NL2030312B1 - Multi-propeller multi-leg sea cucumber collection device - Google Patents

Multi-propeller multi-leg sea cucumber collection device Download PDF

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Publication number
NL2030312B1
NL2030312B1 NL2030312A NL2030312A NL2030312B1 NL 2030312 B1 NL2030312 B1 NL 2030312B1 NL 2030312 A NL2030312 A NL 2030312A NL 2030312 A NL2030312 A NL 2030312A NL 2030312 B1 NL2030312 B1 NL 2030312B1
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Netherlands
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arm
pair
pivot
linear actuator
frame
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NL2030312A
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Dutch (nl)
Inventor
Guan Zhiguang
Wang Baoping
Sun Qin
Zhang Lin
Zhao Lingyan
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Univ Shandong Jiaotong
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Priority to NL2030312A priority Critical patent/NL2030312B1/en
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Publication of NL2030312B1 publication Critical patent/NL2030312B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K80/00—Harvesting oysters, mussels, sponges or the like

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Manipulator (AREA)

Abstract

Provided is a multi-propeller multi-leg sea cucumber collection device. The multi-propeller multi-leg sea cucumber collection device can realize the walking on 5 seafloor complex terrains through cooperative movement of six walking kinematic chains.

Description

MULTI-PROPELLER MULTI-LEG SEA CUCUMBER COLLECTION
DEVICE
TECHNICAL FIELD
[01] The present disclosure relates to the field of underwater robots, in particular to a multi-propeller multi-leg sea cucumber collection device.
BACKGROUND ART
[02] In order to reduce the risk of diving operators, underwater robots have become an important tool for ocean development. However, an existing underwater robot is single in function, has an inflexible robot arm, and is difficult to walk and operate on seafloor complex terrains. Especially, in the field of sea cucumber collection, there is still a lack of a robot that is flexible underwater, walks freely in the complicated undersea environment, and has a flexible robot arm to meet the needs of sea cucumber collection.
SUMMARY
[03] The present disclosure is directed to provide a multi-propeller multi-leg sea cucumber collection device, which realizes the functions of flexible underwater movement, free walking in the complicated undersea terrain environment, flexible robotic arm and scratch prevention, which meet the operational requirements of undersea sea cucumber collection.
[04] The present disclosure achieves the objective above through the following technical solution:
[05] A multi-propeller multi-leg sea cucumber collection device includes a frame, propellers, a gripping device, and a walking device, where the frame is of a rectangular frame structure, the frame is provided with a buoy for increasing buoyancy; and a first propeller, a second propeller, a third propeller, and a fourth propeller are respectively installed on the four corners of the upper end of the frame, and each propeller is driven to rotate by a controllable motor.
[06] The gripping device includes a rotating table, a compressible rod, a first linear driver, a support arm, a second linear driver, and a gripper device, the rotating table is installed at the front end of the frame through a first rotating pair, the compressible rod 1s a rod whose length is stretchable under pressure changes, the compressible rod comprises a sleeve, a telescopic arm, and a first spring, the sleeve is installed on a turntable through a second rotating pair, the first spring is installed inside the sleeve, the telescopic arm is connected to the sleeve through a first moving pair, one end of the first spring is fixed to the sleeve, the other end is connected to the telescopic arm, and the telescopic arm is elastically connected to the sleeve through the first spring; under the action of external force, the telescopic arm can elastically stretch relative to the sleeve to prevent the structure of the telescopic rod from being damaged due to overload or impact when the multi-propeller multi-leg sea cucumber collection device operates undersea; one end of the first linear driver is connected to the rotating table through a seventeenth rotating pair, the other end is connected to the sleeve through a third rotating pair, and under the telescopic action of the first linear driver, the sleeve swings relative to the rotating table; and the support arm is installed on the telescopic arm through a fourth rotating pair, one end of the second linear driver is connected to the telescopic arm through a fifth rotating pair, and the other end is connected to the support arm through a sixth rotating pair.
