CN208085978U - One kind can the multi-functional underwater robot of suspension crawler type - Google Patents
One kind can the multi-functional underwater robot of suspension crawler type Download PDFInfo
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- CN208085978U CN208085978U CN201820184458.0U CN201820184458U CN208085978U CN 208085978 U CN208085978 U CN 208085978U CN 201820184458 U CN201820184458 U CN 201820184458U CN 208085978 U CN208085978 U CN 208085978U
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- collecting box
- matter collecting
- crawler type
- underwater robot
- suspension
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Abstract
The utility model discloses one kind can the multi-functional underwater robot of suspension crawler type,It includes chassis,Matter collecting box,Buoyant means and operation module,The bottom on chassis is equipped with crawler type walking mechanism,Matter collecting box is arranged on chassis,And matter collecting box front and tail portion be respectively equipped with operation module and propulsive mechanism,Operation module is mechanical arm,Crawl can be achieved,Control suction hose pose,The multiple functions such as repair,Propulsive mechanism is made of a pair of of propeller,Both the advance and steering of horizontal direction may be implemented,Can be that matter collecting box manufactures low-pressure area to suck seabed resources simultaneously,Buoyant means include multiple Buoyance adjustment air bags,Realize that the heave to device carries out active control,To,Can the multi-functional underwater robot of suspension crawler type can enough realize that underwater float and bottom-sitting type are advanced simultaneously,The utility model can voluntarily reach working sea area in severe sea condition,Carry out dive and floating and seabed operation,Shorten duty cycle,Improve operational security.
Description
Technical field
The utility model is related to seabed Collecting technique fields more particularly to one kind can the multi-functional underwater of suspension crawler type
People.
Background technology
With the rapid development of human social economy and industry, the demand to mineral resources also gradually increases, in order to solve
The problem of land resources increasingly depleted, people start sight to invest ocean.Ocean area takes up an area the 71% of ball surface product, removes
Except offshore oil gas resource and beach ore in sand form, seabed also contains more metals of huge, the great business extraction value of reserves
The metallic mineral resources such as tuberculosis, cobalt bearing crust and Polymetallic sulphide.Rich in nickel, cobalt, copper, manganese and gold, silver gold in these mineral
Belong to etc., gross reserves is higher by tens times to thousands of times of land corresponding reserves respectively.In addition to this, there be the precious water such as sea cucumber in seabed
The mineral resources such as product, amber.China in 2013 is again formal to obtain one piece of Pacific Ocean cobalt bearing crust mining area.Obviously, deep-sea mineral products
The exploitation of resource has to rely on deep-sea mining equipment and carries out.What on May 19th, 2015 announced《Made in China 2025》For " manufacture is strong
State " strategy specifies direction, " marine engineering equipment and high-tech ship " is classified as one of the ten great strategy fields of key breakthrough,
The research and development and nationalization of advanced marine engineering equipment are carried out emphatically.
As the development and automation control of the present computer technology are in manufacturing universal, the intelligence of product, more work(
Energyization also becomes inevitable trend.It is high that ocean engineering operation has the characteristics that operating environment complexity, homework precision require, because
This, realizes that the intelligence of working equipment, automation can successfully manage complicated operating environment with more kinetic energyization, improve operation life
Yield has great significance to the reasonable development of marine resources to reduce human cost.
Existing seabed collection mine equipment has the following disadvantages：
1), not having suspension, floating capacity, when work, needs additional configuration lash ship to be launched and recycled, and cost is higher,
Inefficiency.
2) bottom sticking operation, can only be carried out, due to being only furnished with pedrail mechanism without buoyancy device, can only be relied at work
The equipment such as crawler belt carry out three-degree-of-freedom motion in seabed.Need powerful power that could advance when encountering the sea-floor reliefs such as abrupt slope,
It is easy to burn out host, reduces the reliability of system.Posture cannot be freely adjusted when encountering sea-floor relief complicated and changeable, easily touched
Barrier is touched, certain damage is caused to collection mine equipment.
