Ocean robot

Abstract

The invention relates to the field of robots, in particular to an ocean robot which comprises a base, an anti-collision device, a suspension device and a clamping device, the anti-collision device comprises a buffering part and anti-collision parts, and the anti-collision parts are evenly arranged on the front side wall and the rear side wall of the base from left to right; buffering parts are symmetrically arranged on the left and right side walls of the base close to the ends. An annular air bag, a compression spring and an anti-collision rod which are arranged in the anti-collision component can play a double buffering role in collision on the front side and the rear side of the base, so that the purpose of anti-collision protection on the front side and the rear side of the base is achieved, the buffering component and the anti-collision component interact, the purpose of anti-collision protection on the periphery of the base can be achieved, and the service life of the base is prolonged. And the problem that the box-type goods fall off due to shaking is avoided, and the carrying efficiency of the box-type goods is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of marine robots, and specifically to a marine robot. Background Art

[0002] Marine robots are multi-joint manipulators or machine devices with degrees of freedom widely used in the industrial field. They have a certain degree of automation and can rely on their own power sources and control capabilities to achieve various industrial processing and manufacturing functions. With the continuous development of the logistics industry, goods handling robots have also become indispensable. A marine robot is a machine that runs automated scripts using software applications, that is, a robot that can be remotely controlled by an operator.

[0003] During the process of traditional marine robots handling boxed goods, due to the shaking caused by the environment during deck operations, the grasping effect during goods handling is often poor due to the different volumes of boxed goods, and the fit between the robot gripper and the shape of the goods is insufficient. As a result, the stability of boxed goods during handling is relatively poor, correspondingly reducing the working efficiency of goods handling. At the same time, during long-term use and observation, it is found that during movement, the body structure of the marine robot will shake due to collisions, resulting in the goods falling, which will seriously affect the efficiency of goods handling and cannot meet the usage requirements of the factory. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a marine robot, which solves the problem that during movement, the body structure of the marine robot shakes due to collisions, resulting in the goods falling, which will seriously affect the efficiency of goods handling and cannot meet the usage requirements of the factory.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a marine robot, including a base, an anti-collision device, a suspension device, and a clamping device. The anti-collision device is arranged on the circumferential side wall of the base. In the middle of the upper end face of the base, a suspension device is fixedly installed, and a clamping device is suspended on the lower side of the right end of the suspension device;

[0006] The anti-collision device includes a buffer component and an anti-collision component. Among them, the anti-collision components are evenly arranged on the front and rear side walls of the base from left to right, and the buffer components are symmetrically arranged at positions close to the ends on the left and right side walls of the base;

[0007] The clamping device includes a C-shaped plate, front and rear clamping components, linkage components, a linkage plate, and a fitting component. Among them, the lower end of the suspension device is fixedly bolted with a C-shaped plate. Inside the C-shaped plate, the front and rear clamping components are installed. The linkage components are symmetrically arranged on the left and right sides of the front and rear clamping components. The lower ends of the linkage components are fixedly connected to a linkage plate, and the fitting component is arranged inside the linkage plate;

[0008] The fitting parts include a cylindrical slide groove, a cylindrical protrusion, a return spring, a No. 1 air pipe, an air storage cavity, a No. 2 air pipe, a strip mounting groove and a rectangular air bag, wherein the linkage plate is symmetrically provided with strip mounting grooves near the upper and lower ends, and the rectangular air bag is installed in the strip mounting grooves, and cylindrical slide grooves are evenly provided on the linkage plate between the strip mounting grooves, and a cylindrical protrusion is slidably installed in the cylindrical slide groove through a return spring, and an air storage cavity is provided on the side of the linkage plate away from the cylindrical slide groove, and one end of each cylindrical slide groove away from the cylindrical protrusion is connected to the air storage cavity through the No. 1 air pipe, and the air storage cavity is connected to the inside of the rectangular air bag near the upper and lower ends through the No. 2 air pipe.

[0009] Preferably, the lower end surface of the base is provided with movable wheels arranged in a matrix, a drive controller is fixedly provided on the upper end surface of the base near the left end, a signal transmitter is fixedly installed on the upper end surface of the base near the right end, and a monitoring probe is installed on the upper end of the right side wall of the signal transmitter.