[07] The gripper device is fixedly installed at the end of the support arm, and the gripper device includes a third linear driver, a movable rod, and four gripper kinematic chains with the same structure for gripping sea cucumbers; the third linear driver is installed inside the support arm, the cylinder end of the third linear driver is fixed to the support arm, the piston rod end of the third linear driver is connected to the movable rod through a second moving pair, and a second spring for elastic connection of the movable rod to the piston rod end of the third linear driver is arranged inside the movable rod; by connection through the second spring, the movable rod is elastically connected to the piston rod end of the third linear driver, and under the drive of the third linear driver, the movable rod is controllably and elastically moved.
[08] The gripper kinematic chain includes a gripper and a connecting rod, the gripper is fixed to the support arm through a seventh rotating pair, one end of the connecting rod is connected to the movable rod through an eighth rotating pair, the other end is connected to the gripper through a ninth rotating pair, when the movable rod moves under the push of the third linear driver, through the transmission of the connecting rod, the gripper swings relative to the support arm, and the four gripper kinematic chains swing at the same time to realize the opening and closing of the gripper, thereby realizing the clamping of sea cucumbers and other objects; and after the gripper device clamps the object, under the action of the second spring, the movable rod and the third linear driver are elastically connected, which can effectively prevent the object from being damaged due to excessive clamping force. The gripper device can realize three-degree-of-freedom controllable movement under the cooperative movement of the first linear driver, the second linear driver, and the rotating table, thereby realizing three-degree-of-freedom picking operation of the gripper device.
[09] The walking device is installed under the frame, the walking device includes six walking kinematic chains in total, each of two sides of the frame are provided with three walking kinematic chains, the walking kinematic chain includes a rotating shaft, abig arm, a small arm, a fourth linear driver, and a fifth linear driver, the rotating shaft is installed on the frame through a tenth rotating pair, the big arm is installed on the rotating shaft through an eleventh rotating pair, the small arm is installed on the big arm through a twelfth rotating pair, the end of the small arm is provided with a ball head for damping and preventing falling into the mud, the ball head is of a spherical structure made of a plastic material, one end of the fourth linear driver is mounted on the rotating shaft through a thirteenth rotating pair, the other end is connected to the small arm through a fourteenth rotating pair, one end of the fifth linear driver is connected to the rotating shaft through a fifteenth rotating pair, and the other end is connected to the big arm through a sixteenth rotating pair; and the small arm can swing up and down under the coupling drive of the fourth linear driver and the fifth linear driver, and can realize three-degree-of-freedom coupling movement under well-timed coordination of the rotating shaft, and the multi-propeller multi-leg sea cucumber collection device can realize the walking on seafloor complex terrains through the cooperative movement of six walking kinematic chains.
[10] The first rotating pair and the tenth rotating pair are both active pairs and driven to rotate by a controllable motor, and the first linear driver, the second linear driver, the third linear driver, the fourth linear driver, and the fifth linear driver are all servo electric cylinders.
[11] In the operation process, the multi-propeller multi-leg sea cucumber collection device is first put into the sea water, under the drive of the propeller, the multi-propeller multi-leg sea cucumber collection device submerges below the sea surface, and when reaching the designated area, it lands on the seafloor, and then walks on the complex seafloor ground with the walking device. When finding the sea cucumber and other targets through vision and other sensors, the gripping device starts to operate to grab the targets. Finally, under the drive of the propeller, the multi-propeller multi-leg sea cucumber collection device returns to the sea surface.
[12] The present disclosure has the following distinctive advantages:
[13] 1. This multi-propeller multi-leg sea cucumber collection device realizes flexible underwater movement through the propellers installed on the four corners of the upper end of the frame, which improves the underwater movement flexibility of the multi-propeller multi-leg sea cucumber collection device.