3), underwater photograph technical is difficult.It is detailed to be carried out to environments such as subsea due to existing seabed collection mine device structure heaviness
, the shooting of all-dimensional multi-angle, need that multiple underwater cameras are installed, have to seabed collection mine device structure layout very high
It is required that also increasing difficulty when equipment design, the input of manpower and materials is improved.
4), due to being not equipped with mechanical arm, barrier can not be cleared up, the ore of smooth bottom can only be drawn, when
Having stone or other sundries to be pressed in must select to abandon operation when drawing on object, by force operation easy damaged nodules collector.
Utility model content
It is the technical issues of in the presence of the utility model mainly solution prior art, a kind of female without configuring to provide
Ship is launched and is recycled, and can be realized six-freedom motion under water, is effectively shielded from barrier；Realize that underwater wide-angle is clapped
It takes the photograph, detects sea-floor relief, find suitable mining area；Have the ability for clearing up the barriers such as stone in mining area operation, improves and inhale
The efficiency of mine and quality can the multi-functional underwater robot of suspension crawler type.
The above-mentioned technical problem of the utility model is mainly to be addressed by following technical proposals：
It is provided by the utility model can the multi-functional underwater robot of suspension crawler type comprising chassis, matter collecting box, buoyancy machine or engine
The bottom of structure and control mechanism, the chassis is equipped with walking mechanism, and the matter collecting box is arranged on the chassis, and the collection object
The front and tail portion of case are respectively equipped with operation module and propulsive mechanism, and the operation module is for acquiring mineral and being delivered to described
In matter collecting box, the buoyant means include multiple Buoyance adjustment air bags, and multiple Buoyance adjustment air bags are along the matter collecting box
The lateral symmetry distribution in top and the control mechanism respectively with the walking mechanism, operation module, propulsive mechanism and buoyancy tune
Whole air bag is connected.
Further, the Buoyance adjustment air bag includes airbag body and diaphragm, and the diaphragm is arranged in the air bag sheet
At the bosom position of body, and the inner cavity of the airbag body is divided into the first cavity and the second cavity, first chamber
Bidirectional Air Valve is equipped on body and the second cavity, the Bidirectional Air Valve is connected with the control mechanism.
Further, the airbag body is made using nylon material.
Further, the operation module includes seabed adaptability collection mine device, suction hose and multiple iron ore feeding holes, multiple described
Iron ore feeding hole is arranged in the front of the matter collecting box, and is connected with the matter collecting box, described in the seabed adaptability collection mine device warp
Suction hose is connected with the iron ore feeding hole.
Further, expansion regulating mechanism, the expansion regulating mechanism and the suction hose are additionally provided on the iron ore feeding hole
It is connected, and the collapsing length for adjusting the suction hose.
Further, the propulsive mechanism includes the propeller for being symmetricly set on the matter collecting box two sides of tail, two institutes
It states propeller to be also respectively connected with two driving motors, the inside of the matter collecting box is additionally provided with strainer.
Further, the front of the matter collecting box is additionally provided with levelling bench, and the levelling bench is equipped with mechanical arm, institute
Stating mechanical arm has six-freedom degree, and the cantilever end of the mechanical arm is connected with gripper and/or camera.
Further, position indicator and attitude transducer are housed, the attitude transducer includes three axis on the matter collecting box
Gyroscope and three axis accelerometer.
The beneficial effects of the utility model are：
(1), it uses Buoyance adjustment air bag and constitutes buoyant means, can be changed by controlling the open and close of Bidirectional Air Valve
The air inflow for becoming buoyant means, to obtain different buoyancy so that robot can float in water or suspension operation；With
Traditional seabed collection mine equipment is compared, and the utility model is launched and recycled without accessories lash ship before and after work, is shortened
Activity duration and duty cycle greatly reduce manpower and materials cost.
(2), the quantity of Buoyance adjustment air bag has multiple, and along the lateral symmetry distribution in the top of matter collecting box, and buoyancy tune
The bosom of whole air bag be equipped with diaphragm, Buoyance adjustment air bag is equally divided into the first cavity and the second cavity, by laterally or
The difference of person longitudinal direction air inflow, the Buoyance adjustment air bag buoyancy of different sizes in lateral and longitudinal acquisition, to realize under water
The rolling of robot and pitching can be cleverer to enable the utility model to realize the movement of underwater six degree of freedom
It is living to be effectively shielded from barrier, reduce collision and abrasion.
