CN217148276U - Power hoist device and underwater operation robot - Google Patents

Abstract

The utility model relates to an underwater operation equips the field, specifically indicates a power hoist device and underwater operation robot, a power hoist device, including power platform, the fixed propeller that is equipped with in interval on the power platform, the last hoist and mount coupling assembling that is equipped with of power platform, hoist and mount coupling assembling include connecting rod motor, first spliced pole, second spliced pole, well connecting rod, first connecting rod, second connecting rod and bayonet lock, an underwater operation robot, which comprises a frame, be equipped with control system, underwater operation mechanism and drive moving mechanism in the frame, the frame top is equipped with above-mentioned power hoist device, the interval of each side of the frame left and right sides is equipped with frame card pinhole, power platform is through bayonet lock, frame card pinhole and frame limit connection, is equipped with the collection case in the frame, is equipped with on the collection case and trades case fixture, trades case fixture and includes mount, lift jar, Connecting plate, guide arm, clamping jaw actuating mechanism and clamping jaw, the utility model discloses hoist and mount convenience, the vasculum is removable, the operating efficiency is high.

Description

Power hoist device and underwater operation robot

Technical Field

The utility model relates to an underwater operation equips the field, specifically indicates a power hoist device and underwater operation robot.

Background

The deep sea seabed contains rich metal mineral resources, which are widely concerned at present and comprise multi-metal nodules, cobalt-rich crusts, multi-metal sulfides, deep sea rare earth soft mud and the like, the mining of the deep sea seabed metal mineral resources is the technical field which is widely concerned at present, the commercial mining of the deep sea seabed metal mineral resources faces great technical challenges because the seabed metal mineral resources are usually distributed in the deep sea of 2000 plus 6000 meters, and through retrieval, the Chinese patent CN215057351U discloses a deep sea seabed multi-metal boundary river mineral mining device which comprises a mother ship, an ore concentration station, an ore lifting system and a mining device; the method is characterized in that: the mother ship is positioned on the sea surface, the ore concentration station and the mining device are positioned on the seabed, and the mother ship is connected with the ore concentration station, the ore lifting system and the mining device through umbilical cables, so that power supply and communication of the ore concentration station, the ore lifting system and the mining device are realized; the ore concentration station is connected with the mining device through a communication power supply cable; the mining device is used for collecting ores along the sea bottom and then dumping the ores into an ore concentration station, the ore concentration station is provided with a container for containing the ores, and the ores in the container can be lifted to a mother ship on the sea surface through an ore lifting system; the mining device comprises a frame, a power propulsion device, an environment measuring device, an ore loading bin body, a collecting manipulator and a control device; the frame is a frame structure, and a buoyancy component is fixed on the frame structure; the rack is hinged with the tail end of the ore loading bin body, the bottom of the front end of the ore loading bin body is hinged with one end of an electric push rod, and the other end of the electric push rod is hinged with the rack; the tail end of the ore loading bin body is provided with a discharge port, the upper end of the bin door is hinged at the discharge port, and the bottom of the bin door is provided with a counterweight body; the power propulsion device, the environment measuring device and the collecting manipulator are arranged on the frame and are respectively and electrically connected with the control device, and the control device is electrically connected with the ore concentration station; the power propulsion device comprises a plurality of propellers I and a plurality of propellers II; the propeller II and the propeller I are arranged on the buoyancy assembly, and the propeller II is vertically arranged and used for realizing the vertical heave movement of the mining device; the propeller I is horizontally arranged; the both sides of frame all install one at least and gather the manipulator, gather the manipulator and be used for collecting many metal tuberculosis ore to the ore loading storehouse internal, the not enough of above-mentioned patent: firstly, the mining device in the patent is hoisted to the seabed through a cable to mine, the mined ore needs to be hoisted back, the mother ship needs to follow a robot to move, the operation is very inconvenient, the cable is easy to wind, secondly, the ore loading bin body in the patent is hinged on a rack, the capacity of the ore loading bin body is limited, the ore needs to be transported to an ore concentration station after being collected every time, the ore in the ore concentration station is collected in a container for containing the ore, the ore is collected secondarily, time and labor are wasted, and the underwater operation intensity is increased; thirdly, when the ore loading storehouse body is emptyd at every turn, probably can't topple over totally because of silt adhesion scheduling problem, lead to the volume of the ore loading storehouse body littleer and littleer, and mining device incessantly reciprocates in mining ground and ore concentration station, and actual mining efficiency is low, and the mining cost increases.

Disclosure of Invention

The utility model aims at solving the prior art not enough, provide a novel structure, hoist and mount convenience, removable, the operating efficiency height of collection box, intensity low, with low costs power hoist device and underwater operation robot.

In order to achieve the above object, the utility model adopts the following technical scheme:

a power hoist device which characterized in that: including power platform, the fixed propeller that is equipped with in interval on the power platform, the last hoist and mount coupling assembling that is equipped with of power platform, hoist and mount coupling assembling upper end is connected with power platform, and the power platform below is arranged in to the lower extreme forms the hoist and mount link to do benefit to and hoist robot or collection box through hoist and mount coupling assembling.

The hoisting connection assembly of the utility model comprises a connecting rod motor, a first connecting column, a second connecting column, a middle connecting rod, a first connecting rod, a second connecting rod and a bayonet lock, wherein the left side and the right side of the upper end of the power platform are respectively provided with the connecting rod motor, the first connecting column is arranged at the interval of the front side of the connecting rod motor, the second connecting column is arranged at the interval of the rear side of the connecting rod motor, the connecting rod motor is fixed on the power platform, the middle connecting rod is arranged on the output shaft of the connecting rod motor and is fixedly connected with the output shaft of the connecting rod motor, one end of the middle connecting rod is provided with the first connecting rod, the other end of the middle connecting rod is provided with the second connecting rod, one end of the first connecting rod is hinged with the middle connecting rod, the other end of the first connecting rod is hinged with the first connecting column, one end of the second connecting rod is hinged with the middle connecting rod, the first connecting column and the second connecting column are respectively movably connected with the power platform, the lower end of the first connecting column passes through the bayonet lock, the lower end of the second connecting column penetrates through the power platform to be provided with a bayonet lock, so that the bayonet lock can be conveniently butted with a collection box or a robot.

