Multifunctional underwater picking robot

Abstract

The utility model discloses a multifunctional underwater picking robot, belongs to the technical field of underwater robots, and aims to solve the problems that an existing underwater robot is insufficient in maneuverability in a complex environment, unstable in posture during picking operation, low in buoyancy adjustment and function integration level and the like. A propelling assembly capable of rotating around the buoy is arranged outside the buoy, the propelling assembly comprises a conveying belt driven by a roller, and a driving plate achieving unfolding water pushing and attaching resistance reduction through interaction of permanent magnets is arranged on the conveying belt. A slidable partition plate with the volume adjusted through an air pump and an adjusting chamber are arranged in the buoy and used for controlling buoyancy and the pitching posture. By means of unique propelling and steering, internal buoyancy posture fine adjustment and function integrated design, the automatic picking machine has the advantages of being flexible, stable in operation, compact in control and structure, high in picking efficiency and the like.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, specifically a multi-functional underwater harvesting robot. Background Technology

[0002] With the deepening of marine exploration and underwater resource development, underwater robots are being used more and more widely in fields such as marine monitoring, underwater exploration, aquaculture, and underwater operations. In particular, in scenarios such as underwater farms and underwater ecological observation, robots are required to move flexibly, hover stably, and perform specific tasks such as harvesting and sampling. Therefore, the development of multifunctional underwater robots with high mobility, maneuverability, stable operation capabilities, and specific functions (such as harvesting and storage) has important practical significance and application value.

[0003] There are currently several underwater robot design schemes, such as:

[0004] Chinese invention patent CN108317337B discloses an underwater robot drive roller, the main feature of which is the optimization of the power transmission structure between the motor and the outer cylinder. By using keyed connections and other methods, the transmission efficiency is improved, energy loss is reduced, and the normal rotation of the drive roller is ensured. This design focuses on the efficiency and reliability of the drive components themselves.

[0005] Chinese invention patent CN114715364B discloses a composite-driven underwater robot that combines two driving methods: biomimetic wave fins and rotors. The design aims to use wave fins to achieve high-speed, silent motion to adapt to complex environments, while using rotors to achieve depth- and directional swimming and hovering. This design focuses on improving the robot's motion performance and attitude control capabilities through composite driving methods.

[0006] Chinese invention patent CN106043631B discloses a robotic arm-borne underwater robot, characterized by a horizontally flattened layout, an eight-propeller power system, an auxiliary buoyancy adjustment system, a multi-jointed robotic arm, and a data collection box. The design aims to improve the robot's operational continuity, maneuverability, environmental adaptability, and operational accuracy and flexibility, while also providing a certain data collection and storage capacity. This design represents a relatively complete underwater operation robot solution, focusing on achieving complex control and operations through the coordination of multiple systems.

[0007] The above designs achieve the movement and operation functions of underwater robots through different driving methods (such as rollers with built-in motors, bionic fins and rotors combined, and multiple thrusters), control systems, and operating components (such as robotic arms and collection boxes), providing valuable ideas and solutions for the development of underwater robots. However, for specific underwater harvesting tasks, existing technologies may still have certain limitations, such as limitations in propulsion and maneuverability, or the adaptability and efficiency of single-mode drive devices in complex underwater environments (such as needing to be close to the bottom or moving among aquatic plants). When harvesting underwater, the movement of the robotic arm will significantly change the robot's center of gravity and posture, placing high demands on the robot's stability. The buoyancy adjustment system in existing technologies may not respond quickly enough or have high enough adjustment accuracy, making it difficult to fully and in real-time compensate for operational disturbances, affecting harvesting accuracy and success rate. Utility Model Content

[0008] The purpose of this invention is to overcome the shortcomings of the existing technology and propose a multifunctional underwater harvesting robot to solve the above-mentioned problems.