(3), the rotating speed for controlling two propellers respectively by two driving motors, under suspension or floating state, spiral shell
It revolves paddle and realization advance and turning function is rotated by rotating forward, reversion or differential, it can more flexiblely when working under water
Cope with sea-floor relief, environmental load.
(4), it forms powerful suction force using propeller high-speed rotation mineral are sucked out by seabed adaptability collection mine device,
And suction force can control by adjusting revolution speed of propeller, which is combined as a whole power plant and equipment, nothing
Need extra work pumping to take mineral, considerably reduce the weight of the utility model, but also seabed collecting machine device people compared with
Tradition collection mine equipment can store the more ores of transport.
(5), it is mounted with the mechanical arm with six-freedom degree, can be carried out at an arbitrary position with any attitude under water
Work.Mechanical arm leading portion is equipped with gripper/or camera, can in real time be replaced according to actual job demand, realizes underwater
Comprehensive, wide-angle shooting, can also clear up barrier, so that seabed adaptability collection mine device efficiently draws ore, in seabed
Failure is encountered when operation also can self-maintain.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 be the utility model can the multi-functional underwater robot of suspension crawler type structural schematic diagram；
Fig. 2 be the utility model can the multi-functional underwater robot of suspension crawler type another angle structural schematic diagram；
Fig. 3 be the utility model can the multi-functional underwater robot of suspension crawler type buoyant means structural schematic diagram.
Specific implementation mode
The preferred embodiment of the utility model is described in detail below in conjunction with the accompanying drawings, so that the advantages of the utility model
It can be easier to be readily appreciated by one skilled in the art with feature, it is apparent clear to be made to the scope of protection of the utility model
Define.
The basic conception of the utility model is：The characteristics of according to seabed collection mine operation, by by buoyant means, operation mould
The multifunction of the systems such as block, seabed adaptability collection mine device and mechanical arm integrates and work compound, improves undersea mining
Efficiency, and improve the complicated sea-floor relief of reply, ocean current load and working condition ability.
Refering to fig. 1 shown in -3, the utility model can the multi-functional underwater robot of suspension crawler type comprising chassis 1, collection
The bottom of object case 2, buoyant means 3 and control mechanism 4, chassis 1 is equipped with walking mechanism 5, and matter collecting box 2 is arranged on chassis 1, and collects
The front and tail portion of object case 2 are respectively equipped with operation module 6 and propulsive mechanism 7, and operation module 6 is for acquiring mineral and being delivered to collection
In object case 2, buoyant means 3 include multiple Buoyance adjustment air bags, and multiple Buoyance adjustment air bags are lateral symmetry along the top of matter collecting box 2
Distribution and control mechanism 4 are connected with walking mechanism 5, operation module 6, propulsive mechanism 7 and Buoyance adjustment air bag respectively.This
Walking mechanism 5 in utility model can be Track wheel device, Track wheel device can stable motion, resist the environment such as ocean current and carry
The interference of lotus, the advance of robot can also be realized by changing the rotating speed of two track drive motors and direction of rotation, retreat and
Turning function.
Specifically, Buoyance adjustment air bag includes airbag body 31 and diaphragm 32, and diaphragm 32 is arranged in airbag body 31
Portion's middle position, and the inner cavity of airbag body 31 is divided into the first cavity 33 and the second cavity 34, the first cavity 33 and
Bidirectional Air Valve 35 is equipped on two cavitys 34, Bidirectional Air Valve 35 is connected with control mechanism 4.In the present embodiment, airbag body 31
It is made using nylon material, has the characteristics that deformation performance is good, tensile strength is high, can there is larger shape at work
Become to generate buoyancy, deformation is generated in the environment of Deep-sea high voltage and is also difficult to rupture.