[14] 2. According to this multi-propeller multi-leg sea cucumber collection device, with the gripping device, the three-degree-of-freedom picking operation of the gripper device can be realized. In addition, because the telescopic arm and the gripper device are both of elastic structures, the telescopic arm can be prevented from rigid damage due to external applied load. At the same time, it can effectively avoid the damage to the sea cucumber and other precious targets caused by the excessive force of the gripper device. Therefore, the reliability and operation quality of the multi-propeller multi-leg sea cucumber collection device are effectively improved.
[15] 3. According to this multi-propeller multi-leg sea cucumber collection device, the walking device of can realize three-degree-of-freedom coupling movement under the coupling movement under well-timed coordination of the rotating shaft, and can 5 realize the walking on seafloor complex terrains through the cooperative movement of six walking kinematic chains.
[16] 4. This multi-propeller multi-leg sea cucumber collection device realizes the functions of flexible underwater movement, free walking in the complicated undersea terrain environment, flexible robotic arm and scratch prevention, which can better meet the operational requirements of underwater sea cucumber collection.
BRIEF DESCRIPTION OF THE DRAWINGS
[17] FIG. 1 is a three-dimensional schematic diagram of a multi-propeller multi-leg sea cucumber collection device according to the present disclosure.
[18] FIG. 2 1s a top view of the multi-propeller multi-leg sea cucumber collection device according to the present disclosure.
[19] FIG. 3 is one of schematic diagrams of a gripping device of the multi-propeller multi-leg sea cucumber collection device according to the present disclosure.
[20] FIG. 4 is a partial schematic diagram of the gripping device of the multi-propeller multi-leg sea cucumber collection device according to the present disclosure.
[21] FIG. 5 is a schematic diagram of a gripper device of the multi-propeller multi-leg sea cucumber collection device according to the present disclosure.
[22] FIG. 6 is a partial schematic diagram of the gripper device of the multi-propeller multi-leg sea cucumber collection device according to the present disclosure.
[23] FIG. 7 is a three-dimensional schematic diagram of the gripper device of the multi-propeller multi-leg sea cucumber collection device according to the present disclosure.
[24] FIG. 8 is a schematic diagram of a walking device of the multi-propeller multi-leg sea cucumber collection device according to the present disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[25] The technical field of the present disclosure will be further described below with the drawings and embodiments.
[26] Refer to FIGS. 1, 2, 3, and 8, a multi-propeller multi-leg sea cucumber collection device includes a frame 1, propellers, a gripping device, and a walking device. The frame 1 is of a rectangular frame structure. The frame 1 is provided with a buoy 2 for increasing buoyancy. A first propeller 6, a second propeller 3, a third propeller 4, and a fourth propeller 5 are respectively installed on the four corners of the upper end of the frame 1, and each propeller is driven to rotate by a controllable motor.
[27] Referto FIGS. 1, 3, 4, 5, 6, and 7, the gripping device includes a rotating table 14, a compressible rod, a first linear driver 28, a support arm 38, a second linear driver 40, and a gripper device. The rotating table 14 is installed at the front end of the frame 1 through a first rotating pair 15. The compressible rod is a rod whose length stretchable under pressure changes. The compressible rod includes a sleeve 26, a telescopic arm 27, and a first spring 36. The sleeve 26 is installed on a turntable 14 through a second rotating pair 31. The first spring 36 is installed inside the sleeve 26.
The telescopic arm 27 is connected to the sleeve 26 through a first moving pair 32.
One end of the first spring 36 is fixed to the sleeve 26, and the other end is connected to the telescopic arm 27. The telescopic arm 27 is elastically connected to the sleeve 26 through the first spring 36. Under the action of external force, the telescopic arm 27 can elastically stretch relative to the sleeve 26 to prevent the structure of the telescopic rod from being damaged due to overload or impact when the multi-propeller multi-leg sea cucumber collection device operates undersea. One end of the first linear driver 28 is connected to the rotating table 14 through a seventeenth rotating pair 29, and the other end is connected to the sleeve 26 through a third rotating pair 30. Under the telescopic action of the first linear driver 28, the sleeve 26 swings relative to the rotating table 14. The support arm 38 is installed on the telescopic arm 27 through a fourth rotating pair 42. One end of the second linear driver 40 is connected to the telescopic arm 27 through a fifth rotating pair 39, and the other end is connected to the support arm 38 through a sixth rotating pair 41.
