A deep sea cultural relic collection device

Abstract

The present invention provides a deep-sea cultural relic collection device, which belongs to the field of cultural relic collection technology, including a fish brain, a first joint of a fish tail, a second joint of a fish tail, a third joint of a fish tail, a mechanical gripper system, and an adsorption gripper system. The fish brain is connected to the first joint of the fish tail, the other end of the first joint of the fish tail is connected to the second joint of the fish tail, and the other end of the second joint of the fish tail is connected to the third joint of the fish tail; the fish brain includes an upper fish brain and a lower fish brain; an opening is provided at the top of the upper fish brain, the mechanical gripper system is connected to the inside of the upper fish brain through the opening, and a cleaning system is provided inside the upper fish brain; a drainage system, an air drying system, and an intelligent warehouse are sequentially provided inside the lower fish brain from the fish brain to the third joint of the fish tail. The present invention adopts the above-mentioned deep-sea cultural relic collection device to realize the automation and intelligence of deep-sea cultural relic salvage.

Description

Technical Field

[0001] The present invention relates to the technical field of cultural relics collection, and in particular to a deep-sea cultural relics collection device. Background Art

[0002] In the research of cultural relic collection device technology at home and abroad, especially in the deep sea salvage and recovery of cultural relics, it has always been difficult to achieve people's ideal cultural relic salvage and recovery work, which greatly reduces the reliability and efficiency of salvage. According to the current research at home and abroad, there are two types: the first is human deep-sea diving to salvage cultural relics; the second is mechanical operation. However, both of them are difficult to solve the problem of salvage and recovery in deep sea conditions. Summary of the invention

[0003] The purpose of the present invention is to provide a deep-sea cultural relic collection device, which is equipped with an advanced omnidirectional visual system at the front end of the collection device, which can accurately identify the deep-sea cultural relic salvage target and transmit the signal to the controller in real time, thereby controlling the robot to track and grasp it in real time and place it in a designated position, thereby realizing the automation and intelligence of deep-sea cultural relic salvage.

[0004] To achieve the above-mentioned purpose, the present invention provides a deep-sea cultural relic collection device, comprising a fish brain, a first fish tail joint, a second fish tail joint, a third fish tail joint, a mechanical gripper system, and an adsorption gripper system, wherein the fish brain is connected to the first fish tail joint, the other end of the first fish tail joint is connected to the second fish tail joint, and the other end of the second fish tail joint is connected to the third fish tail joint;

[0005] The fish brain comprises an upper fish brain and a lower fish brain;

[0006] The top of the upper fish brain is provided with an opening, the mechanical gripper system passes through the opening and is connected to the inside of the upper fish brain, and a cleaning system is also provided inside the upper fish brain;

[0007] The lower fish brain is provided with a drainage system, an air drying system, and an intelligent warehouse in sequence from the fish brain to the third joint of the fish tail. The lower side of the lower fish brain is provided with a ventral fin, and both sides of the lower fish brain are provided with drag-reducing shark fins.

[0008] The ventral fin is connected to the adsorption gripper system.

[0009] Preferably, the robotic gripper system includes a robotic arm fixer, a robotic arm base, a first robotic arm motion axis, a second robotic arm motion axis, a robotic arm motion processor, a telescopic rod, a robotic arm rotating axis, a robotic arm adsorber, and a robotic arm gripper. The robotic arm fixer fixes the robotic arm base to the interior of the upper fish brain, the robotic arm base is connected to the first robotic arm motion axis through gears, the first robotic arm motion axis is connected to the second robotic arm motion axis through gears, the other end of the second robotic arm motion axis is connected to the telescopic rod, a robotic arm motion processor is provided on the telescopic rod, the other end of the telescopic rod is connected to the robotic arm rotating axis, the robotic arm rotating axis is connected to the robotic arm, and the robotic arm includes a robotic arm adsorber and a robotic arm gripper arranged on the periphery of the robotic arm adsorber.

[0010] Preferably, the adsorption gripper system includes a gripper base, a torsion ring, a gripping rod, and an adsorption gripper. The gripper base is fixedly connected to the ventral fin by screws, the other end of the gripper base is threadedly connected to the torsion ring, the torsion ring and the gripping rod are integrally formed, the other end of the gripping rod is threadedly connected to the adsorption gripper, and the adsorption gripper is provided on the adsorption gripper.