[0010] Preferably, the buffer component includes a No. 1 rectangular slide, a buffer spring, a T-shaped slider, a lining plate, a limiting slide, a rectangular block, a fixed connecting rod, a pulley, a rotating shaft, a buffer wheel and an extrusion spring, wherein a No. 1 rectangular slide is symmetrically provided at the positions near the end of the left and right side walls of the base, and a T-shaped slider is slidably connected to the interior of the No. 1 rectangular slide through a buffer spring, and one end of the T-shaped slider away from the buffer spring extends to the outside of the No. 1 rectangular slide and is symmetrically installed with a lining plate front and back, and a limited slide is provided on the side walls opposite to the lining plate, and a rectangular block is provided at the opposite position of the lining plate and at one end away from the T-shaped slider, and fixed connecting rods are fixedly connected to the front and rear side walls of the rectangular block, and one end of the fixed connecting rod away from the rectangular block is rotatably connected to the pulley, a rotating shaft is rotatably installed in the middle of the upper end surface of the rectangular block, and the upper end of the rotating shaft is fixedly connected to the buffer wheel, and an extrusion spring is fixedly installed between the rectangular block and the T-shaped slider, and the stiffness coefficient of the buffer spring is smaller than the stiffness coefficient of the extrusion spring.

[0011] Preferably, the anti-collision component includes a No. 2 rectangular slide groove, a T-shaped slide bar, an annular airbag, a compression spring and an anti-collision bar, wherein a No. 2 rectangular slide groove is evenly opened on the front and rear side walls of the base from left to right, a T-shaped slide bar is slidably arranged in the No. 2 rectangular slide groove, the outer end of the T-shaped slide bar extends to the outside of the base and is fixedly connected to the anti-collision bar, the anti-collision bar has an arc-shaped structure at one end away from the T-shaped slide bar, a compression spring is sleeved on the T-shaped slide bar between the anti-collision bar and the No. 2 rectangular slide groove, an annular airbag is arranged on the outside of the compression spring, and the annular airbag is fixedly connected to the front and rear side walls of the base.

[0012] Preferably, the suspension device includes a vertical plate, a fixed disk, a steering component, a first suspension arm, a second suspension arm, a pushing cylinder, and a suspension component. Among them, vertical plates are evenly arranged circumferentially in the middle of the upper end surface of the base. A fixed disk is fixedly installed at the upper end of the vertical plates. A steering component is rotatably installed on the fixed disk, and the lower end of the steering component is fixedly connected to the base. The first suspension arm is fixedly installed on the upper end surface of the fixed disk through a pin shaft. The upper end of the first suspension arm is rotatably installed with the second suspension arm through a pin shaft. A pushing cylinder is rotatably installed at a position near the lower end of the right side wall of the first suspension arm. The upper end of the pushing cylinder is rotatably installed at the middle of the lower end surface of the second suspension arm through a pin shaft. The left end of the steering component is fixedly connected with a suspension component. The suspension component bypasses the upper end of the second suspension arm and its lower end is bolted with a clamping device.

[0013] Preferably, the steering component includes a steering motor, a driving gear, a driven gear, a gear shaft, a rotating chassis, and a mounting plate. Among them, the gear shaft is rotatably installed in the middle of the fixed disk. The upper end of the gear shaft is fixedly connected with a rotating chassis. Mounting plates are symmetrically installed front and back on the upper end of the rotating chassis. The first suspension arm is fixedly installed between the mounting plates through a pin shaft. The lower end of the gear shaft is fixedly connected with a driven gear. The driven gear is meshed with a driving gear on the right side. The driving gear is installed on the upper end of the steering motor by means of key connection. The steering motor is fixedly installed on the upper end surface of the base through a motor base.

[0014] Preferably, the suspension component includes a cross plate, a driving motor, a winding wheel, and a steel wire rope. Among them, the left end of the rotating chassis is fixedly connected with a cross plate. The driving motor is fixedly installed on the upper end surface of the cross plate through a motor base. The output shaft of the driving motor is fixedly connected with a winding wheel. A steel wire rope is wound around the winding wheel. The steel wire rope bypasses the upper end of the second suspension arm and its lower end is bolted with a clamping device.

[0015] Preferably, the front and rear clamping components include a bidirectional motor, a threaded rod, a first gear, a moving block, a rectangular cylinder, a tension spring, and a clamping plate. Among them, the threaded rod is installed in the middle of the inner side of the U-shaped plate through a bearing. The rear end of the threaded rod is installed on the output shaft of the bidirectional motor through a bearing. The bidirectional motor is fixedly connected to the rear side wall of the U-shaped plate through a motor base. The front end of the threaded rod is installed with a first gear by means of key connection. The threads on the threaded rod are symmetrically arranged front and back and a moving block is helically driven on each section of the thread. A strip-shaped chute is opened at the upper end inside the U-shaped plate. The upper end of the moving block is slidably arranged in the strip-shaped chute. The lower end of the moving block is fixedly connected with a rectangular cylinder. The rectangular cylinder opens downward and a clamping plate is slidably connected inside the rectangular cylinder through a tension spring.

