CN117922799A - Automatic collection submarine - Google Patents
Automatic collection submarine Download PDFInfo
- Publication number
- CN117922799A CN117922799A CN202410312092.0A CN202410312092A CN117922799A CN 117922799 A CN117922799 A CN 117922799A CN 202410312092 A CN202410312092 A CN 202410312092A CN 117922799 A CN117922799 A CN 117922799A
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- China
- Prior art keywords
- cover plate
- block
- plate
- collecting
- rod
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic collection submarine, which comprises: the water cabin realizes the actions of floating, submerging and balancing the submarine; the manned cabin is used for carrying personnel to operate underwater; the propeller drives the submarine to move underwater; the manipulator acquires underwater materials for recycling; the collecting basket is used for collecting materials collected by the mechanical arm; the cover plate is used for sealing the collecting basket; the side wall and the bottom wall of the collecting basket are respectively provided with a plurality of small holes; the water tanks comprise a left water tank, a middle water tank and a right water tank, the collecting basket is arranged between the left water tank and the right water tank, and the manipulator is arranged on one side of the collecting basket; the cover plate comprises a first cover plate and a second cover plate, one sides of the first cover plate and the second cover plate are hinged, and the first cover plate and the second cover plate are connected to the collecting basket in a sliding manner; when the manipulator is not used, the first cover plate and the second cover plate are in a horizontal state to seal the collecting basket; when the mechanical arm is recovered, the first cover plate and the second cover plate are turned to an inclined state to open the collecting basket; the invention can avoid the falling of materials.
Description
Technical Field
The invention belongs to the technical field of submarines, and particularly relates to an automatic collection type submarine.
Background
The manned submersible means a watertight submersible which can be operated under water and can carry passengers. The submersible not only can be used for underwater experiments, but also can be used for underwater geological features and resource exploration, underwater scientific investigation, underwater engineering construction, underwater rescue, underwater fishing, underwater sightseeing and other working purposes. Some diving devices are provided with mechanical arms for grabbing underwater materials, such as sea cucumbers, shells, seaweeds and the like, and the collected materials are placed in a collecting basket, but the collecting basket on a common diving device is only a simple basket, so that the materials in the basket easily fall out when the diving device moves in water, and the materials are lost.
Disclosure of Invention
The summary of the application is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. The summary of the application is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
The invention provides an automatic collecting submarine for overcoming the defects in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a self-collecting submarine comprising: the water cabin realizes the actions of floating, submerging and balancing the submarine; the manned cabin is used for carrying personnel to operate underwater; the propeller drives the submarine to move underwater; the manipulator acquires underwater materials for recycling; the collecting basket is used for collecting materials collected by the mechanical arm; the cover plate is used for sealing the collecting basket; the side wall and the bottom wall of the collecting basket are respectively provided with a plurality of small holes; the water tanks comprise a left water tank, a middle water tank and a right water tank, the manned tank is arranged on the middle water tank, the collecting basket is arranged between the left water tank and the right water tank, and the manipulator is arranged on one side of the collecting basket; the cover plate comprises a first cover plate and a second cover plate, one sides of the first cover plate and the second cover plate are hinged, and the first cover plate and the second cover plate are connected to the collecting basket in a sliding manner; when the manipulator is not used, the first cover plate and the second cover plate are in a horizontal state to seal the collecting basket; when the manipulator is recovered, the first cover plate and the second cover plate are turned to an inclined state to open the collecting basket.
Further, the self-collecting submarine further comprises: the first guide rail is arranged on the collecting basket; the first sliding block is connected with the first cover plate; the second sliding block is connected with the second cover plate; the first sliding block and the second sliding block are both arranged on the first guide rail.
Further, the self-collecting submarine further comprises: the first lug is arranged on the second cover plate; the second guide rail is arranged below the first guide rail; the movable rod is arranged on the second guide rail; one end of the movable rod penetrates through the collecting basket, a first opening corresponding to the movable rod is formed in the second cover plate, and the first opening extends to the first protruding block.
Further, the self-collecting submarine further comprises: the first connecting rod is arranged on the movable rod; the convex rod is arranged on the movable rod; the first guide plate is connected with the manipulator; one end of the movable rod penetrates out of the collecting basket, the first connecting rod is arranged at one end of the movable rod penetrating out of the collecting basket, and a first movable groove for the convex rod to move is formed in the first connecting rod.
