CN116495136B - Underwater salvaging robot - Google Patents
Underwater salvaging robot Download PDFInfo
- Publication number
- CN116495136B CN116495136B CN202310735356.9A CN202310735356A CN116495136B CN 116495136 B CN116495136 B CN 116495136B CN 202310735356 A CN202310735356 A CN 202310735356A CN 116495136 B CN116495136 B CN 116495136B
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- CN
- China
- Prior art keywords
- submersible
- main body
- body support
- mesh bag
- transfer device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000012546 transfer Methods 0.000 claims abstract description 23
- 239000007921 spray Substances 0.000 claims description 11
- 230000007306 turnover Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 9
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000009189 diving Effects 0.000 abstract description 6
- 238000007667 floating Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000011010 flushing procedure Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000013049 sediment Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
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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
- 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
- B63C7/20—Apparatus engaging vessels or objects using grabs
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The application relates to the technical field of underwater operation equipment, in particular to an underwater salvage robot, wherein a control system for connecting all electric elements is arranged in a submersible, a main body support is fixedly arranged at the bottom of the submersible, a delivery device is arranged in the main body support, the rear part of the delivery device is adjacent to a transfer device arranged on the main body support, a plurality of net bags are inserted into the transfer device, the net bags are connected with an inflation device which is also arranged on the main body support, and after the inflation device inflates the net bags, the net bags are separated from the transfer device and float on the water surface. The beneficial effects of the application are as follows: the application mounts a plurality of net bags capable of floating upwards, and the net bags are inflated after the net bags are filled with objects, and then the net bags are separated from the diving device to float upwards to the water surface to be fished out by the staff on the ship, so that the floating frequency of the diving device can be reduced, and the salvaging efficiency is improved. In addition, the submersible pump arranged at the delivery device at the bottom of the submersible can initially wash residual silt on the object, so that the burden of cleaning the object after landing is reduced.
Description
Technical Field
The application relates to the technical field of underwater operation equipment, in particular to an underwater salvage robot.
Background
At present, various objects which are missed and abandoned by tourists often exist at the river bottom of the lake bottom in a scenic spot, including but not limited to various toys, pop-top can garbage, jewelry, watches, mobile phones and the like, the objects at the water bottom are generally salvaged manually, the application of machine salvaging is less, the manual salvaging work is complicated, the working strength is high, divers are required to wear diving jackets to submerge the water bottom with oxygen covers, the objects are found and are picked up and put into mesh bags one by one, and the salvaging mode is low in efficiency, and factors such as lower underwater temperature, larger underwater pressure and severe water bottom environment can cause certain harm to the human body.
In addition, the prior disclosed robot for underwater salvaging the scattered objects has the following problems: the existing underwater salvaging robot generally grabs objects into an inner bin of a submersible or a mesh bag mounted on the submersible, and the submersible needs to be frequently lifted up to send out the objects due to limited load of the submersible, so that the working efficiency is low due to frequent lifting and submerging.
Therefore, the application designs an underwater salvage robot to solve the problems.
Disclosure of Invention
The application provides an underwater salvage robot for overcoming the defects in the prior art.
The application is realized by the following technical scheme:
the utility model provides a salvage robot under water, including installing the scuba that manipulator, propulsion system and binocular camera, be provided with the control system who connects all electric elements in the scuba, there is the main part support in the bottom fixed mounting of scuba, be provided with the delivery device in the main part support, the rear of delivery device is adjacent the transfer device of installing on the main part support, peg graft in the transfer device and have a plurality of pocket, the air inflation device of the same setting on the main part support is connected to the pocket, after air inflation device aerifys the pocket, the pocket separates with transfer device and floats to the surface of water.
Further, in order to better realize the application, the submersible acquires images through the binocular camera, calculates the images through the artificial neural network model built and trained in the processor in the control system, judges the position of the underwater object according to the image recognition result, and grabs the object through the manipulator and sends the object into the delivery device.
