CN210634729U

CN210634729U - Seabed rubbish clearance robot

Info

Publication number: CN210634729U
Application number: CN201921244855.3U
Authority: CN
Inventors: 杨雨馨; 刘浩; 彭路; 王溪; 谭佳豪; 咸威; 温洋
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-05-29
Anticipated expiration: 2029-08-02

Abstract

The utility model discloses a submarine refuse cleaning robot, which comprises a box body structure, a grabbing structure, a foot structure, a step-by-step conveying and transporting device and a sensor; the mechanical grabbing part adopts a multi-joint mechanical arm, the degree of freedom is flexible, and the design of the grabbing mechanical arm adopts a form that a three-jaw structure is matched with a suction fan to work aiming at the problem of underwater grabbing stability, so that the grabbing stability is improved; the mechanical foot adopts three degrees of freedom, a multi-connecting-rod structure, the gait motion of the mechanical foot is realized by the rotation of a horizontal plane and the rotation of two vertical planes, the elastic structure is added at the foot end, so that the robot is buffered when falling to the ground due to the unbalanced disturbance at the bottom, the robot can adapt to complex terrains, and the stability of the robot is improved; the storage device of the inside rubbish of box has provided a device that conveys step by step in the design, realizes once diving and can carry out a plurality of duty cycle, has broken the restriction of robot appearance volume to snatching the rubbish total amount simultaneously, has improved rubbish cleaning efficiency.

Description

Seabed rubbish clearance robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to seabed rubbish clearance robot.

Background

Since the industrial revolution, with the rapid development of human society, the development and influence of the ocean are increasing, and the rapid deterioration of the ocean environment is accompanied. There are many factors that cause the deterioration of marine environment, and one of them is a large amount of submarine refuse. The problem of various marine wastes is very serious nowadays, which not only threatens the safety of marine organisms and birds, but also has a great influence on the survival of human beings. Most of the current garbage cleaning ships and other equipment can only work on the sea, and no good solution exists for the seabed garbage at present. Most areas are currently used for picking up garbage by diving under divers, and the method has low working efficiency and can cause life danger for the divers.

The traditional underwater robot adopts a traditional submarine mode that the underwater robot is lowered to the seabed through an umbilical cable and then pulled back through the umbilical cable when the underwater robot needs to be recovered. However, the underwater surge and turbulence are strong, the umbilical cable is knotted frequently, the robot falls down and is disturbed by impact, the balance during submergence cannot be guaranteed, only one operation period can be realized during single submergence, and the garbage recycling efficiency is low.

The existing underwater robot mechanical arm mainly comprises two types of flexibility and rigidity, wherein the flexible mechanical arm is the current popular research direction, the rigid mechanical arm is more traditional, and the development is more perfect. The flexible mechanical arm has wide control range and high degree of freedom, is difficult to realize accurate modeling and control, depends on intelligent soft material preparation and structure forming, is limited by an energy supply device, and has small driving force. The rigid mechanical arm is accurate in modeling and easy to control; the control mode is mature, a complete control system is available, the degree of freedom is fixed, the reachable range is small, the system is complete, and the gripping control is completed by a vision sensor through recognition and soft and hard recognition. And the operating system of current underwater robot is mostly two claw systems, and application range is less, can't effectively snatch to some work targets, like the object of shape such as cup, globular.

The existing underwater robots mostly adopt crawler-type and multi-legged modes for seabed walking, the mobility of the crawler-type robot on uneven ground is poor, and the body of the robot shakes seriously during running; because the multi-legged robot is not provided with the self-aligning wheels and the steering mechanism, the multi-legged robot can walk on uneven ground and span gullies, and has wide adaptability; the motion trail of the walking robot is a series of discrete footprints, only discrete points are needed to be contacted with the ground during motion, the optimal supporting point can be selected on the ground which can be reached, and the adaptability to rugged terrain is strong.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a seabed rubbish clearance robot.