Further, the self-collecting submarine further comprises: the first rotating wheel is rotationally connected in the first movable groove; the first driving wheel is arranged on the first connecting rod and is in driving fit with the first rotating wheel; the transmission block is arranged on the first guide plate; the protruding rod is arranged on the first rotating wheel, and when the first guide plate passes through one side of the first connecting rod, the transmission block drives the first transmission wheel to rotate so that the protruding rod moves in the first movable groove.
Further, the transmission block includes: the first transmission block is arranged at the top of the first guide plate; the second transmission block is arranged at the bottom of the first guide plate; the first guide plate is provided with a second movable groove for the first transmission block to move.
Further, the self-collecting submarine further comprises: the first push rod is arranged below the first convex block; the guide block is connected with the first push rod; the second guide plate is connected with the manipulator; when the manipulator resets, the second guide plate pushes the guide block to move so that the first push rod pushes the first lug to move.
Further, the self-collecting submarine further comprises: the second push rod is arranged on the first push rod; the support block is arranged at the bottom of the second push rod; the first pushing block is arranged on the second guide plate; after the manipulator resets, the first pushing block pushes the supporting block to move away from the bottom of the second pushing rod.
Further, the self-collecting submarine further comprises: the second lug is arranged on the first sliding block; the second pushing block penetrates through the collecting basket; the first push plate is arranged on the manipulator; the support plate is arranged on the side wall of the collecting basket; the support spring is arranged on the support plate; the second pushing block is arranged at one side of the second protruding block; when the manipulator moves towards the direction of the collecting basket, the first push plate pushes the second push block to move; after the manipulator is reset, the first push plate passes through the second push block so that the supporting spring pushes the second push block to move.
Further, the self-collecting submarine further comprises: the second pushing plate is arranged at one side of the second pushing block; the first connecting spring is used for connecting the second pushing block and the second pushing plate; the baffle plate is arranged on the second push plate; the second push plate is provided with a first slot, the baffle is positioned in the first slot, and the side wall of the first slot is provided with a third movable slot for the baffle to move.
The invention has the advantages that: an automatic collection submarine is provided to prevent materials from falling out of a collection basket.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application.
In addition, the same or similar reference numerals denote the same or similar elements throughout the drawings. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
In the drawings:
FIG. 1 is a schematic view of a self-collecting submarine according to one embodiment of the invention;
FIG. 2 is a schematic diagram of the results of the collection basket of the self-collecting submarine of the embodiment of FIG. 1;
FIG. 3 is a cross-sectional view of the embodiment of FIG. 1 at a support block of the self-collecting submarine;
fig. 4 is an enlarged view at a in fig. 3;
FIG. 5 is a cross-sectional view of the embodiment of FIG. 1 at a first pushrod of the self-collecting submarine;
FIG. 6 is an enlarged view at B in FIG. 5;
FIG. 7 is a cross-sectional view of the embodiment of FIG. 1 at a first mobile trough of the self-collecting submarine;
FIG. 8 is an enlarged view at C in FIG. 7;
Fig. 9 is an enlarged view of D in fig. 7;
FIG. 10 is a cross-sectional view of the embodiment of FIG. 1 at a fourth active trough of the self-collecting submarine;
FIG. 11 is an enlarged view at E in FIG. 10;
fig. 12 is an enlarged view of F in fig. 10;
FIG. 13 is a cross-sectional view of the embodiment of FIG. 1 at the drive rod of the self-collecting submarine;
fig. 14 is an enlarged view at G in fig. 13;
fig. 15 is an enlarged view of H in fig. 13;
FIG. 16 is a cross-sectional view of a guide block of the self-collecting submarine of the embodiment of FIG. 1;
FIG. 17 is an enlarged view of FIG. 16 at I;
FIG. 18 is a cross-sectional view of the embodiment of FIG. 1 at a second thrust plate of the self-collecting submarine;
FIG. 19 is an enlarged view at J in FIG. 18;
FIG. 20 is a cross-sectional view of the stop lever of the self-collecting submarine of the embodiment of FIG. 1;
Fig. 21 is an enlarged view at K in fig. 20.