Further, in order to better realize the application, the delivery device comprises a linear sliding table arranged at the bottom of the submersible, a first electric telescopic rod is vertically connected to the bottom of a sliding block of the linear sliding table, a clamping jaw is connected to the bottom of the first electric telescopic rod, the clamping jaw can clamp an object sent by a manipulator to advance and deliver the object to the transfer device, a submersible pump with a water spray pipe is arranged near the delivery device, and the submersible pump flushes the object clamped by the clamping jaw passing through the water spray pipe.
Further, in order to better realize the application, the delivery device also comprises a temporary setting table arranged at the front end of the main body bracket, and a submersible pump with a water spray pipe is arranged behind the temporary setting table and used for flushing objects clamped by the clamping jaw passing through the water spray pipe.
Further, in order to better realize the application, the transfer device comprises a hollow turnover square pipe which is , the turnover square pipe is composed of two parallel vertical square pipes and a transverse square pipe which is communicated with the vertical square pipes, a mounting plate is arranged above the two parallel vertical square pipes in a protruding mode, the mounting plate is fixedly connected with a main body support through bolts, a mesh bag clamping groove is formed in the bottom of the two parallel vertical square pipes, one side of the mesh bag clamping groove is provided with a second electric telescopic rod which is connected with the vertical square pipes, the end portion of the second electric telescopic rod is connected with an ejector plate, one end of the ejector plate is embedded into the mesh bag clamping groove, the ejector plate is driven to completely enter the mesh bag clamping groove when the second electric telescopic rod is contracted, and the ejector plate is driven to move out of the mesh bag clamping groove when the second electric telescopic rod is extended, and a mesh bag is embedded into the mesh bag clamping groove.
Further, in order to better realize the application, the top of the center of the transverse square tube of the turnover square tube is provided with a throwing opening, a guide plate is arranged in the throwing opening, the bottom of the guide plate is connected with a rotating shaft, the rotating shaft is connected with a servo motor, two sides of the rotating shaft are provided with conveyor belts, the tail ends of the conveyor belts are adjacent to the vertical square tube, the end parts of the vertical square tube are provided with pushing electric cylinders, a push rod of each pushing electric cylinder is connected with a push plate, and the push plate pushes objects sent by the conveyor belts forwards and finally enters the mesh bags.
Further, in order to better realize the application, the mesh bag comprises a plugboard, the plugboard is embedded into the mesh bag clamping groove, the center of the plugboard is provided with a mesh bag opening, the mesh bag opening is downwards connected with a mesh bag body, one side of the plugboard is vertically fixed and vertically provided with a connecting rod, the top of the connecting rod is vertically connected with an inflatable hard tube, one end of the inflatable hard tube is inserted into the inflatable device, and the other end of the inflatable hard tube is communicated with the air bag.
Further, in order to better realize the application, the inflating device comprises a high-pressure gas cylinder loaded in the submersible and an inflating bracket arranged on the main body bracket, wherein a plurality of inserting ports are arranged on the inflating bracket, locking electric cylinders are arranged at the inserting ports, the high-pressure gas cylinder is connected with an electromagnetic valve through a gas pipe, the electromagnetic valve is connected with the inserting ports through the gas pipe, and a sealing ring is arranged in each inserting port and is connected with an inflating hard pipe.
Further, in order to better realize the application, the communication part of the inflatable hard tube and the air bag is provided with a one-way air tap.
Further, in order to better realize the application, the control system of the submersible is connected with a wireless communication module which is in communication connection with a computer on the water surface.
The beneficial effects of the application are as follows:
the application mounts a plurality of net bags capable of floating upwards, and the net bags are inflated after the net bags are filled with objects, and then the net bags are separated from the diving device to float upwards to the water surface to be fished out by the staff on the ship, so that the floating frequency of the diving device can be reduced, and the salvaging efficiency is improved. In addition, the submersible pump arranged at the delivery device at the bottom of the submersible can initially wash residual silt on the object, so that the burden of cleaning the object after landing is reduced.