Power platform left and right sides each side interval is equipped with the spread groove, be equipped with the connecting hole in the middle of the spread groove, first spliced pole or second spliced pole activity are arranged in the spread groove, first spliced pole lower extreme is equipped with the head rod, head rod upper end and first spliced pole lower extreme fixed connection, lower extreme pass the connecting hole and arrange power platform below and bayonet lock fixed connection in, second connecting rod upper end and second spliced pole lower extreme fixed connection, the lower extreme passes the connecting hole and arranges power platform below and bayonet lock fixed connection in to do benefit to through spacing first spliced pole of spread groove or second spliced pole, make things convenient for first spliced pole and second spliced pole to drive the bayonet lock rotatory.

Well connecting rod left and right sides is equipped with left mounting panel and right mounting panel respectively, left side mounting panel and right mounting panel set up with well connecting rod interval respectively, be equipped with the shaft hole on left side mounting panel and the right mounting panel respectively, the output shaft of connecting rod motor is through bearing and left mounting panel and right mounting panel fixed connection to do benefit to through connecting rod, first connecting rod and second connecting rod in left mounting panel and right mounting panel are spacing, rock about preventing connecting rod, first connecting rod and the second connecting rod.

Power platform upper end is connected with control platform on water through the connecting cable, the last fixed monitoring facilities that is equipped with of power platform to do benefit to operating personnel control power platform.

Monitoring facilities includes sonar, camera and light, sonar, camera and light are fixed respectively on power platform to do benefit to and scan through the sonar and look for robot or collection box, the camera is shot environment under water, the light illumination.

Last fixed battery and the deconcentrator of being equipped with of power platform, the battery is connected with the deconcentrator through the cable, and the deconcentrator is connected with propeller, monitoring facilities respectively through the cable to do benefit to and be the propeller, the monitoring facilities power supply through the battery.

The utility model provides an underwater operation robot, includes the frame, be equipped with control system, underwater operation mechanism and drive moving mechanism in the frame, its characterized in that: the frame top is equipped with the aforesaid power hoist device, every side interval of the frame left and right sides is equipped with frame card pinhole, power platform's bayonet lock passes behind the frame card pinhole, and connecting rod motor drive bayonet lock is rotatory, and bayonet lock and frame card pinhole are spacing fixed, with power platform and the spacing connection of frame to do benefit to through power platform hoist and mount frame, and then hoist the robot.

Be equipped with the vasculum in the frame, the vasculum upper end is equipped with trades a case fixture to do benefit to the convenient vasculum of changing.

The box-changing clamping mechanism of the utility model comprises a fixing frame, a lifting cylinder, a connecting plate, a guide rod, a clamping jaw driving mechanism and a clamping jaw, wherein the fixing frame is fixedly connected with a frame, the left side and the right side of the fixing frame are respectively provided with the lifting cylinder, the two sides below the fixing frame are respectively provided with the connecting plate, the lifting cylinder is fixedly connected with the fixing frame, the lower end of the lifting cylinder is hinged with the connecting plate so as to be beneficial to driving the connecting plate to lift through the lifting cylinder, the front side and the rear side of the lifting cylinder are respectively provided with the guide rod, the fixing frame is provided with a guide rod hole, the upper end of the guide rod passes through the guide rod hole and is arranged above the fixing frame, the lower end of the guide rod is fixedly connected with the connecting plate so as to be beneficial to lifting and guiding the connecting plate through the guide rod, the connecting plate is provided with the clamping jaw driving mechanism and the clamping jaw, the upper end of the clamping jaw is connected with the clamping jaw driving mechanism and can be opened or closed under the driving mechanism, the collecting box is arranged below the connecting plate, the left side and the right side of the collecting box are respectively provided with connecting through holes at intervals, the collecting box is connected with the fixing frame through the clamping jaws and the connecting through holes, the lifting cylinder is connected with the control system to be beneficial to driving the clamping jaws to open through the clamping jaw driving mechanism, the lifting cylinder drives the connecting plate to descend to be close to the collecting box, the clamping jaw driving mechanism drives the clamping jaws to be inserted into the connecting through holes, then the lifting cylinder drives the connecting plate to ascend, and the collecting box is lifted.

Clamping jaw actuating mechanism is including swing jar and connecting rod, the swing jar is fixed on the connecting plate, both ends are the fixed connecting rod that is equipped with respectively around the swing jar, the interval is equipped with the clamping jaw around the swing jar, the output shaft fixed connection of connecting rod one end and swing jar, the other end and the clamping jaw fixed connection of swing jar one side to do benefit to swing jar drive connecting rod rotatory, make the clamping jaw outwards rotate to open or the clamping jaw inwards rotate to insert and connect the downthehole centre gripping vasculum.

Be equipped with gravity sensor between lift cylinder and the mount, be equipped with the pole hole in the middle of the gravity sensor, gravity sensor lower extreme and mount fixed connection, the cylinder fixed connection of gravity sensor upper end and lift cylinder, the lifter of lift cylinder passes pole hole, mount and connecting plate articulated to when doing benefit to the clamping jaw and snatching robot or collection box, the clamping jaw atress, the connecting plate is also atress, and then makes the telescoping cylinder atress, and the telescoping cylinder atress pushes down gravity sensor, and gravity sensor senses the signal.

Clamping jaw cross-section is C shape, clamping jaw one end and connecting rod fixed connection, the clamping jaw other end extend to clamping jaw one end and form the stopper, the stopper sets up with the clamping jaw other end is perpendicular to when doing benefit to the use, come spacing clamping jaw and vasculum through the stopper, make the centre gripping more stable.

