the second ship body 2 are assembled into a catamaran through the connecting bridge, the deck area and the wave resistance of the whole catamaran are effectively improved, the installation and the use of the weed conveying piece are facilitated, the weed cleaning work stability is improved, and the work efficiency is improved.
The first ship body 1 and the second ship body 2 are internally provided with a large number of lithium batteries which continuously provide power for the root clearing piece and the weed winding piece except for providing power for the first ship body 1 and the second ship body 2 in running. The method can obviously reduce environmental pollution, reduce the noise in the cleaning process, improve the energy utilization rate and reduce the maintenance cost of the whole ship.
The first hull 1 is provided with a signal processing transceiver and a Beidou navigation system module on deck, the signal processing transceiver is arranged at the stern of the first hull 1, and the Beidou navigation system module is arranged at the bow of the first hull 1. The signal processing transceiver device comprises an information memory, a wireless signal receiver and a wireless signal transmitter, wherein the information memory can receive weed cleaning information sent by the unmanned ship control station through the wireless signal receiver, the weed cleaning information comprises hydrological information of a water area to be cleaned, a submerged plant distribution diagram and a cleaning path trajectory, and the information memory determines self coordinates through the Beidou navigation system module and cleans according to the cleaning path trajectory. And the information storage can receive all sensor information of the whole ship, transmit the sensor information of the whole ship to the unmanned ship control station through the wireless signal transmitter, and wait for executing a processing instruction issued by the unmanned ship control station. The Beidou navigation system module is used for self coordinate positioning so as to realize that the underwater winding collection robot can carry out cleaning operation according to the cleaning path trajectory.
Set up unmanned module on 2 decks of second hull, unmanned module includes infrared camera and depth of water detection instrument, infrared camera is used for discerning waters surrounding environment, uploads the surrounding environment information to unmanned module, and unmanned module discernment and obstacle avoidance of being convenient for. The depth of water detection instrument sets up 2 front sides of second hull, the depth of water detection instrument can survey whole ship in real time and move to the depth of water to survey the depth of water in real time with treat that the comparison is made to clearance waters hydrology information, when the discovery with treat that clearance waters hydrology information is different, will pass through wireless signal transmitter sends to unmanned ship control station, and waits to carry out the processing instruction that unmanned ship control station issued. The unmanned module receives and executes the control instruction of the signal processing transceiver, receives the self-positioning information of the Beidou navigation system module and runs according to the cleaning path trajectory.
The ship comprises a first ship body 1 and a second ship body 2, and is characterized in that counterweight grooves are formed in the tails of the first ship body 1 and the second ship body 2, a first push rod and a counterweight block are arranged in each counterweight groove, each counterweight groove is rectangular, and one end of each first push rod is fixedly arranged on the bottom of each counterweight groove hole. The balancing weight is rectangular and blocky, one end of the balancing weight is embedded in the balancing weight groove, one end of the balancing weight is connected with the other end of the first push rod, the other end of the balancing weight can be pushed out of the balancing weight groove by the first push rod, and then the weight of the root clearing part and the weight of the weed winding part are longitudinally balanced in the whole ship. The first push rod is electrically connected with the signal processing transceiver and is controlled to stretch by the signal processing transceiver.
The weed conveying piece comprises a front end conveying piece and a rear end conveying piece, and the front end conveying piece and the rear end conveying piece are both arranged on the connecting bridge. The front end conveying piece comprises an angle adjusting frame and a sliding conveying piece, the angle adjusting frame is arranged on the connecting bridge, and the sliding conveying piece is arranged on the angle adjusting frame. The angle adjusting frame comprises an adjusting fixing plate and a second push rod, and the adjusting fixing plate and the second push rod are arranged on the connecting bridge. The adjustable fixing plate is characterized in that a driving through hole is formed in the adjustable fixing plate, limiting strips are arranged on two side edges of the adjustable fixing plate, and the length of each limiting strip is equal to that of the adjustable fixing plate. The limiting strip can prevent the sliding conveying piece from moving transversely when sliding on the adjusting fixing plate. One end of the adjusting fixing plate is hinged with one end of the connecting bridge through a hinge, so that the adjusting fixing plate can rotate around the hinge. The adjusting fixing plate is a metal plate. The second push rod is fixedly arranged on the connecting bridge, and the top end of the second push rod is hinged to the lower side face of the adjusting fixing plate. When the second push rod extends, the other end of the adjusting fixing plate can be pushed to rotate around the hinge, so that the downward sliding direction of the sliding conveying piece is changed, and the sliding conveying piece slides to the position below the weed winding piece to receive weeds. The second push rod is electrically connected with the signal processing transceiver and is controlled to stretch by the signal processing transceiver.