The meaning of the reference numerals in the figures is as follows:
101. A manned cabin; 102. a left water tank; 103. a right water tank; 104. a manipulator; 1041. a first push plate; 105. a collection basket; 106. a first cover plate; 1061. a handle; 107. a second cover plate; 1071. a first bump; 108. a first guide plate; 109. a second guide plate; 1091. a first push block; 110. a support plate; 1101. a support spring; 112. a guide block; 113. an end plate; 1131. a second push block; 114. a first connection plate; 115. a first push rod; 116. a second push rod; 1161. a second return spring; 117. a support block; 118. a second connecting rod; 1181. a third return spring; 119. a second push plate; 120. a buffer spring; 121. a movable rod; 1211. a first connecting rod; 1212. a first return spring; 122. a first guide rail; 123. a conducting bar; 124. a first wheel; 1241. a convex strip; 1242. a first drive shaft; 125. a second driving wheel; 126. a transmission belt; 127. a first driving wheel; 128. a first transmission block; 129. a cam; 1291. a second drive shaft; 130. a transmission rod; 131. a second transmission block; 132. a second stopper; 133. a first stopper; 1331. a second connecting spring; 1332. an end block; 134. a limit rod; 1341. a third push block; 1342. a fourth return spring; 135. a second connecting plate; 136. a second bump; 137. and a third stop block.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
1-21, An automatic collection submarine comprises a water tank, a manned tank 101, a propeller, a manipulator 104, a collection basket 105 and a cover plate; the water cabin is used for realizing the actions of floating, submerging and balancing the submarine; the manned cabin 101 is used for carrying personnel to operate underwater; the propeller is used for driving the submarine to move underwater; the manipulator 104 is used for acquiring underwater materials for recycling; the collecting basket 105 is used for collecting materials collected by the manipulator 104; the cover plate is used for closing the collection basket 105; the side wall and the bottom wall of the collecting basket 105 are respectively provided with a plurality of small holes, and water flow in the traveling process of the submarine enters the small holes to impact on the articles in the collecting basket 105, so that the articles are tiled in the collecting basket 105, and the articles are prevented from being accumulated.
The water tanks comprise a left water tank 102, a middle water tank and a right water tank 103, the manned tank 101 is arranged on the middle water tank, the collecting basket 105 is arranged between the left water tank 102 and the right water tank 103, and the manipulator 104 is arranged on one side of the collecting basket 105; the cover plate comprises a first cover plate 106 and a second cover plate 107, one sides of the first cover plate 106 and the second cover plate 107 are hinged, and the first cover plate 106 and the second cover plate 107 are connected to the collecting basket 105 in a sliding manner; when the manipulator 104 is not used, the first cover plate 106 and the second cover plate 107 are in a horizontal state to seal the collection basket 105; when the manipulator 104 is recovered, the first cover plate 106 and the second cover plate 107 are turned to an inclined state to open the collection basket 105.
The inner wall of the collecting basket 105 is provided with a first guide rail 122, the first cover plate 106 is provided with a first sliding block, the second cover plate 107 is provided with a second sliding block, the first sliding block and the second sliding block are both positioned in the first guide rail 122, the side wall at one end of the first cover plate 106 is rotationally connected to the first sliding block, the side wall at one end of the second cover plate 107 is rotationally connected to the second sliding block, and the connection points of the first cover plate 106 and the second cover plate 107 are far away from each other; one end of the first cover plate 106 is provided with a handle 1061; the bottom of the second cover plate 107 is provided with a first lug 1071, the inner wall of the collection basket 105 is also provided with a second guide rail, the second guide rail is arranged below the first guide rail 122, the second guide rail is provided with a movable rod 121, one end of the movable rod 121 is penetrated into the collection basket 105, and the other end of the movable rod penetrates out of the collection basket 105; the second cover 107 is provided with a first opening corresponding to the movable rod 121, the first opening extends to the first protrusion 1071, and the first opening does not penetrate through the first protrusion 1071, so that the first opening is provided with a bottom surface, and the bottom of the movable rod 121 is provided with a first return spring 1212.
The movable rod 121 is provided with a first connecting rod 1211 at one end penetrating from the collecting basket 105, a first movable groove is formed in the side wall of the bottom end of the first connecting rod 1211, a first rotating wheel 124 is arranged in the first movable groove, a protruding rod is arranged on the first rotating wheel 124, a first guide plate 108 is arranged on the side wall of the collecting basket 105, the first guide plate 108 is connected to the manipulator 104, and a first inclined plane is arranged at the bottom of the first guide plate 108.