Gather the case left and right sides each side interval and be equipped with the card pinhole to do benefit to power platform and pass through the propeller and remove the gather case top, the card pinhole on the alignment gather case, the whereabouts, then connecting rod rotation in the connecting rod motor drive, well connecting rod drives first connecting rod and second connecting rod rotation, and first spliced pole and second spliced pole drive the bayonet lock rotatory, and the bayonet lock catches on the card pinhole, and power platform rises and realizes the hoist and mount to the gather case.

The underwater operation mechanism of the utility model comprises an operation frame, a twisting suction head, an operation driving cylinder, a twisting suction motor, a connecting pipe, a suction shell, a power impeller and a suction motor, wherein the front end of the frame is provided with the operation frame, the upper end of the operation frame is hinged with the frame, the lower end of the operation frame is at least provided with the twisting suction head, the two sides of the operation frame are respectively provided with the operation driving cylinder, one end of the operation driving cylinder is hinged with the operation frame, the other end of the operation driving cylinder is hinged with the frame, the twisting suction head is driven by the twisting suction motor, the connecting pipe is arranged on the twisting suction head, the twisting suction motor is driven by a control system, the twisting suction motor is fixed on the operation frame, the connecting pipe is fixedly connected with the operation frame, one end of the connecting pipe faces the twisting suction head, the other end of the suction shell is fixedly connected with the collection box, the suction shell is fixedly connected with the frame, and the lower end surface of the suction shell is provided with a first suction port and a second suction port at an interval from the front to the back, the suction shell is provided with a first suction space and a second suction space, one end of the first suction space is communicated with the connecting pipe, the other end of the first suction space is communicated with the first suction port, the second suction space is communicated with the second suction port, the rear end of the second suction space is open, at least one power impeller is arranged in the second suction space, the power impeller is fixed on an output shaft of a suction motor, the suction motor is fixedly connected with the suction shell, the suction motor is controlled by a control system, the upper end surface of the collection box is provided with a first connecting port and a second connecting port at intervals from front to back, a collection space is arranged in the collection box, the collection space is communicated with the first connecting port and the second connecting port, when the collection box is connected with the fixing frame through the clamping jaw and the connecting perforation, the first suction port and the first connecting port are in relative extrusion sealing connection, and the second suction port and the second connecting port are in relative extrusion sealing connection, when the mining operation is facilitated, the cutter suction motor drives the cutter suction head to rotate, the suction motor drives the power impeller to rotate, negative pressure is generated, sundries such as silt and ore which are stirred by the cutter suction head through the connecting pipe enter the collecting space through the first suction space, the first suction port and the first connecting port, and water or light sundries pass through the second connecting port and the second suction port and are discharged through the second suction space.

Be equipped with the filter screen in the collection box, first connector and second connector are located the filter screen both sides, filter screen periphery and collection box inner wall fixed connection to in being favorable to stopping big ore through the filter screen and staying the collection box, rivers pass the filter screen, through second connector, second suction mouth, second suction space discharge.

Be equipped with the cloud platform on the operation frame, cloud platform and operation frame fixed connection, be equipped with observation equipment on the cloud platform, observation equipment and cloud platform fixed connection, observation equipment is controlled by control system to do benefit to and observe the condition under water through observation equipment, make things convenient for the hank suction head operation.

Observation equipment is including surveing sonar, observation camera and observation light, surveing sonar, observing camera and observing the light and fixing respectively on the cloud platform, surveing sonar, observing camera and observing the light and being connected with control system respectively to do benefit to and scan, observe the camera shooting, observe the light illumination through observing the sonar to the condition under water, improve hank suction head work efficiency.

The frame top is equipped with the body, body and frame fixed connection to it is more convenient to do benefit to make the robot remove under water through the body.

Body left and right sides each side interval is equipped with body card pinhole to do benefit to through power platform hoist and mount body.

Frame lower extreme is equipped with box righting mechanism, box righting mechanism is including righting the frame and righting the wheel, frame lower extreme both sides are inside to be equipped with respectively and right the frame, right frame and frame fixed connection, right frame front end and outwards extend forward and arrange frame the place ahead in and form and right the positive end, right frame rear end outwards extend backward and arrange frame rear in and form and right the positive end after, right the frame and go up in the past to the back interval and be equipped with righting the wheel, right wheel movable mounting on righting the frame to when doing benefit to and changing the vasculum, right the wheel and can make things convenient for the vasculum to get into the mount below or leave the robot.

Drive moving mechanism is crawler travel mechanism, frame lower extreme both sides outside is equipped with crawler travel mechanism respectively, crawler travel mechanism is connected with the frame, and crawler travel mechanism is controlled by control system to do benefit to the walking that realizes the robot through crawler travel mechanism.

Frame camera and frame light are installed to the interval in the frame, frame camera and frame light are connected with control system respectively to do benefit to the position of convenient monitoring collection box and frame.

By adopting the above structure, the utility model, have novel structure, hoist and mount convenience, the collection box is removable, operating efficiency is high, intensity is low, advantage such as with low costs.

Drawings

Fig. 1 is the structure schematic diagram of the middle power hoisting device of the utility model.

Fig. 2 is an enlarged view of a portion a in fig. 1 according to the present invention.

Fig. 3 is a schematic structural diagram of the underwater operation robot of the present invention.

Figure 4 is a side view of the present invention from figure 3.

Fig. 5 is a schematic view of the state of the underwater operation robot of the utility model with the collection box put down.

Fig. 6 is a schematic view of the state of the underwater work robot of the present invention ready to receive a new collection box.

Fig. 7 is a schematic view of the floating body and the frame separated in the underwater robot of the present invention.

Fig. 8 is an enlarged schematic view of the middle box-changing clamping mechanism and the collection box of the present invention.

Fig. 9 is an enlarged schematic view of the box-changing clamping mechanism of the present invention.

Fig. 10 is a front view of the box-changing clamping mechanism of the present invention.

Fig. 11 is an enlarged schematic view of the suction housing of the present invention.

Fig. 12 is an enlarged schematic view of a collection box according to the present invention.