[0011] Preferably, the smart warehouse comprises a first smart warehouse and a second smart warehouse, the first smart warehouse and the second smart warehouse are symmetrically arranged and have the same structure, the first smart warehouse comprises a box body, a first supporting cylinder is arranged on the bottom surface of the box body, a supporting plate is arranged on the upper end of the first supporting cylinder, and a second supporting cylinder is arranged on the upper part of the supporting plate;

[0012] A slide is arranged between the first smart warehouse and the second smart warehouse, the slide is connected to the slide rail, a slide base is arranged at the lower side of the slide, a conveyor belt is arranged on one side of the slide base, a front-end cultural relic manipulator and a rear-end cultural relic manipulator are arranged on both sides of the conveyor belt, and a detection fixing block is also arranged on the slide base.

[0013] Preferably, a turbine system is provided on the drag-reducing shark fin, and the turbine system includes a turbine engine connected to the drag-reducing shark fin, and the turbine engine includes a bullet-shaped drag resistor and propeller blades.

[0014] Preferably, a fish window door is provided on one side of the opening at the top of the upper fish brain, and the fish window door is connected to the interior of the upper fish brain through a fish window rod.

[0015] Preferably, a rapid motor is arranged inside the first fishtail joint, and a high-speed steering gear is arranged inside the second fishtail joint.

[0016] Preferably, a constant temperature system is also provided inside the first intelligent warehouse.

[0017] Preferably, a remote sensing detector and a visual scanner are also provided at the bottom of the lower fish brain.

[0018] Therefore, the present invention adopts the above-mentioned deep-sea cultural relics collection device, and an advanced omnidirectional visual system is installed at the front end of the collection device, which can accurately identify the deep-sea cultural relics salvage targets, and transmit the signal to the controller in real time, thereby controlling the robot to track and grasp in real time, and put it in the designated position, realizing the automation and intelligence of deep-sea cultural relics salvage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a deep-sea cultural relic collection device of the present invention;

[0020] Figure 2 This is a diagram of the internal structure of the lower fish brain;

[0021] Figure 3 This is a schematic diagram of the intelligent warehouse structure;

[0022] Figure 4 This is a top view of the smart warehouse;

[0023] Figure 5 This is the front view of the front-end cultural relic manipulator.

[0024] Reference numerals

[0025] 1. Upper fish brain; 101. Cleaning system; 2. Lower fish brain; 201. Drainage system; 202. Air drying system; 203. Intelligent warehouse; 2031. First intelligent warehouse; 2032. Second intelligent warehouse; 20311. Box; 20312. First supporting cylinder; 20313. Support plate; 20314. Second supporting cylinder; 20315. Slide; 20316. Slide base; 20317. Conveyor belt; 20318. Detection fixed block; 20319. Front-end cultural relic manipulator; 20320. Back-end cultural relic manipulator; 3. First joint of fish tail; 4. Second joint of fish tail; 5. Third joint of fish tail; 6. 01. First manipulator motion axis; 602. Second manipulator motion axis; 603. Manipulator motion processor; 604. Telescopic rod; 605. Manipulator rotation axis; 606. Manipulator absorber; 607. Manipulator gripper; 7. Pelvic fin; 8. Drag-reducing shark fin; 901. Gripper pedestal; 902. Torsion ring; 903. Grabbing rod; 904. Adsorption gripper; 905. Adsorption gripper; 1011. Bullet-shaped resistor; 1012. Propeller blade; 11. Remote sensing detector; 12. Visual scanner; 13. Fish window door; 14. Fish window rod; 15. Rapid motor; 16. High-speed servo; 17. Adsorption disk; 18. Telescopic connecting rod. DETAILED DESCRIPTION

[0026] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0027] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0028] Embodiment 1

[0029] like Figure 1 As shown, it is a structural schematic diagram of a deep-sea cultural relic collection device of the present invention, including a fish brain, a first fish tail joint 3, a second fish tail joint 4, a third fish tail joint 5, a mechanical gripper system, and an adsorption gripper system. The fish brain is connected to the first fish tail joint 3, the other end of the first fish tail joint 3 is connected to the second fish tail joint 4, and the other end of the second fish tail joint 4 is connected to the third fish tail joint 5.

[0030] The fish brain comprises an upper fish brain 1 and a lower fish brain 2 .

[0031] An opening is provided on the top of the upper fish brain 1 , and the mechanical gripper system passes through the opening and is connected to the mechanical gripper base inside the upper fish brain 1 .