Drawings
FIG. 1 is a schematic perspective view of one embodiment of the present application;
FIG. 2 is a schematic perspective view of a second embodiment of the present application;
FIG. 3 is a schematic view of the construction of a delivery device portion of the present application;
FIG. 4 is a schematic view of the mounting position of the transfer device of the present application;
FIG. 5 is a schematic perspective view of a transfer device according to the present application;
FIG. 6 is a schematic perspective view of a transfer device according to the present application;
FIG. 7 is a schematic view of the internal structure of the transfer device of the present application with the top portion cut away;
FIG. 8 is a schematic perspective view of an inflator according to the present application;
FIG. 9 is a schematic view of the mesh bag of the present application disengaged from the mesh bag after filling with an object;
fig. 10 is a schematic perspective view of the mesh bag of the present application.
In the drawing the view of the figure,
1. the device comprises a submersible, 2, a main body support, 3, a delivery device, 4, a transfer device, 5, an inflation device, 6, a mesh bag, 101, a manipulator, 102, a propulsion system, 103, a binocular camera, 301, a linear sliding table, 302, a first electric telescopic rod, 303, a clamping jaw, 304, a temporary table, 401, a turnover square tube, 402, a delivery opening, 403, a mounting plate, 404, a mesh bag clamping groove, 405, a second electric telescopic rod, 406, an ejector plate, 4011, a guide plate, 4012, a servo motor, 4013, a conveyor belt 4014, a pushing electric cylinder, 501, an inflation support, 502, a plug-in opening, 503, a locking electric cylinder, 504, an electromagnetic valve, 601, a plug-in plate, 602, a mesh bag opening, 603, a mesh bag body, 604, a connecting rod, 605, an inflation hard tube, 606 and an airbag.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
Fig. 1-10 illustrate an embodiment of the present application, which is an underwater fishing robot.
As shown in fig. 1 and 2, the underwater salvage robot body is a submersible 1 provided with a manipulator 101, a propulsion system 102 and a binocular camera 103, a control system for connecting all electric elements is arranged in the submersible 1, a main body support 2 is fixedly arranged at the bottom of the submersible 1, a delivery device 3 is arranged in the main body support 2, a transfer device 4 arranged on the main body support 2 is adjacent to the rear of the delivery device 3, a plurality of net bags 6 are inserted in the transfer device 4, the net bags 6 are connected with an inflation device 5 which is also arranged on the main body support 2, and after the net bags 6 are inflated by the inflation device 5, the net bags 6 are separated from the transfer device 4 and float on the water surface (as shown in fig. 9). The control system of the submersible 1 is connected with a wireless communication module which is in communication connection with a computer on the water surface, so that workers can monitor the underwater condition on the water surface through the computer.
The submersible 1 in this embodiment collects images through the binocular camera 103, calculates the images through the artificial neural network model built and trained in the processor in the control system, judges the positions of various underwater objects according to the image recognition result, and then grabs the objects through the manipulator 101 and sends the objects to the delivery device 3. This is a conventional image recognition technology, and can be implemented based on the existing artificial intelligence technology, and the present embodiment can implement image recognition of an object by using the technology in the existing patent.
As shown in fig. 3, the delivery device 3 includes a linear sliding table 301 installed at the bottom of the submersible 1, a first electric telescopic rod 302 is vertically connected to the bottom of a sliding block of the linear sliding table 301, a clamping jaw 303 is connected to the bottom of the first electric telescopic rod 302, and the clamping jaw 303 clamps an object delivered by the manipulator 101 to deliver the object. The delivery device 3 comprises a temporary setting table 304 arranged at the front end of the main body support 2, a submersible pump with a water spray pipe is arranged at the rear of the temporary setting table 304, and the submersible pump can wash away sediment attached to an object by flushing objects passing through the water spray pipe and clamping jaws 303.