The utility model discloses a realize through following technical scheme:

a submarine refuse cleaning robot comprises a box body structure, a grabbing structure, a foot structure, a step-by-step conveying and transporting device and a sensor;

the upper part of the box body structure is provided with an opening, a step-by-step conveying and transporting device is arranged in the box body structure, and two grabbing structures and four foot structures are arranged on two sides of the box body;

the grabbing structure comprises a connecting joint, a multi-joint mechanical arm and a mechanical finger, the connecting joint is arranged on the outer wall of the box body structure, the multi-joint mechanical arm is arranged on the connecting joint and comprises a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm which are sequentially connected, and the mechanical finger and a suction fan are arranged on the fourth mechanical arm;

the foot structure comprises a fixed frame, a U-shaped frame, a first middle section, a second middle section, a third middle section and a tail section, the fixed frame is installed on the outer wall of the box structure, the U-shaped frame is connected with the fixed frame and can rotate around the fixed frame, the first middle section is installed on the U-shaped frame, the first middle section is connected with the second middle section, the second middle section is connected with the third middle section, the tail section is connected with the third middle section, a sole transition frame is arranged at the tail end of the tail section, and a sole structure is arranged below the sole transition frame;

the step-by-step conveying and transporting device comprises fixing frames, a bidirectional motor, a conveying structure, locking clamps, a mesh bag and an air bag, wherein the fixing frames are symmetrically arranged on the left side and the right side inside the box body structure;

the sensor comprises a water depth sensor, a height sensor, a weighing sensor and a detection sensor, wherein the water depth sensor and the height sensor are arranged on the fixing frame, the weighing sensor is arranged on the bottom surface in the box body structure below the mesh bag, and the detection sensor is arranged on the outer surface (the front end or the rear end) of the box body structure.

In the technical scheme, a first steering engine is further arranged in the connecting joint, a second steering engine is arranged between the first mechanical arm and the connecting joint, a third steering engine is arranged between the second mechanical arm and the first mechanical arm, a fourth steering engine is arranged between the third mechanical arm and the second mechanical arm, the third mechanical arm is divided into two parts, a fifth steering engine is arranged between the two parts to enable the third mechanical arm to rotate around an axis, and a sixth steering engine is arranged between the third mechanical arm and the fourth mechanical arm; the steering engines work together to finally realize the multi-degree-of-freedom grabbing function of the mechanical arm.

In the technical scheme, a hydraulic cylinder and a piston rod for driving mechanical fingers are arranged in the fourth mechanical arm, and the piston rod is connected with the corresponding fingers.

In the technical scheme, the first steering engine and the second steering engine adopt DHLG-02X large-scale self-sealing steering engines, the third steering engine and the fourth steering engine adopt DS500 model self-sealing steering engines, and the fifth steering engine and the sixth steering engine adopt BBPS-380 model self-sealing steering engines.

In the technical scheme, the mechanical finger is connected with and driven by a hydraulic cylinder through a piston rod, the hydraulic cylinder is of a MOB30 x 75-FB type, the hydraulic pump is of a CB-B2.5 type, the gear oil pump with the rated pressure of 2.5MPa, the overflow valve is a DBDH10G2.5 type overflow valve, and the electromagnetic reversing valve is a DSG-03-3C2-D24-N1-50 type reversing valve; all parts of the hydraulic system are mutually matched to finish the grabbing work of the manipulator together.

In the technical scheme, the central axis of the fixing frame part is orthogonal to the central axis of the outer body of the machine shell, so that the whole mechanical foot device is fixed and supported.

In the technical scheme, a sleeve-sealed DH-03X type 260KG/CM steering engine (the steering engine is called as a first steering engine) is arranged in the fixing frame, the bottom of the sleeve is fixedly contacted with a boss of the shell, and a shaft of the first steering engine can rotate around an axis in a gait angle range to drive the whole mechanical foot to swing in a horizontal range.

In the technical scheme, the output shaft of the first steering engine is in sealing fit with the deep groove ball bearing in the inner hole at the head end of the U-shaped frame, the U-shaped frame is a connecting piece with two opposite opening directions and orthogonal, the deep groove ball bearing in the inner hole at the tail end of the U-shaped frame is in sealing fit with the output shaft of the second steering engine contained in the first middle section, and the second steering engine can rotate around the axis in a gait angle range to drive the lower limbs of the mechanical foot to rotate in a vertical plane.