[0032] A cleaning system 101 is provided inside the upper fish brain 1 .

[0033] like Figure 2 As shown, a drainage system 201, an air-drying system 202, and an intelligent warehouse 203 are sequentially arranged inside the lower fish brain 2 from the fish brain to the third joint 5 of the fish tail, and a constant temperature system is also arranged in the intelligent warehouse 203.

[0034] The above-mentioned cleaning system 101, drainage system 201, air drying system 202, and constant temperature system are all existing technologies and will not be elaborated in detail here.

[0035] like Figure 3 As shown, the smart warehouse 203 includes a first smart warehouse 2031 and a second smart warehouse 2032, which are symmetrically arranged and have the same structure. The first smart warehouse 2031 includes a box body 20311, and a first supporting cylinder 20312 is arranged on the bottom surface of the box body 20311. A supporting plate 20313 is arranged on the upper end of the first supporting cylinder 20312, and a second supporting cylinder 20314 is arranged on the upper part of the supporting plate 20313.

[0036] like Figure 4 As shown, a slide 20315 is arranged between the first intelligent warehouse 2031 and the second intelligent warehouse 2032, and the slide 20315 is connected to the slide rail. A slide base 20316 is arranged at the lower side of the slide 20315, a conveyor belt 20317 is arranged on one side of the slide base 20316, and a front-end cultural relic manipulator 20319 and a rear-end cultural relic manipulator 20320 are arranged on both sides of the conveyor belt 20317. A detection fixing block 20318 is also arranged on the slide base 20316.

[0037] The front-end cultural relic manipulator 20319 and the back-end cultural relic manipulator 20320 have the same structure. Figure 5 As shown, the front-end cultural relic manipulator 20319 includes a suction plate 17 and a telescopic connecting rod 18.

[0038] A ventral fin 7 is arranged on the lower side of the lower fish brain 2 , and drag-reducing shark fins 8 are arranged on both sides of the lower fish brain 2 .

[0039] The ventral fin 7 is connected to the suction gripper system.

[0040] The adsorption gripper system includes a gripper base 901, a torsion ring 902, a gripping rod 903, and an adsorption gripper 904. The gripper base 901 is fixedly connected to the ventral fin 7 by screws. The other end of the gripper base 901 is threadedly connected to the torsion ring 902. The torsion ring 902 and the gripping rod 903 are integrally formed. The other end of the gripping rod 903 is threadedly connected to the adsorption gripper 904. The adsorption gripper 905 is provided on the adsorption gripper 904.

[0041] The suction gripper 905 is made of high-quality aluminum, which is light, easy to process, and not easy to damage cultural relics. The gripper can freely and flexibly grasp cultural relics and is used to fix cultural relics to facilitate auxiliary grasping.

[0042] The robot gripper system includes a robot fixer, a robot base, a first robot motion axis 601, a second robot motion axis 602, a robot motion processor 603, a telescopic rod 604, a robot rotation axis 605, a robot adsorber 606, and a robot gripper 607. The robot fixer fixes the robot base to the interior of the upper fish brain 1. The robot base is connected to the first robot motion axis 601 through gears. The first robot motion axis 601 is connected to the second robot motion axis 602 through gears. The other end of the second robot motion axis 602 is connected to the telescopic rod 604. The telescopic rod 604 is provided with a robot motion processor 603. The other end of the telescopic rod 604 is connected to the robot rotation axis 605. The robot rotation axis 605 is connected to the robot. The robot includes a robot adsorber 606 and a robot gripper 607 arranged on the side of the robot adsorber 606.

[0043] The robot gripper 607 adopts the advanced intelligent ABB robot arm, which uses a very flexible human-hand-like clamp, can flexibly extend and grasp cultural relics with multiple degrees of freedom, and can automatically adjust the speed. It is used to grasp the cultural relics that have been fixed and place them inside the fish for cleaning.

[0044] A remote sensing detector 11 and a visual scanner 12 are also provided at the bottom of the lower fish brain 2. Advanced remote sensing detection technology can detect the distribution of deep-sea cultural relics, and the data is transmitted to the manipulator motion processor 603, which is convenient for making a cultural relic collection plan and achieving the purpose of not missing any cultural relic. The visual scanner 12 can be used for accurate observation and scanning of a single cultural relic.