[0016] Preferably, anti-slip rubber strips are evenly arranged on the opposite side walls of the clamping plates. The anti-slip rubber strips can increase the friction between the side wall of the box-shaped goods and the clamping plates, thus facilitating the stable clamping of the box-shaped goods by the clamping plates.

[0017] Preferably, the linkage components include a second gear, a linkage shaft, and a linkage rod. Among them, linkage shafts are symmetrically arranged on the left and right sides of the threaded rod. The front end of the linkage shaft extends to the front side of the C-shaped plate and is installed with a second gear by key connection. The second gear meshes with the first gear. Linkage rods are symmetrically and fixedly connected to the front and rear of the linkage shaft inside the C-shaped plate, and the lower end of the linkage rod is fixedly connected to a linkage plate.

[0018] Advantages of the present invention:

[0019] (1) The anti-collision device of the present invention is arranged around the base, which can reduce the shaking degree of the base after being collided, thereby avoiding the possibility of the boxed goods falling due to jitter. Among the buffer components, through the mutual cooperation of the buffer spring, buffer wheel, and extrusion spring, it can play a dual-buffer role in the collision on both ends of the base, thus playing a role of buffer protection.

[0020] (2) In the anti-collision component of the present invention, the annular airbag, compression spring, and anti-collision rod arranged can play a dual-buffer role in the collision on the front and rear sides of the base, thus achieving the purpose of anti-collision protection on the front and rear sides of the base. Through the interaction of the buffer component and the anti-collision component, it can achieve the purpose of anti-collision protection around the base, avoiding the problem of the boxed goods falling due to jitter, and greatly improving the handling efficiency of the boxed goods. Description of the Drawings

[0021] The present invention will be further described below with reference to the drawings and embodiments.

[0022] Figure 1 is the first three-dimensional structure diagram of the present invention;

[0023] Figure 2 is the second three-dimensional structure diagram of the present invention;

[0024] Figure 3 is the three-dimensional structure diagram of the base and the buffer component in the present invention;

[0025] Figure 4 is the structure diagram of the base and the buffer component in the present invention;

[0026] Figure 5 is the structure diagram of the base and the anti-collision component in the present invention;

[0027] Figure 6 is the bottom-up three-dimensional structure diagram of the clamping device in the present invention;

[0028] Figure 7 is the structure diagram of the linkage plate and the fitting component in the present invention.

[0029] In the figure: 1, base; 11, moving wheel; 12, drive controller; 13, signal transmitter; 14, monitoring probe; 2, anti-collision device; 21, buffer component; 211, rectangular slide No. 1; 212, buffer spring; 213, T-shaped slider; 214, lining plate; 215, limit slide; 216, rectangular block; 217, fixed link; 218, pulley; 219, rotating shaft; 2110, buffer wheel; 2111, extrusion spring; 22, anti-collision component; 221, rectangular slide No. 2; 222, T-shaped slider; 223, annular airbag; 224, compression spring; 225, anti-collision rod; 3, suspension device; 31, vertical plate; 32, fixed plate; 33, steering component; 331, steering motor; 332, driving gear; 333, driven gear; 334, gear shaft; 335, rotating chassis; 336, mounting plate; 34, suspension arm No. 1; 35, suspension arm No. 2; 36, push cylinder; 37, suspension component; 371, cross plate; 372, drive motor; 373, reel; 374, wire rope; 4, clamping device; 41, profile plate; 42, front and rear clamping components; 421, bidirectional motor; 422, threaded rod; 423, gear No. 1; 424, moving block; 425, rectangle Cylinder; 426, tension spring; 427, clamp; 43, linkage component; 431, No. 2 gear; 432, linkage shaft; 433, linkage rod; 44, linkage plate; 45, fitting component; 451, cylindrical slide groove; 452, cylindrical protrusion; 453, return spring; 454, No. 1 air pipe; 455, air storage chamber; 456, No. 2 air pipe; 457, strip mounting groove; 458, rectangular air bag. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0031] See also Figures 1 to 7 A marine robot comprises a base 1, an anti-collision device 2, a suspension device 3 and a clamping device 4, wherein the anti-collision device 2 is arranged on the circumferential side wall of the base 1, the suspension device 3 is fixedly installed on the middle part of the upper end surface of the base 1, and the clamping device 4 is suspended on the lower side of the right end of the suspension device 3;

[0032] See also Figure 1 and Figure 2The lower end surface of the base 1 is provided with moving wheels 11 arranged in a matrix, the upper end surface of the base 1 is fixedly provided with a driving controller 12 near the left end, the upper end surface of the base 1 is fixedly provided with a signal transmitter 13 near the right end, and the upper end of the right wall of the signal transmitter 13 is installed with a monitoring probe 14. During specific operation, the driving controller 12 is connected to the terminal device through an electrical signal, the driving controller 12 is started by manually controlling the terminal device, and the driving controller 12 drives the moving wheels 11 to rotate, thereby driving the base 1 to move, and completing the handling process. During the handling process of the box-type goods, the monitoring probe 14 can transmit the real-time picture to the remote display screen through the signal transmitter 13, and the staff can complete a series of handling work according to the picture on the display screen.