[28] Referto FIGS. 1, 3,4, 5, 6, and 7, the gripper device is fixedly installed at the end of the support arm 38. The gripper device includes a third linear driver 48, a movable rod 49, and four gripper kinematic chains with the same structure for gripping sea cucumbers. The third linear driver 48 is installed inside the support arm 38. The cylinder end of the third linear driver 48 is fixed to the support arm 38. The piston rod end of the third linear driver 48 is connected to the movable rod 49 through a second moving pair 51. A second spring 50 for elastic connection of the movable rod 49 to the piston rod end of the third linear driver 48 is arranged inside the movable rod 49. By connection through the second spring 50, the movable rod 49 is elastically connected to the piston rod end of the third linear driver 48, and under the drive of the third linear dnver 48, the movable rod 49 is controllably and elastically moved.
[29] Refer to FIGS. 1, 3, 4, 5, 6, and 7, the gripper kinematic chain includes a gripper 43 and a connecting rod 46. The gripper 43 is fixed to the support arm 38 through a seventh rotating pair 44. One end of the connecting rod 46 is connected to the movable rod 49 through an eighth rotating pair 47, and the other end is connected to the gripper 43 through a ninth rotating pair 45. When the movable rod 49 moves under the push of the third linear driver 48, through the transmission of the connecting rod 46, the gripper 43 swings relative to the support arm 38, and the four gripper kinematic chains swing at the same time to realize the opening and closing of the gripper, thereby realizing the clamping of sea cucumbers and other objects. After the gripper device clamps the object, under the action of the second spring 50, the movable rod 49 and the third linear driver 48 are elastically connected, which can effectively prevent the object from being damaged due to excessive clamping force. The gripper device can realize three-degree-of-freedom controllable movement under the cooperative movement of the first linear driver 28, the second linear driver 40, and the rotating table 14, thereby realizing three-degree-of-freedom picking operation of the gripper device.
[30] Refer to FIGS. 1, 2, and 8, the walking device is installed under the frame 1.
The walking device includes six walking kinematic chains in total. Each of two sides of the frame 1 are provided with three walking kinematic chains. The walking kinematic chain includes a rotating shaft 16, a big arm 22, a small arm 21, a fourth linear driver 19, and a fifth linear driver 34. The rotating shaft 16 is installed on the frame 1 through a tenth rotating pair 17. The big arm 22 is installed on the rotating shaft 16 through an eleventh rotating pair 23. The small arm 21 is installed on the big arm 22 through a twelfth rotating pair 24. The end of the small arm 21 is provided with a ball head 25 for damping and preventing falling into the mud. The ball head 25 is of a spherical structure made of a plastic material. One end of the fourth linear driver 19 is mounted on the rotating shaft 16 through a thirteenth rotating pair 18, and the other end is connected to the small arm 21 through a fourteenth rotating pair 20. One end of the fifth linear driver 34 is connected to the rotating shaft 16 through a fifteenth rotating pair 33, and the other end is connected to the big arm 22 through a sixteenth rotating pair 35. The small arm 21 can swing up and down under the coupling drive of the fourth linear driver 19 and the fifth linear driver 34, and can realize the three-degree-of-freedom coupling movement under well-timed coordination of the rotating shaft 16. The multi-propeller multi-leg sea cucumber collection device can realize the walking on seafloor complex terrains through cooperative movement of six walking kinematic chains.
[31] Refer to FIGS. 1, 2, 6, and 8, the first rotating pair 15 and the tenth rotating pair 17 are both active pairs and driven to rotate by a controllable motor. The first linear driver 28, the second linear driver 40, the third linear driver 48, the fourth linear driver 19, and the fifth linear driver 34 are all servo electric cylinders.
[32] Refer to FIGS. 1, 2, and 8, in the operation process, the multi-propeller multi-leg sea cucumber collection device is first put into the sea water, under the drive of the propeller, the multi-propeller multi-leg sea cucumber collection device submerges below the sea surface, and when reaching the designated area, it lands on the sea floor, and then walks on the complex seafloor with the walking device.
When finding the sea cucumber and other targets through vision and other sensors, the gripping device starts to operate to grab the targets.
Finally, under the drive of the propeller, the multi-propeller multi-leg sea cucumber collection device returns to the sea surface.