The sliding conveying piece comprises a sliding rail, a driving roller, a driving bearing, a driven roller, a driven bearing, a conveying belt, a conveying motor, a connecting rod and a sliding power piece, the sliding rail and the sliding power piece are arranged on the adjusting fixing plate, the driving bearing and the driven bearing and the connecting rod are arranged on the sliding rail, the driving roller is arranged on the driving bearing, the driven roller is arranged on the driven bearing, and the conveying motor is arranged on the driving roller. The slide rail is rectangular plate-shaped, slide rail length is greater than adjustment fixed plate length, the slide rail is provided with two, two slide rail mutual parallel distribution to two slide rail interval is not more than adjustment fixed plate width. The two driving bearings are respectively sleeved at two ends of the driving shaft, the outer rings of the two driving bearings are respectively and correspondingly and fixedly arranged on one side edge of the sliding rail one by one, and the axis of the driving shaft is perpendicular to the axis of the sliding rail. The driven bearings are provided with two driven bearings, the two driven bearings are respectively sleeved on the driven rollers, outer rings of the two driven bearings are respectively and correspondingly and fixedly arranged on one side edge of the two sliding rails one by one, and meanwhile, the driven shafts are parallel to the driving shaft. The conveyer belt is simultaneously sleeved on the driving roller and the driven roller. The driving roller and the driven roller can slide on the adjusting fixing plate through the sliding rail, and in order to reduce the friction force between the sliding rail and the adjusting fixing plate, the other side edge of the sliding rail is in a blade shape. The conveying motor is fixedly arranged on the sliding rail, a rotating shaft of the conveying motor is fixedly connected with one end of the driving roller, and meanwhile, the axis of the rotating shaft of the conveying motor is overlapped with the axis of the driving roller. Specifically, the conveying motor is a motor provided with a speed reducer. Can drive through the drive roll when conveying motor rotates the belt is rotatory, and then realizes that weeds transport backward. The conveying motor is electrically connected with the signal processing transceiver and is controlled by the signal processing transceiver.
The two ends of the connecting rod are respectively and correspondingly fixedly arranged on the two sliding rails one by one, and the connecting rod is positioned on the lower side of the belt. The connecting rods are arranged in three numbers, the three connecting rods are uniformly distributed on the sliding rail along the longitudinal direction, and the axes of the three connecting rods are positioned on the same plane. The sliding power part comprises a rack, a sliding motor and a gear, the rack is arranged on the connecting rod, the sliding motor is fixedly arranged on the adjusting fixing plate, and the gear is arranged on a rotating shaft of the sliding motor. The sliding motor is electrically connected with the signal processing transceiver and is controlled by the signal processing transceiver. The length of the rack is not less than the distance between the driving roller and the driven roller, and the rack is fixedly arranged on the connecting rod along the longitudinal direction of the sliding rail. The gear penetrates through the driving through hole to be meshed with the rack. When the sliding motor rotates, the rack can be driven by the gear to longitudinally slide along the sliding rail, the rack drives the sliding rail to slide on the adjusting fixing plate through the connecting rod, the sliding rail drives the driving roller and the driven roller to slide through the driving bearing and the driven bearing, and finally the conveying belt slides to the position below the weed winding part to receive weeds. The rear end conveying piece is a conveyor, the rear end conveying piece is arranged at the rear end of the connecting bridge, and the rear end conveying piece is used for receiving weeds conveyed by the front end conveying piece and transferring the weeds out of the underwater winding collection robot.
