Anchoring robot based on iris mechanism

Abstract

The application discloses an anchoring robot based on iris mechanisms in the technical field of anchoring robots, which comprises, from top to bottom, a drill bit unit, a front anchoring unit, a propulsion unit and a rear anchoring unit; the drill bit unit is used for stirring silt to reduce the movement resistance of the anchoring robot; the front anchoring unit and the rear anchoring unit are used for anchoring and supporting the anchoring robot, and each comprises a steering engine shell, a double-shaft steering engine, a forward iris mechanism and a reverse iris mechanism; the double-shaft steering engine is arranged in the steering engine shell, and the upper end of the double-shaft steering engine is connected with the forward iris mechanism, and the lower end of the double-shaft steering engine is connected with the reverse iris mechanism; the propulsion unit is used for propelling the anchoring robot, and comprises an electric push rod, a propulsion upper base and a propulsion lower base; the two ends of the electric push rod are connected with the propulsion upper base and the propulsion lower base respectively. The anchoring robot has the advantages of rapid excavation, powerful anchoring, autonomous detachment and low energy consumption, and can meet the needs of long-time anchoring and positioning operation of deep-sea net cages.

Description

Technical Field

[0001] This invention relates to an anchoring robot based on an iris recognition mechanism, belonging to the field of anchoring robot technology. Background Technology

[0002] With the continuous enrichment of my country's fishery resources, various new types of deep-sea aquaculture cages have emerged.

[0003] Subsea anchoring is an important research area in marine engineering. Currently, non-powered multi-point mooring is used in marine engineering. Because it lacks automatic anchoring and autonomous detachment, it cannot move normally with seabed currents, easily leading to the accumulation of fish excrement in aquaculture cages and causing eutrophication. Considering the need to replace aquaculture cages due to their location and length, and for subsea burial scenarios, anchoring and positioning equipment needs to have autonomous detachment and ultra-long endurance capabilities. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an anchoring robot based on an iris mechanism that can rapidly excavate, strongly anchor, autonomously detach, and consume less energy than a single unit, thus meeting the needs of long-term anchoring and positioning operations for deep-sea cages.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution: an anchoring robot based on an iris mechanism, wherein the anchoring robot has a modular structure, which includes, from top to bottom, a drill unit, a front anchoring unit, a propulsion unit and a rear anchoring unit; The drill bit unit is used to agitate the mud and sand to reduce the motion resistance of the anchoring robot; The front anchoring unit and the rear anchoring unit are used to anchor and support the anchoring robot. Each of them includes a servo housing, a dual-axis servo, a forward iris mechanism and a reverse iris mechanism. The dual-axis servo is located inside the servo housing, and its upper end is connected to the forward iris mechanism and its lower end is connected to the reverse iris mechanism. The propulsion unit is used to propel the anchoring robot. It includes an electric push rod, an upper propulsion base, and a lower propulsion base. The two ends of the electric push rod are connected to the upper propulsion base and the lower propulsion base, respectively.

[0006] Optionally, the drill bit unit includes a drill bit, a geared motor, and a geared motor housing. The bottom of the drill bit is provided with a drill bit base. The geared motor is located inside the geared motor housing, and its output end passes through the top of the geared motor housing and is fitted with a flange coupling. The flange coupling is connected to the drill bit base.

[0007] Optionally, the drill bit is in the shape of a hollow cone, and external threads are evenly distributed on its outer surface. A boss is provided at the bottom of the cavity of the drill bit, and threaded through holes are provided on the boss. The drill bit base is provided with outer threaded through holes corresponding to the through holes. The drill bit base can be fixed to the bottom of the drill bit by screwing bolts into the threaded through holes and the outer threaded through holes.

[0008] Optionally, the geared motor housing is in the shape of an inverted cup, with multiple threaded through holes on its top. The geared motor top is provided with positioning threaded holes corresponding to the threaded through holes. By passing a bolt through the threaded through holes and screwing it into the positioning threaded holes, the geared motor can be fixed in the geared motor housing. The drill bit base is provided with an inner ring threaded through hole, and the flange coupling is provided with a threaded through hole corresponding to the inner ring threaded through hole. The drill bit base and the flange coupling can be connected by screwing bolts into the inner ring threaded through hole and the threaded through hole.

[0009] Optionally, a gap is provided between the drill bit and the housing of the geared motor, the gap being used to buffer the shaking generated during the movement of the drill bit.

