Underwater vehicle resource classification and collection device

Abstract

The invention discloses an underwater vehicle resource classified collection device, and belongs to the technical field of underwater vehicles. Directional collection can be carried out on the target resources, the operation efficiency is improved, and energy consumption caused by carrying unnecessary resources when the aircraft operates underwater can be reduced. Comprising a collecting barrel body, a power supply box, a connecting structure and a mechanical arm. The device can be installed outside the underwater vehicles of different sizes, continuous operation can be carried out when the underwater vehicles move, other functions of the vehicles are not affected, and the application range is wide. According to the invention, through the cooperation of the selecting and loading device and the lifting device, the collected resources are subjected to preliminary regional classification, selection and discharge, and the energy consumption caused by carrying non-target resource operation by the underwater vehicle can be reduced. The mechanical claw of the collecting device can be switched between the grabbing mode and the shoveling mode, corresponding selection can be conducted according to different target resources, and the resource collecting efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicles, and in particular relates to a resource classification and collection device for underwater vehicles. Background Art

[0002] Currently, resource collection devices of underwater vehicles are mostly capture devices that absorb underwater target objects. It is difficult to classify and discharge non-target resources. Unmanned underwater vehicles need to undertake long-term and long-distance operation tasks during underwater operations, which requires unmanned underwater vehicles to have high endurance and high operating efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a resource classification and collection device that can be installed on an underwater vehicle, which can not only carry out targeted collection of target resources and improve work efficiency, but also reduce the energy consumption of the vehicle when operating underwater due to carrying unnecessary resources.

[0004] The technical solution adopted by the present invention is:

[0005] A resource classification and collection device for underwater vehicles comprises a collection tube body, a power supply box, a connection structure and a mechanical arm; the collection tube body is connected to the lower end of the power supply box, the connection structure is installed at the upper end of the power supply box, and the mechanical arm is installed at the front end of the power supply box.

[0006] Compared with the prior art, the present invention has the following beneficial effects:

[0007] 1. The present invention is a resource classification and collection device that can be installed on an underwater vehicle. It can be installed on the outside of underwater vehicles of different sizes. The device can perform continuous operation when the underwater vehicle moves without affecting other functions of the vehicle. It has a wide range of uses.

[0008] 2. The present invention can perform preliminary regional classification, selection, and discharge of the collected resources through the cooperation of the optional device and the lifting device, thereby reducing the energy consumption caused by the underwater vehicle carrying non-target resources.

[0009] 3. The mechanical claw of the collection device of the present invention can be switched between the grabbing mode and the shoveling mode, and can be selected accordingly according to different target resources to improve the efficiency of resource collection.

[0010] 4. When not in operation, the mechanical claw of the present invention can be retracted under the power supply box, effectively reducing the damage caused by the surrounding complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the present invention;

[0012] Figure 2It is a schematic diagram of the main structure of the collecting tube of the present invention;

[0013] Figure 3 is a schematic diagram of the mechanical claw of the present invention in a grasping state;

[0014] Figure 4 is a schematic diagram of the mechanical claw of the present invention in a scooping state;

[0015] Figure 5 is a schematic diagram of the mechanical claw of the present invention when transporting target resources;

[0016] Figure 6 It is a schematic diagram of the collecting tube body when collecting liquid in the present invention;

[0017] Figure 7 is a schematic diagram of the collecting tube body when discharging liquid according to the present invention;

[0018] Figure 8 is a schematic diagram of the collecting cylinder body when discharging solids according to the present invention;

[0019] Fig. 9 It is a top view of the collecting tube body of the present invention;

[0020] Fig.10 It is a bottom view of the collecting tube body of the present invention;

[0021] Fig.11 is a schematic diagram of the device of the present invention when it is installed on an underwater vehicle;