[0009] The purpose of this utility model is achieved through the following technical solution: a multi-functional underwater harvesting robot, including a float. Slip ring 1 and slip ring 2 are fixedly connected to the outer end of the float along its axial direction near both ends. Slip ring 1 and slip ring 2 each have a groove at the end away from the float, and multiple sliding supports 1 and multiple sliding supports 2 are slidably connected within the grooves of slip ring 1 and slip ring 2. Rollers 1 and 2 are respectively provided at the ends of sliding supports 1 and 2 away from the float. Slip supports 1 and 2 are arranged one-to-one. The outer ends of rollers 1 and 2 on the corresponding sliding supports 1 and 2 are connected to the same conveyor belt. Fixed supports are fixedly connected to both ends of the conveyor belt along the axial direction of the connected roller 1. An adjusting plate is fixedly connected between two fixed supports, and a permanent magnet is installed inside the adjusting plate. Multiple rotating supports are fixedly connected to the outer end of the conveyor belt, and a drive plate is rotatably connected to the rotating supports. A permanent magnet is fixedly connected to the end of the drive plate away from the rotating supports. Gear 1 is fixedly connected to the close ends of slip ring 1 and slip ring 2. The corresponding sliding supports 1 and 2 are rotatably connected to the same rotating shaft. Gear 2 is fixedly connected to the rotating shaft at the position corresponding to gear 1. The two ends of the rotating shaft pass through sliding supports 1 and 2 respectively, and an adjusting motor is installed at the end of the rotating shaft that passes through sliding supports 1. A mechanical arm is fixedly connected to one end of the float. The float is equipped with partition 1, partition 2 and partition 3. Partition 1 and partition 3 are slidably connected to the inner wall of the float.

[0010] The axes of roller one and roller two are parallel to each other, and the axes of roller one and roller two are parallel to the plane perpendicular to the axis of the float. The top and bottom of the adjusting plate are in contact with the inner wall of the conveyor belt.

[0011] The direction of the magnetic pole connection of the permanent magnet on the regulating plate is perpendicular to the direction of the pontoon axis, and multiple rotating supports are evenly distributed along the outer end of the conveyor belt.

[0012] When the drive plate is perpendicular to the outer end of the conveyor belt, the direction of the magnetic pole connection line of the permanent magnet on the drive plate is parallel to the direction of the magnetic pole connection line on the adjustment plate. When the drive plate rotates with the conveyor belt to the end away from the float, the permanent magnets on the drive plate and the permanent magnets on the adjustment plate attract each other, causing the end of the drive plate away from the rotating support to fit against the outer end of the conveyor belt. When the drive plate rotates with the conveyor belt to the end close to the float, the permanent magnets on the drive plate and the permanent magnets on the adjustment plate repel each other, causing the drive plate to be perpendicular to the outer end of the conveyor belt.

[0013] The motor drive shaft is fixedly connected to the rotating shaft, the motor housing is fixedly connected to the sliding bracket, the first partition is set close to the robotic arm, the third partition is set away from the robotic arm, and the second partition is set close to the third partition.

[0014] An air pump is fixedly connected between partition 2 and partition 3. Partition 1 and the inner wall of the float form adjustment chamber 1, partition 3 and the inner wall of the float form adjustment chamber 2, and partition 1 and partition 2 form a storage chamber.

[0015] The air pump is connected to regulating chamber one and regulating chamber two through pipelines. A sliding cover is slidably connected to the float at the position corresponding to the storage chamber. An opening is opened on the float at the position corresponding to the sliding cover. A picking execution mechanism is fixedly connected to the end of the robotic arm.

[0016] Both roller one and roller two are fixedly connected to an external rotor motor, and the external rotor motor is fixedly connected to the corresponding sliding bracket one and sliding bracket two.

[0017] The rotating bracket is equipped with a limit block, the drive plate is made of flexible material, and gear two meshes with the corresponding gear one.

[0018] The beneficial effects of this utility model are:

[0019] The device uses a conveyor belt in conjunction with a drive plate that can automatically adjust its posture for propulsion. Through the interaction between permanent magnets, the drive plate can automatically unfold to generate maximum thrust when pushing water, and automatically close to reduce resistance during non-working strokes. It can achieve efficient propulsion without complex control, and its structure is simple and reliable.

[0020] The entire propulsion unit (conveyor belt system) can rotate around the main pontoon, and the thrust direction can be flexibly adjusted to achieve on-the-spot turning and travel direction control. At the same time, the design of the drive plate allows it to move forward by pushing water in the water, and also to provide power by contacting the bottom surface when close to the bottom, adapting to different water depths and underwater environments, especially in narrow areas, such as navigating through weeds and rock crevices.

