NL2035270A - Underwater collection device based on flexible manipulator - Google Patents

Underwater collection device based on flexible manipulator Download PDF

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Publication number
NL2035270A
NL2035270A NL2035270A NL2035270A NL2035270A NL 2035270 A NL2035270 A NL 2035270A NL 2035270 A NL2035270 A NL 2035270A NL 2035270 A NL2035270 A NL 2035270A NL 2035270 A NL2035270 A NL 2035270A
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Netherlands
Prior art keywords
collection
flexible manipulator
elastic
underwater
collection device
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NL2035270A
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Dutch (nl)
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NL2035270B1 (en
Inventor
Li Yanjun
Zhou Weijun
Liu Yan
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Hangzhou City Univ
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Publication of NL2035270A publication Critical patent/NL2035270A/en
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Publication of NL2035270B1 publication Critical patent/NL2035270B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Robotics (AREA)
  • Cleaning In General (AREA)

Abstract

Provided is an underwater collection device based on a flexible manipulator. The structure of the collection device includes a driver, the flexible manipulator and a collection mechanism, the driver is mechanically connected to an upper end of the flexible manipulator, and the collection mechanism is mounted at a lower end of the flexible manipulator. Elastic traction is performed between articulated rods and spring rods that are connected at four bottom directions, so that elastic lifting generates between a connecting cylinder and a collection barrel, and a water pressure that a water flow flows down from an opening at an upper end of the collection barrel is quickened, elastic torsion is applied to two ends of rotating blocks through torsion shafts so that swinging sheets can swing, thereby performing inclined swinging guide on underwater products at the upper end of the collection barrel.

Description

UNDERWATER COLLECTION DEVICE BASED ON FLEXIBLE
MANIPULATOR
TECHNICAL FIELD
[0001] The present disclosure relates to the field of flexible manipulators, in particular to an underwater collection device based on a flexible manipulator.
BACKGROUND
[0002] Compared with a rigid manipulator, a flexible manipulator has the characteristics of light structure, high loading/dead weight ratio and the like, therefore the flexible manipulator has lower energy consumption, greater operation space, higher efficiency, quick and accurate response and many potential advantages. Underwater products may be fished through an underwater collection device of the flexible manipulator, but during a process that the underwater products are fished through the underwater collection device of the flexible manipulator, an interior of the collection device is easily filled with water after the flexible manipulator drives the underwater collection device to stretch into the water, the underwater products are hard to enter the interior of the collection device from an opening of an upper end of the collection device for collection, and the underwater products, entering the interior of the collection device after being collected, are hard to be separated from impurities in the water through the collection device, resulting that the underwater products and the impurities in the water are collected inside the collection device together, and the collection quantity of the collection device for the underwater products is reduced; and the underwater products need to be separated from the impurities in the water after collection, and the collection workload is increased.
SUMMARY
[0003] The technical solution adopted to implement the technical purpose of the present disclosure is an underwater collection device based on a flexible manipulator, the structure of the collection device includes a driver, the flexible manipulator and a collection mechanism, the driver is mechanically connected to an upper end of the flexible manipulator, and the collection mechanism is mounted at a lower end of the flexible manipulator; and the collection mechanism includes an elastic mechanism, a guide mechanism and a collection barrel, an upper end of the elastic mechanism is in mounting connection with the lower end of the flexible manipulator while a lower end of the elastic mechanism is fixedly mounted on an upper end face of the collection barrel, and an inner side end of the guide mechanism is embedded into the upper end of the collection barrel.
[0004] As a further improvement of the present disclosure, the elastic mechanism includes a connecting cylinder, an air cylinder, a pushing plate, articulated rods and spring rods, an upper end of the connecting cylinder is in mounting connection with the lower end of the flexible manipulator, the air cylinder is arranged inside the connecting cylinder, and an output end of the air cylinder is fixed together with a middle of an upper end of the pushing plate; the pushing plate is slidingly mounted inside a lower end of the connecting cylinder, a bottom of the pushing plate is articulated with an upper end of each articulated rod, and lower ends of the articulated rods are fixed together with upper ends of the spring rods; and lower ends of the spring rods are fixedly mounted on the upper end face of the collection barrel, and four articulated rods and four spring rods are provided and connected to four directions of the bottom of the collecting cylinder and the upper end of the collection barrel, respectively.