Figure 13 is a schematic view of the flow direction of the liquid in the suction housing and collection box of the present invention.

Fig. 14 is a schematic diagram of the matching connection between the medium power hoisting device and the collection box of the present invention.

Reference numerals: the device comprises a fixed frame 1, a box changing clamping mechanism 2, a collection box 3, a lifting cylinder 4, a connecting plate 5, a guide rod 6, a connecting rod 7, a swinging cylinder 8, a clamping jaw 9, a limiting block 10, a frame 11, an underwater operation mechanism 12, a driving moving mechanism 13, a connecting perforation 14, a power hoisting device 15, a power platform 16, a hoisting connecting assembly 17, a propeller 18, a connecting rod motor 19, a first connecting column 20, a second connecting column 21, a middle connecting rod 22, a first connecting rod 23, a second connecting rod 24, a clamping pin 25, a clamping pin hole 26, a first connecting rod 27, a second connecting rod 28, a left mounting plate 29, a right mounting plate 30, an operation frame 31, a twisting suction head 32, an operation driving cylinder 33, a twisting suction motor 34, a connecting pipe 35, a suction shell 36, a suction motor 37, a first suction port 38, a second suction port 39, a first connecting port 40, a second connecting port 41, a collection space 42, a filter screen 43 and a tripod head 44, the device comprises a floating body 45, a box body righting mechanism 46, a righting frame 47, a righting wheel 48, a battery 49, a deconcentrator 50, a floating body clamping pin hole 51 and a gravity sensor 52.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.

A power hoist device which characterized in that: including power platform 16, power platform 16 is gone up the fixed propeller 18 that is equipped with in interval, power platform 16 is last to be equipped with hoist and mount coupling assembling 17, hoist and mount coupling assembling 17 upper end is connected with power platform 16, and 16 below formation hoist and mount link of power platform are arranged in to the lower extreme to do benefit to and hoist robot or collection box through hoist and mount coupling assembling.

The hoisting connection assembly 17 of the utility model comprises a connecting rod motor 19, a first connecting column 20, a second connecting column 21, a middle connecting rod 22, a first connecting rod 23, a second connecting rod 24 and a bayonet 25, the left and right sides of the upper end of the power platform 16 are respectively provided with the connecting rod motor 19, the front side of the connecting rod motor 19 is provided with the first connecting column 20 at intervals, the rear side of the connecting rod motor 19 is provided with the second connecting column 21 at intervals, the connecting rod motor 19 is fixed on the power platform 16, the output shaft of the connecting rod motor 19 is provided with the middle connecting rod 22, the middle connecting rod 22 is fixedly connected with the output shaft of the connecting rod motor 19, one end of the middle connecting rod 22 is provided with the first connecting rod 23, the other end is provided with the second connecting rod 24, one end of the first connecting rod 23 is hinged with the middle connecting rod 22, the other end is hinged with the first connecting column 20, one end of the second connecting rod 24 is hinged with the middle connecting rod 22, and the other end is hinged with the second connecting column 21, the first connecting column 20 and the second connecting column 21 are respectively movably connected with the power platform 16, the lower end of the first connecting column 20 penetrates through the power platform 16 to be provided with a bayonet 25, and the lower end of the second connecting column 21 penetrates through the power platform 16 to be provided with the bayonet 25, so that the bayonet is favorably butted with a collection box or a robot.

Every side interval in the 16 left and right sides of power platform is equipped with the spread groove, be equipped with the connecting hole in the middle of the spread groove, the spread groove is arranged in first spliced pole 20 or the activity of second spliced pole 21, first spliced pole 20 lower extreme is equipped with head rod 27, head rod 27 upper end and 20 lower extreme fixed connection of first spliced pole, the lower extreme passes the connecting hole and arranges 16 below of power platform and bayonet lock 25 fixed connection in, and 28 upper ends of second connecting rod and 21 lower extreme fixed connection of second spliced pole, the lower extreme passes the connecting hole and arranges 16 below of power platform and bayonet lock 25 fixed connection in to do benefit to through spacing first spliced pole of spread groove or second spliced pole, make things convenient for first spliced pole and second spliced pole to drive the bayonet lock rotatory.

Well connecting rod 22 left and right sides is equipped with left mounting panel 29 and right mounting panel 30 respectively, left side mounting panel 29 and right mounting panel 30 set up with well connecting rod 22 interval respectively, be equipped with the shaft hole on left side mounting panel 29 and the right mounting panel 30 respectively, connecting rod motor 19's output shaft is through bearing and left mounting panel 29 and right mounting panel 30 fixed connection to do benefit to through left mounting panel and the spacing connecting rod in of right mounting panel, first connecting rod and second connecting rod, rock about connecting rod, first connecting rod and the second connecting rod in preventing.

16 upper ends of power platform are connected with control platform on water through the connecting cable, power platform 16 is last to be fixed to be equipped with monitoring facilities to do benefit to operating personnel control power platform.

Monitoring facilities includes sonar, camera and light, sonar, camera and light are fixed respectively on power platform 16 to do benefit to and scan through the sonar and look for robot or vasculum, the camera is shot environment under water, light illumination.

Fixed battery 49 and deconcentrator 50 of being equipped with on power platform 16, battery 49 warp cable is connected with deconcentrator 50, and 50 warp cables of deconcentrator are connected with propeller 18, monitoring facilities respectively to do benefit to and supply power for propeller, monitoring facilities through the battery.

The utility model provides an underwater operation robot, includes frame 11, be equipped with control system, underwater operation mechanism 12 and drive moving mechanism 13 on the frame 11, its characterized in that: frame 11 top is equipped with the aforesaid power hoist device 15, frame 11 left and right sides each side interval is equipped with frame card pinhole, power platform 16's bayonet 25 passes behind the frame card pinhole, and connecting rod motor 19 drive bayonet 25 is rotatory, and bayonet 25 is spacing fixed with frame card pinhole, with power platform 16 and 11 spacing connections of frame to do benefit to through power platform hoist and mount frame, and then lift the robot.