[0021] By adjusting the volume of the adjustment chambers at both ends of the float using an internal air pump, the overall buoyancy of the robot can be controlled, enabling smooth ascent and descent. At the same time, differential adjustment can be performed to effectively adjust the robot's pitch attitude (balancing), overcoming the center of gravity changes caused by the robotic arm's operation, and ensuring the robot's stability and hovering ability during underwater operations.

[0022] Equipped with a dedicated robotic arm and harvesting mechanism, it can directly perform underwater harvesting tasks. The float has an independent storage compartment with an easy-to-open sliding cover, allowing harvested items to be stored directly inside the robot, which is safe and convenient, avoiding the inconvenience and risks of carrying them externally.

[0023] By integrating the drive motor into the drum and the buoyancy adjustment and storage system into the pontoon, the space is fully utilized, resulting in a compact overall structure. The propulsion system, attitude adjustment system, buoyancy control system, and harvesting and storage system work together to enable the robot to stably reach the designated position, adjust to the optimal working posture, control the depth, and complete the harvesting and storage tasks, significantly improving the overall efficiency and success rate of underwater harvesting operations. Attached Figure Description

[0024] Figure 1 This is an overall structural diagram of the present invention;

[0025] Figure 2 This is an exploded view of the entire utility model;

[0026] Figure 3 For the localized explosion of this utility model Figure 1 ;

[0027] Figure 4 For the localized explosion of this utility model Figure 2 ;

[0028] Figure 5 For the localized explosion of this utility model Figure 3 ;

[0029] Figure 6 This is a partial top view of the present invention;

[0030] Figure 7 For the present utility model Figure 6 Sectional view of AA;

[0031] Figure 8 For the present utility model Figure 7 BB section view;

[0032] Figure 9 For the present utility model Figure 7 CC section view;

[0033] Figure 10For the present utility model Figure 7 Enlarged view at point D;

[0034] Figure 11 This is a structural diagram of the present utility model.

[0035] Explanation of the labels in the diagram

[0036] 1. Float; 2. Slip ring one; 3. Slip ring two; 4. Sliding bracket one; 5. Sliding bracket two; 6. Roller one; 7. Roller two; 8. Conveyor belt; 9. Fixed bracket; 10. Adjusting plate; 11. Rotating bracket; 12. Drive plate; 13. Gear one; 14. Rotating shaft; 15. Gear two; 16. Robotic arm; 17. Partition one; 18. Partition two; 19. Partition three; 20. Air pump; 21. Sliding cover. Detailed Implementation

[0037] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the protection scope of this utility model.

[0038] It should be noted that the directional concepts of "left", "right", "up", "down", "front", "back", "inside", and "outside" in the following scheme are all relative directions, and will not be listed one by one here.

[0039] Example 1

[0040] like Figures 1 to 11 As shown, this embodiment provides a multifunctional underwater harvesting robot, with particular emphasis on its drive, steering, and attitude adjustment mechanisms.

[0041] The multifunctional underwater harvesting robot of this embodiment has a basic structure including a main float 1. At the outer end of the float 1, along its axial direction, near both ends, slip ring 1 2 and slip ring 2 3 are fixedly connected. Both slip rings, slip ring 1 2 and slip ring 2 3, have a groove at the end away from the float 1.

[0042] Multiple sliding supports 1 4 and multiple sliding supports 2 5 are slidably connected in the grooves of sliding ring 1 2 and sliding ring 2 3 respectively. These sliding supports 1 4 and sliding supports 2 5 are arranged in a one-to-one correspondence. At the end of each sliding support 1 4 and sliding support 2 5 away from the float 1, roller 1 6 and roller 2 7 are respectively installed. The axes of roller 1 6 and roller 2 7 are parallel to each other, and their axes are parallel to the plane perpendicular to the axis of float 1, ensuring the correct alignment of the rollers and the stability of their movement.

[0043] Rollers 6 and 7 on a pair of sliding brackets 1 and 2 are respectively arranged, and their outer ends contact and support the same conveyor belt 8. An external rotor motor is fixedly connected inside roller 6 and roller 7. The stator part (or housing) of the external rotor motor is fixedly connected to the corresponding sliding bracket 1 and sliding bracket 2, and is used to directly drive the roller to rotate.