[0005] As a further improvement of the present disclosure, the guide mechanism includes swinging sheets, rotating blocks, torsion shafts and balls, lower ends of the swinging sheets are provided with the rotating blocks, which are articulated with the interior of the upper end of the collection barrel through the torsion shafts, the swinging sheets are located outside the upper end of the collection barrel, the balls are mounted on end faces inside the swinging sheets, four swinging sheets and four rotating blocks are provided, the swinging sheets are mounted outside the upper end of the collection barrel in an inclined angle with low inner side ends and high outer side ends, and both ends of each rotating block are provided with the torsion shafts.
[0006] As a further improvement of the present disclosure, the collection barrel includes a barrel body, a separating mechanism and a drainage mechanism, the separating mechanism is mounted at a middle end inside the barrel body, the drainage mechanism is disposed at a lower end inside the barrel body and located below the separating mechanism, the swinging sheets are located outside the upper end of the barrel body, and the upper end of the barrel body is a cavity structure with a wide top and a narrow bottom.
[0007] As a further improvement of the present disclosure, the separating mechanism includes a connecting ring, baffle plates, sliding blocks, elastic rods, a collection frame, elastic bands and permeable holes; the baffle plates are disposed outside the connecting ring, the sliding blocks are disposed at middle ends outside the baffle plates, the baffle plates fit with an inner wall of the barrel body, the elastic rods penetrate through the interiors of the sliding blocks in a manner of clearance fit, the elastic rods are fixedly mounted inside the barrel body, an upper end of the collection frame is fixed together with a bottom of the connecting ring, the elastic bands are disposed at a middle end inside the collection frame, the permeable holes penetrate through the lower end inside the collection frame, the permeable holes are located below the elastic bands, the drainage mechanism is located below the collection frame, and two baffle plates, two sliding blocks and two elastic rods are provided and respectively disposed outside the left and right outer side ends of the connecting ring,
[0008] As a further improvement of the present disclosure, the drainage mechanism includes water guide sheets, a shunt hood, a top ball and a shrink hose, the water guide sheets are disposed at the lower end inside the barrel body and located above the shunt hood, the shunt hood is mounted at the bottom inside the barrel body, the top ball is mounted inside an upper end of the shunt hood in a manner of clearance fit, a bottom of the top ball is fixed and penetrated together with an upper end of the shrink hose, spray holes are also formed in the top ball, and the spray holes penetrate through the wrinkle- shaped shrink hose.
[0009] The present disclosure has the following beneficial effects:
[0010] 1. Elastic traction is performed between the articulated rods and the spring rods that are connected at four bottom directions, so that elastic lifting generates between the connecting cylinder and the collection barrel, and the water pressure that the water flow flows down from the opening at the upper end of the collection barrel is quickened, elastic torsion is applied to the two ends of the rotating blocks through the torsion shafts so that the swinging sheets can swing, thereby performing inclined swinging guide on the underwater products at the upper end of the collection barrel, quickening the effect that the underwater products flow down from the opening at the upper end of the collection barrel, and improving the effect that underwater products are collected and enter the inside of the collection barrel.
[0011] 2. The collection frame is pressed down due to gravity, so that the sliding blocks slide elastically on the elastic rods and the underwater products inside the collection frame move up and down, at the same time the underwater products are launched through the elastic bands, the speed that the underwater products are separated from the impurities in the water is quickened, the collection amount for the underwater products in the barrel body is improved, the shrink hose at the bottom of the top ball shrinks due to extrusion, so the internal pressure is sprayed out from the spray holes inside the top ball, so as to spray the drainage process, quicken the drainage speed and avoid the impurities in the water being blocked at the drainage place at the lower end of the barrel body.
BRIEF DESCRIPTION OF THE DRAWINGS
[0012] FIG. 1 is a structural schematic diagram of an underwater collection device based on a flexible manipulator of the present disclosure.
[0013] FIG. 2 is a schematic diagram of a solid structure of a collection mechanism of the present disclosure.