[0022] Among them: 1. Collection tube body; 2. Power supply box; 3. Connection structure; 4. Robot arm connection structure; 5. Robot arm connecting rod 1; 6. Robot arm connecting rod 2; 7. Robot arm connecting rod 3; 8. Mechanical claw; 9. Collection tube rotating device; 10. Smooth magnetic cap; 11. Air pump; 12. Rotating hatch; 13. Magnetic suction device; 14. Coil column; 15. Screw coil; 16. Perforated partition; 17. Airbag; 18. Lifting switch 2; 19. Lifting switch 1; 20. Film; 21. Rotatable disk; 22. Panel; 23. Side panel 1; 24. Side panel 2; 25. Connecting plate 1; 26. Connecting plate 2; 27. Main board 1; 28. Main board 2. DETAILED DESCRIPTION

[0023] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0024] like Figures 1 to 11As shown, a resource classification and collection device for underwater vehicles includes a collecting tube body 1, a power supply box 2, a connecting structure 3 and a mechanical arm; the collecting tube body 1 is connected to the lower end of the power supply box 2 through a collecting tube rotating device 9, and the collecting tube body 1 can be rotated 90 degrees through the collecting tube rotating device 9, and the connecting structure 3 is installed at the upper end of the power supply box 2. The connecting structure 3 is a clamp type structure, and the upper inner diameter can be adjusted to match AUVs of different sizes. The mechanical arm is installed at the front end of the power supply box 2.

[0025] like Figure 2 As shown, the collecting cylinder body 1 includes a shell, an air pump 11, an air bag 17, a rotating hatch 12, a magnetic suction device 13, a perforated partition 16, a lifting switch 19, a lifting switch 2 18 and a bottom plate 20; an upper chamber and a lower chamber are arranged in the shell, a valve port 1 is arranged between the upper chamber and the lower chamber, a valve port 2 is arranged at the bottom of the lower chamber, the upper end of the lifting switch 19 is used to seal and open the valve port 1, and the lower end is the N pole of the electromagnet, which is connected to the bottom plate 20 through a large diameter tension spring 1 of negligible length, and the lifting switch 19 is connected to the bottom plate 20 through a large diameter tension spring 1 of negligible length. The upper end of valve port 218 is used to seal and open valve port 2, and the lower end is the N pole of the electromagnet, which is connected to the bottom plate 20 through a small diameter tension spring 2 with negligible length around it. The tension spring 2 is arranged in the tension spring 1. The lifting switch 19 and the lifting switch 2 18 are both in the normally closed state. There is an electromagnet in the bottom plate 20, and the end connected to the lifting switch 19 and the lifting switch 2 18 is divided into an inner circle and an outer ring, both of which are the N poles of the electromagnet that can be energized. By controlling the power supply of the two parts separately, a repulsive force is generated to control the upward movement of the lifting switch 19 and the lifting switch 2 18. Moreover, the lifting switch 19 and the lifting switch 2 18 can communicate between the cabins and between the cabins and the outside world by moving up and down. The bottom film 20 is installed at the bottom of the outer shell through the support rod 1, and the magnetic device 13 is installed at the upper end of the upper cabin through the support rod 2. The magnetic device 13 is connected to the power supply box 2 through a cable. The perforated partition 16 is arranged below the magnetic device 13 and fixed in the upper cabin. The rotary door 12 is opened in the upper cabin and connected to the outlet opened on the collecting tube body 1. The rotary door 12 is tightly fitted with the collecting tube body 1 and can rotate coaxially. The air pump 11 is installed on the outside of the outer shell, and the air outlet of the air pump 11 is connected to the air bag 17 arranged inside the outer shell, and the air outlet of the air bag 17 is arranged toward the lower chamber.

[0026] like Figure 2 As shown, the magnetic attraction device 13 includes a smooth magnetic cap 10, a coil column 14 and a spiral coil 15; the smooth magnetic cap 10 is connected to the upper compartment of the shell through a second support rod, and a gap is provided between the outer edge of the smooth magnetic cap 10 and the inner surface of the shell, the coil column 14 is arranged inside the smooth magnetic cap 10, the spiral coil 15 is wound on the coil column 14, and the spiral coil 15 is connected to the power supply box 2 through a cable, and can generate magnetic force when energized.