[0044] At both ends of the conveyor belt 8 along the axis of the roller 6 it is connected to, there are fixed brackets 9. An adjusting plate 10 is fixedly connected between the two fixed brackets 9. The adjusting plate 10 is equipped with a permanent magnet. The top and bottom ends of the adjusting plate 10 are in contact with the inner wall of the conveyor belt 8 to ensure that its position is relatively stable and can effectively interact with the permanent magnet on the drive plate 12. The direction of the magnetic pole connection of the permanent magnet on the adjusting plate 10 is perpendicular to the axis of the float 1, which lays the foundation for the attitude control of the drive plate 12.

[0045] Multiple rotating brackets 11 are fixedly connected to the outer end surface of the conveyor belt 8. The multiple rotating brackets 11 are evenly distributed along the outer end of the conveyor belt 8. A drive plate 12 is rotatably connected to each rotating bracket 11. A limit block is also provided on the rotating bracket 11 to limit the rotation angle of the drive plate 12. The drive plate 12 itself is made of flexible material, and a permanent magnet is fixedly connected to the end away from the rotating bracket 11.

[0046] To achieve attitude adjustment of the entire propulsion system, gear 13 is fixedly connected to one end of slip ring 2 and slip ring 3 that are close to each other. The same rotating shaft 14 is rotatably connected between the corresponding sliding bracket 4 and sliding bracket 5. The two ends of the rotating shaft 14 pass through the sliding bracket 4 and sliding bracket 5 respectively. Gear 25 is fixedly connected to the rotating shaft 14 at the position corresponding to gear 13. Gear 25 meshes with the corresponding gear 13.

[0047] An adjustment motor is provided at one end of the rotating shaft 14 that passes through the sliding bracket 4. The power output shaft of the adjustment motor is fixedly connected to the rotating shaft 14, and the housing of the adjustment motor is fixedly connected to the sliding bracket 4. In this way, the adjustment motor can drive the rotating shaft 14 to rotate relative to the sliding bracket 4, and change the angle of the entire sliding bracket and conveyor belt system relative to the float 1 through gear transmission.

[0048] Work process

[0049] When the robot needs to move forward, the external rotor motor installed in roller 6 and roller 7 starts, driving roller 6 and roller 7 to rotate. The rotation of the rollers drives the conveyor belt 8 to move in a cycle. The rotating bracket 11 fixed on the conveyor belt 8 and the drive plate 12 rotatably connected to it also move together.

[0050] As the drive plate 12 moves along with the conveyor belt 8, the permanent magnets on it interact with the permanent magnets fixed on the internal adjustment plate 10.

[0051] When the drive plate 12 moves with the conveyor belt 8 to the side away from the float 1, the permanent magnet on the drive plate 12 attracts the permanent magnet on the adjustment plate 10. This attraction causes the drive plate 12 to rotate around the rotating bracket 11 until the end away from the rotating bracket 11 is in contact with the outer surface of the conveyor belt 8, reducing water flow resistance.

[0052] When the drive plate 12 moves with the conveyor belt 8 to the side near the float 1, the permanent magnets on the drive plate 12 and the permanent magnets on the adjustment plate 10 repel each other. When the drive plate 12 is perpendicular to the outer end of the conveyor belt 8, the direction of the magnetic pole connection line of the permanent magnets on the drive plate 12 is parallel to the direction of the magnetic pole connection line on the adjustment plate 10. When the drive plate 12 rotates with the conveyor belt 8 to the end away from the float 1, the permanent magnets on the drive plate 12 and the permanent magnets on the adjustment plate 10 attract each other, causing the end of the drive plate 12 away from the rotating bracket 11 to fit against the outer end of the conveyor belt 8. When the drive plate 12 rotates with the conveyor belt 8 to the end near the float 1, the permanent magnets on the drive plate 12 and the permanent magnets on the adjustment plate 10 repel each other, causing the drive plate 12 to be perpendicular to the outer end of the conveyor belt 8. This repulsive force causes the drive plate 12 to rotate around the rotating bracket 11 until the drive plate 12 is approximately perpendicular to the outer surface of the conveyor belt 8.

[0053] When the drive plate 12 is perpendicular to the outer surface of the conveyor belt 8 and moves near the float 1, it acts like a paddle, pushing the water flow backward through interaction with the water, thereby generating a reaction force that propels the robot forward. At this time, the limiting block on the rotating bracket 11 can prevent the drive plate 12 from over-rotating in the opposite direction (undesired direction) during the water pushing process, ensuring the effective generation of thrust.

