An underwater vehicle resource classification and acquisition device

Abstract

A resource classification and collection device for underwater vehicles belongs to the technical field of underwater vehicles. It can not only carry out targeted collection of target resources and improve operating efficiency, but also reduce the energy consumption of the vehicle when carrying unnecessary resources during underwater operations. It includes a collection tube body, a power supply box, a connection structure and a mechanical arm; the present invention can be installed on the outside of underwater vehicles of different sizes, and can perform continuous operations when the underwater vehicle is moving, without affecting other functions of the vehicle, and has a wide range of uses. The present invention can perform preliminary regional classification, selection, and discharge of collected resources through the cooperation of the optional device and the lifting device, which can reduce the energy consumption caused by the underwater vehicle carrying non-target resources during operations. The mechanical claw of the collection device of the present invention can be switched between two modes: grabbing and shoveling. It can make corresponding selections according to different target resources to improve the efficiency of resource collection.

Description

Technical Field

[0001] The present 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 them 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 operation 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 includes a collection tube body, a power supply box, a connecting structure and a robotic arm; the collection tube body is connected to the lower end of the power supply box, the connecting structure is installed at the upper end of the power supply box, and the robotic 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 operate continuously while the underwater vehicle is moving without affecting other functions of the vehicle, and has a wide range of applications.

[0008] 2. The present invention can perform preliminary regional classification, selection, and discharge of 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 two modes: grabbing and shoveling. It can make corresponding selections according to different target resources, thereby improving the efficiency of resource collection.

[0010] 4. When not in use, 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 structural diagram of the present invention;

[0012] Figure 2This 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 This is a schematic diagram of the mechanical claw of the present invention transporting target resources;

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

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

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

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

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

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

[0022] Among them: 1. Collection tube body; 2. Power supply box; 3. Connection structure; 4. Robotic arm connection structure; 5. Robotic arm connecting rod 1; 6. Robotic arm connecting rod 2; 7. Robotic arm connecting rod 3; 8. Robotic claw; 9. Collection tube rotating device; 10. Smooth magnetic cap; 11. Air pump; 12. Rotating hatch; 13. Magnetic suction device; 14. Coil column; 15. Solenoid; 16. Perforated partition; 17. Airbag; 18. Lift switch 2; 19. Lift switch 1; 20. Negative 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 with reference to 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 robotic 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. 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 robotic 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 rotary door 12, a magnetic 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 set in the shell, a valve port 1 is set between the upper chamber and the lower chamber, and a valve port 2 is set 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. The upper end of valve port 2 18 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 1 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 1 19 and the lifting switch 2 18 is divided into an inner circle and an outer ring. Both are 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. And the lifting switch 19 and the lifting switch 2 18 can communicate between cabins and between 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 cabin door 12 is opened in the upper cabin and connected to the outlet opened on the collecting tube body 1. The rotary cabin door 12 fits tightly 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, and the spiral coil 15 is wound on the coil column 14. 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 through 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 connection structure 4, a robotic arm link 1 5, a robotic arm link 2 6, a robotic arm link 3 7 and a robotic claw 8; one end of the robotic arm connection structure 4 is installed at the front end of the power supply box 2, and the other end of the robotic arm connection structure 4 is hinged to one end of the robotic arm link 1 5, the robotic arm link 2 6, and the robotic arm link 3 7 in sequence. The joint formed by the robotic arm connection structure 4 and the robotic arm link 1 5 is controlled by the drive motor 2 to achieve 90-degree rotation, the joint formed by the robotic arm link 1 5 and the robotic arm link 2 6 is controlled by the drive motor 3 to achieve 135-degree rotation, and the joint formed by the robotic arm link 2 6 and the robotic arm link 3 7 is controlled by the drive motor 4 to achieve 180-degree rotation. The robotic arm link 3 7 is connected to the robotic claw 8 through a rotatable disk 21.

[0029] like Figures 3 to 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 2 28; the rotatable disc 21 is driven by a drive motor 5 built into the mechanical arm connecting rod 3 7, and the panel 22 is mounted on the rotatable disc 21 and can rotate 360 degrees. The side panel 1 23, the side panel 2 24, the connecting plate 1 25 and the connecting plate 2 26 are surrounded and hingedly mounted on the four sides of the panel 22 and driven by a uniform drive motor 6 to rotate 135 degrees. The main board 1 27 and the main board 2 28 are hingedly mounted on the connecting plate 1 25 and the connecting plate 2 26 and driven by a uniform drive motor 7 to rotate 180 degrees. The side panel 1 23, the side panel 2 24, the connecting plate 1 25, the connecting plate 2 26, the main board 1 27 and the main board 2 28 can be combined to form a closed collection chamber and can form a grasping posture and a shoveling posture.

[0030] Working principle: After the underwater target resources are obtained 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 device 13, perforated partition 16, and lifting switch 19, and non-target resources are discharged to achieve preliminary classification and collection of collected resources.