When the winding drum 18 is driven by the rotating motor to roll in the forward direction and is out of the water, the conveying motor starts to rotate in the forward direction to slide the conveying belt to the position below the winding drum 18, the weed cutting piece on the winding drum 18 starts to cut weeds wound on the winding drum 18, and the cut weeds fall on the conveying belt under the action of gravity. After the conveying belt slides to the lower part of the winding drum 18, the signal processing transceiver controls the second push rod to slowly contract, so that the angle of the fixing plate is reduced and adjusted, and finally the conveying belt slowly rises along with the winding drum 18 to prolong the time of the conveying belt for receiving weeds, prevent the weeds from falling in water and improve the weed removal efficiency; after the conveying belt receives the weeds, the conveying motor starts to rotate reversely to reset the conveying belt, and the signal processing transceiver controls the second push rod to extend slowly to reset the adjusting fixing plate.
The root removing part comprises a hinged fixing part and a root removing part 4, the hinged fixing part is arranged on the first ship body 1 and the second ship body 2, and the root removing part 4 is arranged on the hinged fixing part. Articulated mounting includes articulated pipe 6, articulated pole 7, lifting dead lever 8, locking cap 5 and lifting piece, articulated pipe 6 with the lifting piece all sets up first hull 1 with on the second hull 2, articulated pole 7 sets up on the articulated pipe 6, lifting dead lever 8 sets up on the articulated pole 7, locking cap 5 sets up on the lifting dead lever 8. Articulated pipe 6 is provided with two, two articulated pipe 6 corresponds the level respectively one by one and fixedly sets up first hull 1 with on the second hull 2 bow. The hinge rods 7 are provided with two, and the hinge rods 7 are correspondingly embedded in the hinge pipes 6 one by one, so that the hinge rods 7 can rotate in the hinge pipes 6. Lifting dead lever 8 is provided with two, two 8 one end of lifting dead lever correspond one by one and are fixed the setting and be in on the hinge bar 7. The fixing cap 5 is tubular, the two end faces of the fixing cap 5 are sealed, a first rotary through hole is formed in the circle center of one end face of the fixing cap 5, and a second rotary through hole is formed in the circle center of the other end face of the fixing cap 5. The fixing caps 5 are two, and the fixing caps 5 are vertically and fixedly arranged at the other ends of the two lifting fixing rods 8 one by one. The lifting piece comprises two winches which are respectively fixedly arranged on the first ship body 1 and the second ship body 2, tension sensors are arranged on steel ropes of the two winches, and the winches are respectively and fixedly connected with the two lifting fixing rods 8 one by one in a corresponding mode. When the winch is used for winding the rope, the other end of the lifting fixing rod 8 is pulled up, and when the winch is used for unwinding the rope, the other end of the lifting fixing rod 8 is lowered. The winch is electrically connected with the signal processing transceiver and is controlled to stretch by the signal processing transceiver.
Remove root 4 and include that the left side removes root 9, right side and removes root 10 and remove the root area, the left side remove root 9 with the right side removes root 10 and corresponds the setting one by one two on the locking cap 5, remove the root area setting and be in the left side remove root 9 with the right side removes on the root 10. Root spare 9 is removed in left side includes rotating electrical machines, transmission shaft, driving tube, buffer spring, protecting tube and drive wheel, rotating electrical machines with the protecting tube all sets up on the locking cap 5, the transmission shaft sets up on the rotating electrical machines, the driving tube with buffer spring all sets up on the transmission shaft, the drive wheel sets up on the driving tube. The rotating motor is a double-output-shaft motor, the rotating motor is embedded in the fixing cap 5, one rotating shaft of the rotating motor penetrates through the first rotating through hole, and the other rotating shaft of the rotating motor penetrates through the second rotating through hole. The rotating motor is electrically connected with the signal processing transceiver and is controlled by the signal processing transceiver.