[0033] Continue reading Figure 1 and Figure 2 The anti-collision device 2 includes a buffer component 21 and an anti-collision component 22, wherein the anti-collision components 22 are evenly arranged on the front and rear side walls of the base 1 from left to right, and the buffer components 21 are symmetrically arranged on the left and right side walls of the base 1 near the end; during specific operation, during the movement of the base 1, the buffer component 21 can play a certain buffering and protective role on the left and right ends of the base 1, and the anti-collision component 22 can play a certain anti-collision and protective role on the front and rear sides of the base 1.

[0034] See also Figure 3 and Figure 4The buffer component 21 includes a rectangular slot 211, a buffer spring 212, a T-shaped slider 213, a lining plate 214, a limiting slot 215, a rectangular block 216, a connecting rod 217, a pulley 218, a rotating shaft 219, a buffer wheel 2110 and an extrusion spring 2111, wherein a rectangular slot 211 is symmetrically provided on the left and right side walls of the base 1 near the end, and a T-shaped slider 213 is slidably connected to the inside of the rectangular slot 211 through the buffer spring 212, and the end of the T-shaped slider 213 away from the buffer spring 212 extends to the outside of the rectangular slot 211 and is symmetrically installed with a lining plate 214, and the lining plate A limiting slide groove 215 is provided on the side wall opposite to 214, and a rectangular block 216 is provided at a position opposite to the lining plate 214 and at one end away from the T-shaped slider 213. A fixing rod 217 is fixedly connected to the front and rear side walls of the rectangular block 216, and the end of the fixing rod 217 away from the rectangular block 216 is rotatably connected to a pulley 218. A rotating shaft 219 is rotatably installed in the middle of the upper end surface of the rectangular block 216, and a buffer wheel 2110 is fixedly connected to the upper end of the rotating shaft 219. An extrusion spring 2111 is fixedly installed between the rectangular block 216 and the T-shaped slider 213, and the stiffness coefficient of the buffer spring 212 is smaller than the stiffness coefficient of the extrusion spring 2111. During specific operation, during the movement of the base 1, if the left and right ends of the base 1 encounter obstacles, the obstacles will touch the buffer wheel 2110 and squeeze it to a certain extent. Since the stiffness coefficient of the buffer spring 212 is smaller than the stiffness coefficient of the squeezing spring 2111, the squeezing force of the obstacle on the buffer wheel 2110 will drive the lining plate 214 and the T-shaped slider 213 to slide toward the first rectangular slide groove 211. At this time, the buffer spring 212 will be compressed. When the buffer spring 212 is compressed to the maximum limit, the squeezing force of the obstacle on the buffer wheel 2110 will drive the rectangular block 216, the connecting rod 217 and the pulley 218 to move toward the side close to the T-shaped slider 213. At this time, the squeezing spring 2111 will be compressed. The purpose of setting the rotating shaft 219 is to enable the buffer wheel 2110 to rotate after being subjected to a force that is not perpendicular to itself, thereby unloading part of the squeezing force and reducing the impact on the buffer wheel 2110, thereby playing a role in buffering and protecting the base 1.

[0035] See also Figure 5The anti-collision component 22 includes a No. 2 rectangular slide groove 221, a T-shaped slide bar 222, an annular airbag 223, a compression spring 224 and an anti-collision rod 225, wherein a No. 2 rectangular slide groove 221 is evenly opened on the front and rear side walls of the base 1 from left to right, a T-shaped slide bar 222 is slidably arranged in the No. 2 rectangular slide groove 221, the outer end of the T-shaped slide bar 222 extends to the outside of the base 1 and is fixedly connected to the anti-collision rod 225, and the anti-collision rod 225 has an arc-shaped structure at one end away from the T-shaped slide bar 222, a compression spring 224 is sleeved on the T-shaped slide bar 222 between the anti-collision rod 225 and the No. 2 rectangular slide groove 221, an annular airbag 223 is arranged on the outside of the compression spring 224, and the annular airbag 223 is fixedly connected to the front and rear side walls of the base 1. During specific operation, when the base 1 moves, if the front and rear sides of the base 1 collide with obstacles, the squeezing force of the obstacle on the anti-collision rod 225 will drive the T-shaped slide bar 222 to slide into the second rectangular slide groove 221. At this time, the compression spring 224 is compressed, and the anti-collision rod 225 will squeeze the annular airbag 223, thereby causing the annular airbag 223 to deform to a certain extent. Under the joint action of the annular airbag 223 and the compression spring 224, the front and rear sides of the base 1 can be protected from collision, thereby reducing the shaking of the base 1 itself, further reducing the possibility of box-type goods falling due to shaking, and improving the efficiency of box-type goods handling.