The first connecting rod 1211 is further provided with a fourth movable groove, the fourth movable groove is arranged above the first movable groove, the first rotating wheel 124 is provided with a first transmission shaft 1242, the first transmission shaft 1242 is arranged in the fourth movable groove in a penetrating manner, the fourth movable groove is internally provided with a first transmission wheel 127 and a second transmission wheel 125, the second transmission wheel 125 is in transmission fit with the first transmission shaft 1242 through a transmission belt 126, the first transmission wheel 127 is in transmission fit with the second transmission wheel 125, and two sides of the fourth movable groove are communicated; the first guide plate 108 is provided with a transmission block which is in transmission fit with the first transmission wheel 127 when passing through one side of the first transmission wheel 127; the transmission block comprises a first transmission block 128 and a second transmission block 131, the second transmission block 131 is arranged on the side wall of the lower end of the first guide plate 108, a second movable groove is formed in the side wall of the upper end of the first guide plate 108, the first transmission block 128 is positioned in the second movable groove, a cam 129 is further arranged in the second movable groove, the cam 129 is arranged on one side of the first transmission block 128, a transmission groove is formed in the top of the second movable groove, a second transmission shaft 1291 is arranged on the cam 129, and the second transmission shaft 1291 penetrates through the transmission groove; the first guide plate 108 is provided with a through cavity which is the same as the transmission groove, a transmission rod 130 which is in transmission fit with the second transmission shaft 1291 is arranged in the through cavity, a section of the transmission rod 130 always penetrates out of the through cavity, the side wall of the collecting basket 105 is provided with a second stop block 132 and a third stop block 137, and the second stop block 132 and the third stop block 137 are respectively arranged on two sides of the first connecting rod 1211.
The collecting basket 105 is internally provided with a first push rod 115, a third slide block is arranged on the first push rod 115, a chute for the third slide block to move is arranged on the side wall of the collecting basket 105, a guide block 112 is arranged on the third slide block, the guide block 112 is positioned outside the collecting basket 105, a second guide plate 109 is also arranged on the side wall of the collecting basket 105, the second guide plate 109 is connected with the manipulator 104, and a second inclined plane is arranged at the top of the second guide plate 109; the first push rod 115 is provided with a sixth movable groove, a second push rod 116 is arranged in the sixth movable groove, a second return spring 1161 is arranged at the bottom of the second push rod 116, one end of the second return spring 1161 is propped against the bottom surface of the sixth movable groove, the inner wall of the sixth movable groove is provided with a seventh movable groove, a supporting block 117 is arranged in the seventh movable groove, the bottom of the guide block 112 is provided with a second slot, the first push rod 115 is provided with a connecting cavity communicated with the second slot, the supporting block 117 is provided with a second connecting rod 118, one end of the second connecting rod 118 is arranged in the second slot in a penetrating manner, and the second connecting rod 118 is provided with a third return spring 1181; the second guide plate 109 is provided with a first push block 1091 corresponding to the second slot.
The first sliding block is provided with a second protruding block 136, the first cover plate 106 is provided with a second opening corresponding to the second protruding block 136, the side wall of the collecting basket 105 is provided with an eighth movable groove, a second pushing block 1131 is arranged in the eighth movable groove, and one end of the second pushing block 1131, which is positioned outside the collecting basket 105, is provided with an end plate 113; a supporting plate 110 is arranged on the side wall of the collecting basket 105, the supporting plate 110 is arranged at one end of the eighth movable groove, and a supporting spring 1101 is arranged on the supporting plate 110; the end plate 113 is provided with a first connecting spring, one end of the first connecting spring is provided with a second push plate 119, the second push plate 119 is provided with a first connecting plate 114, one end of the first connecting plate 114 is provided with a second connecting plate 135, the second push plate 119 is provided with a first slot, the end plate 113 is provided with a third slot corresponding to the first slot, the inner wall of the first slot is provided with a third movable slot, the third movable slot is internally provided with a first stop block 133, the first stop block 133 is provided with a second connecting spring 1331, and one end of the second connecting spring 1331 is fixedly connected to the inner wall of the third movable slot; the top of the first stop block 133 is provided with an end block 1332, the side wall of the collecting basket 105 is provided with a guide bar 123, the side wall of the third movable groove is provided with a third opening corresponding to the guide bar 123, the guide bar 123 is provided with a third chute, the manipulator 104 is provided with a first push plate 1041, and the first push plate 1041 is positioned between the second push plate 119 and the second connecting plate 135; a ninth movable groove is formed in the side wall of the third movable groove, a limiting rod 134 is arranged in the ninth movable groove, a third push block 1341 is arranged at one end of the limiting rod 134, a fourth reset spring 1342 is arranged on the third push block 1341, and the third push block 1341 penetrates out of the second connecting plate 135 so that the third push block 1341 is located in a space between the second push plate 119 and the second connecting plate 135.