Be equipped with vasculum 3 in frame 1, vasculum 3 upper end is equipped with trades a case fixture 2 to do benefit to the convenient vasculum of changing.

The box-changing clamping mechanism 2 of the utility model comprises a fixed frame 1, a lifting cylinder 4, a connecting plate 5, a guide rod 6, a clamping jaw driving mechanism and a clamping jaw 9, wherein the fixed frame 1 is fixedly connected with a frame 11, the left side and the right side of the fixed frame 1 are respectively provided with the lifting cylinder 4, the two sides below the fixed frame 1 are respectively provided with the connecting plate 5, the lifting cylinder 4 is fixedly connected with the fixed frame 1, the lower end of the lifting cylinder 4 is hinged with the connecting plate 5 so as to be beneficial to driving the connecting plate to lift through the lifting cylinder, the front side and the back side of the lifting cylinder 4 are respectively provided with the guide rod 6, the fixed frame 1 is provided with a guide rod hole, the upper end of the guide rod 6 passes through the guide rod hole and is arranged above the fixed frame 1, the lower end of the guide rod 6 is fixedly connected with the connecting plate 5 so as to be beneficial to lifting and guiding the connecting plate through the guide rod, the clamping jaw driving mechanism and the clamping jaw 9 are arranged on the connecting plate 5, the clamping jaw 9 is connected with the clamping jaw driving mechanism, can open or be closed through the drive of clamping jaw actuating mechanism, collection case 3 is located connecting plate 5 below, collection case 3 left side and right side are equipped with the connection perforation 14 respectively at the interval, collection case 3 is connected with mount 1 through clamping jaw 9, connection perforation 14, lift jar 4 is connected with control system to do benefit to and open through clamping jaw actuating mechanism drive clamping jaw, lift jar drive connecting plate descends, is close to the collection case, and clamping jaw actuating mechanism drive clamping jaw inserts and connects in the perforation, then lift jar drive connecting plate rises, lifts up the collection case can.

Clamping jaw actuating mechanism is including swing jar 8 and connecting rod 7, swing jar 8 is fixed on connecting plate 5, both ends are fixed respectively around swing jar 8 and are equipped with connecting rod 7, the interval is equipped with clamping jaw 9 around the swing jar 8, the output shaft fixed connection of 7 one ends of connecting rod and swing jar 8, the other end and the clamping jaw 9 fixed connection of swing jar 8 one side to do benefit to swing jar drive connecting rod rotatory, make the clamping jaw outwards rotate open or the clamping jaw inwards rotate insert the connection wearing hole and grasp the vasculum.

Be equipped with gravity sensor 52 between lift cylinder 4 and the mount 1, be equipped with the pole hole in the middle of the gravity sensor 52, gravity sensor 52 lower extreme and 1 fixed connection of mount, gravity sensor 52 upper end and lift cylinder 4's cylinder fixed connection, lift cylinder 4's lifter passes pole hole, mount 1 and connecting plate 5 and articulates to when doing benefit to the clamping jaw and snatching robot or collection box, the clamping jaw atress, the connecting plate is also atress, and then makes the telescoping cylinder atress, and the telescoping cylinder atress pushes down gravity sensor, and gravity sensor senses the signal.

Clamping jaw 9 cross-section is C shape, 9 one ends of clamping jaw and 7 fixed connection of connecting rod, the 9 other ends of clamping jaw extend to the 9 one ends of clamping jaw and form stopper 10, stopper 10 sets up perpendicularly with the 9 other ends of clamping jaw to when doing benefit to the use, come spacing clamping jaw and vasculum through the stopper, make the centre gripping more stable.

Every one side interval in the 3 left and right sides of vasculum is equipped with card pinhole 26 to do benefit to power platform and pass through the propeller and remove the vasculum top, the card pinhole on the alignment vasculum, the whereabouts, then connecting rod rotation in the connecting rod motor drive, well connecting rod drive first connecting rod and second connecting rod rotation, first spliced pole and second spliced pole drive the bayonet lock rotation, the bayonet lock catches on the card pinhole, the ascending realization of power platform is to the hoist and mount of vasculum.

The underwater working mechanism 12 of the utility model comprises a working frame 31, a twisting suction head 32, a working driving cylinder 33, a twisting suction motor 34, a connecting pipe 35, a suction shell 36, a power impeller and a suction motor 37, wherein the front end of the frame 11 is provided with the working frame 31, the upper end of the working frame 31 is hinged with the frame 11, the lower end of the working frame 31 is provided with at least one twisting suction head 32, the two sides of the working frame 31 are respectively provided with the working driving cylinder 33, one end of the working driving cylinder 33 is hinged with the working frame 31, the other end is hinged with the frame 11, the twisting suction head 32 is driven by the twisting suction motor 34, the twisting suction motor 34 is provided with the connecting pipe 35, the twisting suction motor 34 is driven by a control system, the twisting suction motor 34 is fixed on the working frame 31, the connecting pipe 35 is fixedly connected with the working frame 31, one end of the connecting pipe 35 is hinged with the twisting suction head 32, the other end of the connecting pipe is fixedly connected with the suction shell 36, the suction shell 36 is arranged at the upper end of the collection box 3, the suction housing 36 is fixedly connected with the frame 11, a first suction port 38 and a second suction port 39 are arranged on the lower end surface of the suction housing 36 at intervals from front to back, a first suction space and a second suction space are arranged on the suction housing 36, one end of the first suction space is communicated with the connecting pipe 35, the other end of the first suction space is communicated with the first suction port 38, the second suction space is communicated with the second suction port 39, the rear end of the second suction space is open, at least one power impeller is arranged in the second suction space, the power impeller is fixed on an output shaft of a suction motor 37, the suction motor 37 is fixedly connected with the suction housing 36, the suction motor 37 is controlled by a control system, a first connecting port 40 and a second connecting port 41 are arranged on the upper end surface of the collection box 3 at intervals from front to back, a collection space 42 is arranged in the collection box 3, and the collection space 42 is communicated with the first connecting port 40 and the second connecting port 41, when the collection box 3 is connected with the fixed frame 1 through the clamping jaw 9 and the connecting perforation 14, the first suction port 38 and the first connecting port 40 are in relative extrusion sealing connection, and the second suction port 39 and the second connecting port 41 are in relative extrusion sealing connection, so that in the process of mining operation, the twisting suction motor drives the twisting suction head to rotate, the suction motor drives the power impeller to rotate to generate negative pressure, impurities such as silt, ore and the like which are stirred by the twisting suction head through the connecting pipe enter the collection space through the first suction space, the first suction port and the first connecting port, and water or light impurities pass through the second connecting port and the second suction port are discharged through the second suction space.