In the technical scheme, the first middle section internally comprises a sliding groove, the bottom of the sliding groove is in sealing fit with a fixing block at the head of the second middle section, a sleeve is fixed, and the second steering engine is sealed inside the sleeve.

In the technical scheme, a battery for driving the steering engine is sealed in the second middle section, a rubber insulating base is arranged at the bottom of the battery, metal fixing blocks are arranged at two ends of the base, the fixing base is arranged at the position in the second middle section, the fixing block at the tail of the second middle section is in sealing fit with the bottom of a third middle section sliding groove, and the third middle section sliding groove is in sealing fit with a sleeve for sealing the third steering engine.

In the technical scheme, the deep groove ball bearing in the inner hole of the end limb section is in sealing fit with a third steering engine output shaft contained in a third middle section, the third middle section rotates in a U-shaped groove of the end limb section within a gait angle range to drive the mechanical foot to rotate in a vertical plane, the inner part of the other end of the end limb section is provided with a long groove, a four-connecting-rod with hinged holes is arranged in the long groove, two ends of the four-connecting-rod are connected with hollow cylindrical metal, and springs with high rigidity are supported in the middle of the hollow cylindrical metal at two ends. The end limb sections are connected with the anti-corrosion rubber sole in a sealing way. The hollow cylindrical metal at the bottom end is fixed in a cylindrical groove in the anti-corrosion rubber sole by a bolt.

In the above technical scheme, the fixed frame is provided with a pressure-resistant bin.

In the technical scheme, the fixing frame of the step-by-step conveying and transporting device is fixedly connected with the box body through screws, the fixing frame is provided with the water depth sensor, the height sensor, the pressure-resistant bin and five supports, namely two chain wheel bearing supports, two conveying frame supports and one motor bearing seat, and each bearing seat is connected with the fixing frame through screws.

The utility model discloses an advantage and beneficial effect do:

the beneficial effects of the utility model reside in that an underwater robot with arm and mechanical foot, it is easy and simple to handle, the extension underwater working cycle has improved seabed rubbish cleaning efficiency. The mechanical grabbing part adopts a multi-joint mechanical arm, the degree of freedom is flexible, and the design of the grabbing mechanical arm adopts a form that a three-jaw structure is matched with a suction fan to work aiming at the problem of underwater grabbing stability, so that the grabbing stability is improved; the mechanical foot adopts three degrees of freedom, a multi-connecting-rod structure, the gait motion of the mechanical foot is realized by the rotation of a horizontal plane and the rotation of two vertical planes, the elastic structure is added at the foot end, so that the robot is buffered when falling to the ground due to the unbalanced disturbance at the bottom, the robot can adapt to complex terrains, and the stability of the robot is improved; the storage device of the rubbish inside the box body is provided with the device capable of transmitting step by step, so that a plurality of working cycles can be carried out by one-time diving, the limitation of the appearance volume of the robot to the total amount of the grabbed rubbish is broken, and the grabbing efficiency is improved.

Drawings

Fig. 1 is a schematic top view of the present invention.

Fig. 2 is a schematic perspective view of the present invention.

Fig. 3 is the installation schematic diagram of the grabbing structure of the present invention.

Fig. 4 is the assembly diagram of the grabbing structure of the present invention.

Fig. 5 is the internal cross-sectional view of the grabbing structure of the present invention.

Fig. 6 is a schematic view of the foot structure of the present invention.

Fig. 7 is a cross-sectional view of the interior of the foot structure of the present invention.

Fig. 8 is a schematic view of the device inside the box body of the present invention.

Fig. 9 is the structure diagram of the step-by-step conveying and transporting device of the present invention.

Fig. 10 is a schematic view of the installation of the mesh belt structure of the present invention.

Fig. 11 is a schematic view showing the installation of the mesh belt according to the present invention.

Fig. 12 is a schematic view of the locking clip device of the present invention.

Fig. 13 is a schematic view of the airbag device of the present invention.