The transmission shaft is provided with a sliding groove, the axis of the sliding groove is parallel to the axis of the transmission shaft, and the length of the sliding groove is the same as that of the transmission shaft. One end of the transmission shaft is fixedly arranged on a rotating shaft of the rotating motor, and the axis of the transmission shaft is superposed with the axis of the rotating shaft of the rotating motor. The transmission shaft is sleeved with a first thrust ball bearing and a second thrust ball bearing, and one end face of the first thrust ball bearing is attached to one end face of the fixing cap 5. The inner diameter of the transmission pipe is not smaller than the diameter of the transmission shaft, a sliding block is arranged in the transmission pipe, and the length of the sliding block is the same as that of the transmission pipe. The fixed cover of driving pipe one end lateral wall is equipped with first ring of suspending in midair, the driving pipe passes through first ring of suspending in midair is in the protective tube, prevents the landing when piece lifting is clear away to the root. One end of the transmission pipe is sleeved on the other end of the transmission shaft, and the sliding block is matched with the sliding groove. The buffer spring is sleeved on the transmission shaft, and two ends of the buffer spring are respectively attached to the other end face of the first thrust ball bearing and the second thrust ball bearing. When the rotating motor rotates, the rotating motor drives the transmission pipe to rotate through the transmission shaft.
The inner diameter of the protective pipe is larger than the outer diameter of the first suspension ring, the length of the protective pipe is larger than the length of the buffer spring, a second suspension ring is fixedly embedded in one end pipe of the protective pipe, and the second suspension ring is identical to the first suspension ring in structure. The protective tube cover is in buffer spring with on the driving tube, and the protective tube other end with 5 terminal surface fixed connection of locking cap, simultaneously second suspend in midair the circle with driving tube clearance department is provided with the sealing washer, the sealing washer can prevent that external impurity from getting into in the protective tube, influence transmission shaft, driving tube and buffer spring normal work. The second suspends the circle in midair with first suspension is enclosed the cooperation and can prevent that the root from driving the landing when piece is raised. The driving wheel is fixedly arranged at the other end of the driving pipe, and the axis of the driving wheel is superposed with the axis of the driving pipe. The right side removes root spare 10 with the left side removes root spare 9 structure identical, and the right side removes root spare 10 and sets up another in the locking cap 5, simultaneously the left side removes root spare 9 and locking cap 5 connected mode with right side removes root spare 10 and locking cap 5 connected mode the same.
The root removing belt comprises a transmission belt and root removing teeth, the transmission belt is arranged on the transmission wheel, and the root removing teeth are arranged on the transmission belt. The transmission belt is sleeved on the transmission wheels of the left root removing part 9 and the right root removing part 10 at the same time and rotates along with the rotation of the transmission wheels. The root removing teeth are in a right-angle block shape and are fixedly arranged on the transmission belt. The root removing teeth are arranged in eighteen, and uniformly distributed on the transmission belt, and each right-angle surface of the root removing teeth faces to the rolling direction of the transmission belt. When the root removing teeth meet the underwater small stone, the root removing teeth slide through the stone through the right-angle surface of the root removing teeth, so that the root removing teeth are not blocked by the small stone.
After the underwater winding collection robot runs to the designated coordinates, the winch puts the root removing part 4 into the water bottom, the signal processing transceiver controls the rotation of the rotating motor, and the rotating motor drives the transmission belt and the root removing teeth to rotate; when the root removing teeth meet a large obstacle, the root removing part 4 moves backwards, the tension sensor monitors abnormal tension, the tension sensor transmits abnormal tension information to the signal processing transceiver, the signal processing transceiver controls the ship body to stop moving forwards through the unmanned driving module, and meanwhile, the signal processing transceiver transmits abnormal tension signals to the unmanned ship control station and waits for executing a processing instruction issued by the unmanned ship control station.