[0054] In special circumstances, such as when the robot needs to move close to the ground underwater or encounter a narrow area, the drive plate 12 that is attached to the outer surface of the conveyor belt 8 can directly contact the underwater ground or obstacles, and propel the robot forward through friction or thrust with the ground.

[0055] When it is necessary to adjust the robot's direction of travel or the working angle of the entire propulsion system, the adjustment motor installed on the sliding bracket 4 is activated. The adjustment motor drives the rotating shaft 14 to rotate through its power shaft. The rotation of the rotating shaft 14 drives the gear 15 fixed on it to rotate together. Since the gear 15 meshes with the gear 13 fixed on the slip ring 2 and slip ring 3 (i.e. fixed on the float 1), the rotation of the gear 15 will force the entire propulsion unit, which consists of the sliding bracket 4, the sliding bracket 5, the roller 6, the roller 7, the conveyor belt 8, etc., to slide along the sliding grooves of the slip ring 2 and slip ring 3, thereby achieving rotation around the axis of the float 1. In this way, the overall orientation of the conveyor belt 8 and the drive plate 12 can be changed, thereby adjusting the robot's forward direction or making the propulsion system adapt to different underwater operating postures.

[0056] The external rotor motor directly drives the first roller 6 and the second roller 7, which in turn drives the conveyor belt 8 to circulate. Combined with the automatic attraction and repulsion of the permanent magnets between the drive plate 12 and the adjustment plate 10, the drive plate 12 can automatically unfold (vertically push water) and retract (fit and reduce drag) at different positions. No additional drive mechanism is needed to control the blade angle, which simplifies the structure and improves propulsion efficiency and reliability.

[0057] The drive plate 12 can not only propel the robot forward in water, but also provide thrust by contacting the bottom of the water, enabling the robot to move in both open water and complex near-bottom environments.

[0058] By utilizing the rotary adjustment mechanism consisting of the adjusting motor, rotating shaft 14, gear 13 and gear 2 15, the entire conveyor belt propulsion system can be rotated around the float 1, realizing flexible adjustment of the robot's forward direction and the working angle of the propulsion unit, enhancing the robot's maneuverability and adaptability underwater, and facilitating operation or navigation at different angles.

[0059] The sliding engagement of slip ring 12, slip ring 23, and sliding bracket 14 and sliding bracket 25, as well as the meshing transmission of gear 13 and gear 25, provide stable and reliable support and transmission for the rotation adjustment of the propulsion system. The design of the limit block ensures the stability of the drive plate 12 when pushing water, and the flexible material helps to improve the durability and adaptability of the drive plate 12.

[0060] The external rotor motor is integrated inside roller 6 and roller 7, and the permanent magnet drive method is integrated into the conveyor belt 8 and drive plate 12 system, making the overall structure relatively compact.

[0061] Example 2

[0062] like Figures 1 to 11As shown, this embodiment, based on the drive, steering, and attitude adjustment mechanism of the multifunctional underwater harvesting robot described in Embodiment 1, further describes the specific implementation method, working process, and beneficial effects of the robot's buoyancy adjustment, internal storage, and harvesting functions. The basic structure of this embodiment includes a float 1, an external drive and attitude adjustment system (including slip ring 1 2, slip ring 2 3, sliding bracket 1 4, sliding bracket 2 5, roller 1 6, roller 2 7, conveyor belt 8, rotating bracket 11, drive plate 12, gear 1 13, rotating shaft 14, gear 2 15, adjustment motor, etc.), and a mechanical arm 16 fixed to one end of the float 1, all of which are consistent with those described in Embodiment 1. The focus of this embodiment is on the internal structural design of the float 1 and its related functions.

[0063] The float 1 is equipped with a first partition 17, a second partition 18, and a third partition 19. The first partition 17 and the third partition 19 are slidably connected to the inner wall of the float 1, which means that they can move in the axial direction of the float 1. The positions of these partitions are relatively fixed: the first partition 17 is located near the end of the float 1 where the robotic arm 16 is fixed, the third partition 19 is located away from the robotic arm 16 (i.e., near the other end of the float 1), and the second partition 18 is located near the third partition 19.