[0014] FIG. 3 is a schematic diagram of a section view of an elastic mechanism of the present disclosure.
[0015] FIG. 4 is a schematic diagram of a look-down structure of a guide mechanism of the present disclosure.
[0016] FIG. S is a schematic diagram of an internal structure of a collection barrel of the present disclosure.
[0017] FIG. 6is a schematic diagram of a separating mechanism and a local look-down structure of the present disclosure.
[0018] FIG. 7 is a schematic diagram of a semi-profile solid structure of a drainage mechanism of the present disclosure.
[0019] In the drawing: driver-Q, flexible manipulator-R, collection mechanism-C, elastic mechanism-c5, guide mechanism-c8, collection barrel-c2, connecting cylinder- c51, air cylinder-c54, pushing plate-c58, articulated rod-c53, spring rod-c56, swinging sheet-c88, rotating block-c83, torsion shaft-c86, ball-c81, barrel body-c22, separating mechanism-c26, drainage mechanism-c26, connecting ring-6x, baffle plate-6z, sliding block-6h, elastic rod-6t, collection frame-6j, elastic band-6d, permeable hole-6k, water guide sheet-85, shunt hood-83, top ball-8p, shrink hose-8t.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0020] The present disclosure is further described below in combination with drawings.
[0021] Embodiment 1:
[0022] As shown in FIG. 1 to FIG. 4: 5 [0023] The present disclosure provides an underwater collection device based on a flexible manipulator, the structure of the collection device includes a driver Q, the flexible manipulator R and a collection mechanism C, the driver Q is mechanically connected to an upper end of the flexible manipulator R, and the collection mechanism
C is mounted at a lower end of the flexible manipulator R; and the collection mechanism
C includes an elastic mechanism c5, a guide mechanism ¢8 and a collection barrel c2, an upper end of the elastic mechanism ¢5 is in mounting connection with the lower end of the flexible manipulator R while a lower end of the elastic mechanism ©€5 is fixedly mounted on an upper end face of the collection barrel c2, and an inner side end of the guide mechanism c8 is embedded into the upper end of the collection barrel c2.
[0024] The elastic mechanism c5 includes connecting cylinder ¢51, an air cylinder c54, a pushing plate ¢58, articulated rods ¢53 and spring rods c56, an upper end of the connecting cylinder ¢51 is in mounting connection with the lower end of the flexible manipulator R, the air cylinder c54 is arranged inside the connecting cylinder ¢51, and an output end of the air cylinder c54 is fixed together with a middle of an upper end of the pushing plate ¢58; the pushing plate ¢58 is slidingly mounted inside a lower end of the connecting cylinder c51, a bottom of the pushing plate c58 is articulated with an upper end of each articulated rod ¢53, and lower ends of the articulated rods ¢53 are fixed together with upper ends of the spring rods c56; and lower ends of the spring rods c56 are fixedly mounted on the upper end face of the collection barrel ¢2, and four articulated rods ¢53 and four spring rods c56 are provided and connected to four directions of the bottom of the collecting cylinder c51 and the upper end of the collection barrel c2, respectively, so that elastic lifting generates between the connecting cylinder c51 and the collection barrel c2, and the water pressure that the water flow flows down from the opening at the upper end of the collection barrel c2 is quickened, and the underwater products are squeezed into the collection barrel c2.
[0025] The guide mechanism c8 includes swinging sheets c88, rotating blocks c83, torsion shafts c86 and balls c81, lower ends of the swinging sheets c88 are provided with the rotating blocks €83, which are articulated with the interior of the upper end of the collection barrel c2 through the torsion shafts c86, the swinging sheets c88 are located outside the upper end of the collection barrel c2, the balls c81 are mounted on end faces inside the swinging sheets c88, four swinging sheets c88 and four rotating blocks c83 are provided, the swinging sheets €88 are mounted outside the upper end of the collection barrel c2 in an inclined angle with low inner side ends and high outer side ends, and both ends of each rotating block ¢83 are provided with the torsion shafts c86. Elastic torsion is applied to the two ends of the rotating blocks c83 through the torsion shafts c8$6 so that the swinging sheets c83 can drive the swinging sheets c88 to swing, thereby performing inclined swinging guide on the underwater products at the upper end of the collection barrel c2, and improving the effect that the underwater products flow down from the opening at the upper end of the collection barrel c2.