Be equipped with filter screen 43 in collection box 3, first connector 40 and second connector 41 are located filter screen 43 both sides, filter screen 43 periphery and 3 inner wall fixed connection of collection box to in being favorable to stopping the collection box with big ore through the filter screen, rivers pass the filter screen, discharge through second connector, second suction mouth, second suction space.

Be equipped with cloud platform 44 on the operation frame 31, cloud platform 44 and operation frame 31 fixed connection, be equipped with observation equipment on the cloud platform 44, observation equipment and cloud platform 44 fixed connection, observation equipment is controlled by control system to do benefit to and observe the condition under water through observation equipment, convenient hank suction head operation.

Observation equipment is including surveing sonar, observation camera and observation light, surveing sonar, observing camera and observing the light and fixing respectively on cloud platform 44, surveing sonar, observing camera and observing the light and being connected with control system respectively to do benefit to and scan, observe the camera shooting through observing sonar to the condition under water, observe the light illumination, improve hank suction head work efficiency.

Frame 11 top is equipped with body 45, body 45 and frame 11 fixed connection to it is more convenient to do benefit to make the robot remove under water through the body.

Body 45 each side interval in the left and right sides is equipped with body card pinhole 51 to do benefit to through power platform hoist and mount body.

Frame 11 lower extreme is equipped with box righting mechanism 46, box righting mechanism 46 is including righting frame 47 and righting wheel 48, frame 11 lower extreme both sides are inside to be equipped with respectively and right frame 47, righting frame 47 and frame 11 fixed connection, righting frame 47 front end outwards extend forward and arrange frame 11 the place ahead and form and right the positive end before righting, righting frame 47 rear end outwards extends backward and arranges frame 11 rear and form and right the end after righting, righting frame 47 is last to be equipped with righting wheel 48 to the back interval in the past, righting wheel 48 movable mounting is on righting frame 47 to when doing benefit to the change vasculum, righting the wheel can make things convenient for the vasculum to get into the mount below or leave the robot.

Drive moving mechanism 13 is crawler travel mechanism, the outside crawler travel mechanism that is equipped with respectively of frame 11 lower extreme both sides, crawler travel mechanism is connected with frame 11, and crawler travel mechanism is controlled by control system to do benefit to the walking that realizes the robot through crawler travel mechanism.

Frame camera and frame light are installed to the interval in the frame 11, frame camera and frame light are connected with control system respectively to do benefit to the position of convenient monitoring collection box and frame.

Do as attached figure 1 and figure 2 the utility model discloses well power hoist device's schematic structure diagram, the last mountable body of power platform, the weight of body set up according to the demand can, power platform passes through propeller adjustment gesture, and figure 3-figure 13 are the utility model discloses under water operation robot's schematic structure diagram, the walking of crawler walking mechanism is adopted to the under water operation robot, can install the body in the frame of under water operation robot, also can not install the body, select as required to set up can, the utility model discloses well hoist and mount have three kinds: when the frame is not provided with a floating body, the power hoisting device can be matched with a clamping pin hole of the frame on the frame to hoist the frame so as to hoist the robot; the second is that when a floating body is arranged on the frame, the power hoisting device can be matched with a floating body clamping pin hole on the floating body to hoist the floating body so as to hoist the robot; the third type is to hoist the collection box, the collection box is provided with a clamping pin hole, and the power hoisting device is matched with the clamping pin hole on the collection box to hoist the collection box.