[0010] Optionally, the forward iris mechanism includes an active layer, a forward driven unfolding block, and an iris mechanism base in sequence, and the reverse iris mechanism includes an active layer, a reverse driven unfolding block, and an iris mechanism base in sequence. The dual-axis servo is fixedly mounted inside the servo housing. The upper output shaft of the dual-axis servo is connected to the active layer of the forward iris recognition mechanism, and the lower output shaft is connected to the active layer of the reverse iris recognition mechanism.

[0011] Optionally, the iris mechanism base of the forward iris mechanism of the front anchoring unit is threadedly connected to the housing of the geared motor, the iris mechanism base of the reverse iris mechanism of the front anchoring unit is threadedly connected to the upper propulsion base, and the iris mechanism base of the forward iris mechanism of the rear anchoring unit is threadedly connected to the lower propulsion base.

[0012] Optionally, the active layer is provided with a plurality of sliding slots evenly distributed on it. The positive driven unfolding block and the negative driven unfolding block are respectively provided with cylindrical blocks and cuboid blocks on their sides. The iris mechanism base is provided with regular hexagonal sliding slots evenly distributed on it. The cylindrical blocks extend to the sliding slots and can slide within the sliding slots. The cuboid blocks extend to the regular hexagonal sliding slots and can slide within the regular hexagonal sliding slots, so that the positive driven unfolding block and the negative driven unfolding block can perform unfolding and retracting movements.

[0013] Optionally, the electric actuator is a miniature electric actuator.

[0014] Optionally, all connections of the anchoring robot are sealed to prevent sand damage.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The anchoring robot of the present invention is designed with a modular structure, in which each unit can work independently or cooperate with each other, and each unit has a compact structure with little interference between them; The drill bit is designed as a hollow conical structure with equal pitch external threads on the outside of the cone, which ensures strength while reducing weight. During the drilling process of the anchor robot, the mud and sand will flow backward along the thread grooves and become quicksand under the influence of the vibration and agitation of the drill bit, which reduces the forward resistance of each unit in the mud and sand. The iris mechanism is a three-layer unfolding and retracting structure. Driven by a servo motor, the forward iris mechanism first rotates the active layer, and the upper cylindrical block of the forward driven unfolding block moves in the groove of the active layer, while the lower cuboid block of the forward driven unfolding block moves in the regular hexagonal groove of the iris mechanism base, thus realizing the unfolding and retraction of the forward driven unfolding block of the iris mechanism. The unfolding and retraction of the reverse driven unfolding block of the reverse iris mechanism is the same. When the iris mechanism is unfolded, its volume increases, and the contact area with the mud and sand increases, which can provide the anchoring support force required for the movement of the moored robot. When the iris mechanism is retracted, its volume decreases, and the whole is streamlined, resulting in low movement resistance.