[0026] Specific using mode and function of this embodiment:
[0027] In the present disclosure, the flexible manipulator R is driven by the driver Q to drive the collection mechanism C to enter underwater and to collect the underwater products, when the collection barrel c2 enters underwater to collect the underwater products, the air cylinder ¢54 inside the connecting cylinder ¢51 is started, the output end of the air cylinder c54 drives the pushing plate c58 to slide up and down at the lower end inside the connecting cylinder ¢51, and at this time elastic traction is performed between the articulated rods ¢53 and the spring rods c56 that are connected at four bottom directions, so that elastic lifting generates between the connecting cylinder ¢51 and the collection barrel c2, and the water pressure that the water flow flows down from the opening at the upper end of the collection barrel c2 is quickened, and the underwater products are squeezed into the collection barrel ¢2; meanwhile due to the extrusion of the water pressure to the swinging sheets c88, elastic torsion is applied to the two ends of the rotating blocks €83 through the torsion shafts c86 at the lower ends of the swinging sheets c88, so that the rotating blocks ¢83 drive the swinging sheets c88 to swing, thereby performing inclined swinging guide on the underwater products at the upper end of the collection barrel c2. The balls c81 on the surfaces of the swinging sheets c88 roll the underwater products, so the effect that the underwater products flow down from the opening at the upper end of the collection barrel €2 is quickened, and the effect that the underwater products are collected and enter the inside of the collection barrel c2 is improved.
[0028] Embodiment 2:
[0029] As shown in FIG. 5 to FIG. 7:
[0030] A collection barrel c2 includes a barrel body c22, a separating mechanism ¢26 and a drainage mechanism c26, the separating mechanism c26 is mounted at a middle end inside the barrel body c22, the drainage mechanism ¢26 is disposed at a lower end inside the barrel body c22 and located below the separating mechanism c26, the swinging sheets ¢88 are located outside the upper end of the barrel body ¢22, and the upper end of the barrel body c22 is a cavity structure with a wide top and a narrow bottom, and the cavity structure is conductive to draining underwater products down and avoiding backflow of the underwater products.
[0031] The separating mechanism c26 includes a connecting ring 6x, baffle plates 6z, sliding blocks 6h, elastic rods 6t, a collection frame 6}, elastic bands 6d and permeable holes 6k; the baffle plates 6z are disposed outside the connecting ring 6x, the sliding blocks 6h are disposed at middle ends outside the baffle plates 6z, the baffle plates 6z fit with an inner wall of the barrel body c22, the elastic rods 6t penetrate through the interiors of the sliding blocks 6h in a manner of clearance fit, the elastic rods 6t are fixedly mounted inside the barrel body ¢22, an upper end of the collection frame 6j is fixed together with a bottom of the connecting ring 6x, the elastic bands 6d are disposed at a middle end inside the collection frame 6}, the permeable holes 6k penetrate through the lower end inside the collection frame 6}, the permeable holes 6k are located below the elastic bands 6d, the drainage mechanism c26 is located below the collection frame 6}, and two baffle plates 6z, two sliding blocks 6h and two elastic rods 6t are provided and respectively disposed outside the left and right outer side ends of the connecting ring 6x, which is conductive to applying elastic force to the two ends of the connecting ring 6x, so that the connecting ring 6x drives the collection frame 6j for stable and elastic lifting sliding, thereby improving the elasticity between the underwater product and the water and quickening the separating effect that the underwater products are separated from the impurities in the water.
[0032] The drainage mechanism c26 includes water guide sheets 85, a shunt hood 83, a top ball 8p and a shrink hose 8t, the water guide sheets 85 are disposed at the lower end inside the barrel body €22 and located above the shunt hood 83, the shunt hood 83 is mounted at the bottom inside the barrel body c22, the top ball 8p is mounted inside an upper end of the shunt hood 83 in a manner of clearance fit, a bottom of the top ball 8p is fixed and penetrated together with an upper end of the shrink hose 8t, spray holes are also formed in the top ball 8p, and the spray holes penetrate through the wrinkle-shaped shrink hose 8t. The top ball 8p is pressed through the water pressure, the shrink hose 8t shrinks due to extrusion, the internal pressure is sprayed out from the spray holes inside the top ball 8p, thereby spraying the drainage process, quickening the drainage speed and avoiding the impurities in the water being blocked at the drainage place at the lower end of the barrel body ¢22.