[0027] like Figure 1 , Figure 8 As shown, the upper end of the collecting barrel main body 1 is rotatably connected to the collecting barrel rotating device 9 via a rotating shaft. The collecting barrel main body 1 is driven to rotate by a driving motor 1. The upper end of the collecting barrel rotating device 9 is connected to the lower end of the power supply box 2. The number of the collecting barrel rotating devices 9 is preferably two, and the two collecting barrel rotating devices 9 are axially symmetrically arranged at both ends of the collecting barrel main body 1 so that the collecting barrel main body 1 can rotate.

[0028] like Figure 3 As shown, the robotic arm includes a robotic arm connecting structure 4, a robotic arm connecting rod 1 5, a robotic arm connecting rod 2 6, a robotic arm connecting rod 3 7 and a robotic claw 8; one end of the robotic arm connecting structure 4 is installed at the front end of the power supply box 2, and the other end of the robotic arm connecting structure 4 is hinged with one end of the robotic arm connecting rod 1 5, the robotic arm connecting rod 2 6, and the robotic arm connecting rod 3 7 in sequence, and the joint formed by the robotic arm connecting structure 4 and the robotic arm connecting rod 1 5 is controlled by the driving motor 2 to realize 90-degree rotation, the joint formed by the robotic arm connecting rod 1 5 and the robotic arm connecting rod 2 6 is controlled by the driving motor 3 to realize 135-degree rotation, and the joint formed by the robotic arm connecting rod 2 6 and the robotic arm connecting rod 3 7 is controlled by the driving motor 4 to realize 180-degree rotation, and the robotic arm connecting rod 3 7 is connected to the robotic claw 8 through a rotatable disk 21.

[0029] like Figure 3 to Figure 5 As shown, the mechanical claw 8 includes a panel 22, a side panel 23, a side panel 24, a connecting plate 1 25, a connecting plate 26, a main board 1 27 and a main board 28; the rotatable disc 21 is driven by a driving motor 5 built into the mechanical arm connecting rod 3 7, the panel 22 is mounted on the rotatable disc 21, and can achieve 360-degree rotation, the side panel 1 23, the side panel 24, the connecting plate 1 25, and the connecting plate 26 are surrounded and hingedly mounted on the sides of the panel 22, and driven by a driving motor 6 to achieve 135-degree rotation, the main board 1 27 and the main board 28 are hingedly mounted on the connecting plate 1 25 and the connecting plate 26, and driven by a driving motor 7 to achieve 180-degree rotation, the side panel 1 23, the side panel 24, the connecting plate 1 25, the connecting plate 26, the main board 1 27 and the main board 2 28 can be combined into a closed collection chamber and can form a grasping posture and a shoveling posture.

[0030] Working principle: After the underwater target resources are acquired by the robotic arm, they are transferred to the top of the collection tube body 1, and are classified and partitioned inside through the magnetic suction device 13, the perforated partition 16, and the lifting switch 19, and non-target resources are discharged, thereby realizing the preliminary classification and collection of the collected resources.

[0031] like Figure 1As shown, resource collection is mainly completed by the mechanical arm, wherein the mechanical arm connecting rod 1 5 and the mechanical arm connecting rod 2 6 are limited by the joint to rotate within a range of 135 degrees, and the mechanical arm connecting rod 2 6 and the mechanical arm connecting rod 3 7 are limited by the joint to rotate within a range of 180 degrees. The mechanical claw 8 is connected to the mechanical arm connecting rod 3 7 through a rotatable disk 21, and can achieve 360-degree rotation. The collection barrel body 1 is connected to the lower end of the collection barrel rotating device 9, and can achieve 180-degree rotation. The rotary hatch 12 is provided with a sealing strip, and can rotate coaxially with the collection barrel body 1 to realize the opening and closing of the hatch.