[0036] See also Figure 1 and Figure 2 The suspension device 3 includes a vertical plate 31, a fixed plate 32, a steering component 33, a No. 1 suspension arm 34, a No. 2 suspension arm 35, a pushing cylinder 36 and a suspension component 37, wherein the vertical plate 31 is evenly arranged in the circumferential direction at the middle part of the upper end surface of the base 1, the fixed plate 32 is fixedly installed on the upper end of the vertical plate 31, the steering component 33 is rotatably installed on the fixed plate 32, the lower end of the steering component 33 is fixedly connected to the base 1, the No. 1 suspension arm 34 is fixedly installed on the upper end surface of the fixed plate 32 through a pin shaft, the No. 2 suspension arm 35 is rotatably installed on the upper end of the No. 1 suspension arm 34 through a pin shaft, a pushing cylinder 36 is rotatably installed on the right side wall of the No. 1 suspension arm 34 near the lower end, the upper end of the pushing cylinder 36 is rotatably installed on the middle part of the lower end surface of the No. 2 suspension arm 35 through a pin shaft, the left end of the steering component 33 is fixedly connected to the suspension component 37, the suspension component 37 bypasses the upper end of the No. 2 suspension arm 35 and its lower end is bolted with a clamping device 4. During specific operation, the steering component 33 is used to drive the No. 1 suspension arm 34 and the No. 2 suspension arm 35 to rotate, thereby adjusting the transport direction, and the No. 2 suspension arm 35 is adjusted to a horizontal position by pushing the cylinder 36, thereby facilitating the operation of the suspension component 37, and the clamping device 4 is driven downward by the suspension component 37 to complete the transport of the box-type goods.

[0037] Continue reading Figure 1 and Figure 2The steering component 33 includes a steering motor 331, a driving gear 332, a driven gear 333, a gear shaft 334, a rotating chassis 335 and a mounting plate 336, wherein a gear shaft 334 is rotatably mounted in the middle of the fixed plate 32, the upper end of the gear shaft 334 is fixedly connected to the rotating chassis 335, and mounting plates 336 are symmetrically mounted on the upper end of the rotating chassis 335, and a No. 1 suspension arm 34 is fixedly mounted between the mounting plates 336 through a pin shaft, and a driven gear 333 is fixedly connected to the lower end of the gear shaft 334, and a driving gear 332 is meshed on the right side of the driven gear 333, and the driving gear 332 is mounted on the upper end of the steering motor 331 by a key connection, and the steering motor 331 is fixedly mounted on the upper end surface of the base 1 through a motor base. During specific operation, the steering motor 331 is started, and the driving gear 332 is driven to rotate by the steering motor 331. The mutual engagement of the driving gear 332 and the driven gear 333 drives the gear shaft 334 and the rotating chassis 335 to rotate, thereby adjusting the transport direction of the No. 1 suspension arm 34 and the No. 2 suspension arm 35.

[0038] See also Figure 1 The suspension component 37 includes a horizontal plate 371, a driving motor 372, a reel 373 and a steel wire 374, wherein the left end of the rotating chassis 335 is fixedly connected to the horizontal plate 371, the upper end surface of the horizontal plate 371 is fixedly installed with a driving motor 372 through a motor base, the output shaft of the driving motor 372 is fixedly connected to a reel 373, a steel wire 374 is wound around the reel 373, the steel wire 374 passes around the upper end of the second suspension arm 35 and the lower end thereof is bolted to a clamping device 4. In specific operation, when carrying, the driving motor 372 is started, the reel 373 is driven by the driving motor 372 to rotate so that the steel wire 374 is unwound, and under the action of the weight of the clamping device 4 itself, the clamping device 4 will continuously move downward, and the steel wire 374 is in a taut state, and then the clamping device 4 completes the clamping action of the box-type goods.