The weed winding member includes a winding fixing member provided on the root removing member and a winding partitioning member provided on the winding fixing member. The coiling mounting includes coiling fixed plate 11, coiling axle 12, coiling worm 13, coiling turbine 14, the fixed cover 15 of coiling and the winding bracing piece 16, coiling fixed plate 11 sets up on the locking cap 5, coiling axle 12 sets up on the coiling fixed plate 11, coiling worm 13 sets up on the rotating electrical machines, coiling turbine 14 with the fixed cover 15 of coiling all sets up on the coiling axle 12, the winding bracing piece 16 sets up on the fixed cover 15 of coiling. The winding fixing plate 11 is plate-shaped, a first winding through hole is formed in the winding fixing plate 11, two winding fixing plates 11 are arranged, the two winding fixing plates 11 are fixedly arranged on the other end faces of the two fixing caps 5 one by one correspondingly, and the axes of the two first winding through holes are overlapped. And winding bearings are sleeved at two ends of the winding shaft 12, and the two ends of the winding shaft 12 are respectively and correspondingly embedded in the two first winding through holes one by one through the winding bearings. One end of the winding worm 13 is fixedly arranged on the other rotating shaft of the rotating motor, the axis of the winding worm 13 is superposed with the axis of the other rotating shaft of the rotating motor, two winding worms 13 are arranged, and the two winding worms 13 are correspondingly connected with the two rotating motors one by one. The number of the winding worm wheels 14 is two, the two winding worm wheels 14 are sleeved on two ends of the winding shaft 12 one by one correspondingly, the winding worm wheels 14 are located on the outer side of the bearing of the winding shaft 12, and meanwhile, the winding worm wheels 14 are meshed with the winding worm 13 one by one correspondingly.
The length of the winding fixing sleeve 15 is smaller than that of the winding shaft 12, and the winding fixing sleeve 15 is fixedly sleeved on the winding shaft 12 and rotates along with the rotation of the winding shaft 12. The winding support rod 16 is provided with sixteen rods, wherein one end of eight winding support rods 16 is uniformly and fixedly arranged on the winding fixing sleeve 15 around one end of the winding fixing sleeve 15. In addition, one end of each of eight winding support rods 16 is uniformly fixed on the winding fixing sleeve 15 around the other end of the winding fixing sleeve 15.
The winding dividing member comprises a winding support plate 17, a winding drum 18, a winding motor 19 and a weed cutting member, the winding support plate 17 is arranged on the winding support rod 16, and the winding drum 18, the winding motor 19 and the weed cutting member are all arranged on the winding support plate 17. The winding support plate 17 is provided with a second winding through hole, the winding support plate 17 is provided with sixteen winding support plates 17, and the sixteen winding support plates 17 are correspondingly fixedly arranged at the other ends of the sixteen winding support rods 16 one by one. The winding drum 18 is tubular, two end faces of the winding drum 18 are closed, winding teeth 20 are arranged on the side wall of the winding drum 18, the winding teeth 20 are rod-shaped, forty-eight winding teeth 20 are provided, the forty-eight winding teeth 20 are equally divided into four groups, the first group of winding teeth 20 are uniformly and fixedly arranged on the side wall of the winding drum 18 along the axial direction of the winding drum 18, the second group of winding teeth 20 are uniformly and fixedly arranged on the side wall of the winding drum 18 along the axial direction of the winding drum 18, the third group of winding teeth 20 are uniformly and fixedly arranged on the side wall of the winding drum 18 along the axial direction of the winding drum 18, the fourth group of winding teeth 20 are uniformly and fixedly arranged on the side wall of the winding drum 18 along the axial direction of the winding drum 18, and the first, second, third and fourth sets of winding teeth 20, 20 are evenly distributed in the circumferential direction of the winding drum 18. The winding drum 18 on both sides of each group of winding teeth 20 is provided with a cutting through hole 21, and the length of the cutting through hole 21 is not more than that of the winding drum 18. The winding device is characterized in that rotating rods 22 are arranged on two end faces of the winding drum 18, the rotating rods 22 are hollow and tubular, the rotating rods 22 are communicated with the winding drum 18, and each rotating rod 22 is sleeved with a cutting bearing 23. The winding cylinder 18 is correspondingly embedded in the second winding through holes at the two ends of the winding fixing sleeve 15 one by one through the cutting bearings 23 at the two ends. Eight winding drums 18 are arranged, the eight winding drums 18 have the same structure, and the eight winding drums 18 are correspondingly embedded in the second winding through holes at two ends of the winding fixing sleeve 15 one by one through the cutting bearings 23. The number of the winding motors 19 is eight, the eight winding motors 19 are fixedly arranged on the winding support plate 17 at one end of the winding drum 18 one by one, and the rotating shafts of the eight winding motors 19 are fixedly connected with the eight rotating rods 22 one by one. When the winding motor 19 rotates, the winding drum 18 is driven to rotate through the rotating rod 22, and the submerged plant weeds after root removal are wound and collected on the winding drum 18. The winding motor 19 is electrically connected with the signal processing transceiver and is controlled by the signal processing transceiver.