Wherein: 1 is a grabbing structure; 2 is a foot structure; step 3 is a step-by-step conveying and transporting device; 4 is a box structure;

1-1 is a first mechanical arm; 1-2 is a second mechanical arm; 1-3 is a third mechanical arm; 1-4 is a fourth mechanical arm; 1-5 is a first steering engine; 1-6 are a second steering engine; 1-7 are a third steering engine; 1-8 are four steering engines; 1-9 are a fifth steering engine; 1-10 is a six-number steering engine; 1-11 is a suction fan; 1-12 are hydraulic cylinders; 1-13 are piston rods; 1-14 are mechanical fingers; 1-15 are connecting joints;

2-1 is a fixing frame; 2-2 is a U-shaped frame; 2-3 is a first intermediate section; 2-4 is a second intermediate section; 2-5 is a third intermediate section; 2-6 are end limb segments; 2-7 are plantar transition frames; 2-8 are soles; 2-9 is a first steering engine; 2-10 is a second steering engine; 2-11 are batteries; 2-12 is a third steering engine; 2-13 are hollow cylindrical metal fixing pieces; 2-14 are springs; 2-15 sealing the sole;

3-1 is a transmission structure; 3-2 is a locking clip; 3-2-1 is a clamping piece; 3-2-2 is a fixing plate; 3-3 is a mesh bag; 3-4 is a fixing frame; 3-5 is an air bag conveying mechanism; 3-5-1 is a folding air bag; 3-5-2 is a gas cylinder; 3-5-3 is an air bag mounting box; 3-5-4 is an air bag control valve; 3-6 is a water depth sensor; 3-7 are height sensors; 3-8 are chain wheel bearing supports; 3-9 is a transmission frame support; 3-10 is a motor bearing seat; 3-11 is a coupling; 3-12 are bidirectional motors; 3-13 is a pressure-resistant bin;

4-1 is a shell; 4-2 is a weighing sensor; 4-3 is a detection sensor.

For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.

Detailed Description

In order to make the technical field person understand the solution of the present invention better, the technical solution of the present invention is further described below with reference to the specific embodiments.

Examples

An underwater robot with a robot arm and a robot foot includes: the box structure 4, snatch structure 1, foot structure 2, carry conveyer 3 step by step.

The front and back directions of the robot are set as longitudinal axes. The box body is longitudinally arranged, the two grabbing structures and the four foot structures are symmetrically arranged on two sides of the outside of the box body, the conveying and transporting devices are symmetrically arranged on two sides of the inside of the box body step by step, and the space is reserved above the box body, so that garbage can be conveniently picked and placed.

Grabbing structure

Referring to fig. 2-5, the grabbing structure comprises connecting joints 1-15, multi-joint mechanical arms and mechanical fingers 1-14, the connecting joints are mounted on the outer wall of the box structure, the multi-joint mechanical arms are mounted on the connecting joints and comprise a first mechanical arm 1-1, a second mechanical arm 1-2, a third mechanical arm 1-3 and a fourth mechanical arm 1-4 which are connected in sequence, and the mechanical fingers and a suction fan 1-11 are mounted on the fourth mechanical arm;

a first steering engine 1-5 is arranged in the connecting joint, a second steering engine 1-6 is arranged between the first mechanical arm and the connecting joint, a third steering engine 1-7 is arranged between the second mechanical arm and the first mechanical arm, a fourth steering engine 1-8 is arranged between the third mechanical arm and the second mechanical arm, the third mechanical arm is divided into two parts, a fifth steering engine 1-9 is arranged between the two parts to enable the third mechanical arm to rotate around an axis, and a sixth steering engine 1-10 is arranged between the third mechanical arm and the fourth mechanical arm; the steering engines work together to finally realize the multi-degree-of-freedom grabbing function of the mechanical arm.

The first steering engine drives the disc on the connecting joint to rotate, so that the arm can swing greatly in the plane of the disc, the second steering engine drives the first mechanical arm to swing greatly in the direction perpendicular to the plane of the disc, and the two steering engines act together to realize the function of large-amplitude motion of the mechanical arm. Particularly, in the conversion between the grabbing process and the collecting process, the first steering engine rotates 180 degrees.