[0033] Specific using mode and function of this embodiment:
[0034] In the present disclosure, the underwater products are guided into the collection frame 6} through the connecting ring 6x after entering the inside of the barrel body c2, and at this time the collection frame 6} 1s pressed down due to gravity, so that the sliding blocks 6h elastically slide on the elastic rods 6t; the elastic rods 6t are blocked through the baffle plates 6z at the two sides, so as to avoid the moisture contacting with the elastic rods 6t, the elastic rods 6t can apply the stable lifting elasticity to the collection frame 6}, and the underwater products inside the collection frame 6j can move up and down; after the underwater products enter the inside of the collection frame 6j, the underwater products are launched through the elastic bands 6d, so the speed that the underwater products are separated from the impurities in the water is quickened, the underwater products stop on the surfaces of the elastic bands 6d, the impurities in the water flow down through gaps of the elastic bands 6d and are discharged from the inside of the permeable holes 6k along the moisture, the effect that the underwater products are separated from the impurities in the water is quickened, and the collection amount for the underwater products in the barrel body c22 is improved. During a process that the moisture and the impurities flow down, the moisture and the impurities are guided to flow down through the water guide sheets 85, then the moisture contacts with the top ball 8p to apply pressure to the top ball 8p, at this time the shrink hose 8t at the bottom of the top ball 8p shrinks due to extrusion, the internal pressure is sprayed out from the spray holes inside the top ball 8p, so as to spray the drainage process, quicken the drainage speed and avoid the impurities in the water being blocked at the drainage place at the lower end of the barrel body c22.
[0035] The similar technical solution designed by those skilled in the art by using the technical solution of the present disclosure or under the enlightenment of the technical solution of the present disclosure and the achievement of the above technical effect all fall in the protective scope of the present disclosure.

Claims (6)

ConclusiesConclusions 1. Onderwaterverzamelingsinrichting op basis van een flexibele manipulator, waarbij de structuur van de verzamelingsinrichting een aandrijving (Q), de flexibele manipulator (R) en een verzamelingsmechanisme (C) omvat, waarbij de aandrijving (Q) mechanisch verbonden is met een bovenste eind van de flexibele manipulator (R) en waarbij het verzamelingsmechanisme (C) gemonteerd is op een onderste eind van de flexibele manipulator (R), waarbij het verzamelingsmechanisme (C) een elastisch mechanisme (c5), een geleidingsmechanisme (c8) en een verzamelingsvat (c2) omvat, waarbij een bovenste eind van het elastische mechanisme (c5) in montageverbinding is met het onderste eind van de flexibele manipulator (R) terwijl een onderste eind van het elastische mechanisme (c5) vast gemonteerd 1s op een bovenste eindvlak van het verzamelingsvat (c2) en waarbij een binnenzijde-eind van het geleidingsmechanisme (c8) ingebed is op het bovenste eind van het verzamelingsvat (c2).An underwater collection device based on a flexible manipulator, wherein the structure of the collection device comprises a drive (Q), the flexible manipulator (R) and a collection mechanism (C), the drive (Q) being mechanically connected to an upper end of the flexible manipulator (R) and wherein the collection mechanism (C) is mounted on a lower end of the flexible manipulator (R), the collection mechanism (C) comprising an elastic mechanism (c5), a guide mechanism (c8) and a collection vessel (c2 ), wherein an upper end of the elastic mechanism (c5) is in mounting connection with the lower end of the flexible manipulator (R) while a lower end of the elastic mechanism (c5) is fixedly mounted 1s on an upper end surface of the collection vessel ( c2) and wherein an inner end of the guiding mechanism (c8) is embedded on the upper end of the collection vessel (c2). 