CN215098189U

CN215098189U - Underwater charging device

Info

Publication number: CN215098189U
Application number: CN202120887836.3U
Authority: CN
Inventors: 翟长攀; 马立修; 程文青; 李伟龙; 刘磊; 俞浙烨; 王敬; 姚昊成
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2021-12-10
Anticipated expiration: 2031-04-28

Abstract

An underwater charging device belongs to the technical field of sea cucumber capturing equipment. The method is characterized in that: the top of the storage device (1) is provided with a clamping portion used for clamping the robot, the connecting arm is installed on the energy storage device or the controller (2), the connecting arm is provided with a charging head (7), the charging head (7) is connected with the energy storage device through a cable, and the controller (2) is connected with the connecting arm and the energy storage device simultaneously. This underwater charging device's the head that charges and the robot butt joint on the storage device, thereby realized charging to the robot, clamping part can press from both sides the robot tightly on storage device, make the robot position fixed, guarantee to charge stably, and the sea cucumber of keeping in the robot can enter into storage device and store, the not enough problem of continuation of the journey that has both solved the robot because the energy storage is not enough, the problem of the unable too much sea cucumber of storage of robot has been solved again, the operating time of robot under water has been prolonged greatly, conveniently realize the fishing of the sea cucumber of large tracts of land.

Description

Underwater charging device

Technical Field

An underwater charging device belongs to the technical field of sea cucumber capturing equipment.

Background

With the pursuit of people for healthy life, the market of China has a great demand and growth trend for sea cucumbers every year, the problem of insufficient supply of the sea cucumbers exists in the market, and the supply-demand relationship of the sea cucumbers greatly influences the price of the sea cucumbers. How to catch sea cucumbers in a large area with high efficiency is a problem which needs to be solved urgently in the sea cucumber culture industry at present. The main reason that the efficiency of catching sea cucumbers by adopting the underwater robot is low is that large-area catching cannot be realized, and the underwater working time of the robot is short, so that the sea cucumber catching still mainly adopts manpower at present. At present, the robot has short underwater working time due to two main reasons: 1) the robot is mainly driven by electric energy, and in order to ensure the flexibility of the robot, the volume of the robot cannot be too large, so that the electric energy stored by the robot is limited, and the robot cannot be supported to work for a long time; 2) the robot needs to store the sea cucumbers temporarily when capturing the sea cucumbers, and the robot needs to frequently return the temporarily stored sea cucumbers due to small size of the robot.

Disclosure of Invention

The to-be-solved technical problem of the utility model is: the underwater charging device overcomes the defects in the prior art, can charge the robot, can store the sea cucumbers collected by the robot, and prolongs the working time of the robot.

The utility model provides a technical scheme that its technical problem adopted is: this underwater charging device, its characterized in that: the robot clamping device comprises an energy storage device, a controller, a connecting arm and a storage device, wherein a clamping portion used for clamping a robot is arranged at the top of the storage device, the connecting arm is installed on the energy storage device, a charging head is installed on the connecting arm and connected with the energy storage device through a cable, and the controller is connected with the connecting arm and the energy storage device simultaneously.

Preferably, the storage devices are arranged in a plurality of surrounding mode around the energy storage device, and the connecting arms correspond to the storage devices one to one. The storage device has a plurality of, can charge for a plurality of robots simultaneously, makes a plurality of robots can the simultaneous operation, has further increased the area that the sea cucumber was caught.

Preferably, the storage device comprises a collection frame, a platform and a clamping device, the top of the collection frame is open, the platform is mounted at the top of the collection frame and seals the top of the collection frame, a docking device for docking with the robot is arranged on the platform, and the clamping device is arranged on the upper side of the platform. Clamping device can press from both sides the robot tightly on the platform, makes things convenient for the charging of robot and the release of sea cucumber, and interfacing apparatus makes things convenient for the temporary storage device butt joint with the robot, and the sea cucumber that the robot temporarily stored enters into storage device through interfacing apparatus and stores.

Preferably, the clamping device is provided with two clamping devices arranged at two sides of the platform, and the butting device is arranged between the two clamping devices. The clamping device is provided with two clamping devices arranged on two sides of the platform, so that the robot can be reliably clamped, the robot can be positioned when being clamped, and the robot is accurately butted with the butting device and the charging head.

Preferably, clamping device include splint, clamp plate, splint push rod and clamp plate push rod, splint perpendicular to platform sets up, and the splint push rod links to each other with splint to promote its direction reciprocating motion to being close to or keeping away from the middle part of platform, the clamp plate links to each other with the top of splint, the clamp plate push rod links to each other with the clamp plate, and promotes its direction swing to being close to or keeping away from the clamp plate. The clamping plates of the two clamping devices are matched, so that the side part of the robot can be clamped, the robot can be tightly pressed on the platform by the clamping plates, the robot is guaranteed to be reliably clamped, and the position accuracy of the robot can be guaranteed.