[0032] like Figure 2 As shown, the lifting switch 19 and the lifting switch 2 18 are adsorbed on the bottom film 20 and kept in a closed state. The bottom film 20 is connected to the collecting tube body 1 through four brackets.

[0033] like Figures 3 to 5 As shown, the side plate 1 23, the side plate 24, the connecting plate 1 25, and the connecting plate 2 26 can realize 135 degree rotation, and the main board 1 27 and the main board 2 28 can realize 180 degree rotation, and the target can be clamped, scooped and collected through the rotation of each component.

[0034] like Figure 6 to Figure 7 As shown, the bottom film 20 can turn off the adsorption effect on the lifting switch 19, realize the upward movement of the lifting switch 19, and make the upper chamber and the lower chamber in the collecting tube body 1 communicate with each other; the bottom film 20 can turn off the adsorption effect on the lifting switch 2 18, realize the upward movement of the lifting switch 2 18, and make the lower chamber in the collecting tube body 1 communicate with the outside world; through the cooperation of the air pump 11 and the airbag 17, air can be blown into the lower chamber to discharge the substances in the lower chamber.

[0035] like Figure 8 As shown, the collecting barrel rotating device 9 can rotate the collecting barrel body 1 by 90 degrees, and the solid matter in the upper chamber can be discharged by opening the rotating door 12.

[0036] like Figures 9 and 10 As shown, a smooth magnetic cap 10 is installed on the top of the magnetic suction device 13, which can make the resources collected by the mechanical claw 8 fall evenly along the outer shell. A spiral coil 15 with a cable is installed inside. The cable is connected to the inside of the power supply box 2. When electricity is turned on, magnetic force is generated inside the magnetic suction device 13, so that the magnetic metal in the collected resources is adsorbed on the surface of the outer shell, and the remaining solid matter falls on the porous partition 16. The bottom film 20 is connected to the collection tube body 1 through four brackets.

[0037] like Fig.11 As shown, the device is fixed to the lower part of an AUV of a certain size through a connecting structure 3, and a fixed adjustment component is provided inside the connecting structure 3, and the inner diameter can be adjusted to adapt to AUVs of different sizes.

[0038] The working process is as follows: when the external AUV is sailing normally, the device is installed under the AUV. Before entering the water, it is necessary to ensure that the collection tube body 1 is filled with air, and the mechanical arm connecting rod 2 6 and the mechanical arm connecting rod 3 7 are folded under the power supply box 2 to reduce the resistance when moving underwater. The collection tube body 1 remains stationary relative to the collection tube rotating device 9, and the rotary door 12 remains closed. The lifting switch 1 19 and the lifting switch 2 18 are adsorbed on the bottom film 20 and remain closed.

[0039] When the device starts working, the robot arm link 1 5, the robot arm link 2 6, and the robot arm link 3 7 rotate through the joints, so that the robot claw 8 reaches the vicinity of the target resource. Figure 3 As shown, by rotating the connecting plate 1 25, the connecting plate 2 26, the main board 1 27 and the main board 2 28, the main board 1 27 and the main board 2 28 contact the target resource and clamp it. After the clamping is completed, the mechanical arm connecting rod 1 5, the mechanical arm connecting rod 2 6, and the mechanical arm connecting rod 3 7 rotate again through the joint to place the target resource on the smooth surface of the magnetic cap 10; when the collected resource is a solid-liquid mixture or has a low hardness and is not easy to clamp, such as Figures 4 to 5 As shown, by rotating the side plate 1 23, the side plate 24, the connecting plate 1 25, the connecting plate 26, the main board 1 27 and the main board 28, the long sides of the side plate 1 23 and the side plate 24 are closely fitted with one side of the connecting plate 26 and the main board 1 27, and the main board 1 27 first contacts the target resource for shoveling. After completion, the connecting plate 1 25 and one side of the main board 28 are closely fitted with the short sides of the side plate 1 23 and the side plate 24 through rotation to reduce leakage during the transportation of resources. The robot arm connecting rod 1 5, the robot arm connecting rod 2 6, and the robot arm connecting rod 3 7 are rotated again through the joints to place the target resource on the smooth surface of the magnetic cap 10; when the collected resource is liquid, such as Figure 6 As shown, it is only necessary to turn off the adsorption of the bottom film 20 on the lifting switch 19 to move it upward. Due to the different pressure differences between the upper and lower chambers, the liquid in the upper chamber will enter the lower chamber. After the collection is completed, the lifting switch 19 is moved downward to turn off the adsorption of the bottom film 20 on it.