[0016] Both the front and rear anchoring units use dual-axis servo motors to drive the forward and reverse iris mechanisms respectively, which can increase the anchoring support force required by the anchoring robot. The electric push rods in the propulsion unit provide propulsion for the anchoring robot. Each electric push rod has a maximum thrust of 60N, a stroke of 30mm, and a speed of 15mm / s. The electric push rods are also lightweight and easy to operate. The anchoring robot has a compact overall structure and a good streamlined shape, which can reduce resistance during movement. While meeting strength requirements, the wall thickness can be minimized to reduce manufacturing costs and difficulty. The mooring robot has a movement gap between the drill bit and the geared motor housing, and a retractable corrugated pipe is added to the outside of the propulsion unit for sealing and sand prevention to ensure the normal operation of the mooring robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the external structure of an anchoring robot based on an iris recognition mechanism in one embodiment of the present invention; Figure 2 This is a cross-sectional schematic diagram of an anchoring robot based on an iris recognition mechanism in one embodiment of the present invention; Figure 3 This is a schematic diagram of the drill unit of an anchoring robot based on an iris mechanism in one embodiment of the present invention; Figure 4 This is a schematic diagram of the front anchoring unit and the rear anchoring unit of an anchoring robot based on an iris mechanism in one embodiment of the present invention; Figure 5 This is a schematic diagram of the propulsion unit of an anchoring robot based on an iris mechanism in one embodiment of the present invention; Figure 6 This is a schematic diagram of the forward iris mechanism of an anchoring robot based on an iris mechanism in one embodiment of the present invention; Figure 7 This is a schematic diagram of the active layer of an anchoring robot based on an iris recognition mechanism in one embodiment of the present invention. Figure 8 This is a schematic diagram of the forward driven unfolding block of an anchoring robot based on an iris mechanism in one embodiment of the present invention; Figure 9 This is a schematic diagram of the iris mechanism base of an anchoring robot based on an iris mechanism in one embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the geared motor housing of an anchoring robot based on an iris recognition mechanism in one embodiment of the present invention; Figure 11 This is a schematic diagram of the connection structure between the drill bit and the drill bit base of an anchoring robot based on an iris mechanism in one embodiment of the present invention. In the diagram: 1. Drill bit unit, 11. Drill bit, 12. Drill bit base, 13. Flange coupling, 14. Gear motor, 15. Gear motor housing, 16. Outer ring threaded through hole, 17. Inner ring threaded through hole, 18. Threaded through hole, 2. Front anchoring unit, 3. Rear anchoring unit, 4. Propulsion unit, 41. Upper propulsion base, 42. Electric push rod, 43. Lower propulsion base, 6. Forward iris mechanism, 7. Reverse iris mechanism, 8. Dual-axis servo motor, 9. Servo motor housing, 10. Iris mechanism base, 101. Regular hexagonal slide, 110. Forward driven unfolding block, 111. Cylindrical block, 112. Cuboid block, 12. Reverse driven unfolding block, 130. Active layer, 131. Slide hole. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] like Figure 1 As shown, the overall structure of the anchoring robot based on the iris mechanism provided in this embodiment of the invention is a modular structure along the axial direction, and all connections require sand-proof sealing treatment. The anchoring robot, from top to bottom, includes a drill unit 1, a front anchoring unit 2, a propulsion unit 4, and a rear anchoring unit 3.

[0022] The drill bit unit 1 includes a drill bit 11, a drill bit base 12, a geared motor 14, and a geared motor housing 15. The drill bit 11 is a hollow cone shape, and its outer surface is provided with external threads at equal intervals. A boss is provided at the bottom of the internal cavity of the drill bit 11, and a threaded through hole is provided on the boss. The drill bit base 11 is provided with an outer ring threaded through hole 16 corresponding to the threaded through hole. The drill bit base 12 can be fixed to the bottom of the drill bit 11 by screwing bolts into the threaded through hole and the outer ring threaded through hole 16.

[0023] The geared motor housing 15 is inverted cup shape, with multiple threaded through holes on its top. The geared motor 14 has a corresponding positioning threaded hole on its top. By screwing a bolt through the threaded through hole into the positioning threaded hole, the geared motor 14 can be fixed in the geared motor housing 15. The output end of the geared motor 14 passes through the top of the geared motor housing 15 and is fitted with a flange coupling 13. The drill bit base 12 also has an inner ring threaded through hole 17, and the flange coupling 13 has a threaded through hole corresponding to the inner ring threaded through hole 17. By screwing a bolt into the inner ring threaded through hole 17 and the threaded through hole, the drill bit base 12 and the flange coupling 13 can be connected.

[0024] A certain clearance is left between the drill bit 11 and the geared motor housing 15, which can be used for sealing and preventing sand, as well as to deal with the shaking generated when the drill bit 11 moves.

[0025] The front anchoring unit 2 and the rear anchoring unit 3 have the same structure, both consisting of a servo housing 9, a dual-axis servo 8, a forward iris recognition mechanism 6, and a reverse iris recognition mechanism 7. A mounting bracket is provided inside the servo housing 9 to fix the dual-axis servo 8 inside.

[0026] The forward iris recognition mechanism 6 sequentially includes an active layer 130, a forward driven unfolding block 110, and an iris recognition mechanism base 10. The reverse iris recognition mechanism 7 sequentially includes an active layer 130, a reverse driven unfolding block 12, and an iris recognition mechanism base 10. The active layer 130 has a plurality of evenly distributed sliding slots 131. A cylindrical block 111 and a cuboid block 112 are respectively provided on both sides of the forward driven unfolding block 110 and the reverse driven unfolding block 12. The cylindrical block 111 extends into the sliding slot 131 and can slide within it. The cuboid block 112 extends into a regular hexagonal groove 101 and can slide within it, thereby enabling the forward driven unfolding block 110 and the reverse driven unfolding block 12 to unfold and retract.