Preferably, the docking device comprises a closing plate and a pushing device, the platform is provided with a docking port, the docking port penetrates through the platform, the closing plate is arranged on the lower side of the platform, and the pushing device is connected with the closing plate and pushes the closing plate to close or open the docking port. The sea cucumbers temporarily stored by the robot enter the collecting frame through the butt joint port to be collected, the pushing device pushes the sealing plate to open or close the butt joint port, the captured sea cucumbers can enter the collecting frame conveniently, and the sea cucumbers in the collecting frame can be prevented from leaving freely through the butt joint port.

Preferably, the connecting arm comprises a link mechanism and a driving device, one end of the link mechanism is mounted on the energy storage device or the controller, and the other end of the link mechanism is mounted with a charging head driving device and connected with the link mechanism. The driving device drives the charging head to move through the connecting rod mechanism, and the position of the charging head is convenient to adjust.

Preferably, link mechanism include swinging arms and flexible rod, the swingable installation of swinging arms is on energy memory or controller, the swinging arms is for following the downward slope form gradually of direction of keeping away from energy memory, the tip fixed connection of the one end of flexible rod and swinging arms, the head that charges is installed to the other end, the flexible rod setting is kept away from energy memory's one end at the swinging arms, the flexible rod is for following the ascending slope form gradually of direction of keeping away from energy memory, drive arrangement links to each other with the swinging arms to promote it and swing in vertical face. The driving device drives the swing rod to swing, the swing rod drives the flexible rod to move, and after the charging head is in butt joint with the charging portion of the robot, the flexible rod deforms, so that the charging head is in reliable butt joint with the charging portion.

Compared with the prior art, the utility model discloses the beneficial effect who has is:

this underwater charging device's linking arm drives the first motion that charges, in order to adjust the position of the first head that charges, make the first butt joint of robot on with storage device that charges, thereby realized charging to the robot, clamping part can press from both sides the robot tightly on storage device, make the robot rigidity, guarantee the stability of charging, and the sea cucumber of keeping in the robot can enter into storage device and store, both solved the robot because the not enough problem of continuation of the journey that exists of energy storage, the problem of the unable too much sea cucumber of saving of robot has been solved again, the operating time of robot under water has been prolonged greatly, conveniently realize the fishing of the sea cucumber of large tracts of land.

Drawings

Fig. 1 is a perspective view of an underwater charging device.

Fig. 2 is a partially enlarged view of a portion a in fig. 1.

Fig. 3 is a perspective view of the storage device.

Fig. 4 is a partially enlarged view of fig. 3 at B.

Fig. 5 is a perspective view of the docking plate.

Fig. 6 is a partially enlarged view of C in fig. 5.

In the figure: 1. storage device 2, controller 3, battery 4, steering wheel 5, swinging arms 6, flexible rod 7, charge head 8, link 9, reference column 10, platform 11, riser 12, mounting panel 13, splint 14, clamp plate 15, interfacing apparatus 16, splint push rod 17, clamp plate push rod 18, compress tightly connecting rod 19, interfacing board 1901, interface 20, closing plate 21, rack 22, gear 23, closed motor 24, dustcoat 25, collection frame.

Detailed Description

Fig. 1 to 6 are preferred embodiments of the present invention, and the present invention will be further explained with reference to fig. 1 to 6.

The utility model provides an underwater charging device, includes energy memory, controller 2, linking arm and storage device 1, and storage device 1's top is provided with the clamping part that is used for pressing from both sides tight robot, and the linking arm is installed on energy memory or controller 2, installs the head 7 that charges on the linking arm, and the head 7 that charges links to each other with energy memory through the cable, and controller 2 links to each other with linking arm and energy memory simultaneously. This underwater charging device's linking arm drives the first 7 motion that charges, in order to adjust the position of the first 7 that charges, make the first 7 that charges and the butt joint of the robot on the storage device, thereby realized charging to the robot, clamping part can press from both sides the robot tightly on storage device 1, make the robot position fixed, guarantee to charge stably, and the sea cucumber of keeping in the robot can enter into storage device 1 and store, both solved the robot because the not enough problem of continuation of the journey that exists of energy storage, the problem of the unable too much sea cucumber of storage of robot has been solved again, the operating time of robot under water has been prolonged greatly, conveniently realize the fishing of the sea cucumber of large tracts of land.

The present invention is further described with reference to specific embodiments, however, it will be understood by those skilled in the art that the detailed description given herein with respect to the drawings is for better explanation and that the present invention is necessarily to be construed as limited to those embodiments, and equivalents or common means thereof will not be described in detail but will fall within the scope of the present application.