The weed cutting element comprises a cutting motor 24, a cutting shaft 25, a reciprocating nut 26, a cutting connecting rod 27 and a cutting knife 28, wherein the cutting motor 24 is arranged on the winding support plate 17, the cutting shaft 25 is arranged on the cutting motor 24, the reciprocating nut 26 is arranged on the cutting shaft 25, the cutting connecting rod 27 is arranged on the reciprocating nut 26, and the cutting knife 28 is arranged on the cutting connecting rod 27. The cutting motor 24 is fixedly arranged on the winding support plate 17 at the other end of the winding fixing sleeve 15, and the rotating shaft of the cutting motor 24 passes through the rotating rod 22 and extends into the winding drum 18. The cutting shaft 25 is a reciprocating screw rod, the length of the cutting shaft 25 is not more than that of the winding drum 18, one end of the cutting shaft 25 is fixedly arranged on the rotating shaft of the cutting motor 24, and the axis of the cutting shaft 25 is coincided with the axis of the rotating shaft of the cutting motor 24. The reciprocating nut 26 is fitted over the cutting shaft 25, and the reciprocating nut 26 is capable of reciprocating on the cutting shaft 25. The number of the cutting connecting rods 27 is four, and one end of each cutting connecting rod 27 is uniformly and fixedly arranged on the reciprocating nut 26 around the circumference of the reciprocating nut 26. The cutting knife 28 is in a rectangular groove shape, and the groove depth of the cutting knife 28 is not less than the length of the winding teeth 20. The groove bottom of the cutting knife 28 is fixedly arranged at the other end of the cutting connecting rod 27, and the groove wall of the cutting knife 28 penetrates through the cutting through hole 21 and is sleeved on the winding teeth 20. The number of the cutting knives 28 is four, and the four cutting knives 28 are correspondingly arranged at the other end of the cutting connecting rod 27 one by one. The number of the weed cutting pieces is eight, and the eight weed cutting pieces are correspondingly arranged on the eight winding support plates 17 positioned at the other end of the winding fixing sleeve 15 one by one. The cutting motor 24 is electrically connected with the signal processing transceiver and is controlled to start and stop by the signal processing transceiver. When the cutting knife 28 is not required to move in the cutting through hole 21 for cutting, the rotation direction and the rotation speed of the cutting motor 24 are the same as those of the winding motor 19, so that the cutting knife 28 is stationary in the cutting through hole 21.
After the submerged plant weeds after root removal are wound on the winding drum 18, after the winding drum 18 rotates to a set position through the winding fixing piece, the cutting motor 24 is controlled to rotate in the forward direction, the cutting motor 24 rotating in the forward direction drives the cutting knife 28 to move along the axis of the winding drum 18 in the cutting through hole 21 through the cutting shaft 25, the reciprocating nut 26 and the cutting connecting rod 27, the moving cutting knife 28 cuts off the weeds wound on the winding drum 18 and the winding teeth 20, and the cut weeds fall on the front end conveying piece under the action of gravity and are finally conveyed out of the underwater winding collection robot.