Claims (1)

ConclusiesConclusions 1. Zeekomkommerverzamelingsinrichting met meerdere schroeven en meerdere benen, dat een frame, schroeven, een grijpinrichting en een loopinrichting omvat, waarbij het frame een rechthoekige framestructuur heeft, het frame voorzien is van een boei voor het vergroten van drijfvermogen, waarbij respectievelijk een eerste schroef, een tweede schroef, een derde schroef en een vierde schroef geïnstalleerd zijn op de vier hoeken van het bovenste uiteinde van het frame, en waarbij elke schroef door een bestuurbare motor aangedreven wordt om te draaien; waarbij de grijpinrichting een draaibare tafel, een samendrukbare staaf, een eerste lineaire actuator, een steunarm, een tweede lineaire actuator en een grijperinrichting omvat, waarbij de draaibare tafel op het voorste uiteinde van het frame geïnstalleerd is via een eerste draaipaar, waarbij de samendrukbare staaf een staaf is waarvan de lengte rekbaar is onder drukveranderingen, waarbij de samendrukbare staaf een huls, een telescopische arm en een eerste veer omvat, waarbij de huls op een draaitafel geïnstalleerd is via een tweede draaipaar, waarbij de eerste veer binnen in de huls geïnstalleerd is, waarbij de telescopische arm met de huls verbonden is via een eerste bewegend paar, waarbij één uiteinde van de eerste veer aan de huls bevestigd 15, waarbij het andere uiteinde met de telescopische arm verbonden is, en waarbij de telescopische arm elastisch met de huls verbonden is via de eerste veer; waarbij één uiteinde van de eerste lineaire actuator met de draaibare tafel verbonden is via een zeventiende draaipaar en het andere uiteinde met de huls verbonden is via een derde draaipaar; waarbij de steunarm op de telescopische arm geïnstalleerd is via een vierde draaipaar, waarbij één uiteinde van de tweede lineaire actuator met de telescopische arm verbonden is via een vijfde draaipaar en het andere uiteinde met de steunarm verbonden is via een zesde draaipaar; waarbij de grijperinrichting vast geïnstalleerd is op één uiteinde van de steunarm, en de grijperinrichting een derde lineaire actuator, een beweeglijke staaf en vier kinematische kettingen van de grijper met dezelfde structuur voor het grijpen van zeekomkommers omvat, waarbij de derde lineaire actuator binnen in de steunarm geïnstalleerd is, waarbij het cilinderuiteinde van de derde lineaire actuator aan de steunarm bevestigd is, waarbij het zuigerstanguiteinde van de derde lineaire actuator met de beweeglijke staaf verbonden is via een tweede beweegpaar, en waarbij een tweede veer voor elastische verbinding van de beweeglijke staaf met het zuigerstanguiteinde van de derde lineaire actuator binnen in de beweeglijke staaf aangebracht is; waarbij de kinematische ketting van de grijper een grijperuiteinde en een verbindstaaf omvat, waarbij de grijper aan de steunarm bevestigd is via een zevende draaipaar, waarbij één uiteinde van de verbindstaaf met de beweeglijke staaf verbonden is via een achtste draaipaar en het andere uiteinde met de grijper verbonden is via een negende draaipaar; en waarbij de loopinrichting onder het frame geïnstalleerd is, waarbij de loopinrichting in totaal zes kinematische kettingen voor het lopen omvat, waarbij elk van twee zijden van het frame voorzien is van drie kinematische kettingen voor het lopen, waarbij de kinematische ketting voor het lopen een draai-as, een grote arm, een kleine arm, een vierde lineaire actuator en een vijfde lineaire actuator omvat, waarbij de draai- as op het frame geïnstalleerd is via een tiende draaipaar, waarbij de grote arm op de draai-as geïnstalleerd is via een elfde draaipaar, waarbij de kleine arm op de grote arm geïnstalleerd is via een twaalfde draaipaar, waarbij het uiteinde van de kleine arm voorzien is van een balhoofd voor het dempen en het voorkomen van het in de modder vallen, waarbij het balhoofd een sferische, van plasticmateriaal gemaakte structuur heeft, waarbij één uiteinde van de vierde lineaire actuator op de draai-as gemonteerd is via een dertiende draaipaar, waarbij het andere uiteinde met de kleine arm verbonden is via een veertiende draaipaar, waarbij één uiteinde van de vijfde lineaire actuator met de draai- as verbonden is via een vijftiende draaipaar en het andere uiteinde met