Specifically, the method comprises the following steps: as shown in FIGS. 1-2: in this embodiment, the energy storage device is the battery 3, and the controller 2 sets up the upside at battery 3, and the top of battery 3 is provided with link 8, and link 8 sets up between battery 3 and controller 2, and battery 3 and controller 2 all with link 8 fixed connection. The controller 2 may be a single chip or a PLC controller. Storage device 1 sets up the downside at link 8 to with link 8 fixed connection, the linking arm sets up the upside at battery 3, and the linking arm links to each other with the bottom of controller 2, the tip of linking arm is provided with charging head 7.

The storage devices 1 are arranged around the storage battery 3 at intervals, in the embodiment, the storage devices 1 are evenly distributed around the storage battery 3 at intervals, and the connecting arms correspond to the storage devices 1 one by one.

The top of storage device 1 is provided with vertical reference column 9, is provided with positioning hole on link 8, and corresponding positioning hole is passed and upwards stretches out in the upper end of reference column 9 to realized the location to storage device 1, thereby made things convenient for the robot to press from both sides when pressing from both sides tightly on storage device 1 with the butt joint of head 7 that charges. Charging induction coil is arranged in the charging head 7, and the robot can be charged wirelessly.

The linking arm includes drive arrangement and link mechanism, link mechanism includes swinging arms 5 and flexible rod 6, the upper end of swinging arms 5 articulates in the bottom of controller 2, swinging arms 5 is for following the downward slope form gradually of the direction of keeping away from battery 3, flexible rod 6 sets up the one end of keeping away from battery 3 at swinging arms 5, the one end and the 5 fixed connection of swinging arms of flexible rod 6, the head 7 that charges is installed to the other end, in this embodiment, drive arrangement is steering wheel 4, steering wheel 4 installs the downside at controller 2, steering wheel 4 links to each other with swinging arms 5's hinged end, and drive swinging arms 5 swings in vertical face. Each swing arm 5 all is connected with two steering wheel 4 to guarantee that swing arm 5's power is sufficient, guarantee that swing arm 5's swing is more steady, made things convenient for butt joint between head 7 and the robot that charges.

As shown in FIGS. 3-4: storage device 1 is including collecting frame 25, platform 10 and clamping device, and platform 10 level sets up, and platform 10 both sides all are provided with vertical riser 11, and riser 11 sets up the upside at platform 10, the downside and the platform 10 fixed connection of riser 11. The inner sides of the vertical plates 11 are respectively provided with a clamping device, so that the two clamping devices are symmetrically arranged at the two sides of the platform 10. The platform 10 is provided with a docking device 15 in the middle, and the docking device 15 is arranged between the two clamping devices. Collect frame 25 and be the cylindric of lower extreme confined, collect the bottom of frame 25 and be middle part downward protruding hemisphere, collect the top and the platform 10 fixed connection of frame 25, and platform 10 seals the top of collecting frame 25, and the collection frame 25 dustcoat is equipped with dustcoat 24 to protect collection frame 25.

Each clamping device comprises a clamping plate 13, a pressing plate 14, a clamping plate push rod 16 and a pressing plate push rod 17, the inner sides of the vertical plates 11 are detachably provided with mounting plates 12, and the mounting plates 12 and the vertical plates 11 on the corresponding sides are arranged at intervals. The vertical setting of splint 13 is in the inboard of mounting panel 12, and splint push rod 16 level sets up between splint 13 and the mounting panel 12 that corresponds the side, and splint push rod 16 is installed on mounting panel 12, and splint push rod 16 links to each other with splint 13 to promote its direction reciprocating motion to the middle part that is close to or keeps away from platform 10, and splint push rod 16 is provided with a plurality of along the length direction of splint 13 side by side and the interval. The clamp plate 14 is arranged on the upper side of the clamp plate 13, the clamp plate 14 is arranged on one side, far away from the corresponding mounting plate 12, of the clamp plate 13, the side portion of the clamp plate 14 is connected with the top portion of the clamp plate 13 on the corresponding side in a swinging mode, in the embodiment, the clamp plate 14 is connected with the clamp plate 13 on the corresponding side through a hinge, the clamp plate push rod 17 is arranged between the clamp plate 14 and the mounting plate 12 on the corresponding side, the clamp plate push rod 17 is arranged on the upper side of the clamp plate 14, the clamp plate push rod 17 is installed on the mounting plate 12, the clamp plate push rod 17 is connected with the clamp plate 14 on the corresponding side through a compression connecting rod 18, one end of the clamp plate connecting rod 18 is hinged to the clamp plate push rod 17, and the other end of the clamp plate is hinged to the clamp plate 14.