The invention has the following beneficial effects:
the underwater winding and collecting robot has reasonable structural design and high automation degree, can obviously reduce the labor intensity of workers and can obviously improve the efficiency of cleaning and transporting submerged plants; the underwater winding and collecting robot is provided with a weed winding part, the weed winding part comprises a winding fixing part and a winding and dividing part, the winding fixing part is arranged on the root clearing part, the winding and dividing part comprises a winding support plate, a winding drum, a winding motor and a weed cutting part, the winding fixing part is driven by a rotating motor shared with the root clearing part to automatically rotate and move the winding drum to a set position, the winding drum is driven by the winding motor to automatically wind and collect the submerged plants after the roots are removed, the winding drum wound with the submerged plants is continuously driven by the winding fixing part to automatically rotate and move to the water surface, then the weed cutting part is started to cut and separate the submerged plants, the cut and separated submerged plants fall on the weed conveying part to be transported away, the automation degree is obviously improved, and the submerged plant cleaning and transporting efficiency is obviously improved, the labor intensity of workers is obviously reduced.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. An underwater winding collection robot, comprising:
a hull member including a first hull and a second hull;
a boot clearance piece disposed on the hull piece, the boot clearance piece including a hinged fixture and a boot clearance piece, the hinged fixture disposed on the first hull and the second hull; the hinged fixing piece comprises a hinged pipe, a hinged rod, a lifting fixing rod and a fixing cap, the hinged pipe is arranged on the first ship body and the second ship body, the hinged rod is arranged on the hinged pipe, the lifting fixing rod is arranged on the hinged rod, and the fixing cap is arranged on the lifting fixing rod; the root removing part comprises a rotating motor, and the rotating motor is arranged on the fixing cap;
a weed winding member provided on the root removing member, the weed winding member including a winding fixing member provided on the root removing member and a winding partitioning member provided on the winding fixing member; the winding fixing piece comprises a winding fixing plate, a winding shaft, a winding worm, a winding turbine, a winding fixing sleeve and a winding support rod, the winding fixing plate is arranged on the fixing cap, the winding shaft is arranged on the winding fixing plate, the winding worm is arranged on the rotating motor, the winding turbine and the winding fixing sleeve are both arranged on the winding shaft, and the winding support rod is arranged on the winding fixing sleeve;
wherein: the winding piece and the root removing piece share the rotating motor to rotationally move the winding dividing piece to a set position; the automatic submerged plant who will remove after the root of piece is cut apart in the coiling collects to through the coiling mounting will be convoluteed and collected submerged plant the piece is cut apart to the submerged plant after transporting to the settlement position to the coiling.
2. The underwater winding and collecting robot as claimed in claim 1, wherein the fixing cap is tubular, two end faces of the fixing cap are closed, a first rotation through hole is formed in the center of a circle of one end face of the fixing cap, and a second rotation through hole is formed in the center of a circle of the other end face of the fixing cap; two fixing caps are arranged; the root removing part comprises a left root removing part and a right root removing part, the left root removing part and the right root removing part have the same structure, and the left root removing part and the right root removing part are respectively and correspondingly arranged on the two fixing caps; the rotating motor is a double-output-shaft motor, one rotating shaft of the rotating motor penetrates through the first rotating through hole, and the other rotating shaft of the rotating motor penetrates through the second rotating through hole.
3. The underwater winding and collecting robot as claimed in claim 1 or 2, wherein the winding fixing plate is provided with a first winding through hole, the winding fixing plate is provided with two winding fixing plates, and the two winding fixing plates are fixedly arranged on the other end surfaces of the two fixing caps one by one correspondingly; winding bearings are sleeved at two ends of the winding shaft, and the two ends of the winding shaft are respectively and correspondingly embedded in the two first winding through holes one by one through the winding bearings; one end of each winding worm is fixedly arranged on the other rotating shaft of the rotating motor, the axis of each winding worm is superposed with the axis of the other rotating shaft of the rotating motor, two winding worms are arranged, and the two winding worms are correspondingly connected with the two rotating motors one by one; the number of the winding worm wheels is two, the two winding worm wheels are sleeved on two ends of the winding shaft one by one correspondingly, and the winding worm wheels are meshed with the winding worm one by one correspondingly; the winding fixed sleeve is fixedly sleeved on the winding shaft and rotates along with the rotation of the winding shaft; the winding support rod is provided with a plurality of rods, wherein one end of one half of the winding support rods is uniformly and fixedly arranged on the winding fixing sleeve around one end of the winding fixing sleeve; and one end of the other half of the winding support rods is uniformly and fixedly arranged on the winding fixing sleeve around the other end of the winding fixing sleeve.