2. Onderwaterverzamelingsinrichting op basis van een flexibele manipulator volgens conclusie 1, waarbij het elastische mechanisme (c5) een verbindingscilinder (c51), een luchtcilinder (c54), een duwplaat (c5), scharnierende stangen (c53) en veerstangen (056) omvat, waarbij een bovenste eind van de verbindingscilinder (€53) in montageverbinding is met het onderste eind van de flexibele manipulator (R), waarbij de luchtcilinder (€54) gerangschikt is binnen de verbindingscilinder (¢51) en waarbij een uitvoereind van de luchtcilinder (c54) vastgemaakt is samen met een midden van een bovenste eind van de duwplaat (58); waarbij de duwplaat (58) schuifbaar gemonteerd 1s binnen een onderste eind van de verbindingscilinder (€51), waarbij een onderkant van de duwplaat (€58) scharnierend is met een bovenste eind van elke scharnierende stang (€53) en waarbij onderste eindes van de scharnierende stangen (53) vastgemaakt zijn samen met bovenste eindes van de veerstangen (c50); en waarbij onderste eindes van de veerstangen (c56) vast gemonteerd zijn op het bovenste eindvlak van het verzamelingsvat (c2).The underwater collection device based on a flexible manipulator according to claim 1, wherein the elastic mechanism (c5) comprises a connecting cylinder (c51), an air cylinder (c54), a pusher plate (c5), hinged rods (c53) and spring rods (056), wherein an upper end of the connecting cylinder (¢53) is in mounting connection with the lower end of the flexible manipulator (R), wherein the air cylinder (¢54) is arranged within the connecting cylinder (¢51) and wherein an output end of the air cylinder (¢51) c54) is secured together with a center of an upper end of the pusher plate (58); wherein the push plate (58) is slidably mounted 1s within a lower end of the connecting cylinder (€51), wherein a bottom of the push plate (€58) is hinged with an upper end of each hinged rod (€53) and wherein lower ends of the hinged bars (53) are secured together with upper ends of the spring bars (c50); and wherein lower ends of the spring rods (c56) are fixedly mounted on the upper end surface of the collection vessel (c2). 3. Onderwaterverzamelingsinrichting op basis van een flexibele manipulator volgens conclusie 1, waarbij het geleidingsmechanisme (c8) schommelende platen (c88),The underwater collection device based on a flexible manipulator according to claim 1, wherein the guide mechanism (c8) is rocking plates (c88), roteerblokken (c83), torsieassen (c86) en kogels (c81) omvat, waarbij onderste eindes van de schommelende platen (€88) voorzien zijn van de roteerblokken (€83) die scharnierend zijn met de binnenruimte van het bovenste eind van het verzamelingsvat (c2) door de torsieassen (c86), waarbij de schommelende platen (€88) zich buiten het bovenste eind van het verzamelingsvat (c2) bevinden en waarbij de kogels (c81) gemonteerd zijn op eindvlakken binnen de schommelende platen (€88).rotating blocks (c83), torsion shafts (c86) and balls (c81), with lower ends of the rocking plates (€88) having the rotating blocks (€83) hinged with the interior space of the upper end of the collection vessel ( c2) through the torsion axes (c86), with the rocking plates (€88) located outside the upper end of the collection vessel (c2) and with the balls (c81) mounted on end surfaces inside the rocking plates (€88). 4. Onderwaterverzamelingsinrichting op basis van een flexibele manipulator volgens conclusie 2, waarbij het verzamelingsvat (c2) een vatlichaam (c22), een scheidingsmechanisme (c26) en een afvoermechanisme (c26) omvat, waarbij het scheidingsmechanisme (€26) gemonteerd is op een middelst eind binnen het vatlichaam (€22), waarbij het afvoermechanisme (c26) aangebracht is bij een onderste eind binnen het vatlichaam (c22), en zich onder het scheidingsmechanisme (c26) bevindt, waarbij de schommelende platen (c88) zich buiten het bovenste eind van het vatlichaam (c22) bevinden.A flexible manipulator-based underwater collection device according to claim 2, wherein the collection vessel (c2) comprises a vessel body (c22), a separation mechanism (c26) and a discharge mechanism (c26), the separation mechanism (c26) being mounted on a center end within the vessel body (€22), with the discharge mechanism (c26) being fitted at a lower end within the vessel body (c22), and located below the separation mechanism (c26), with the rocking plates (c88) located outside the upper end of the vessel body (c22). 