[0045] A turbine system is provided on the drag-reducing shark fin 8 . The turbine system is a turbine engine connected to the drag-reducing shark fin 8 . The turbine engine includes a bullet-shaped drag resistor 1011 and a propeller blade 1012 .

[0046] A fish window door 13 is provided at the top of the upper fish brain 1 on one side of the opening, and the fish window door 13 is connected to the interior of the upper fish brain 1 through a fish window rod 14.

[0047] A rapid motor 15 is arranged inside the first fishtail joint 3 , and a high-speed steering gear 16 is arranged inside the second fishtail joint 4 .

[0048] There are two intelligent warehouses 203, one on the left and one on the right, which fully utilizes the space and storage capacity and increases the advancement.

[0049] The materials used for the various components of the deep-sea cultural relic collection device of the present invention are 304 or 316L grade stainless steel plates, which have good corrosion resistance. At the same time, the various components are connected by welding technology, and the welds at the connection parts need to undergo strict strength and density tests to ensure that the sealing performance of the deep-sea cultural relic collection device meets the standard specifications. In addition, the deep-sea cultural relic collection device of the present invention is also provided with sealing elements such as rubber pads and O-type rubber rings to ensure that the airtightness of the collection device under extreme conditions in the deep sea meets the working requirements, so that it can safely and effectively perform cultural relic fishing tasks in complex and changeable marine environments.

[0050] The method for collecting cultural relics by the deep-sea cultural relic collection device of the present invention is as follows:

[0051] By providing energy to the high-speed steering gear 16 and the rapid motor 15, the first fishtail joint 3, the second fishtail joint 4 and the third fishtail joint 5 are driven, so that the collection device can swim forward and turn. Whether the collection device increases speed can adjust the power used by the turbine system, thereby controlling the movement frequency of the propeller blades 1012, so as to quickly reach the designated area of ​​the cultural relics collection device;

[0052] When the cultural relic collection device reaches the designated area, the remote sensing detector 11 is turned on to detect the specific distribution of cultural relics in the sea area, and the visual scanner 12 is turned on to start to specifically reach the first cultural relic planned to be collected;

[0053] The gripper pedestal 901 starts at a height parallel to the designated cultural relic, and the twisting ring 902 can be adjusted to the desired optimal angle, and the gripping rod 903 can be extended and retracted according to the required length, and the suction gripper 905 grabs the cultural relic, and the suction gripper palm 904 starts to absorb the cultural relic;

[0054] When the adsorption gripper 905 and the adsorption gripper 904 work at the same time, the mechanical gripper system also starts to work. The mechanical arm on the bottom of the manipulator table rotates the gear to rotate the first manipulator motion axis 601, first adjusts it greatly next to the cultural relic, and then adjusts the gear to rotate the second manipulator motion axis 602 to reach the specified angle. The manipulator motion processor 603 starts to fine-tune the manipulator rotation axis 605, extends the telescopic rod 604 to the specified position, and the manipulator gripper 607 starts to grab the cultural relic, thereby opening the manipulator adsorber 606. At this time, the adsorption gripper 904 stops adsorption, the adsorption gripper 905 is released, the fish window door 13 driven by the fish window rod 14 is opened, and the manipulator starts to put the cultural relic into the specified position of the cleaning workbench. The manipulator resets, and the fish window rod 14 drives the fish window door 13 to close. The internal cleaning system 101 starts the cleaning program. After the cleaning program is completed, the drainage system 201 and the air drying system 202 are opened in sequence. After the air drying is completed, the internal waterproof door is opened. At this time, the cultural relics are placed on the slide 20315 (the slide 20315 is in a sealed state), and then the slide 20315 moves to the right, thereby moving away from the conveyor belt 20317. When the slide 20315 slides to the far right, the front-end cultural relic manipulator 20319 grabs the cultural relics from the slide 20315. During this process, the cultural relics will be detected by the detection fixed block 20318 to identify the size of the cultural relics, and then the cultural relics will be placed on the conveyor belt 20317; when the detection fixed block 20318 determines that the cultural relics are small, the front-end cultural relic manipulator 20319 will put them into the first intelligent warehouse 2031 for storage; when it is determined that the cultural relics are large, the rear-end cultural relic manipulator 20320 will put them into the second intelligent warehouse 2032 for storage. At this time, the constant temperature system is started and the storage is completed, thereby realizing a complete process of collecting cultural relics by the deep-sea cultural relic collection device.

[0055] The artifact collection device starts collecting the next artifact.