[0064] This arrangement of partitions creates specific internal chambers.

[0065] An adjustment chamber is formed between the partition 17 and the inner wall (or end cap) of the float 1 near the robotic arm 16.

[0066] A regulating chamber 2 is formed between the partition 3 19 and the inner wall (or end cap) of the float 1, which is far away from the robotic arm 16.

[0067] A storage room is formed between the sliding partition 17 and the partition 2 18 which is close to the partition 3 19.

[0068] To achieve the buoyancy adjustment function, an air pump 20 is fixedly connected between partition 2 18 and partition 3 19. The air pump 20 is connected to adjustment chamber 1 and adjustment chamber 2 respectively through pipes, which allows the air pump 20 to pump or extract gas into adjustment chamber 1 or adjustment chamber 2 (or transfer gas between the two), thereby changing the volume of the two chambers.

[0069] To facilitate the storage and retrieval of harvested items, an opening is provided on the float 1 at the position corresponding to the storage chamber. A sliding cover 21 is slidably connected to the opening for closing or opening the storage chamber.

[0070] Finally, in order to perform the core harvesting task, a robotic arm 16 fixed to one end of the float 1 has a special harvesting execution mechanism fixedly connected to its end (or working end). This mechanism is designed according to the specific harvesting object (such as grippers, cutters, etc.).

[0071] Work process

[0072] When it is necessary to adjust the robot's overall buoyancy (float or submerge), the air pump 20 starts working. Through the pipes, the air pump 20 can change the total amount of gas in regulating chamber one and regulating chamber two (if connected to an external air vent or water) or transfer gas between the two regulating chambers. For example, simultaneously inflating regulating chamber one and regulating chamber two (or discharging water from the water) will increase the volume of these two chambers (because partition one 17 and partition three 19 will slide towards the middle), thereby increasing the volume of water displaced by the robot, generating greater buoyancy, and causing the robot to float; conversely, it will submerge.

[0073] When it is necessary to adjust the robot's pitch attitude or balance the changes in the center of gravity caused by the operation of the robotic arm 16, the air pump 20 performs differential adjustment between the adjustment chamber 1 and the adjustment chamber 2. For example, the air pump 20 pumps gas into the adjustment chamber 1 and simultaneously extracts an equal amount of gas from the adjustment chamber 2 (or the reverse operation). This will cause the partition 17 to slide away from the robotic arm 16, while the partition 3 19 slides closer to the robotic arm 16, changing the relative volume of the adjustment chamber 1 and the adjustment chamber 2. Since the adjustment chamber 1 and the adjustment chamber 2 are located at both ends of the float 1, changing their volume distribution will change the overall buoyancy position of the robot, thereby adjusting the robot's pitch angle to achieve a horizontal or desired tilt attitude, while also effectively balancing the influence of the robotic arm 16 on the attitude when it is extended or loaded.

[0074] After the robot moves to the target water area through the driving and positioning system described in Example 1, the operator controls the robotic arm 16 and its end-effector to perform picking actions such as grabbing and cutting underwater targets (such as aquatic plants, seafood, etc.).

[0075] After successful harvesting, the robotic arm 16 transports the harvested material to the opening on the float 1. At this point, the robotic arm 16 opens the sliding cover 21 and places the harvested material into the storage chamber. Subsequently, the robotic arm 16 closes the sliding cover 21 to safely store the harvested material in the storage chamber, allowing the robot to continue harvesting or return to base.

[0076] Simply place the robot underwater to begin use;

[0077] When it is necessary to move forward, the external rotor motors inside roller 6 and roller 7 drive roller 6 and roller 7 to rotate. Roller 6 and roller 7 then drive the conveyor belt 8 and rotating bracket 11 to rotate. Rotating bracket 11 then drives the drive plate 12 to rotate with the conveyor belt 8.

[0078] As the drive plate 12 rotates with the conveyor belt 8, the permanent magnet on the drive plate 12 interacts with the permanent magnet on the adjustment plate 10. When the drive plate 12 rotates to the end of the conveyor belt 8 away from the float 1, the drive plate 12 rotates around the rotating bracket 11 until the drive plate 12 is in contact with the outer end of the conveyor belt 8. When the drive plate 12 rotates to the end of the conveyor belt 8 close to the float 1, the drive plate 12 rotates around the rotating bracket 11 until the drive plate 12 is perpendicular to the outer end of the conveyor belt 8.