The utility model can also change boxes, in particular, as shown in figure 6, an underwater operation robot finds a collection box through a pan-tilt observation device, then a control system drives a track walking mechanism to move behind the collection box, the control system drives an operation driving cylinder to enable an operation frame to drive a twisting suction head to lift up, then the control system drives the track walking mechanism to walk to enable the collection box to enter below a fixing frame of the underwater operation robot under the action of a straightening wheel, the control system can check the position of the collection box at any time through a frame camera and a frame illuminating lamp, when the collection box is in place, the control system drives a swinging cylinder to enable a clamping jaw to open outwards, then the control system drives a lifting cylinder to enable a connecting plate to descend to be close to the collection box, the control system drives the swinging cylinder after the position is proper, the clamping jaw rotates inwards, the clamping jaw passes through a connecting perforation, and the control system drives the lifting cylinder, the lifting cylinder drives the clamping jaw to ascend, the limiting block on the clamping jaw is blocked at the other side of the connecting perforation, so that the clamping jaw well clamps the collection box, the collection box ascends along with the lifting cylinder, the first connecting port on the collection box is connected with the first suction port on the suction shell in a squeezing and sealing manner, the second connecting port on the collection box is connected with the second suction port on the suction shell in a squeezing and sealing manner, the control system drives the operation driving cylinder, the twisting head is put down to a proper operation position and drives the crawler traveling mechanism to travel, the control system drives the twisting motor and the suction motor, the twisting head starts to operate, the suction motor drives the power impeller to rotate, so that negative pressure is generated at the twisting head, collected ore, silt, seawater and other sundries enter the collection box through the connecting pipe, as shown in figure 13, a filter screen is arranged in the collection box, so that some large ore and sundries are blocked by the filter screen and stay in the collection box, water and small impurities which can pass through the filter screen enter the second suction space through the second connecting port and the second suction port and flow out from the rear end of the power impeller; when a collection box is full or a gravity sensor senses that the pressure of a lifting cylinder on the collection box reaches a preset value of the gravity sensor, the gravity sensor transmits signals to a control system, the control system closes a twisting and sucking motor and a suction motor, the control system drives the lifting cylinder to fall down, so that the collection box falls to the bottom of water, then the control system drives a swing cylinder to open a clamping jaw, the control system drives the lifting cylinder to drive the clamping jaw to rise, the control system drives a crawler traveling mechanism, and as shown in the figure 5, an underwater operation robot puts down the collection box full of materials and then loads the collection box into a new empty collection box according to the steps for collection operation; when hoisting is needed, as shown in fig. 14, taking hoisting of the collecting box as an example, the power platform finds the collecting box through monitoring equipment, a plurality of sonars, cameras and illuminating lamps can be arranged and are respectively arranged at the upper end, the side face and the lower end of the power platform, a plurality of propellers are arranged on the power platform, the propellers are horizontally arranged and also vertically arranged, the propellers are started, the power platform can freely rotate underwater, the power platform moves to the upper part of the collecting box through the propellers, the bayonet pins are aligned with the bayonet holes on the collecting box, then the power platform moves downwards under the action of the propellers, the bayonet pins are inserted into the bayonet holes, then the control system drives the connecting rod motors at two sides of the power platform, the connecting rod drives the first connecting rod and the second connecting rod to rotate so as to drive the lower ends of the first connecting column and the second connecting column to rotate, and then the control system drives the propellers, the power platform ascends, the upper end of the clamping pin abuts against the clamping pin hole to be limited and fixed, and the power platform drives the collection box to ascend, so that the collection box is hoisted; when the floating body is arranged on the machine frame, the power platform hoists the floating body, and the bayonet lock is matched with the bayonet lock hole of the floating body in the above way; when the floating body is not arranged on the rack, the power platform hoists the rack, and the bayonet lock is matched with the bayonet lock hole of the rack in the above way; the selection is carried out according to the requirement.

By adopting the above structure, the utility model, have novel structure, hoist and mount convenience, the collection box is removable, operating efficiency is high, intensity is low, advantage such as with low costs.

Claims (14)

1. A power hoist device which characterized in that: including power platform (16), fixed propeller (18) that are equipped with in interval on power platform (16), be equipped with hoist and mount coupling assembling (17) on power platform (16), hoist and mount coupling assembling (17) upper end is connected with power platform (16), and power platform (16) below formation hoist and mount link is arranged in to the lower extreme.

2. A powered lifting device according to claim 1 characterised in that: the hoisting connection assembly (17) comprises a connecting rod motor (19), a first connecting column (20), a second connecting column (21), a middle connecting rod (22), a first connecting rod (23), a second connecting rod (24) and clamping pins (25), the left side and the right side of the upper end of the power platform (16) are respectively provided with the connecting rod motor (19), the front side of the connecting rod motor (19) is provided with the first connecting column (20) at intervals, the rear side of the connecting rod motor (19) is provided with the second connecting column (21) at intervals, the connecting rod motor (19) is fixed on the power platform (16), the output shaft of the connecting rod motor (19) is provided with the middle connecting rod (22), the middle connecting rod (22) is fixedly connected with the output shaft of the connecting rod motor (19), one end of the middle connecting rod (22) is provided with the first connecting rod (23), the other end of the middle connecting rod (23) is provided with the second connecting rod (24), one end of the first connecting rod (23) is hinged with the middle connecting rod (22), the other end is articulated with first spliced pole (20), second connecting rod (24) one end is articulated with well connecting rod (22), and the other end is articulated with second spliced pole (21), first spliced pole (20) and second spliced pole (21) respectively with power platform (16) swing joint, first spliced pole (20) lower extreme passes power platform (16) and is equipped with bayonet lock (25), second spliced pole (21) lower extreme passes power platform (16) and is equipped with bayonet lock (25).

3. A powered lifting device according to claim 2 characterised in that: the power platform (16) left and right sides is equipped with the spread groove at every side interval, be equipped with the connecting hole in the middle of the spread groove, first spliced pole (20) or second spliced pole (21) activity are arranged in the spread groove, first spliced pole (20) lower extreme is equipped with head rod (27), head rod (27) upper end and first spliced pole (20) lower extreme fixed connection, the lower extreme passes the connecting hole and arranges power platform (16) below and bayonet lock (25) fixed connection in, second connecting rod (28) upper end and second spliced pole (21) lower extreme fixed connection, and the lower extreme passes the connecting hole and arranges power platform (16) below and bayonet lock (25) fixed connection in.

4. A powered lifting device according to claim 2 or 3 characterised in that: well connecting rod (22) left and right sides is equipped with left mounting panel (29) and right mounting panel (30) respectively, left side mounting panel (29) and right mounting panel (30) set up with well connecting rod (22) interval respectively, be equipped with the shaft hole on left side mounting panel (29) and right mounting panel (30) respectively, the output shaft of connecting rod motor (19) is through bearing and left mounting panel (29) and right mounting panel (30) fixed connection.

5. A powered lifting device according to claim 2 or 3 characterised in that: the device is characterized in that the upper end of the power platform (16) is connected with the water control platform through a connecting cable, and monitoring equipment is fixedly arranged on the power platform (16).

6. A powered lifting device according to claim 1, 2 or 3, characterised in that: a floating body is fixedly arranged on the power platform (16).

7. The utility model provides an underwater operation robot, includes frame (11), be equipped with control system, underwater operation mechanism (12) and drive moving mechanism (13) on frame (11), its characterized in that: the power hoisting device (15) of claim 2 or 3 is arranged above the rack (11), rack clamping pin holes are formed in each side of the left side and the right side of the rack (11) at intervals, after the clamping pins (25) of the power platform (16) penetrate through the rack clamping pin holes, the connecting rod motor (19) drives the clamping pins (25) to rotate, the clamping pins (25) are fixed with the rack clamping pin holes in a limiting mode, and the power platform (16) is connected with the rack (11) in a limiting mode.