As shown in fig. 4, fig. 5, fig. 6 and fig. 7, the transfer device 4 comprises a hollow turnover square tube 401 which is , the turnover square tube 401 is composed of two parallel vertical square tubes and a transverse square tube which is communicated with the vertical square tubes, a mounting plate 403 is arranged above the two parallel vertical square tubes in a protruding mode, the mounting plate 403 is fixedly connected with a main body support 2 through bolts, a mesh bag clamping groove 404 is formed in the bottom of the two parallel vertical square tubes, one side of the mesh bag clamping groove 404 is provided with a second electric telescopic rod 405 which is connected with the vertical square tubes, one end of the second electric telescopic rod 405 is connected with an ejector plate 406, one end of the ejector plate 406 is embedded into the mesh bag clamping groove 404, the ejector plate 406 is driven to completely enter the mesh bag clamping groove 404 when the second electric telescopic rod 405 contracts, and the ejector plate 406 is driven to move out of the mesh bag clamping groove 404 when the second electric telescopic rod 405 stretches, and the mesh bag 6 is embedded in the mesh bag clamping groove 404. The center top of a transverse square tube of the turnover square tube 401 is provided with a throwing opening 402, a guide plate 4011 is arranged in the throwing opening 402, the bottom of the guide plate 4011 is connected with a rotating shaft, the rotating shaft is connected with a servo motor 4012, after a net bag 6 on one side is filled with objects and separated, the servo motor 4012 acts to enable the guide plate 4011 to swing to the other side, the objects thrown into the net bag 6 on the other side are conveyed to the net bag 6 on the other side through the square tube on the other side, two sides of the rotating shaft are provided with conveying belts 4013, the tail ends of the conveying belts 4013 are adjacent to vertical square tubes, the end parts of the vertical square tubes are provided with pushing electric cylinders 4014, push rods of the pushing electric cylinders 4014 are connected with push plates, and the objects sent by the conveying belts 4013 are pushed forwards by the push plates and finally enter the net bag 6.
As shown in fig. 10 and 8, the mesh bag 6 includes a plugboard 601, the plugboard 601 is embedded into the mesh bag clamping groove 404, a mesh bag opening 602 is formed in the center of the plugboard 601, a mesh bag body 603 is connected to the descending of the mesh bag opening 602, a connecting rod 604 is vertically fixed and erected on one side of the plugboard 601, the top of the connecting rod 604 is vertically connected with an inflatable hard tube 605, one end of the inflatable hard tube 605 is inserted into the inflatable device 5, and the other end of the inflatable hard tube 605 is communicated with an air bag 606. The communication part of the inflatable hard tube 605 and the air bag 606 is provided with a one-way air tap. The inflating device 5 comprises a high-pressure gas cylinder loaded in the submersible and an inflating bracket 501 installed on the main body bracket 2, a plurality of plug-in ports 502 are arranged on the inflating bracket 501, locking electric cylinders 503 are arranged at the plug-in ports 502, the high-pressure gas cylinder is connected with electromagnetic valves 504 through a gas pipe, the electromagnetic valves 504 are connected with the plug-in ports 502 through the gas pipe, and sealing rings are arranged in the plug-in ports 502 and are connected with an inflating hard pipe 605.
The specific workflow of this embodiment is as follows:
the preparation work before the water is discharged,
the plug boards 601 of the 6 net bags 6 are all embedded into the net bag clamping groove 404, at the moment, the inflatable hard pipe 605 which is rigidly connected with the plug boards 601 through the connecting rod 604 is aligned and inserted into the plug port 502, the locking electric cylinder 503 is controlled to act through an external computer or a switch arranged on the submersible, specifically, the telescopic rod of the locking electric cylinder 503 is propped against the inflatable hard pipe 605, so that the inflatable hard pipe 605 cannot be separated, and then the submersible 1 can be used for fishing objects.