[0079] When the drive plate 12 is perpendicular to the outer end of the conveyor belt 8, the drive plate 12 rotates and pushes the float 1 and the robot to move through the interaction with water. During this process, the limit block prevents the drive plate 12 from flipping in an unwanted direction while pushing the water flow.

[0080] During use, when the robot needs to move close to the ground underwater or encounters narrow areas, the drive plate 12 on the conveyor belt 8 propels the robot forward by contacting the ground.

[0081] In use, the motor drives the rotating shaft 14 to rotate, and the rotating shaft 14 drives the gear 2 15 to rotate. During the rotation, the gear 2 15 interacts with the gear 13 to make the sliding bracket 1 4, the sliding bracket 2 5, the roller 1 6, the roller 2 7, and the conveyor belt 8 rotate around the axis of the float 1, thereby adjusting the position of the conveyor belt 8 and the drive plate 12, so that the robot can perform underwater operations better.

[0082] During use, the robotic arm 16 picks the items and places them into the storage chamber. During use, the robot's forward direction can be adjusted by adjusting the volume of adjustment chamber one and adjustment chamber two and adjusting the rotation speed of roller one 6 and roller two 7 by adjusting the air pump 20. The air pump 20 is also used to balance the weight of the robotic arm 16.

[0083] By regulating the gas in two variable-volume adjustment chambers 1 and 2 using the air pump 20, combined with the sliding partitions 17 and 39, this embodiment can achieve fine adjustment of the robot's overall buoyancy (controlling buoyancy and descent) and balancing of pitch attitude. This helps the robot to hover stably at different depths and maintain a stable attitude when the robotic arm 16 is working.

[0084] Inside the float 1, a dedicated storage room is divided by partition 17 and partition 18, which enables efficient and safe storage of harvested items and avoids the risk of increased fluid resistance or hooking caused by external attachment. The sliding cover 21 facilitates the storage and retrieval of items.

[0085] The dedicated harvesting mechanism at the end of the robotic arm 16 enables the robot to directly perform underwater harvesting tasks.

[0086] The buoyancy adjustment system (air pump 20, adjustment chamber one, adjustment chamber two, partition one 17, partition three 19) and storage system (storage room, sliding cover 21) are integrated inside the float 1. Combined with the setting of partition two 18, the internal space is effectively utilized, making the overall structure compact. The air pump 20 is fixed between partition two 18 and partition three 19, which also reflects a good spatial layout.

[0087] The buoyancy and attitude adjustment system can compensate for changes in the center of gravity and center of buoyancy caused by the movement or load of the robotic arm 16 in real time, ensuring the stability of the robot when performing picking tasks. It works in conjunction with the drive and positioning system of Example 1 to improve the success rate and efficiency of the overall operation.

[0088] The above description is only a preferred embodiment of the present utility model. It should be understood that the present utility model is not limited to the form disclosed herein and should not be regarded as an exclusion of other embodiments. It can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and changes made by those skilled in the art that do not depart from the spirit and scope of the present utility model should be protected within the scope of the appended claims.