[0056] It is worth noting that the contents not elaborated in detail in the present invention are all prior art and are well known to those skilled in the art.

[0057] Therefore, the present invention adopts the above-mentioned deep-sea cultural relics collection device, and an advanced omnidirectional visual system is installed at the front end of the collection device, which can accurately identify the deep-sea cultural relics salvage targets, and transmit the signals to the controller in real time, thereby controlling the robot to track and grasp in real time, and put it in the designated position, realizing the automation and intelligence of deep-sea cultural relics salvage.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A deep-sea cultural relic collection device, characterized in that: It includes a fish brain, a first fish tail joint, a second fish tail joint, a third fish tail joint, a mechanical gripper system, and an adsorption gripper system. The fish brain is connected to the first fish tail joint, the other end of the first fish tail joint is connected to the second fish tail joint, and the other end of the second fish tail joint is connected to the third fish tail joint; The fish brain comprises an upper fish brain and a lower fish brain; The top of the upper fish brain is provided with an opening, the mechanical gripper system passes through the opening and is connected to the inside of the upper fish brain, and a cleaning system is also provided inside the upper fish brain; The lower fish brain is provided with a drainage system, an air drying system, and an intelligent warehouse in sequence from the fish brain to the third joint of the fish tail. The lower side of the lower fish brain is provided with a ventral fin, and both sides of the lower fish brain are provided with drag-reducing shark fins. The ventral fin is connected to the adsorption gripper system; The smart warehouse comprises a first smart warehouse and a second smart warehouse, the first smart warehouse and the second smart warehouse are symmetrically arranged and have the same structure, the first smart warehouse comprises a box body, a first supporting cylinder is arranged on the bottom surface of the box body, a supporting plate is arranged on the upper end of the first supporting cylinder, and a second supporting cylinder is arranged on the upper part of the supporting plate; A slide is arranged between the first smart warehouse and the second smart warehouse, the slide is connected to the slide rail, a slide base is arranged at the lower side of the slide, a conveyor belt is arranged on one side of the slide base, a front-end cultural relic manipulator and a rear-end cultural relic manipulator are arranged on both sides of the conveyor belt, and a detection fixing block is also arranged on the slide base.

2. A deep-sea cultural relic collection device according to claim 1, characterized in that: The robot gripper system includes a robot fixer, a robot base, a first robot motion axis, a second robot motion axis, a robot motion processor, a telescopic rod, a robot rotation axis, a robot absorber, and a robot gripper. The robot fixer fixes the robot base to the inside of the upper fish brain. The robot base is connected to the first robot motion axis through gears. The first robot motion axis is connected to the second robot motion axis through gears. The other end of the second robot motion axis is connected to the telescopic rod, and a robot motion processor is provided on the telescopic rod. The other end of the telescopic rod is connected to the robot rotation axis, and the robot rotation axis is connected to the robot. The robot includes a robot absorber and a robot gripper arranged on the side around the robot absorber.

3. A deep-sea cultural relic collection device according to claim 2, characterized in that: The adsorption gripper system includes a gripper base, a torsion ring, a gripping rod, and an adsorption gripper. The gripper base is fixedly connected to the ventral fin by screws, and the other end of the gripper base is threadedly connected to the torsion ring. The torsion ring and the gripping rod are integrally formed, and the other end of the gripping rod is threadedly connected to the adsorption gripper. The adsorption gripper is provided with an adsorption gripper.

4. A deep-sea cultural relic collection device according to claim 3, characterized in that: The drag-reducing shark fin is provided with a turbine system, wherein the turbine system comprises a turbine engine connected to the drag-reducing shark fin, and the turbine engine comprises a bullet-shaped drag resistor and a propeller blade.

5. A deep-sea cultural relic collection device according to claim 4, characterized in that: A fish window door is arranged on one side of the opening at the top of the upper fish brain, and the fish window door is connected with the inside of the upper fish brain through a fish window rod.

6. A deep-sea cultural relic collection device according to claim 5, characterized in that: A rapid motor is arranged inside the first fishtail joint, and a high-speed steering gear is arranged inside the second fishtail joint.

7. A deep-sea cultural relic collection device according to claim 6, characterized in that: A constant temperature system is also provided inside the first intelligent warehouse.

8. A deep-sea cultural relic collection device according to claim 7, characterized in that: A remote sensing detector and a visual scanner are also arranged at the bottom of the lower fish brain.

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