[0039] See also Figure 6, the clamping device 4 includes a C-shaped plate 41, a front and rear clamping component 42, a linkage component 43, a linkage plate 44, and a fitting component 45. A C-shaped plate 41 is fixedly bolted to the lower end of the suspension device 3. The front and rear clamping component 42 is installed inside the C-shaped plate 41. Linkage components 43 are symmetrically arranged on the left and right sides of the front and rear clamping component 42. The lower end of the linkage component 43 is fixedly connected to a linkage plate 44, and a fitting component 45 is arranged inside the linkage plate 44. Specifically, when the C-shaped plate 41 moves downward to above the box-shaped goods, at this time, the lower ends of the front and rear clamping components 42 are located on the front and rear sides of the box-shaped goods. Start the front and rear clamping component 42, and clamp and fix the front and rear sides of the box-shaped goods through the front and rear clamping component 42. At the same time, the front and rear clamping component 42 will drive the linkage component 43 to rotate, thereby driving the linkage plate 44 to move toward the left and right sides close to the box-shaped goods, and complete the clamping of the left and right sides of the box-shaped goods through the fitting component 45 arranged on the linkage plate 44.

[0040] Continue to refer to Figure 6 , the front and rear clamping component 42 includes a bidirectional motor 421, a threaded rod 422, a first gear 423, a moving block 424, a rectangular cylinder 425, a tension spring 426, and a clamping plate 427. A threaded rod 422 is installed in the middle inside the C-shaped plate 41 through a bearing. The rear end of the threaded rod 422 is installed on the output shaft of the bidirectional motor 421 through a bearing. The bidirectional motor 421 is fixedly connected to the rear side wall of the C-shaped plate 41 through a motor base. A first gear 423 is installed on the front end of the threaded rod 422 by key connection. The threads on the threaded rod 422 are symmetrically arranged front and rear, and each section of the thread is helically driven with a moving block 424. A strip-shaped chute is opened at the upper end inside the C-shaped plate 41, and the upper end of the moving block 424 is slidably arranged in the strip-shaped chute. The lower end of the moving block 424 is fixedly connected to a rectangular cylinder 425. The rectangular cylinder 425 has an opening downward, and a clamping plate 427 is slidably connected inside the rectangular cylinder 425 through a tension spring 426. Anti-slip rubber strips are uniformly arranged on the opposite side walls of the clamping plate 427. The anti-slip rubber strips can increase the friction between the side wall of the box-shaped goods and the clamping plate 427, thereby facilitating the stable clamping of the box-shaped goods by the clamping plate 427. Specifically, when the C-shaped plate 41 moves downward to above the box-shaped goods, at this time, the lower ends of the clamping plates 427 are located on the front and rear sides of the box-shaped goods. Start the bidirectional motor 421, drive the threaded rod 422 to rotate through the bidirectional motor 421, thereby driving the moving blocks 424 on the front and rear sides to approach each other, and at the same time driving the rectangular cylinder 425, the tension spring 426, and the clamping plate 427 to approach each other. If when the opposite sides of the clamping plate 427 are attached to the front and rear side walls of the box-shaped goods and the linkage plate 44 has not been attached to the left and right sides of the box-shaped goods, as the moving block 424 continues to move, under the obstruction of the front and rear side walls of the box-shaped goods, the rectangular cylinders 425 will continue to approach each other. During this process, the tension spring 426 is continuously compressed. When the linkage plate 44 is closely attached to the left and right sides of the box-shaped goods, the clamping action is completed.

[0041] Refer to Figure 6 The linkage component 43 includes a second gear 431, a linkage shaft 432 and a linkage rod 433. The threaded rod 422 is symmetrically provided with linkage shafts 432 on its left and right sides. The front end of the linkage shaft 432 extends to the front side of the C-shaped plate 41 and is installed with a second gear 431 in a key connection manner. The second gear 431 meshes with the first gear 423. Linkage rods 433 are symmetrically and fixedly connected to the front and rear of the linkage shaft 432 inside the C-shaped plate 41. The lower end of the linkage rod 433 is fixedly connected to a linkage plate 44. During specific operation, when the threaded rod 422 rotates, the first gear 423 also rotates accordingly. Through the meshing action of the first gear 423 and the second gear 431, the linkage shaft 432 and the linkage rod 433 rotate towards the box-type goods, thereby driving the linkage plate 44 to rotate towards the box-type goods. Finally, the linkage plate 44 closely adheres to the left and right sides of the box-type goods.