As shown in FIGS. 5 to 6: the docking device comprises a docking plate 19, a closing plate 20 and a pushing device, a mounting portion for mounting the docking plate 19 is arranged on the platform 10, the docking plate 19 is mounted in the mounting portion, a vertical docking interface 1901 is arranged on the docking plate 19, and the docking interface 1901 is arranged in the middle of the platform 10. A closing plate 20 is provided at a lower side of the docking plate 19, and a pushing means is connected to the closing plate 20 and pushes it to move horizontally to close or open the docking port 1901. The pushing device has two symmetrically arranged sides of the closing plate 20.

Each pushing device comprises a sealing motor 23, a rack 21 and a gear 22, the rack 21 is installed on the side of the sealing plate 20, the sealing motor 23 is installed on the butt-joint plate 19, the gear 22 is installed on the output shaft of the sealing motor 23, and the gear 22 is meshed with the rack 21 on the corresponding side, so that the sealing motor 23 is used for driving the sealing plate 20 to move, and the sealing or opening of the butt-joint port 1901 is realized.

When the robot energy is not enough, the linking arm drives the first 7 swings of charging and docks with the robot, and battery 3 is activated and realizes charging to the robot this moment, improves the duration of fishing for the robot, reduces the influence of sea cucumber weight to robot work, has realized that the nothing of sea cucumber is grabbed, is fished on a large scale, and work efficiency improves greatly.

When the temporary storage basket of the robot is full, the robot is controlled by the human operator to fall on the platform 10, at the moment, the sensor inside the robot is connected with the controller 2 in a signal mode, the robot is controlled to be in butt joint with the butt joint interface 1901, the robot releases sea cucumbers, and the sea cucumbers enter the collection frame 25.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical substance of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims

1. An underwater charging device, characterized in that: the robot clamping device comprises an energy storage device, a controller (2), a connecting arm and a storage device (1), wherein a clamping portion used for clamping a robot is arranged at the top of the storage device (1), the connecting arm is installed on the energy storage device or the controller (2), a charging head (7) is installed on the connecting arm, the charging head (7) is connected with the energy storage device through a cable, and the controller (2) is connected with the connecting arm and the energy storage device simultaneously.

2. The underwater charging device of claim 1, wherein: the storage device (1) is provided with a plurality of connecting arms around the energy storage device, and the connecting arms are in one-to-one correspondence with the storage device (1).

3. The underwater charging device according to claim 1 or 2, characterized in that: storage device (1) including collecting frame (25), platform (10) and clamping device, the open setting in top of collecting frame (25), platform (10) are installed and will be collected the top of frame (25) and seal, be provided with interfacing apparatus (15) that are used for with the butt joint of robot on platform (10), clamping device sets up the upside at platform (10).

4. The underwater charging device of claim 3, wherein: the clamping devices are arranged on two sides of the platform (10), and the butt joint device (15) is arranged between the two clamping devices.

5. The underwater charging device of claim 4, wherein: clamping device include splint (13), clamp plate (14), splint push rod (16) and clamp plate push rod (17), splint (13) perpendicular to platform (10) set up, splint push rod (16) link to each other with splint (13), and promote its direction reciprocating motion to the middle part that is close to or keeps away from platform (10), clamp plate (14) link to each other with the top of splint (13), clamp plate push rod (17) link to each other with clamp plate (14), and promote its direction swing to being close to or keeping away from splint (13).

6. The underwater charging device of claim 3, wherein: the butt joint device (15) comprises a closing plate (20) and a pushing device, a butt joint port (1901) is arranged on the platform (10), the butt joint port (1901) penetrates through the platform (10) to be arranged, the closing plate (20) is arranged on the lower side of the platform (10), and the pushing device is connected with the closing plate (20) and pushes the closing plate to close or open the butt joint port (1901).

7. The underwater charging device according to claim 1 or 2, characterized in that: the connecting arm comprises a connecting rod mechanism and a driving device, one end of the connecting rod mechanism is installed on the energy storage device or the controller (2), the other end of the connecting rod mechanism is provided with a charging head (7), and the driving device is connected with the connecting rod mechanism.

8. The underwater charging device of claim 7, wherein: link mechanism include swinging arms (5) and flexible rod (6), swingable the installing on energy memory or controller (2) of swinging arms (5), swinging arms (5) are along keeping away from energy memory's orientation downward slope form gradually, the tip fixed connection of the one end of flexible rod (6) and swinging arms (5), head (7) charge is installed to the other end, flexible rod (6) set up the one end of keeping away from energy memory in swinging arms (5), flexible rod (6) are along keeping away from energy memory's orientation ascending slope form gradually, drive arrangement links to each other with swinging arms (5), and promote its swing in vertical plane.