[0027] The upper output shaft of the dual-axis servo motor 8 is connected to the active layer of the forward iris recognition mechanism 6, and the lower output shaft is connected to the active layer of the reverse iris recognition mechanism 7.

[0028] The propulsion unit 4 includes an electric push rod 42, an upper propulsion base 41, and a lower propulsion base 43. In this embodiment, the electric push rod 42 is a miniature electric push rod, and its two ends are connected to the upper propulsion base 41 and the lower propulsion base 43, respectively. Both the upper propulsion base 41 and the lower propulsion base 43 are cup-shaped. When the electric push rod 42 is not extended, the lower propulsion base 43 is fitted around the outer periphery of the upper propulsion base 41.

[0029] The connection method of each unit of the anchoring robot is as follows: the iris mechanism base 10 of the forward iris mechanism 6 of the front anchoring unit 2 is threadedly connected to the geared motor housing 15; the iris mechanism base 10 of the reverse iris mechanism 7 of the front anchoring unit 2 is threadedly connected to the upper propulsion base 41; and the iris mechanism base 10 of the forward iris mechanism 6 of the rear anchoring unit 3 is threadedly connected to the lower propulsion base 43, thereby completing the assembly of the entire anchoring robot.

[0030] The working principle of this invention is as follows: The anchoring robot is placed in the seabed mud and sand environment. After the dual-axis servo motor of the anchoring unit 3 is started, the active layer 130 connected to the output shafts at both ends of the dual-axis servo motor 8 begins to rotate at a constant speed under the drive of the dual-axis servo motor 8. Then, the active layer 130 drives the forward driven deployment block 110 and the reverse driven deployment block 12 to slide in the hexagonal slide groove 101 of the iris mechanism base 10, realizing the deployment movement of the forward driven deployment block 110 and the reverse driven deployment block 12, thereby completing the support and anchoring of the anchoring unit 3.

[0031] Start the geared motor 14. The geared motor 14 drives the drill bit 11 to rotate through the flange coupling 13 and the drill bit base 12 in sequence. The drill bit 11 stirs up the surrounding mud and sand. The mud and sand flow in the opposite direction along the external thread groove of the drill bit 11 towards the geared motor housing 15, thereby ensuring the fluidity of the mud and sand. This can reduce the resistance to the forward movement of the anchoring robot.

[0032] The electric push rod 42 is activated. Due to the anchoring support force provided by the rear anchoring unit 3, the electric push rod 42 moves towards the drill bit 11, pushing the upper base 41 and the drill bit unit 1. When the electric push rod 42 completes its maximum stroke, which in this embodiment is 30mm, the upper base 41 and the drill bit unit 1 have moved forward by 30mm.

[0033] The dual-axis servo motor 8 of the anchoring unit 2 is activated. The active layer 130 connected to the output shafts at both ends of the dual-axis servo motor 8 starts to rotate at a constant speed under the drive of the dual-axis servo motor 8. Then, the active layer 130 drives the forward driven unfolding block 110 and the reverse driven unfolding block 12 to slide in the regular hexagonal slide groove 101 of the iris mechanism base 10, realizing the unfolding movement of the forward driven unfolding block 110 and the reverse driven unfolding block 12, thereby completing the support and anchoring of the anchoring unit 3.

[0034] After startup, the dual-axis servo motor 8 of the anchoring unit 3 rotates in the opposite direction. The active layer 130 connected to the output shafts at both ends of the dual-axis servo motor 8 begins to rotate in the opposite direction at a constant speed under the drive of the dual-axis servo motor 8. Then, the active layer 130 drives the forward driven unfolding block 110 and the reverse driven unfolding block 12 to slide in the hexagonal groove 101 of the iris mechanism base 10 in the opposite direction, realizing the retraction movement of the forward driven unfolding block 110 and the reverse driven unfolding block 12, thus ending the anchoring and support function of the anchoring unit 3.

[0035] When the electric push rod 42 is activated and retracted, due to the anchoring support force provided by the front anchoring unit 2, it can be seen that the electric push rod 42 pulls the rear anchoring unit 3 forward, pushing the lower base 41 and the rear anchoring unit 3 forward by 30mm, thus realizing that the anchoring robot moves forward by 30mm as a whole, which completes one motion cycle of the anchoring robot.

[0036] By repeating the motion cycle, continuous tunneling and anchoring movements can be achieved. When the anchoring robot needs to detach and retract, the motion sequence is reversed, and the rear anchoring unit 3 becomes the front anchoring unit 2, thus completing the detachment and retraction.

