Deep sea sampling hybrid robot

Abstract

The invention discloses a deep-sea sampling hybrid robot, and belongs to the technical field of robots. The deep-sea sampling hybrid robot comprises a parallel mechanism, a multi-claw mechanism, a drill mechanism, motors, a seat sleeve and rotary propellers, the parallel mechanism comprises a cabin, a constraining branch and four electric cylinders, the constraining branch comprises a mandrel, a movable table, an outer sleeve and a ball sleeve which are connected through a coaxial cylindrical pair, the multi-claw mechanism comprises the motor I, three claw rods and three under-actuation branches, each under-actuation branch comprises a push rod, a spring and a sleeve, and the drill mechanism comprises a guiding rod, the motor II, a bracket, the motor III and a drill bit. The parallel mechanism can drive both the drill mechanism and the multi-claw mechanism to swing and stretch and retract, and can also drive the rotary propellers to swing. According to the deep-sea sampling hybrid robot, deep-sea mineral samples can be drilled in deep sea, anchoring can be achieved in the drilling process, and the whole robot does not retreat and rotate in water.

Description

technical field [0001] The invention relates to a deep-sea sampling hybrid robot and belongs to the technical field of robots. Background technique [0002] There are abundant mineral resources in the ocean, especially in the vast deep sea where there is a large amount of oil, natural gas and other mineral resources. In order to find out the oil and mineral resources on the seabed, people have specially built ocean exploration ships and offshore drilling devices. The ocean exploration ship is equipped with people and exploration equipment. Therefore, when exploring the ocean, it is necessary to let the explorers go to the sea for exploration and sampling. However, because the explorers reach a certain depth on the seabed, the cold sea water will make the explorers feel uncomfortable, so they cannot complete the survey. For deep exploration and sampling of the ocean, there is a lift-type high-speed marine robot disclosed in Chinese patent document CN106741584B, and a marine e...

AI Technical Summary

Problems solved by technology

The ocean exploration ship is equipped with people and exploration equipment. Therefore, when exploring the ocean, it is necessary to let the explorers go to the sea for exploration and sampling. However, because the explorers reach a certain depth on the seabed, the cold sea water will make the explorers feel uncomfortable, so they cannot complete the survey. For deep exploration and sampling of the ocean, there is a lift-type high-speed marine robot disclosed in Chinese patent document CN106741584B, and a marine exploration ship disclosed in Chinese patent document CN106314730B, which can be used to perform tasks such as load transportation or delivery, and deep-sea scientific research. , but it is still impossible to drill to obtain deep-sea mineral samples, and the acquisition of deep-sea mineral samples plays a vital role in the research and development of marine science. Therefore, a robot is needed to obtain seabed mineral samples conveniently and quickly, so as to provide Provide resources for scientific research on deep sea mineral resources

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