After the manipulator 104 grabs the object, the manipulator 104 contracts towards the direction of the collecting basket 105, the first cover plate 106 and the second cover plate 107 are in a horizontal state to seal the collecting basket 105, the first push plate 1041 abuts against the first stop block 133 to push the second push plate 119 to move, the second push plate 119 presses the buffer spring 120 to move towards the direction of the end plate 113, and the first cover plate 106 and the second cover plate 107 do not move because the first cover plate 106 and the second cover plate 107 abut against each other; the mechanical arm 104 moves to drive the first guide plate 108 and the second guide plate 109 to move, the first guide plate 108 moves to one side of the first connecting rod 1211, the protruding rod is in a state of extending out of the first movable groove, the first guide plate 108 contacts with the protruding rod to push the protruding rod to move, one end of the movable rod 121 is inserted into the first opening, the movable rod 121 moves downwards to drive the first lug 1071 to move downwards, one end of the second cover plate 107 moves downwards to bend the joint of the first cover plate 106 and the second cover plate 107, the buffer spring 120 resets to push the end plate 113 to move, the first cover plate 106 and the second cover plate 107 incline to open the collecting basket 105, the mechanical arm 104 puts clamped articles into the collecting basket 105, the mechanical arm 104 is not completely reset, and the second guide plate 109 is not contacted with the guide block 112; the first pushing plate 1041 pushes the end plate 113 to move and squeeze the supporting spring 1101, the second pushing plate 119 does not move to the position of the guide bar 123, when the manipulator 104 stretches out again to grasp an article, the supporting spring 1101 pushes the end plate 113 to move, the second pushing block 1131 pushes the second protruding block 136 to move, and the first cover plate 106 and the second cover plate 107 turn over horizontally to seal the collecting basket 105.
When the manipulator 104 is completely reset, the first push plate 1041 pushes the second push plate 119 to move against the first stop block 133, the first guide plate 108 pushes the movable rod 121 to move, the first cover plate 106 and the second cover plate 107 form a turnover trend, the buffer spring 120 pushes the end plate 113 to move, the first push plate 1041 continues to push the second push plate 119 to move, the first push plate 1041 pushes the second push plate 119 to move to one side of the guide bar 123, the guide bar 123 pushes the first stop block 133 to move against the side wall of the first stop block 133, the first stop block 133 enters the third movable groove to enable the first groove to be opened, the first stop block 133 extends out of the ninth movable groove from the side of the limit rod 134 to abut against the first stop block 133 to fix the first stop block 133 in the third movable groove, the first push plate 1041 and the first stop block 133 are staggered, the support spring 1101 pushes the end plate 113 to move back, and the second push block 1131 pushes the second stop block 136 to move so that the first cover plate 106 and the second cover plate 107 are turned to a nearly horizontal state; the second guide plate 109 moves to one side of the guide block 112 to push the guide block 112 to move, the guide block 112 drives the first push rod 115 to move upwards, at this time, the supporting block 117 abuts against the bottom of the second push rod 116, the second push rod 116 pushes the first lug 1071 to move upwards, one end of the second cover plate 107 moves upwards, so that the first cover plate 106 and the second cover plate 107 thoroughly turn over to a horizontal state to seal the collecting basket 105, when the second guide plate 109 continues to move, the first push block 1091 enters the second slot to push the second connecting rod 118 to move, the second connecting rod 118 drives the supporting block 117 to move, the supporting block 117 moves away from the bottom of the second push rod 116, and the second push rod 116 can move relative to the first push rod 115, so that the first cover plate 106 and the second cover plate 107 can be opened under the manual condition; the first guide plate 108 has completely passed through the side of the first connecting rod 1211, the second driving block 131 enters the fourth movable slot to form driving fit with the first driving wheel 127 to drive the first driving wheel 127 to rotate, the convex rod rotates along with the first rotating wheel 124 to enter the first movable slot, the driving rod 130 abuts against the second stop block 132 to move in the through cavity, the driving rod 130 drives the second driving shaft 1291 to rotate, and the cam 129 abuts against the first driving block 128 to enable the first driving block 128 to extend out of the second movable slot.