[0037] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An anchoring robot based on an iris recognition mechanism, characterized in that, The anchoring robot has a modular structure, which includes, from top to bottom, a drill bit unit, a front anchoring unit, a propulsion unit, and a rear anchoring unit; the drill bit unit is used to stir up the mud and sand to reduce the motion resistance of the anchoring robot. The front anchoring unit and the rear anchoring unit are used to anchor and support the anchoring robot. Each of them includes a servo housing, a dual-axis servo, a forward iris mechanism and a reverse iris mechanism. The dual-axis servo is located inside the servo housing, and its upper end is connected to the forward iris mechanism and its lower end is connected to the reverse iris mechanism. The propulsion unit is used to propel the anchoring robot. It includes an electric push rod, an upper propulsion base, and a lower propulsion base. The two ends of the electric push rod are respectively connected to the upper propulsion base and the lower propulsion base. The forward iris recognition mechanism includes, in sequence, an active layer, a forward driven unfolding block, and an iris recognition mechanism base; the reverse iris recognition mechanism includes, in sequence, an active layer, a reverse driven unfolding block, and an iris recognition mechanism base; the dual-axis servo is fixedly mounted inside the servo housing, with its upper output shaft connected to the active layer of the forward iris recognition mechanism and its lower output shaft connected to the active layer of the reverse iris recognition mechanism. The active layer is evenly provided with multiple sliding slots. The positive driven unfolding block and the negative driven unfolding block are respectively provided with cylindrical blocks and cuboid blocks on both sides. The iris mechanism base is evenly provided with regular hexagonal sliding slots. The cylindrical blocks extend to the sliding slots and can slide in the sliding slots. The cuboid blocks extend to the regular hexagonal sliding slots and can slide in the regular hexagonal sliding slots, so that the positive driven unfolding block and the negative driven unfolding block can perform unfolding and retracting movements.

2. The anchoring robot based on an iris recognition mechanism according to claim 1, characterized in that, The drill bit unit includes a drill bit, a geared motor, and a geared motor housing. The bottom of the drill bit is provided with a drill bit base. The geared motor is located inside the geared motor housing, and its output end passes through the top of the geared motor housing and is fitted with a flange coupling. The flange coupling is connected to the drill bit base.

3. The anchoring robot based on an iris recognition mechanism according to claim 2, characterized in that, The drill bit is a hollow cone shape, and its outer surface is provided with external threads at equal intervals. The bottom of the cavity of the drill bit is provided with a boss, and the boss is provided with threaded through holes. The drill bit base is provided with an outer ring threaded through hole corresponding to the through hole. The drill bit base can be fixed to the bottom of the drill bit by screwing a bolt into the threaded through hole and the outer ring threaded through hole.

4. The anchoring robot based on an iris recognition mechanism according to claim 2, characterized in that, The geared motor housing is in the shape of an inverted cup, and its top is provided with multiple threaded through holes. The top of the geared motor is provided with positioning threaded holes corresponding to the threaded through holes. By passing a bolt through the threaded through holes and screwing it into the positioning threaded holes, the geared motor can be fixed in the geared motor housing. The drill bit base is provided with an inner ring threaded through hole, and the flange coupling is provided with a threaded through hole corresponding to the inner ring threaded through hole. The drill bit base and the flange coupling can be connected by screwing bolts into the inner ring threaded through hole and the threaded through hole.

5. The anchoring robot based on an iris recognition mechanism according to claim 2, characterized in that, A gap is provided between the drill bit and the housing of the geared motor, which is used to buffer the shaking generated when the drill bit moves.

6. The anchoring robot based on an iris recognition mechanism according to claim 1, characterized in that, The iris mechanism base of the forward iris mechanism of the front anchoring unit is threadedly connected to the housing of the geared motor; the iris mechanism base of the reverse iris mechanism of the front anchoring unit is threadedly connected to the upper propulsion base; and the iris mechanism base of the forward iris mechanism of the rear anchoring unit is threadedly connected to the lower propulsion base.

7. The anchoring robot based on an iris recognition mechanism according to claim 1, characterized in that, The electric actuator is a miniature electric actuator.

8. The anchoring robot based on an iris recognition mechanism according to any one of claims 1 to 7, characterized in that, All connections of the anchoring robot are sealed to prevent sand damage.

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