Seabed garbage cleaning robot

Abstract

The invention discloses a seabed garbage cleaning robot. The robot comprises a box body structure, grabbing structures, foot structures, step-by-step transferring and conveying devices and a sensor; the mechanical grabbing part adopts a multi-joint mechanical arm, so that the freedom degree is flexible; aiming at the underwater grabbing stability, the design of a grabbing mechanical arm adopts theform of a three-jaw structure and a suction fan matched to work, so that the grabbing stability is improved; and mechanical feet adopt three degrees of freedom and multi-connection rod structures, rotation of a horizontal plane and rotation of two vertical planes to realize gait movement of the mechanical feet; according to the seabed garbage cleaning robot, elastic structures are added at foot ends, so that buffer is provided for the robot when the robot loses balance and falls due to disturbance underwater, the robot can adapt to complex terrains, and the stability of the robot is increased; the step-by-step transferring devices are provided for the design of a storage device for garbage in the box body, so that a plurality of working periods can be carried out at one time; and meanwhile, the limitation of the appearance and size of the robot on the total amount of grabbing garbage is broken, so that the garbage cleaning efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a seabed garbage cleaning robot. Background technique [0002] Since the Industrial Revolution, with the rapid development of human society, we have more and more development and influence on the ocean, followed by a sharp deterioration of the marine environment. There are many factors that cause the deterioration of the marine environment, one of which is a large amount of seabed garbage. Nowadays, all kinds of marine garbage problems are very serious, which not only threatens the safety of marine life and birds, but also has a great impact on our human survival. Most of the current garbage cleaning ships and other equipment can only work on the sea surface, but there is no good solution for the submarine garbage. Most areas still rely on divers to dive down to pick up rubbish. This method is not only inefficient but also life-threatening for divers. [0003] The t...

AI Technical Summary

Problems solved by technology

Flexible manipulators can control a wide range and have a high degree of freedom, but it is difficult to achieve precise modeling and control, relying on the preparation of intelligent soft materials and structural molding, limited by the energy supply device, and the driving force is small

The rigid manipulator is modeled accurately and easy to control; the control method is mature and there is a complete control system, but the degree of freedom is fixed, the range that can be reached is small, and the system is relatively complete. grip control

Moreover, most of the operating systems of existing underwater robots are two-claw systems, which have a small range of use and cannot effectively grasp some work targets, such as cup-shaped, spherical and other shaped objects.

Images