8. An underwater operation robot as claimed in claim 7, wherein: a collection box (3) is arranged in the rack 1, and a box changing clamping mechanism (2) is arranged at the upper end of the collection box (3).

9. An underwater operation robot as claimed in claim 8, wherein: the box changing clamping mechanism (2) comprises a fixing frame (1), a lifting cylinder (4), a connecting plate (5), guide rods (6), a clamping jaw driving mechanism and clamping jaws (9), the fixing frame (1) is fixedly connected with a rack (11), the lifting cylinder (4) is arranged on the left side and the right side of the fixing frame (1) respectively, the connecting plate (5) is arranged on two sides of the lower portion of the fixing frame (1) respectively, the lifting cylinder (4) is fixedly connected with the fixing frame (1), the lower end of the lifting cylinder (4) is hinged to the connecting plate (5), the guide rods (6) are arranged on the front side and the rear side of the lifting cylinder (4) respectively, guide rod holes are formed in the fixing frame (1), the upper end of each guide rod (6) penetrates through the guide rod holes to be arranged above the fixing frame (1), the lower end of each guide rod (6) is fixedly connected with the connecting plate (5), the clamping jaw driving mechanism and the clamping jaws (9) are arranged on the connecting plate (5), the collecting box is characterized in that the upper end of the clamping jaw (9) is connected with a clamping jaw driving mechanism and can be opened or closed through the driving of the clamping jaw driving mechanism, the collecting box (3) is located below the connecting plate (5), the left side and the right side of the collecting box (3) are respectively provided with connecting through holes (14) at intervals, the collecting box (3) is connected with the fixing frame (1) through the clamping jaw (9) and the connecting through holes (14), and the lifting cylinder (4) is connected with a control system.

10. A robot for underwater operation according to claim 9, characterized in that: clamping jaw actuating mechanism is including swing jar (8) and connecting rod (7), swing jar (8) are fixed on connecting plate (5), both ends are fixed respectively around swing jar (8) connecting rod (7), swing jar (8) front and back interval is equipped with clamping jaw (9), connecting rod (7) one end and the output shaft fixed connection of swing jar (8), the other end and clamping jaw (9) fixed connection of swing jar (8) one side.

11. A robot for underwater operation according to claim 9 or 10, characterized in that: be equipped with gravity sensor (52) between lift jar (4) and mount (1), be equipped with the pole hole in the middle of gravity sensor (52), gravity sensor (52) lower extreme and mount (1) fixed connection, gravity sensor (52) upper end and the cylinder fixed connection of lift jar (4), the lifter of lift jar (4) passes pole hole, mount (1) and is articulated with connecting plate (5).

12. A robot as claimed in claim 8, 9 or 10, characterized in that: the collecting box (3) is provided with clamping pin holes (26) at each side of the left side and the right side at intervals.

13. An underwater operation robot as claimed in claim 7, wherein: the underwater operation mechanism (12) comprises an operation frame (31), a twisting suction head (32), operation driving cylinders (33), a twisting suction motor (34), a connecting pipe (35), a suction shell (36), a power impeller and a suction motor (37), wherein the operation frame (31) is arranged at the front end of the rack (11), the upper end of the operation frame (31) is hinged with the rack (11), at least one twisting suction head (32) is arranged at the lower end of the operation frame (31), the operation driving cylinders (33) are respectively arranged on two sides of the operation frame (31), one end of each operation driving cylinder (33) is hinged with the operation frame (31), the other end of each operation driving cylinder (33) is hinged with the rack (11), the twisting suction head (32) is driven by the twisting suction motor (34), the connecting pipe (35) is arranged on each twisting suction head (32), the twisting suction motor (34) is driven by a control system, the twisting suction motor (34) is fixed on the operation frame (31), the connecting pipe (35) is fixedly connected with the operation frame (31), one end of the connecting pipe (35) faces the twisting suction head (32), the other end of the connecting pipe is fixedly connected with the suction shell (36), the suction shell (36) is arranged at the upper end of the collection box (3), the suction shell (36) is fixedly connected with the frame (11), a first suction port (38) and a second suction port (39) are arranged on the lower end face of the suction shell (36) at intervals from front to back, a first suction space and a second suction space are arranged on the suction shell (36), one end of the first suction space is communicated with the connecting pipe (35), the other end of the first suction space is communicated with the first suction port (38), the second suction space is communicated with the second suction port (39), the rear end of the second suction space is open, at least one power impeller is arranged in the second suction space, and the power impeller is fixed on an output shaft of a suction motor (37), the suction motor (37) is fixedly connected with the suction shell (36), the suction motor (37) is controlled by a control system, a first connecting port (40) and a second connecting port (41) are arranged on the upper end face of the collection box (3) from front to back at intervals, a collection space (42) is arranged in the collection box (3), the collection space (42) is communicated with the first connecting port (40) and the second connecting port (41), when the collection box (3) is connected with the fixing frame (1) through the clamping jaw (9) and the connecting perforation (14), the first suction port (38) is in relative extrusion sealing connection with the first connecting port (40), and the second suction port (39) is in relative extrusion sealing connection with the second connecting port (41).

14. A robot for underwater operation according to claim 8, 9, 10 or 13, characterized in that: frame (11) lower extreme is equipped with box righting mechanism (46), box righting mechanism (46) are including righting frame (47) and righting wheel (48), frame (11) lower extreme both sides are inside to be equipped with respectively and right frame (47), righting frame (47) and frame (11) fixed connection, righting frame (47) front end is outwards extended forward and is arranged in frame (11) the place ahead and form preceding righting end, and righting frame (47) rear end outwards extends backward and is arranged in frame (11) rear and form back righting end, righting frame (47) are gone up in the past to the back interval and are equipped with righting wheel (48), righting wheel (48) movable mounting is on righting frame (47).

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