When the manipulator 104 stretches out again to grasp an article, the manipulator 104 drives the first guide plate 108 to enter from the other side of the first connecting rod 1211, the convex rod is positioned in the first movable groove, the first guide plate 108 can directly pass through one side of the first connecting rod 1211, when the first guide plate 108 completely passes through one side of the first connecting rod 1211, the first transmission block 128 contacts with the first transmission wheel 127 to drive the first transmission wheel 127 to rotate, the first transmission wheel 127 drives the first rotating wheel 124 to rotate so that the convex rod stretches out from the first movable groove, when the first guide plate 108 moves to one side of the third stop block 137, the transmission rod 130 abuts against the third stop block 137 to move towards the other end of the through cavity, the cam 129 rotates to be out of contact with the first transmission block 128, and the first transmission block 128 enters into the second movable groove, so that the first transmission block 128 cannot enter into the fourth movable groove to block the movement of the movable rod 121 when the first guide plate 108 pushes the movable rod 121 to descend; the second guide plate 109 moves away from the bottom of the guide block 112 along with the movement of the manipulator 104, and the supporting block 117 stretches out of the seventh movable groove again to abut against the bottom of the second push rod 116; the first push plate 1041 is propped against the second connecting plate 135 along with the extension of the manipulator 104, the first push rod 115 pushes the third push block 1341 to move, the third push block 1341 drives the limit rod 134 to move together, so that the limit rod 134 enters the ninth movable groove, the second connecting spring 1331 pushes the first stop block 133 to extend out of the third movable groove and enter the first groove, and when the manipulator 104 moves back, the second push plate 119 can be pushed to move again, so that the collecting basket 105 is opened.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (10)
1. A self-collecting submarine comprising:
the water cabin realizes the actions of floating, submerging and balancing the submarine;
the manned cabin is used for carrying personnel to operate underwater;
The propeller drives the submarine to move underwater;
the manipulator acquires underwater materials for recycling;
the collecting basket is used for collecting materials collected by the manipulator;
a cover plate for closing the collection basket;
The method is characterized in that:
The side wall and the bottom wall of the collecting basket are respectively provided with a plurality of small holes;
The water tanks comprise a left water tank, a middle water tank and a right water tank, the manned tank is arranged on the middle water tank, the collecting basket is arranged between the left water tank and the right water tank, and the manipulator is arranged on one side of the collecting basket;
the cover plate comprises a first cover plate and a second cover plate, one sides of the first cover plate and the second cover plate are hinged, and the first cover plate and the second cover plate are connected to the collecting basket in a sliding manner;
When the manipulator is not used, the first cover plate and the second cover plate are in a horizontal state to seal the collecting basket; when the manipulator is recovered, the first cover plate and the second cover plate are turned to an inclined state to open the collecting basket.
2. The self-collecting submarine according to claim 1, wherein: further comprises:
The first guide rail is arranged on the collecting basket;
the first sliding block is connected with the first cover plate;
The second sliding block is connected with the second cover plate;
The first sliding block and the second sliding block are both arranged on the first guide rail.
3. The self-collecting submarine according to claim 2, wherein: further comprises:
the first lug is arranged on the second cover plate;
the second guide rail is arranged below the first guide rail;
the movable rod is arranged on the second guide rail;
one end of the movable rod penetrates through the collecting basket, a first opening corresponding to the movable rod is formed in the second cover plate, and the first opening extends to the first protruding block.
4. The self-collecting submarine according to claim 3, wherein: further comprises:
the first connecting rod is arranged on the movable rod;
the convex rod is arranged on the movable rod;
The first guide plate is connected with the manipulator;
One end of the movable rod penetrates out of the collecting basket, the first connecting rod is arranged at one end of the movable rod penetrating out of the collecting basket, and a first movable groove for the movable rod to move is formed in the first connecting rod.