[0042] Refer to Figure 7 The fitting component 45 includes a cylindrical chute 451, a cylindrical protrusion 452, a return spring 453, a first air pipe 454, an air storage cavity 455, a second air pipe 456, a strip-shaped installation groove 457 and a rectangular airbag 458. Strip-shaped installation grooves 457 are symmetrically formed at positions near the upper and lower ends of the linkage plate 44. A rectangular airbag 458 is installed in the strip-shaped installation groove 457. Cylindrical chutes 451 are evenly formed on the linkage plate 44 between the strip-shaped installation grooves 457. A cylindrical protrusion 452 is slidably installed in the cylindrical chute 451 through a return spring 453. An air storage cavity 455 is formed on one side of the linkage plate 44 away from the cylindrical chute 451. One end of each cylindrical chute 451 away from the cylindrical protrusion 452 is communicated with the air storage cavity 455 through a first air pipe 454. Positions near the upper and lower ends of the air storage cavity 455 are communicated with the inside of the rectangular airbag 458 through a second air pipe 456. During specific operation, when the linkage plate 44 adheres to the left and right sides of the box-type goods, as the linkage plate 44 continues to rotate, the extrusion force between the linkage plate 44 and the box-type goods drives the cylindrical protrusion 452 to slide into the cylindrical chute 451. At this time, the return spring 453 is compressed, and the air inside the cylindrical chute 451 enters the air storage cavity 455 through the first air pipe 454, and then enters the inside of the rectangular airbag 458 through the second air pipe 456. During this process, the rectangular airbag 458 continuously expands and finally closely adheres to the left and right sides of the box-type goods, increasing the contact area between the linkage plate 44 and the box-type goods, thereby increasing the friction and improving the stability of clamping the box-type goods.

[0043] The working principle of the present invention during use:

[0044] One: Start the drive controller 12 through the manual control terminal device, drive the moving wheel 11 to rotate through the drive controller 12, thereby driving the base 1 to move to the front side of the box-type cargo, start the steering motor 331, drive the driving gear 332 to rotate through the steering motor 331, and drive the gear shaft 334 and the rotating chassis 335 to rotate through the mutual engagement of the driving gear 332 and the driven gear 333, so that the No. 1 suspension arm 34 and the No. 2 suspension arm 35 are aligned with the box-type cargo, and the No. 2 suspension arm 35 is adjusted to a horizontal position by pushing the cylinder 36;

[0045] 2. After the above step 1 is completed, the driving motor 372 is started, and the winding wheel 373 is driven by the driving motor 372 to rotate so that the wire rope 374 is unwound. Under the action of the weight of the clamping device 4 itself, the clamping device 4 will continue to move downward, and the wire rope 374 is in a taut state. When the lower end of the clamping plate 427 is located at the front and rear sides of the box-type cargo, the bidirectional motor 421 is started, and the threaded rod 422 is driven by the bidirectional motor 421 to rotate, thereby driving the moving blocks 424 on the front and rear sides to approach each other, and at the same time driving the rectangular tube 425, the tensioning spring 426 and the clamping plate 427 to approach each other. If the opposite sides of the clamping plate 427 are attached to the front and rear side walls of the box-type cargo and the linkage plate 44 has not yet attached to the left and right sides of the box-type cargo, as the moving block 424 continues to move, under the obstruction of the front and rear side walls of the box-type cargo, the rectangular tube 425 will continue to approach each other. In this process, the tensioning spring 426 is continuously compressed. During the rotation, the No. 1 gear 423 will also rotate accordingly, and the meshing action of the No. 1 gear 423 and the No. 2 gear 431 will drive the linkage shaft 432 and the linkage rod 433 to rotate in the direction of the box-type cargo, thereby driving the linkage plate 44 to rotate in the direction of the box-type cargo. Finally, the linkage plate 44 is closely attached to the left and right sides of the box-type cargo. As the linkage plate 44 continues to rotate, the extrusion force between the linkage plate 44 and the box-type cargo will drive the columnar protrusion 452 to slide into the columnar slide groove 451. At this time, the return spring 453 is compressed, and the air inside the columnar slide groove 451 will enter the air storage chamber 455 through the No. 1 air pipe 454, and then enter the interior of the rectangular air bag 458 through the No. 2 air pipe 456. In this process, the rectangular air bag 458 continues to expand and finally closely attaches to the left and right sides of the box-type cargo, increasing the contact area between the linkage plate 44 and the box-type cargo, thereby increasing the friction and improving the stability of the box-type cargo clamping.

[0046] 3: After the above step 2 is completed, the driving motor 372 is started again, and the winding wheel 373 is driven by the driving motor 372 to rotate in the opposite direction to reel the wire rope 374, thereby driving the clamping device 4 and the box-type cargo to rise to a certain height, and the steering motor 331 is started, and the steering motor 331 drives the No. 1 suspension arm 34, the No. 2 suspension arm 35, the clamping device 4 and the box-type cargo to rotate to the designated transportation location, and then the driving motor 372 drives the winding wheel 373 to rotate to unwind the wire rope 374, thereby completing the transportation process of the box-type cargo;