The third steering engine is responsible for the motion of the second mechanical arm, can more accurately adjust the position of the mechanical arm in the grabbing process, and in the collecting process, the second mechanical arm is particularly important for adjusting the position of the mechanical arm due to the limited range of motion of the first mechanical arm.

No. four steering engines are responsible for the motion of third arm, and No. five steering engines are responsible for the rotation of third arm self around the axis, can increase the degree of freedom of arm like this, let the motion more nimble.

The sixth steering engine is responsible for the motion of the fourth mechanical arm, controls the small-amplitude motion of the mechanical arm and improves the accuracy.

And a hydraulic cylinder, a suction fan and the like are arranged in the fourth mechanical arm to provide power for the movement of the mechanical arm. The three-jaw mechanical arm and the suction fan are matched to complete grabbing work together, and the reliability of the grabbing structure is improved.

The empty space of the mechanical arm can be used for placing buoyancy materials to increase buoyancy, so that on one hand, energy consumption can be reduced, and on the other hand, the motion accuracy of the mechanical arm can be improved.

The working process of the grabbing structure part is as follows: after the grabbing target is confirmed, the mechanical arm is driven by the steering engines to move to a proper position, the hydraulic cylinder drives the piston rod to enable the mechanical claw to be opened, meanwhile, the suction fan starts to work, after the target object is grabbed, the steering engines drive the mechanical arm again to place garbage into a garbage bag in the box body, the mechanical claw is opened, meanwhile, the suction fan stops rotating, the garbage is placed to a proper position, the collection work is completed, and one-time work cycle is completed.

Structure of second, foot

Referring to fig. 6 and 7, the foot structure is designed in a way of simulating the foot structure of a polypod insect. The foot structure imitating the insect is divided into a waist joint, a hip joint and a knee joint, the leg structure of the utility model is divided into a fixed frame 2-1, a U-shaped frame 2-2, a first middle section 2-3, a second middle section 2-4, a third middle section 2-5 and a tail limb section 2-6, and the action of the multi-foot insect joint is imitated by controlling the rotation of the steering engine.

The first steering engines 2-9 are fixed on the box body and drive the U-shaped frame and the whole foot to swing back and forth by imitating waist joints of a plurality of groups of insects.

The second steering engine is connected with the first middle section, the rotatable angle of 2-10 of the second steering engine is about 30 degrees by imitating hip joints of multi-foot insects, and the first middle section, the second middle section, the third middle section and the end limb section are driven to swing up and down.

And the third steering engine 2-12 is connected with the end limb joint and drives the end limb joint to swing by imitating the knee joint of a multi-foot insect. Therefore, the rotation through simultaneous control second steering wheel and third steering wheel can realize that the vertical of end limb festival lifts and falls down, prevents that the focus skew of whole robot from leading to the robot to topple over.

Consider the influence of seabed water resistance, the utility model discloses be streamlined with the shank appearance design of robot, existing being favorable to sealing up, also can reduce the resistance of water.

Consider the complexity of submarine topography, the utility model discloses elastic construction has been added at the foot end, makes the robot receive the disturbance unbalance and the buffering occasionally that falls to the ground at the bottom, also can adapt to complicated topography, increases robot stability.

The vacant space of the foot structure is used for storing buoyancy materials, the buoyancy of the leg of the robot in water is increased, the leg of the robot is prevented from being too heavy, the excessive consumption of electric energy carried by the robot is caused on overcoming the gravity of the leg of the robot, and the energy utilization efficiency is reduced.

The working process of the four foot structures in matched advancing is as follows: after the path planning is carried out by utilizing the sensor and the integrated chip, the walking robot advances by adopting a slow crawling gait, only one foot works at a time, and moves in sequence to finish one forward movement. And after the robot moves to the destination, all the steering engines stop working, and the moving process of the robot under water is completed.

Step-by-step conveying and transporting device and sensor

The step-by-step conveying and transporting device is formed by the cooperation of a conveying structure 3-1, a locking clamp 3-2 and an air bag conveying mechanism 3-5.