4. The underwater winding collection robot of claim 1 or 2, wherein the winding partition includes a winding support plate, a winding drum, a winding motor, and a weed cutting member, the winding support plate being provided on the winding support rod, the winding drum, the winding motor, and the weed cutting member being provided on the winding support plate; the winding support plate is provided with a plurality of second winding through holes, and the winding support plates are correspondingly and fixedly arranged at the other ends of the plurality of winding support rods one by one.
5. The underwater winding and collecting robot as claimed in claim 1 or 2, wherein the winding drum is tubular, both end surfaces of the winding drum are closed, winding teeth are arranged on the side wall of the winding drum, the winding teeth are rod-shaped, a plurality of winding teeth are arranged, the winding teeth are evenly divided into a plurality of groups, each group of winding teeth are evenly and fixedly arranged on the side wall of the winding drum along the axial direction of the winding drum, and the plurality of groups of winding teeth are evenly distributed on the circumference of the winding drum; and cutting through holes are formed in the winding drum on two sides of each group of winding teeth, and the length of each cutting through hole is not more than that of the winding drum.
6. The underwater winding and collecting robot as claimed in claim 4, wherein rotating rods are arranged on two end faces of the winding drum, the rotating rods are hollow tubular and are communicated with the winding drum, and each rotating rod is sleeved with a cutting bearing; the winding drum is correspondingly embedded in the second winding through holes at two ends of the winding fixing sleeve one by one through the cutting bearings at two ends.
7. The underwater winding and collecting robot as claimed in claim 6, wherein a plurality of winding drums are provided, the plurality of winding drums are identical in structure, and are respectively and correspondingly embedded in the second winding through holes at two ends of the winding fixing sleeve one by one through the cutting bearings; the winding motor is provided with a plurality of winding motors, the winding motors are fixedly arranged on the winding support plate positioned at one end of the winding drum one by one correspondingly, and the rotating shafts of the winding motors are fixedly connected with the rotating rods one by one correspondingly.
8. The underwater wind collection robot of claim 4, wherein the weed cutters include a cutting motor disposed on the wind support plate, a cutting shaft disposed on the cutting motor, a reciprocating nut disposed on the cutting shaft, a cutting link disposed on the reciprocating nut, and a cutting knife disposed on the cutting link; the cutting motor is fixedly arranged on the winding support plate at the other end of the winding fixing sleeve, and the rotating shaft of the cutting motor penetrates through the rotating rod and extends into the winding drum.
9. The underwater winding and collecting robot of claim 8, wherein the cutting shaft is a reciprocating lead screw, one end of the cutting shaft is fixedly arranged on the rotating shaft of the cutting motor, and the axis of the cutting shaft is coincident with the axis of the rotating shaft of the cutting motor; the reciprocating nut is sleeved on the cutting shaft, and the reciprocating nut can reciprocate on the cutting shaft; the cutting connecting rod is provided with many, many cutting connecting rod one end centers on reciprocal nut circumference is evenly fixed to be set up on the reciprocal nut.
10. The underwater wind collection robot of claim 8, wherein the cutting blade is in the form of a rectangular slot, the cutting blade slot depth being no less than the winding tooth length; the bottom of the cutting knife groove is fixedly arranged at the other end of the cutting connecting rod, and the wall of the cutting knife groove penetrates through the cutting through hole and is sleeved on the winding teeth; the cutting device comprises a plurality of cutting knives, a plurality of cutting knives and a plurality of cutting connecting rods, wherein the plurality of cutting knives are arranged on the other end of the cutting connecting rod one by one correspondingly; the weed cutting pieces are arranged in a plurality of numbers, and the weed cutting pieces are correspondingly arranged on the winding support plates positioned at the other end of the winding fixing sleeve one by one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011603779.8A CN112715141B (en) | 2020-12-30 | 2020-12-30 | Underwater winding and collecting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011603779.8A CN112715141B (en) | 2020-12-30 | 2020-12-30 | Underwater winding and collecting robot |
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| CN112715141A true CN112715141A (en) | 2021-04-30 |
| CN112715141B CN112715141B (en) | 2022-08-26 |
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Cited By (1)
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| CN113650767A (en) * | 2021-08-26 | 2021-11-16 | 江苏垚鑫信息科技有限公司 | Marine security protection device convenient to adjust |
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