The submerged diving device 1 utilizes the existing image recognition to judge the underwater object, then the object is grabbed by a manipulator and is sent to the temporary setting table 304, the control system controls the clamping jaw 303 on the linear sliding table 301 to grab the object, then the clamping jaw 303 moves backwards, the submerged pump is flushed by a water spray pipe in the moving process, then the clamping jaw 303 drops the object which is preliminarily cleaned with sediment into the delivery port 402 of the turnover square pipe 401, the object slides to the conveyor belt 4013 on one side through the guide plate 4011, is conveyed to the end part of the vertical square pipe by the conveyor belt 4013, is pushed forwards by the pushing electric cylinder 4014, falls into the net bag port 602 of the nearest plug board 601 in the pushing process and enters the net bag body 603, the processor of the control system counts, sets a counting threshold according to the capacity of the mesh bag body 603, controls the electromagnetic valve 504 connected with the filled mesh bag 6 to act when the set full quantity is reached, rapidly fills the air bag 606 of the mesh bag 6 with high-pressure air, closes the electromagnetic valve 504 after the air bag 606 bulges, opens the locking electric cylinder 503 to relax the restriction on the inflatable hard tube 605, then retracts the second electric telescopic rod 405, the retracted second electric telescopic rod 405 drives the ejector plate 406 to enter the mesh bag clamping groove 404, ejects the plugboard 601, and simultaneously ejects the plugboard 601, the inflatable hard tube 605 is separated from the inflatable device 5, and the mesh bag 6 is driven by the air bag 606 to float up to the water surface to wait for the staff to collect. The ejector plate 406 fills the gap of the pocket clamping groove 404, when the electric cylinder 4014 is pushed forward, the object is pushed into the adjacent pocket 6 in front of the other pocket, the above actions are repeated until all 3 pockets 6 on one side are separated from the floating, the servo motor 4012 acts, the guide plate 4011 swings to the other side, and the object is transferred to the 3 pockets 6 on the other side.
For inland lakes and other water areas with dams, the net bags 6 floating on the water surface can be collected intensively after the fishing is finished in one day without emergency collection. But in order to prevent the net bag 6 from drifting too far for an offshore area without a dam, a rope connecting the submersible 1 may be added to the net bag 6.
Finally, it is noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application, and that other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present application without departing from the spirit and scope of the technical solution of the present application.
Claims (5)
1. The utility model provides a salvage robot under water, includes submersible (1) of installing manipulator (101), propulsion system (102) and binocular camera (103), its characterized in that:
the submersible (1) is internally provided with a control system for connecting all electric elements, the bottom of the submersible (1) is fixedly provided with a main body support (2), the main body support (2) is internally provided with a delivery device (3), the rear of the delivery device (3) is adjacent to a transfer device (4) arranged on the main body support (2), a plurality of mesh bags (6) are inserted into the transfer device (4), the mesh bags (6) are connected with an inflating device (5) which is also arranged on the main body support (2), and after the inflating device (5) inflates the mesh bags (6), the mesh bags (6) are separated from the transfer device (4) and float on the water surface;
the delivery device (3) comprises a linear sliding table (301) arranged at the bottom of the submersible (1), a first electric telescopic rod (302) is vertically connected to the bottom of a sliding block of the linear sliding table (301), a clamping jaw (303) is connected to the bottom of the first electric telescopic rod (302), the clamping jaw (303) can clamp an object sent by the manipulator (101) to advance and deliver the object to the transfer device (4), a submersible pump with a water spray pipe is arranged near the delivery device (3), and the submersible pump flushes the object clamped by the clamping jaw (303) through the water spray pipe; the delivery device (3) further comprises a temporary setting table (304) arranged at the front end of the main body support (2), a submersible pump with a water spray pipe is arranged behind the temporary setting table (304), and the submersible pump flushes objects clamped by the passing clamping jaw (303) through the water spray pipe;