5. The self-collecting submarine according to claim 4, wherein: further comprises:
The first rotating wheel is rotationally connected in the first movable groove;
The first driving wheel is arranged on the first connecting rod and is in driving fit with the first rotating wheel;
The transmission block is arranged on the first guide plate;
The protruding rod is arranged on the first rotating wheel, and when the first guide plate passes through one side of the first connecting rod, the transmission block drives the first transmission wheel to rotate so that the protruding rod moves in the first movable groove.
6. The self-collecting submarine according to claim 5, wherein: the transmission block comprises:
the first transmission block is arranged at the top of the first guide plate;
The second transmission block is arranged at the bottom of the first guide plate;
the first guide plate is provided with a second movable groove for the first transmission block to move.
7. The self-collecting submarine according to claim 3, wherein: further comprises:
The first push rod is arranged below the first convex block;
The guide block is connected with the first push rod;
The second guide plate is connected with the manipulator;
when the manipulator resets, the second guide plate pushes the guide block to move so that the first push rod pushes the first lug to move.
8. The self-collecting submarine according to claim 7, wherein: further comprises:
The second push rod is arranged on the first push rod;
the support block is arranged at the bottom of the second push rod;
the first pushing block is arranged on the second guide plate;
after the manipulator resets, the first pushing block pushes the supporting block to move away from the bottom of the second pushing rod.
9. The self-collecting submarine according to claim 2, wherein: further comprises:
The second lug is arranged on the first sliding block;
the second pushing block penetrates through the collecting basket;
The first push plate is arranged on the manipulator;
The support plate is arranged on the side wall of the collecting basket;
The support spring is arranged on the support plate;
the second pushing block is arranged on one side of the second protruding block; when the manipulator moves towards the direction of the collecting basket, the first push plate pushes the second push block to move; after the manipulator resets, the first push plate passes through the second push block so that the supporting spring pushes the second push block to move.
10. The self-collecting submarine according to claim 9, wherein: further comprises:
the second pushing plate is arranged on one side of the second pushing block;
The first connecting spring is used for connecting the second pushing block and the second pushing plate;
The baffle plate is arranged on the second push plate;
The second pushing plate is provided with a first slot, the baffle is positioned in the first slot, and the side wall of the first slot is provided with a third movable slot for the baffle to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410312092.0A CN117922799B (en) | 2024-03-19 | 2024-03-19 | Automatic collection submarine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410312092.0A CN117922799B (en) | 2024-03-19 | 2024-03-19 | Automatic collection submarine |
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| CN117922799A true CN117922799A (en) | 2024-04-26 |
| CN117922799B CN117922799B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410312092.0A Active CN117922799B (en) | 2024-03-19 | 2024-03-19 | Automatic collection submarine |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0388295A1 (en) * | 1989-03-15 | 1990-09-19 | PROTEE Groupement d'Intérêt Economique | Collection system for garbage contained in baskets |
| CN1121883A (en) * | 1994-03-01 | 1996-05-08 | 郭清华 | A surface garbage collection ship |
| CN104867369A (en) * | 2015-05-29 | 2015-08-26 | 哈尔滨工程大学 | Movement simulating device and method of unmanned submersible vehicle |
| CN109329230A (en) * | 2018-11-28 | 2019-02-15 | 大连海洋大学 | A device for catching and collecting marine treasures |
| AU2020101385A4 (en) * | 2020-07-16 | 2020-08-20 | Xiuquan Xie | A water surface garbage collector |
-
2024
- 2024-03-19 CN CN202410312092.0A patent/CN117922799B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0388295A1 (en) * | 1989-03-15 | 1990-09-19 | PROTEE Groupement d'Intérêt Economique | Collection system for garbage contained in baskets |
| CN1121883A (en) * | 1994-03-01 | 1996-05-08 | 郭清华 | A surface garbage collection ship |
| CN104867369A (en) * | 2015-05-29 | 2015-08-26 | 哈尔滨工程大学 | Movement simulating device and method of unmanned submersible vehicle |
| CN109329230A (en) * | 2018-11-28 | 2019-02-15 | 大连海洋大学 | A device for catching and collecting marine treasures |
| AU2020101385A4 (en) * | 2020-07-16 | 2020-08-20 | Xiuquan Xie | A water surface garbage collector |
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| CN117922799B (en) | 2024-06-04 |
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