In the utility model, the effect of Buoyance adjustment air bag is as follows：1) suspension, floating work(, are provided for seabed collecting machine device people
Energy.2) robot pose adjustment and underwater six-freedom motion, are ensured.Specifically, it when work, is controlled by control mechanism 4
Bidirectional Air Valve 35 is opened and closed to control the amount of compressed air in airbag body 31, to obtain different buoyancy so that robot obtains
Obtain suspending power；Meanwhile changing the air inflow of left and right airbag body 31, or change 33 He of the first cavity in same airbag body 31
Air inflow in second cavity 34, can also realize the movement of underwater pose adjustment and six degree of freedom.
Specifically, operation module 6 includes seabed adaptability collection mine device (not shown), suction hose 61 and multiple iron ore feeding holes
62, multiple iron ore feeding holes 62 are arranged in the front of matter collecting box 2, and are connected with matter collecting box 2, and seabed adaptability collection mine device is through suction hose
61 are connected with iron ore feeding hole 62.Expansion regulating mechanism is additionally provided on iron ore feeding hole 62, expansion regulating mechanism is connected with suction hose 61,
And the collapsing length for adjusting suction hose 61.Expansion regulating mechanism in the utility model can accurately throw adaptability collection mine device
It is sent to designated position, prevents the winding of suction hose 61.In the present embodiment, expansion regulating mechanism can be the existing skills such as resetting spring
The mechanism of conventional control collapsing length in art.Propulsive mechanism 7 includes the propeller 71 for being symmetricly set on 2 two sides of tail of matter collecting box,
Two propellers 71 are also connected with two driving motors 72 respectively.
The operation module 6 of the utility model and the effect of propulsive mechanism 7 are as follows：1), propulsive mechanism 7 is the movement of robot
Power is provided, and suction force is provided with absorption for the ore acquisition of operation module 6.2), operation module 6 is for storing from sea
The ore of bottom adaptability collection mine device acquisition.3), suction hose 61 can be dismantled according to actual job demand, directly by required ore
It sucks matter collecting box 2 or propeller 71 is inverted into discharge sewage.
Preferably, the inside of matter collecting box 2 is additionally provided with strainer 21.Strainer 21 can prevent ore from entering 2 tail portion of matter collecting box damage
Bad propeller 71；By changing the type and mesh number of 2 material of strainer, different types of ore or other seabeds money can be realized
The acquisition in source.
Specifically, the front of matter collecting box 2 is additionally provided with levelling bench 22, and levelling bench 22 is equipped with mechanical arm 23, machinery
Arm 23 has six-freedom degree, and the cantilever end of mechanical arm 23 is connected with gripper and/or camera.
In the utility model, the effect of mechanical arm 23 is as follows：1) camera, is clamped, progress is comprehensive, wide-angle is underwater
Photography.2) barrier, is cleared up by gripper.
Preferably, position indicator 24 and attitude transducer 25 are housed, position indicator 24 can be in real time to control machine on matter collecting box 2
Structure 4 reacts the location of robot and movement velocity；Three-axis gyroscope and three axis accelerometer built in attitude transducer 25,
It can reflect machine human body posture, acceleration and angular acceleration in time.
The utility model using it is above-mentioned can the multi-functional underwater robot of suspension crawler type working method comprising it is following
Step：
S1, the Bidirectional Air Valve 35 of all Buoyance adjustment air bags is opened into air inlet, the buoyancy of robot device is made to be slightly less than weight
Power；Robot can be with smaller speed dive.
S2, the diving speed and posture for adjusting robot device；
S3, start propeller, the rotating forward, reversion or differential by controlling propeller 71 rotate, and realize robot device
Advance, retrogressing and steering, until reach specify seabed mining area；
Behind S4, arrival seabed, driving motor is closed, and propeller stops operating, and is started walking mechanism, is utilized Track wheel device
Robot is set continuously and stably to advance in sea bed；
S5, start mechanical arm 23, control machine machinery claw picks up the sundries such as the stone being covered on ore and is put in specific bit
It sets；
After S6, mining area sundries clean out, suction hose 61 and seabed adaptability Ji Kuang are launched to designated position, starts and drives
Dynamic motor 72, makes 71 high speed rotation of propeller form powerful suction force, and mineral are sucked in matter collecting box 2；It is larger for particle,
The mineral drawn are difficult to seabed adaptability collection mine device, suction hose 61 can be dismantled before work, when work is directly pressed from both sides with manipulator
Object to be collected is held, is put near iron ore feeding hole 62, unclamps again gripper so that mineral are inhaled into matter collecting box 2.