de grote arm verbonden is via een zestiende draaipaar.1. Multi-screw multi-leg sea cucumber collecting device, which includes a frame, screws, a gripping device and a walking device, the frame having a rectangular frame structure, the frame is provided with a buoy for increasing buoyancy, respectively having a first screw, a second screw, a third screw and a fourth screw are installed at the four corners of the upper end of the frame, and each screw is driven by a controllable motor to rotate; wherein the gripping device comprises a rotatable table, a compressible rod, a first linear actuator, a support arm, a second linear actuator and a gripper device, the rotatable table being installed on the front end of the frame via a first pivot pair, the compressible rod is a rod whose length is stretchable under pressure changes, the compressible rod comprising a sleeve, a telescoping arm and a first spring, the sleeve being installed on a turntable via a second pivot pair, the first spring being installed within the sleeve wherein the telescopic arm is connected to the sleeve via a first moving pair, one end of the first spring attached to the sleeve, the other end connected to the telescopic arm, and the telescopic arm elastically connected to the sleeve is via the first spring; wherein one end of the first linear actuator is connected to the rotary table through a seventeenth pivot pair and the other end is connected to the sleeve through a third pivot pair; wherein the support arm is installed on the telescopic arm through a fourth pivot pair, one end of the second linear actuator is connected to the telescopic arm through a fifth pivot pair and the other end is connected to the support arm through a sixth pivot pair; wherein the gripper device is fixedly installed on one end of the support arm, and the gripper device comprises a third linear actuator, a movable rod and four kinematic chains of the grab of the same structure for gripping sea cucumbers, the third linear actuator being located inside the support arm installed, with the cylinder end of the third linear actuator attached to the support arm, with the piston rod end of the third linear actuator connected to the moving rod through a second moving pair, and with a second spring for elastic connection of the moving rod to the piston rod end of the third linear actuator is disposed inside the movable rod; the gripper kinematic chain comprising a gripper end and a connecting bar, the grab being attached to the support arm via a seventh pivot pair, one end of the connecting bar connected to the movable bar via an eighth pivot pair and the other end to the gripper is connected via a ninth turn pair; and wherein the walking device is installed under the frame, the walking device comprising a total of six kinematic chains for walking, wherein each of two sides of the frame is provided with three kinematic chains for walking, the kinematic chain for walking having a turn axis, a large arm, a small arm, a fourth linear actuator and a fifth linear actuator, with the pivot axis installed on the frame via a tenth pivot pair, with the large arm installed on the pivot axis via a eleventh pivot pair, in which the small arm is installed on the large arm via a twelfth pivot pair, the end of the small arm having a ball head for damping and mud prevention, the ball head having a spherical, structure made of plastic material, with one end of the fourth linear actuator mounted on the pivot shaft through a thirteenth pivot pair, the other end connected to the small arm through a fourteenth pivot pair, with one end of the fifth linear actuator connected to the pivot axis is connected through a fifteenth pivot pair and the other end is connected to the main arm through a sixteenth pivot pair.
NL2030312A 2021-12-28 2021-12-28 Multi-propeller multi-leg sea cucumber collection device NL2030312B1 (en)

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Application Number Priority Date Filing Date Title
NL2030312A NL2030312B1 (en) 2021-12-28 2021-12-28 Multi-propeller multi-leg sea cucumber collection device

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NL2030312B1 true NL2030312B1 (en) 2023-07-03

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