[0047] 4: Repeat the above steps 1 to 3 to achieve continuous handling of boxed goods.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An underwater robot, comprising a base (1), a collision prevention device (2), a suspension device (3) and a clamping device (4), characterized in that: The collision prevention device (2) is arranged on the circumferential side wall of the base (1), the suspension device (3) is fixedly installed in the middle of the upper end surface of the base (1), and the clamping device (4) is suspended on the lower side of the right end of the suspension device (3); The clamping device (4) comprises a C-shaped plate (41), a front and rear clamping member (42), a linkage member (43), a linkage plate (44) and a fitting member (45). The lower end of the suspension device (3) is fixedly bolted with the C-shaped plate (41), the front and rear clamping member (42) is installed inside the C-shaped plate (41), the linkage members (43) are symmetrically arranged on the left and right sides of the front and rear clamping member (42), the lower ends of the linkage members (43) are fixedly connected with the linkage plate (44), and the fitting member (45) is arranged inside the linkage plate (44).

2. A marine robot according to claim 1, characterized in that: The collision prevention device (2) comprises a buffer member (21) and a collision prevention member (22). The collision prevention members (22) are uniformly arranged on the front and rear side walls of the base (1) from left to right, and the buffer members (21) are symmetrically arranged at positions close to the ends on the left and right side walls of the base (1).

3. A marine robot according to claim 2, characterized in that: The fitting member (45) comprises a cylindrical chute (451), a cylindrical protrusion (452), a return spring (453), a first air pipe (454), an air storage cavity (455), a second air pipe (456), a strip-shaped installation groove (457) and a rectangular airbag (458); The rectangular airbag (458) is installed in the strip-shaped installation groove (457), the cylindrical protrusion (452) is slidably installed in the cylindrical chute (451) through the return spring (453), one end of each cylindrical chute (451) away from the cylindrical protrusion (452) is communicated with the air storage cavity (455) through the first air pipe (454), and the positions of the air storage cavity (455) close to the upper and lower ends are communicated with the inside of the rectangular airbag (458) through the second air pipe (456).

4. A marine robot according to claim 3, characterized in that: The buffer member (21) comprises a first rectangular chute (211), a buffer spring (212), a T-shaped slider (213), a lining plate (214), a limit chute (215) and a rectangular block (216); The T-shaped slider (213) is slidably connected inside the first rectangular chute (211) through the buffer spring (212), one end of the T-shaped slider (213) away from the buffer spring (212) extends outside the first rectangular chute (211) and the lining plates (214) are symmetrically installed in the front and rear, limit chutes (215) are formed on the opposite side walls of the lining plates (214), and rectangular blocks (216) are arranged at positions of the lining plates (214) opposite to each other and away from the T-shaped slider (213).

5. A marine robot according to claim 4, characterized in that: The buffer component (21) further comprises a connecting rod (217), a pulley (218), a rotating shaft (219), a buffer wheel (2110) and an extrusion spring (2111). The connecting rods (217) are fixedly connected to the front and rear side walls of the rectangular block (216). One end of the connecting rod (217) away from the rectangular block (216) is rotatably connected to the pulley (218). A rotating shaft (219) is rotatably mounted in the middle of the upper end surface of the rectangular block (216). The upper end of the rotating shaft (219) is fixedly connected to the buffer wheel (2110). An extrusion spring (2111) is fixedly mounted between the rectangular block (216) and the T-shaped slider (213).

6. A marine robot according to claim 5, characterized in that: The anti-collision component (22) comprises a second rectangular slide groove (221), a T-shaped slide bar (222), an annular airbag (223), a compression spring (224) and an anti-collision bar (225); A T-shaped slide bar (222) is slidably arranged in the second rectangular slide groove (221), the outer end of the T-shaped slide bar (222) extends to the outside of the base (1) and is fixedly connected to an anti-collision rod (225), a compression spring (224) is sleeved on the T-shaped slide bar (222) between the anti-collision rod (225) and the second rectangular slide groove (221), an annular air bag (223) is arranged outside the compression spring (224), and the annular air bag (223) is fixedly connected to the front and rear side walls of the base (1).

7. A marine robot according to claim 6, characterized in that: The front and rear clamping components (42) include a bidirectional motor (421), a threaded rod (422) and a first gear (423); the rear end of the threaded rod (422) is mounted on the output shaft of the bidirectional motor (421) via a bearing, and the front end of the threaded rod (422) is mounted on the first gear (423) via a key connection.

8. A marine robot according to claim 7, characterized in that: The front and rear clamping components (42) further include a moving block (424), a rectangular tube (425), a tensioning spring (426) and a clamping plate (427); the threads on the threaded rod (422) are symmetrically arranged front and rear and each section of the thread is spirally driven with a moving block (424); The lower end of the moving block (424) is fixedly connected to a rectangular tube (425), the opening of the rectangular tube (425) faces downward, and a clamping plate (427) is slidably connected inside the rectangular tube (425) via a tightening spring (426).

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