Mineral are delivered to relaying storehouse by S7, ore slurry pump, complete a working cycles or close in operating system to dive.
Further, during dive, since the pressure of seawater constantly increases, need suitably to open Bidirectional Air Valve 35 into
Gas so that the volume of airbag body 31 can keep a definite value, it is ensured that robot device can continue dive, the speed of dive
It is determined by position indicator 24, and according to the trim and the appropriate enlarged portion Buoyance adjustment of angle of heel of the reaction of attitude transducer 25
The air inflow of air bag, allows robot device to return upright condition.
In conclusion the utility model has the advantage of：
(1), it uses Buoyance adjustment air bag and constitutes buoyant means, can be changed by controlling the open and close of Bidirectional Air Valve
The air inflow for becoming buoyant means, to obtain different buoyancy so that robot can float in water or suspension operation；With
Traditional seabed collection mine equipment is compared, and the utility model is launched and recycled without accessories lash ship before and after work, is shortened
Activity duration and duty cycle greatly reduce manpower and materials cost.
(2), the quantity of Buoyance adjustment air bag has multiple, and along the lateral symmetry distribution in the top of matter collecting box, and buoyancy tune
The bosom of whole air bag be equipped with diaphragm, Buoyance adjustment air bag is equally divided into the first cavity and the second cavity, by laterally or
The difference of person longitudinal direction air inflow, the Buoyance adjustment air bag buoyancy of different sizes in lateral and longitudinal acquisition, to realize under water
The rolling of robot and pitching can be cleverer to enable the utility model to realize the movement of underwater six degree of freedom
It is living to be effectively shielded from barrier, reduce collision and abrasion.
(3), the rotating speed for controlling two propellers respectively by two driving motors, under suspension or floating state, spiral shell
It revolves paddle and realization advance and turning function is rotated by rotating forward, reversion or differential, it can more flexiblely when working under water
Cope with sea-floor relief, environmental load.
(4), it forms powerful suction force using propeller high-speed rotation mineral are sucked out by seabed adaptability collection mine device,
And suction force can control by adjusting revolution speed of propeller, which is combined as a whole power plant and equipment, nothing
Need extra work pumping to take mineral, considerably reduce the weight of the utility model, but also seabed collecting machine device people compared with
Tradition collection mine equipment can store the more ores of transport.
(5), it is mounted with the mechanical arm with six-freedom degree, can be carried out at an arbitrary position with any attitude under water
Work.Mechanical arm leading portion is equipped with gripper/or camera, can in real time be replaced according to actual job demand, realizes underwater
Comprehensive, wide-angle shooting, can also clear up barrier, so that seabed adaptability collection mine device efficiently draws ore, in seabed
Failure is encountered when operation also can self-maintain.
More than, only specific embodiment of the present utility model, but protection scope of the utility model is not limited thereto,
Any change or replacement expected without creative work, should be covered within the scope of the utility model.Therefore,
The scope of protection of the utility model should be determined by the scope of protection defined in the claims.
Claims (8)
1. one kind can the multi-functional underwater robot of suspension crawler type, which is characterized in that including chassis, matter collecting box, buoyant means and
The bottom of control mechanism, the chassis is equipped with walking mechanism, and the matter collecting box is arranged on the chassis, and the matter collecting box
Front and tail portion are respectively equipped with operation module and propulsive mechanism, and the operation module is for acquiring mineral and being delivered to the collection object
In case, the buoyant means include multiple Buoyance adjustment air bags, and multiple Buoyance adjustment air bags are along the top of the matter collecting box
Lateral symmetry distribution and the control mechanism respectively with the walking mechanism, operation module, propulsive mechanism and Buoyance adjustment gas
Capsule is connected.