[0040] After the robot arm of the device completes resource collection, the device will conduct a preliminary classification of the resources. Depending on the target resource, the device's operating mode will also be different. During the resource classification process, when the target resource is a magnetic metal, the solenoid 15 needs to be energized so that the magnetic device 13 generates magnetic force, which adsorbs the magnetic metal on the surface of the smooth magnetic cap 10. Other substances enter the upper chamber under the action of gravity. After the non-target resources are discharged, the solenoid 15 is de-energized so that the magnetic force of the magnetic device 13 disappears. The magnetic metal falls to the surface of the porous partition 16 due to gravity, and the magnetic metal remains in the upper chamber. When the target resource is a larger solid particle, the film 20 is closed to prevent the lifting of the lifting device 10. The adsorption effect of switch 19 and lifting switch 2 18 causes them to move upward respectively, and the liquid in the upper chamber will enter the lower chamber. The air pump 11 and the air bag 17 are turned on to continuously blow gas into the lower chamber. The pressure difference between the two chambers can filter small particles of solids and other impurities into the lower chamber, and then be discharged to the outside through the lower hatch, while large particles of solids are retained in the upper chamber. When the target resource is liquid, after collecting it into the lower chamber, the lifting switch 19 is closed and the liquid is retained in the lower chamber.

[0041] After the device performs preliminary classification of resources, it discharges non-target resources. For the discharge of liquid substances, such as Figure 7 As shown, the suction effect of the bottom film 20 on the lifting switch 18 is turned off to make it move upward, the air pump 11 and the air bag 17 are turned on, and the lifting switch 18, the air pump 11 and the air bag 17 are turned off at the same time after the liquid in the cabin is drained; for the discharge of solid substances, as shown Figure 8 As shown, the collection barrel rotating device 9 rotates the collection barrel body 1 by 90 degrees, opens the rotating hatch 12, and discharges the solid matter in the upper chamber under the action of gravity. When the underwater vehicle operates and moves underwater, the weight it carries will increase energy consumption. Separating and discharging non-target resources can effectively reduce energy loss and improve the efficiency of underwater operations.

[0042] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A device for classifying and collecting underwater vehicle resources, characterized in that: It comprises a collection tube body (1), a power supply box (2), a connection structure (3) and a mechanical arm; the collection tube body (1) is connected to the lower end of the power supply box (2), the connection structure (3) is installed at the upper end of the power supply box (2), and the mechanical arm is installed at the front end of the power supply box (2).

2. The underwater vehicle resource classification and collection device according to claim 1, characterized in that: The collecting cylinder body (1) comprises a shell, an air pump (11), an air bag (17), a rotary door (12), a magnetic attraction device (13), a perforated partition (16), a lifting switch 1 (19), a lifting switch 2 (18) and a bottom film (20); an upper chamber and a lower chamber are arranged in the shell, a valve port 1 is arranged between the upper chamber and the lower chamber, a valve port 2 is arranged at the bottom of the lower chamber, the upper end of the lifting switch 1 (19) is used to seal and open the valve port 1, the upper end of the lifting switch 2 (18) is used to seal and open the valve port 2, and the lifting switch 2 (18) and the lifting switch 1 (19) are connected by the bottom film (20). 0) to control its movement, the bottom film (20) is installed at the bottom of the shell through a support rod 1, the magnetic device (13) is installed at the upper end of the upper chamber through a support rod 2, the magnetic device (13) is connected to the power supply box (2), the perforated partition (16) is arranged below the magnetic device (13) and fixed in the upper chamber, the rotary door (12) is opened at the upper chamber and connected to the outlet opened on the collection tube body (1), the air pump (11) is installed outside the shell, the air outlet of the air pump (11) is connected to the air bag (17) arranged inside the shell, and the air outlet of the air bag (17) is arranged toward the lower chamber.