Claims

1. A multi-functional underwater picking robot, characterized by, The system includes a pontoon (1), and a slip ring 1 (2) and a slip ring 2 (3) are fixedly connected to the outer end of the pontoon (1) along its axial direction near its two ends. The slip ring 1 (2) and the slip ring 2 (3) are both provided with a sliding groove at the end away from the pontoon (1), and multiple sliding brackets 1 (4) and multiple sliding brackets 2 (5) are slidably connected in the sliding grooves of the slip ring 1 (2) and the slip ring 2 (3). The sliding brackets 1 (4) and the sliding brackets 2 (5) are respectively provided with a roller 1 (6) and a roller 2 (5) at the end away from the pontoon (1). The second cylinder (7) is provided with corresponding sliding brackets one (4) and two sliding brackets two (5). The outer ends of the rollers one (6) and roller two (7) on the corresponding sliding brackets one (4) and two sliding brackets two (5) are connected to the same conveyor belt (8). Both ends of the conveyor belt (8) along the axis of the roller one (6) are fixedly connected to fixed brackets (9). An adjusting plate (10) is fixedly connected between the two fixed brackets (9). A permanent magnet is provided in the adjusting plate (10). The conveyor belt (8) has multiple rotating brackets (11) fixedly connected to its outer end. A drive plate (12) is rotatably connected to each rotating bracket (11). A permanent magnet is fixedly connected to the end of the drive plate (12) away from the rotating bracket (11). Gears (13) are fixedly connected to the ends of slip ring 1 (2) and slip ring 2 (3) that are close to each other. The sliding bracket 1 (4) and sliding bracket 2 (5) are rotatably connected to the same rotating shaft (14). The rotating shaft (14) is connected to the gears. Gear 2 (15) is fixedly connected to each corresponding position of wheel 1 (13). The two ends of the rotating shaft (14) pass through sliding bracket 1 (4) and sliding bracket 2 (5) respectively. An adjusting motor is provided at one end of the rotating shaft (14) passing through sliding bracket 1 (4). A mechanical arm (16) is fixedly connected to one end of the float (1). The float (1) is provided with partition 1 (17), partition 2 (18) and partition 3 (19). Partition 1 (17) and partition 3 (19) are slidably connected to the inner wall of the float (1).

2. The multi-functional underwater picking robot according to claim 1, characterized in that: The axes of the first roller (6) and the second roller (7) are parallel to each other. The axes of the first roller (6) and the second roller (7) are parallel to the plane of the vertical float (1). The top and bottom of the adjusting plate (10) are in contact with the inner wall of the conveyor belt (8).

3. The multi-functional underwater picking robot according to claim 1, characterized in that: The direction of the permanent magnet pole connection line on the adjustment plate (10) is perpendicular to the axis of the float (1), and the multiple rotating brackets (11) are evenly distributed along the outer end of the conveyor belt (8).

4. The multi-functional underwater picking robot according to claim 1, characterized in that: When the drive plate (12) is perpendicular to the outer end of the conveyor belt (8), the direction of the magnetic pole connection line of the permanent magnet on the drive plate (12) is parallel to the direction of the magnetic pole connection line on the adjustment plate (10). When the drive plate (12) rotates with the conveyor belt (8) to the end away from the float (1), the permanent magnet on the drive plate (12) and the permanent magnet on the adjustment plate (10) attract each other, causing the end of the drive plate (12) away from the rotating bracket (11) to be in contact with the outer end of the conveyor belt (8). When the drive plate (12) rotates with the conveyor belt (8) to the end close to the float (1), the permanent magnet on the drive plate (12) and the permanent magnet on the adjustment plate (10) repel each other, causing the drive plate (12) to be perpendicular to the outer end of the conveyor belt (8).

5. The multi-functional underwater picking robot according to claim 1, characterized in that: The power shaft of the regulating motor is fixedly connected to the rotating shaft (14), the housing of the regulating motor is fixedly connected to the sliding bracket (4), the partition (17) is located close to the robotic arm (16), the partition (3) is located away from the robotic arm (16), and the partition (2) is located close to the partition (3) (19).

6. The multifunctional underwater harvesting robot according to claim 1, characterized in that: An air pump (20) is fixedly connected between the second partition (18) and the third partition (19). An adjustment chamber 1 is formed between the first partition (17) and the inner wall of the float (1). An adjustment chamber 2 is formed between the third partition (19) and the inner wall of the float (1). A storage chamber is formed between the first partition (17) and the second partition (18).

7. The multi-functional underwater picking robot according to claim 6, characterized in that: The air pump (20) is connected to the regulating chamber 1 and the regulating chamber 2 through a pipe. A sliding cover (21) is slidably connected to the float (1) at the position corresponding to the storage chamber. An opening is opened on the float (1) at the position corresponding to the sliding cover (21). A picking execution mechanism is fixedly connected to the end of the robotic arm (16).

8. The multi-functional underwater picking robot according to claim 1, characterized in that: Both roller one (6) and roller two (7) are fixedly connected to an external rotor motor, and the external rotor motor is fixedly connected to the corresponding sliding bracket one (4) and sliding bracket two (5).

9. The multi-functional underwater picking robot according to claim 1, characterized in that: The rotating bracket (11) is provided with a limiting block, the driving plate (12) is made of flexible material, and the second gear (15) meshes with the corresponding first gear (13).

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