5. Onderwaterverzamelingsinrichting op basis van een flexibele manipulator volgens conclusie 4, waarbij het scheidingsmechanisme (c26) een verbindingsring (6x), schotplaten (6z), schuifblokken (6h), elastische stangen (6t), een verzamelingsframe (6), elastische banden (6d) en doorlaatbare gaten (6k); waarbij de schotplaten (6z) aangebracht zijn buiten de verbindingsring (6x), waarbij de schuifblokken (6h) aangebracht zijn op middeleindes buiten de schotplaten (6z), waarbij de schotplaten (6z) passen op een binnenwand van het vatlichaam (c22), waarbij elastische stangen (6t) door binnenruimtes van de schuifblokken (6h) heen steken op een manier van vrije passing, waarbij de elastische stangen (6t) vast gemonteerd zijn binnen het vatlichaam (c22), waarbij een bovenste eind van het verzamelingsframe (6j) vastgemaakt is samen met een onderkant van de verbindingsring (6x), waarbij de elastische banden (6d) aangebracht zijn op een middeleind binnen het verzamelingsframe (6), waarbij de doorlaatbare gaten (6k) door het onderste eind binnen het verzamelingsframe (6j) heen steken, waarbij de doorlaatbare gaten (6k) zich onder de elastische banden (6d) bevinden en waarbij het afvoermechanisme (c26) zich onder het verzamelingsframe (6) bevindt.An underwater collection device based on a flexible manipulator according to claim 4, wherein the separation mechanism (c26) has a connecting ring (6x), baffle plates (6z), sliding blocks (6h), elastic rods (6t), a collection frame (6), elastic bands ( 6d) and permeable holes (6k); wherein the baffle plates (6z) are arranged outside the connecting ring (6x), wherein the sliding blocks (6h) are arranged at center ends outside the baffle plates (6z), wherein the baffle plates (6z) fit on an inner wall of the vessel body (c22), wherein elastic rods (6t) pass through interior spaces of the sliding blocks (6h) in a free-fitting manner, the elastic rods (6t) being rigidly mounted within the vessel body (c22), with an upper end of the collection frame (6j) secured is together with a bottom of the connecting ring (6x), the elastic bands (6d) being mounted on a middle end within the collection frame (6), with the permeable holes (6k) projecting through the lower end within the collection frame (6j) , wherein the permeable holes (6k) are located under the elastic bands (6d) and wherein the discharge mechanism (c26) is located under the collection frame (6). 6. Onderwaterverzamelingsinrichting op basis van een flexibele manipulator volgens conclusie 5, waarbij het afvoermechanisme (c26) watergeleidingsplaten (85), een omloopkap (83), een bovenste kogel (8p) en een krimpslang (8t) omvat, waarbij de watergeleidingsplaten (85) aangebracht zijn op het onderste eind binnen het vatlichaam (022) en zich boven de omloopkap (83) bevinden, waarbij de omloopkap (83) gemonteerd is op de onderkant binnen het vatlichaam (c22), waarbij de bovenste kogel (8p) gemonteerd is binnen een bovenste eind van de omloopkap (83) op een manier van vrije passing, waarbij een onderkant van de bovenste kogel (8p) vastgemaakt is en er samen met een bovenste eind van de krimpslang (8t) doorsteekt.A flexible manipulator-based underwater collection device according to claim 5, wherein the discharge mechanism (c26) comprises water guide plates (85), a bypass hood (83), an upper ball (8p) and a shrink tube (8t), the water guide plates (85) mounted on the lower end inside the barrel body (022) and located above the bypass cap (83), with the bypass cap (83) mounted on the bottom inside the barrel body (c22), with the upper ball (8p) mounted inside an upper end of the bypass cap (83) in a free-fitting manner with a bottom end of the upper ball (8p) secured and extending through it together with an upper end of the shrink tubing (8t).
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