3. The underwater vehicle resource classification and collection device according to claim 1, characterized in that: The lower end of the lifting switch 1 (19) is an electromagnet N pole, which is connected to the bottom plate (20) through a tension spring 1. The lower end of the lifting switch 2 (18) is an electromagnet N pole, which is connected to the bottom plate (20) through a tension spring 2. The diameter of the tension spring 1 is larger than the diameter of the tension spring 2, and the tension spring 2 is arranged inside the tension spring 1. The lifting switch 1 (19) and the lifting switch 2 (18) are both in a normally closed state. The bottom plate (20) contains an electromagnet, and one end connected to the lifting switch 1 (19) and the lifting switch 2 (18) is divided into an inner circle and an outer ring, both of which are electromagnet N poles that can be energized. By controlling the two parts to be energized, a repulsive force is generated to control the upward movement of the lifting switch 1 (19) and the lifting switch 2 (18).

4. The underwater vehicle resource classification and collection device according to claim 3, characterized in that: The magnetic attraction device (13) comprises a smooth magnetic cap (10), a coil column (14) and a spiral coil (15); the smooth magnetic cap (10) is connected to the upper compartment of the outer shell through a second support rod, and a gap is provided between the outer edge of the smooth magnetic cap (10) and the inner surface of the outer shell; the coil column (14) is arranged inside the smooth magnetic cap (10), the spiral coil (15) is wound on the coil column (14), and the spiral coil (15) is connected to the power supply box (2) through a cable.

5. The underwater vehicle resource classification and collection device according to claim 1, characterized in that: The upper end of the collecting tube body (1) is rotatably connected to the collecting tube rotating device (9) via a rotating shaft. The collecting tube body (1) is driven to rotate by a driving motor. The upper end of the collecting tube rotating device (9) is connected to the lower end of the power supply box (2).

6. The underwater vehicle resource classification and collection device according to claim 1, characterized in that: The mechanical arm comprises a mechanical arm connection structure (4), a mechanical arm connecting rod 1 (5), a mechanical arm connecting rod 2 (6), a mechanical arm connecting rod 3 (7) and a mechanical claw (8); one end of the mechanical arm connection structure (4) is installed at the front end of the power supply box (2), the other end of the mechanical arm connection structure (4) is hinged to one end of the mechanical arm connecting rod 1 (5), the mechanical arm connecting rod 2 (6) and the mechanical arm connecting rod 3 (7) in sequence, and the mechanical arm connecting rod 3 (7) is connected to the mechanical claw (8) via a rotatable disc (21).

7. The underwater vehicle resource classification and collection device according to claim 6, characterized in that: The mechanical claw (8) comprises a panel (22), a side plate 1 (23), a side plate 2 (24), a connecting plate 1 (25), a connecting plate 2 (26), a main board 1 (27) and a main board 2 (28); the rotatable disc (21) is driven by a driving motor 5 built into the mechanical arm connecting rod 3 (7); the panel (22) is mounted on the rotatable disc (21); the side plate 1 (23), the side plate 2 (24), the connecting plate 1 (25) and the connecting plate 2 (26) surround and The main plate 1 (27) and the main plate 2 (28) are hingedly mounted on the sides of the panel (22) and driven by a driving motor 6. The main plate 1 (27) and the main plate 2 (28) are hingedly mounted on the connecting plate 1 (25) and the connecting plate 2 (26) and driven by a driving motor 7. The side plate 1 (23), the side plate 2 (24), the connecting plate 1 (25), the connecting plate 2 (26), the main plate 1 (27) and the main plate 2 (28) can be combined to form a closed collection chamber and can form a grasping posture and a shoveling posture.

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