[0031] like Figure 1As shown, resource collection is primarily accomplished by the robotic arm. A joint limits rotation between robotic arm link 1 (5) and robotic arm link 2 (6) to 135 degrees, while a joint limits rotation between robotic arm link 2 (6) and robotic arm link 3 (7) to 180 degrees. The robotic claw (8) is connected to robotic arm link 3 (7) via a rotatable disk (21), enabling 360-degree rotation. The collection barrel body (1) is connected to the lower end of the collection barrel rotating device (9), enabling 180-degree rotation. The rotary hatch (12) is equipped with a sealing strip and can rotate coaxially with the collection barrel body (1) to open and close 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, side plate 1 23, side plate 2 24, connecting plate 1 25, and connecting plate 2 26 can achieve 135-degree rotation, and main plate 1 27 and main plate 2 28 can achieve 180-degree rotation. The rotation of each component can realize the clamping, scooping and collection of the target.

[0034] like Figures 6 and 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 air bag 17, air can be blown into the lower chamber to discharge the material 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 in conjunction with the opening of the rotary door 12.

[0036] like Figures 9 and 10 As shown, a smooth magnetic cap 10 is installed on the top of the magnetic 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 power is turned on, magnetic force is generated inside the magnetic device 13, thereby adsorbing the magnetic metal in the collected resources 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 Figure 11 As shown, the device is fixed to the lower part of an AUV of a certain size through a connecting structure 3. The inner side of the connecting structure 3 is provided with a fixed adjustment component, and the inner diameter can be adjusted to adapt to AUVs of different sizes.

[0038] The operating process is as follows: During normal navigation of the external AUV, this device is installed below the AUV. Before entering the water, ensure that the collection tube body 1 is filled with air. The second and third robotic arm links 6 and 7 are folded beneath the power supply box 2 to reduce resistance during underwater movement. The collection tube body 1 remains stationary relative to the collection tube rotating mechanism 9, and the rotary hatch 12 remains closed. Lift switches 19 and 18 are attached to the 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 robot arm link 1 5, the robot arm link 2 6, and the robot arm link 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 and 5 As shown, by rotating 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, the long sides of the side plate 1 23 and the side plate 2 24 are closely fitted with one side of the connecting plate 2 26 and the main plate 1 27, and the main plate 1 27 first contacts the target resource for scooping. After completion, one side of the connecting plate 1 25 and the main plate 2 28 is rotated to closely fit with the short sides of the side plate 1 23 and the side plate 2 24, thereby reducing 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, as shown in FIG. Figure 6 As shown, it is only necessary to turn off the adsorption effect 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 robotic 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 magnetic metal, the coil 15 needs to be energized so that the magnetic device 13 generates magnetic force, adsorbing 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 coil 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 bottom plate 20 is closed to lift the upper chamber. 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 generated by 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 end hatch, while large particles of solids remain 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 remains in the lower chamber.

[0041] After the device has preliminarily classified the resources, it will discharge the non-target resources. For the discharge of liquid substances, such as Figure 7 As shown, close the adsorption effect of the bottom film 20 on the lifting switch 18, so that it moves upward, open the air pump 11 and the air bag 17, and close the lifting switch 18, the air pump 11 and the air bag 17 at the same time after the liquid in the cabin is drained; for the discharge of solid matter, as shown Figure 8 As shown, the collection drum rotating device 9 rotates the collection drum body 1 90 degrees, opening the rotary hatch 12 and discharging solid matter from the upper chamber under the action of gravity. When underwater vehicles operate and move underwater, the weight they carry increases energy consumption. Separating and discharging non-target resources can effectively reduce energy loss and improve the efficiency of underwater operations.

[0042] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by 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 to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A device for classifying and collecting underwater vehicle resources, characterized by: The invention comprises 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), the connecting 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); the collecting tube 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, and the lifting switch 1 is used to open and close the valve port 1. The upper end of the switch 2 (18) is used to seal and open the valve port 2, and the movement of the lifting switch 2 (18) and the lifting switch 1 (19) is controlled by the bottom plate (20). The bottom plate (20) is installed at the bottom of the shell through the support rod 1. 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). The perforated partition (16) is arranged below the magnetic device (13) and fixed in the upper cabin. The rotary door (12) is opened at the upper cabin and connected to the outlet opened on the collecting 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.

2. 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. The 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 are electromagnet N poles that can be energized. By controlling the power supply of the two parts respectively, a repulsive force is generated to control the upward movement of the lifting switch 1 (19) and the lifting switch 2 (18).

3. The underwater vehicle resource classification and collection device according to claim 2, 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 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.

4. The underwater vehicle resource classification and collection device according to claim 1, characterized in that: 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).

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

6. The underwater vehicle resource classification and collection device according to claim 5, characterized in that: The mechanical claw (8) includes a panel (22), a side panel (23), a side panel (24), a connecting panel (25), a connecting panel (26), a main panel (27) and a main panel (28); the rotatable disc (21) is driven by a driving motor (5) built into the mechanical arm connecting rod (7); the panel (22) is mounted on the rotatable disc (21); the side panel (23), the side panel (24), the connecting panel (25) and the connecting panel (26) surround and rotate the disc. The main plate 1 (27) and the main plate 2 (28) are hingedly mounted on the four sides of the panel (22) and driven by a drive 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 drive 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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