The conveying structure is characterized in that four conveying structures work in a matching mode, a single conveying structure is composed of chain wheel and chain components, a 12A standard type chain wheel is selected, and chains with connecting supports on all unit components are selected. The chain wheel of each component is arranged on the fixing frame through a chain wheel bearing support, the chain wheel shaft is connected with one end of the coupler 3-11, the other end of the coupler is connected with the same side end of the two-way motor, and each two-way motor is connected with the two chain wheel shafts on the same side through the coupler.

The bidirectional motor drives the chain wheels on the same side to synchronously operate, the chain wheel and chain mechanism works upwards in a single direction, and the mesh bags are transported to the designated position step by step through the locking clamp.

The locking clamp has six structures, and each structure comprises a locking clamp fixing plate 3-2-2 and a clamping piece 3-2-1. The locking clamp fixing plates are connected with the chain unit assemblies through screws, the clamping pieces clamp the net bags upwards, 12 locking clamp fixing plates are linearly arranged on one side of the chain wheel facing the interior of the box body, and each two adjacent fixing plates are connected with one locking clamp through screws.

The belt unit comprises six identical flexible belt structures and five connecting assemblies for each belt. Wherein six flexible net belts are arranged in a layer-by-layer stacking mode along the working direction of the conveying device and are connected with the spring clamps through four connecting components. The air bag connecting piece is arranged on the upper edge of the adjacent surface connected and installed with the spring clamp.

The air bag device adopts a BHLT-01 lifesaving air bag structure and comprises a folding air bag 3-5-1, an air bottle 3-5-2, an air bag mounting box 3-5-3 and an air bag control valve 3-5-4. The outside of the air bag mounting box is provided with a fixed rotating shaft, the upper end cover and the lower end cover of the box body are opened and closed around the rotating shaft, and meanwhile, the rotating shaft is mounted on an air bag connecting piece on the side surface of the mesh belt to realize the connection of the air bag device and the mesh belt. The air bag device is internally provided with an air bottle installation space and an air bag control valve opening at one side close to the fixed rotating shaft, and the other side is a folding air bag space.

The front end of the outer side of the box body structure is provided with a detection sensor 4-3, the bottom of the inner side of the box body structure is provided with a weighing sensor 4-2, the weighing sensor is arranged at the lower end of the mesh bag and used for collecting the gravity of picked garbage, and the detection sensor is used for identifying the quantity of the picked garbage and preventing the garbage from exceeding the capacity of the picking net to cause that the picking net cannot be fastened; the fixed frame is provided with a water depth sensor 3-6 and a height sensor 3-7 which are used for measuring the water depth and the garbage height.

When the total amount of the garbage reaches the rated gravity or the height sensor detects a certain garbage height, the sensor sends a signal when the total amount of the garbage and the height sensor meet any condition, the conveying structure moves upwards to the next-stage designated position, and the air bag control valve controls the air bottle to open in the operation process, so that the air bag is inflated to pop open the air bag mounting box.

In this embodiment, the air bag is pulled up and tied with the inflation. The net bag is upwards stressed by the total external force, each locking clamp is opened after reaching a set tensioning margin, and the top net belt is separated from the robot box body, floats to the water surface along with the air bag and waits for manual collection.

Meanwhile, the robot conveying structure moves by a working stroke, and the next layer of garbage mesh bags are conveyed to the top layer to become a new using layer so as to start garbage collection of the next working cycle. The aims of single submergence and multiple garbage collection are fulfilled. And after the conveying structure is conveyed to the last stage, all the sensors stop working, and the single-submerging working process of the robot is completed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The invention has been described above by way of example, and it should be noted that any simple variants, modifications or other equivalent substitutions by a person skilled in the art without spending creative effort may fall within the scope of protection of the present invention without departing from the core of the present invention.

Claims

1. The utility model provides a seabed rubbish clearance robot which characterized in that: comprises a box body structure, a grabbing structure, a foot structure, a step-by-step conveying and transporting device and a sensor;

the sensor includes depth of water sensor, altitude sensor, weighing sensor and detection sensor, depth of water sensor, altitude sensor set up on the mount, weighing sensor sets up on the bottom surface in the box structure of pocket below, detection sensor sets up in the surface of box structure.