the transfer device (4) comprises a hollow turnover square pipe (401) which is , the turnover square pipe (401) is composed of two parallel vertical square pipes and a transverse square pipe which is communicated with the vertical square pipes, a mounting plate (403) is arranged above the two parallel vertical square pipes in a protruding mode, the mounting plate (403) is fixedly connected with a main body support (2) through bolts, a mesh bag clamping groove (404) is formed in the bottoms of the two parallel vertical square pipes, a second electric telescopic rod (405) which is connected with the vertical square pipes is arranged on one side of the mesh bag clamping groove (404), an ejector plate (406) is connected to one end of the second electric telescopic rod (405), one end of the ejector plate (406) is embedded into the mesh bag clamping groove (404), the ejector plate (406) is driven to completely enter the mesh bag clamping groove (404) when the second electric telescopic rod (405) stretches, and the ejector plate (406) is driven to move out of the mesh bag clamping groove (404), and a mesh bag (6) is embedded into the mesh bag clamping groove (404) at the moment;
the net bag (6) comprises a plugboard (601), the plugboard (601) is embedded into a net bag clamping groove (404), a net bag opening (602) is formed in the center of the plugboard (601), a net bag body (603) is connected with the net bag opening (602) in a downward-falling mode, a connecting rod (604) is vertically fixed and erected on one side of the plugboard (601), an inflatable hard tube (605) is vertically connected to the top of the connecting rod (604), one end of the inflatable hard tube (605) is inserted into the inflatable device (5), and the other end of the inflatable hard tube (605) is communicated with an air bag (606); the inflating device (5) comprises a high-pressure gas cylinder loaded in the submersible (1) and an inflating bracket (501) arranged on the main body bracket (2), a plurality of inserting ports (502) are arranged on the inflating bracket (501), locking electric cylinders (503) are arranged at the inserting ports (502), the high-pressure gas cylinder is connected with an electromagnetic valve (504) through a gas pipe, the electromagnetic valve (504) is connected with the inserting ports (502) through the gas pipe, and a sealing ring is arranged in the inserting ports (502) and is connected with an inflating hard pipe (605);
the specific mode that pocket (6) and transfer device (4) separate is, solenoid valve (504) action that full pocket (6) are connected, high-pressure gas fills fast in gasbag (606) to this pocket (6), solenoid valve (504) are closed after gasbag (606) swell, locking cylinder (503) are opened and are relaxed the restriction to aerifing hard tube (605), then second electric telescopic handle (405) of here is retracted, second electric telescopic handle (405) that retract drives ejector plate (406) and enter into pocket draw-in groove (404), push out plugboard (601) here, aerify hard tube (605) also can break away from aerating device (5) in the time of plugboard (601), at this moment pocket (6) just can be driven by gasbag (606) come-up to wait for the staff to collect.
2. The underwater fishing robot of claim 1, wherein:
the submersible (1) collects images through a binocular camera (103), the images are calculated through an artificial neural network model built and trained in a processor in a control system, the position of a submarine object is judged according to an image recognition result, and the submarine object is grabbed by a manipulator (101) and is sent to a delivery device (3).
3. The underwater fishing robot of claim 1, wherein:
the turnover square tube (401) is characterized in that a throwing opening (402) is formed in the top of the center of the transverse square tube, a guide plate (4011) is arranged in the throwing opening (402), a rotating shaft is connected to the bottom of the guide plate (4011), a servo motor (4012) is connected to the rotating shaft, a conveyor belt (4013) is arranged on two sides of the rotating shaft, the tail end of the conveyor belt (4013) is adjacent to the vertical square tube, a pushing electric cylinder (4014) is arranged at the end of the vertical square tube, a push rod of the pushing electric cylinder (4014) is connected with a push plate, and objects sent by the conveyor belt (4013) are pushed forward by the push plate and finally enter a mesh bag (6).
4. The underwater fishing robot of claim 1, wherein:
the communication part of the inflatable hard tube (605) and the air bag (606) is provided with a one-way air tap.
5. The underwater fishing robot of claim 1, wherein:
the control system of the submersible (1) is connected with a wireless communication module which is in communication connection with a computer on the water surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310735356.9A CN116495136B (en) | 2023-06-21 | 2023-06-21 | Underwater salvaging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310735356.9A CN116495136B (en) | 2023-06-21 | 2023-06-21 | Underwater salvaging robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116495136A CN116495136A (en) | 2023-07-28 |
| CN116495136B true CN116495136B (en) | 2023-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310735356.9A Active CN116495136B (en) | 2023-06-21 | 2023-06-21 | Underwater salvaging robot |
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| CN116002013A (en) * | 2022-11-17 | 2023-04-25 | 中国船舶重工集团公司七五0试验场 | Underwater deep buried object salvaging system |
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