2. as described in claim 1 can the multi-functional underwater robot of suspension crawler type, which is characterized in that the Buoyance adjustment gas
Capsule includes airbag body and diaphragm, and the diaphragm is arranged at the bosom position of the airbag body, and by the air bag
The inner cavity of ontology is divided into the first cavity and the second cavity, is equipped with Bidirectional Air Valve on first cavity and the second cavity, institute
Bidirectional Air Valve is stated with the control mechanism to be connected.
3. as claimed in claim 2 can the multi-functional underwater robot of suspension crawler type, which is characterized in that the airbag body is adopted
It is made with nylon material.
4. as described in any one of claims 1-3 can the multi-functional underwater robot of suspension crawler type, which is characterized in that the work
Industry module includes seabed adaptability collection mine device, suction hose and multiple iron ore feeding holes, and multiple iron ore feeding holes are arranged in the matter collecting box
Front, and be connected with the matter collecting box, the seabed adaptability collection mine device is connected through the suction hose with the iron ore feeding hole
It connects.
5. as claimed in claim 4 can the multi-functional underwater robot of suspension crawler type, which is characterized in that on the iron ore feeding hole also
Equipped with expansion regulating mechanism, the expansion regulating mechanism is connected with the suction hose, and for adjusting stretching for the suction hose
Contracting length.
6. as claimed in claim 5 can the multi-functional underwater robot of suspension crawler type, which is characterized in that the propulsive mechanism packet
The propeller for being symmetricly set on the matter collecting box two sides of tail is included, two propellers are also connected with two driving motors respectively
It connects, the inside of the matter collecting box is additionally provided with strainer.
7. as described in claim 1 can the multi-functional underwater robot of suspension crawler type, which is characterized in that before the matter collecting box
Portion is additionally provided with levelling bench, and the levelling bench is equipped with mechanical arm, and the mechanical arm has six-freedom degree, and described
The cantilever end of mechanical arm is connected with gripper and/or camera.
8. as claimed in claim 7 can the multi-functional underwater robot of suspension crawler type, which is characterized in that filled on the matter collecting box
It includes three-axis gyroscope and three axis accelerometer to have position indicator and attitude transducer, the attitude transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820184458.0U CN208085978U (en) | 2018-02-02 | 2018-02-02 | One kind can the multi-functional underwater robot of suspension crawler type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820184458.0U CN208085978U (en) | 2018-02-02 | 2018-02-02 | One kind can the multi-functional underwater robot of suspension crawler type |
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| Publication Number | Publication Date |
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| CN208085978U true CN208085978U (en) | 2018-11-13 |
Family
ID=64063326
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| CN201820184458.0U Active CN208085978U (en) | 2018-02-02 | 2018-02-02 | One kind can the multi-functional underwater robot of suspension crawler type |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334923A (en) * | 2018-12-10 | 2019-02-15 | 美钻深海能源科技研发（上海）有限公司 | A kind of underwater crawler belt intelligent robot buoyancy regulating device |
| CN110978919A (en) * | 2019-12-18 | 2020-04-10 | 张继威 | Crawler-type marine organism fishing robot |
| CN112532947A (en) * | 2020-12-04 | 2021-03-19 | 浙江理工大学 | Distributed underwater full-automatic intelligent acquisition system |
| CN112678129A (en) * | 2020-12-16 | 2021-04-20 | 张丽英 | Robot suitable for water environment |
-
2018
- 2018-02-02 CN CN201820184458.0U patent/CN208085978U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334923A (en) * | 2018-12-10 | 2019-02-15 | 美钻深海能源科技研发（上海）有限公司 | A kind of underwater crawler belt intelligent robot buoyancy regulating device |
| CN110978919A (en) * | 2019-12-18 | 2020-04-10 | 张继威 | Crawler-type marine organism fishing robot |
| CN112532947A (en) * | 2020-12-04 | 2021-03-19 | 浙江理工大学 | Distributed underwater full-automatic intelligent acquisition system |
| CN112678129A (en) * | 2020-12-16 | 2021-04-20 | 张丽英 | Robot suitable for water environment |
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