2. The robot for cleaning up seabed rubbish according to claim 1, wherein: a first steering engine is arranged in the connecting joint, a second steering engine is arranged between the first mechanical arm and the connecting joint, a third steering engine is arranged between the second mechanical arm and the first mechanical arm, a fourth steering engine is arranged between the third mechanical arm and the second mechanical arm, the third mechanical arm is divided into two parts, a fifth steering engine is arranged between the two parts to enable the third mechanical arm to rotate around the axis, and a sixth steering engine is arranged between the third mechanical arm and the fourth mechanical arm; the steering engines work together to finally realize the multi-degree-of-freedom grabbing function of the mechanical arm.

3. The robot for cleaning up seabed rubbish according to claim 2, wherein: the first steering engine and the second steering engine adopt DHLG-02X large-scale self-sealing steering engines, the third steering engine and the fourth steering engine adopt DS500 model self-sealing steering engines, and the fifth steering engine and the sixth steering engine adopt BBPS-380 model self-sealing steering engines.

4. The robot for cleaning up seabed rubbish according to claim 1, wherein: and a hydraulic cylinder and a piston rod for driving mechanical fingers are arranged in the fourth mechanical arm, and the piston rod is connected with the corresponding fingers.

5. The robot for cleaning up seabed rubbish according to claim 3, wherein: the mechanical finger is connected with and driven by a hydraulic cylinder through a piston rod, the hydraulic cylinder is of a MOB30 × 75-FB type, the hydraulic pump is of a CB-B2.5 type, the gear oil pump with the rated pressure of 2.5MPa, the overflow valve is a DBDH10G2.5 type overflow valve, and the electromagnetic reversing valve is a DSG-03-3C2-D24-N1-50 type reversing valve; all parts of the hydraulic system are mutually matched to finish the grabbing work of the manipulator together.

6. The robot for cleaning up seabed rubbish according to claim 1, wherein: the central axis of the fixed frame part is orthogonal to the central axis of the outer body of the shell, and the whole mechanical foot device plays a role in fixing and supporting; a sleeve-sealed DH-03X type 260KG/CM steering engine is arranged in the fixing frame, the bottom of the sleeve is fixedly contacted with a boss of the shell, and the first steering engine shaft can rotate around the axis in a gait angle range to drive the whole mechanical foot to swing in a horizontal range.

7. The robot for cleaning up seabed rubbish according to claim 1, wherein: the first middle section is internally provided with a sliding chute, the bottom of the sliding chute is in sealing fit with a fixed block at the head of the second middle section, a sleeve is fixed, and the second steering engine is sealed in the sleeve; a battery for driving the steering engine is sealed in the second middle section, a rubber insulating base is arranged at the bottom of the battery, metal fixing blocks are arranged at two ends of the base, the base is fixed at the position in the second middle section, the fixing block at the tail of the second middle section is in sealing fit with the bottom of a third middle section sliding groove, and the third middle section sliding groove is matched with a sleeve for sealing the third steering engine; the deep groove ball bearing in the inner hole of the end limb section is in sealing fit with a third steering engine output shaft contained in a third middle section, the third middle section rotates in a U-shaped groove of the end limb section within a gait angle range to drive the mechanical foot to rotate in a vertical plane, an elongated groove is formed in the other end of the end limb section, a four-connecting-rod with a hinged hole is arranged in the elongated groove, two ends of the four-connecting-rod are connected with hollow cylindrical metal, springs are supported in the middle of the hollow cylindrical metal at the two ends, the end limb section is connected with anti-corrosion rubber sole rubber in a sealing mode, and the hollow cylindrical metal at the bottom end is fixed in the cylindrical groove in the.

8. The robot for cleaning up seabed rubbish according to claim 1, wherein: and the fixed frame is provided with a pressure-resistant bin.

9. The robot for cleaning up seabed rubbish according to claim 1, wherein: the fixing frame of the step-by-step conveying and transporting device is fixedly connected with the box body through screws, the fixing frame is provided with a water depth sensor, a height sensor, a pressure-resistant bin and five supporting seats which are respectively two chain wheel bearing supports, two conveying frame supporting seats and a motor bearing seat, and each bearing seat is connected with the fixing frame through screws.