CN105383652A - Motion platform for underwater steep slope and underwater detection robot - Google Patents
Motion platform for underwater steep slope and underwater detection robot Download PDFInfo
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- CN105383652A CN105383652A CN201510673711.XA CN201510673711A CN105383652A CN 105383652 A CN105383652 A CN 105383652A CN 201510673711 A CN201510673711 A CN 201510673711A CN 105383652 A CN105383652 A CN 105383652A
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- platform body
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- abrupt slope
- under water
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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Abstract
The invention relates to a motion platform for an underwater steep slope and an underwater detection robot based on the motion platform. The motion platform comprises a platform body, a motion mechanism, a driving device and a propeller, wherein the motion mechanism is used for supporting the platform body and driving the platform body to do motion on the slope surface of the steep slope; the driving device is used for driving the motion mechanism; the propeller is arranged on the platform body and is used for exerting downward pressure on the platform body, and an inclined angle of 45-90 degrees is formed between the direction of the downward pressure exerted on the platform body and the slope surface of the steep slope on which the platform body is positioned. Compared with the prior art, the motion platform disclosed by the invention has the advantages that the propeller exerts the definite downward pressure on the platform body, so that the platform body is always pressed on the slope surface firmly when doing motion along the slope surface, the phenomenon that the motion platform slides off from the slope surface is avoided, besides, the phenomenon that underwater gravels are raised is not caused, the situation that the detection robot has favorable motion reliability is guaranteed, and stable carrying conditions are provided for detection tasks.
Description
Technical field
What the present invention relates to is a kind of under-water operation equipment, specifically a kind of motion platform of abrupt slope under water and the underwater detecting robot based on this abrupt slope motion platform under water.
Background technology
Underwater sensing devices, as a kind of equipment that can carry out operation under water, can be used for the defects such as the seepage of some concrete surface detected under water, cracking.Due in testing process, domatic situation can be run into unavoidably, so when check implement is when to domatic detection, check implement domaticly to move along these with regard to needs, and existing check implement is all generally wheeled or track structure, so once to run into domatic angle larger, such as: when detecting the dam facing of dam, due to the dam facing of dam, not only the gradient is larger, but also have silt, the foreign material such as moss, thus serious can reduce the friction coefficient of these check implements on domatic, check implement is caused gradually to lose earth-grasping force along with the increasing of the gradient, finally get off cannot complete detection from domatic upper landing.
In order to solve above-mentioned technological deficiency, existing way is by increasing sucker on check implement, hold domatic by the suction of sucker, but find when reality uses, because the domatic of the overwhelming majority is generally all irregular, so cause sucker when to domatic absorption, constantly has water and enter in sucker, thus affect the suction of sucker, finally also can cause the landing of check implement.Further, due to sucker operationally, be all generally constantly externally drawn water to domatic absorption by the water pump of inside, so often to kick up a large amount of sandstones when adsorbing, cause water body muddy, having a strong impact on the image quality of check implement.
So, can while possessing good image quality in order to ensure check implement, the proper motion that can complete again on domatic is current problem to be solved.
Summary of the invention
The object of the present invention is to provide one abrupt slope motion platform under water, check implement while possessing good image quality, can be carried out proper motion again, there will not be the phenomenon of landing on domatic.
To achieve these goals, embodiments of the present invention devise one abrupt slope motion platform under water, comprise platform body, support described platform body and for drive described platform body to carry out moving at abrupt slope domatic kinematic mechanism, drive the actuating device of described kinematic mechanism, be arranged on the propelling unit described platform body applying downforce to described platform body;
Wherein, described propelling unit to the direction of the downforce that described platform body applies and described platform body described abrupt slope domatic between have angle, and the angle of described angle is 45 to 90 degree.
In addition, embodiments of the present invention additionally provide a kind of underwater detecting robot, and this underwater detecting robot comprises abrupt slope motion platform under water as above.
Embodiments of the present invention in terms of existing technologies, because whole motion platform is by platform body, kinematic mechanism, actuating device and propelling unit composition, and propelling unit is arranged on platform body, for applying downforce to platform body, thus make platform body when along domatic moving, all the time can by firmly by domatic, to prevent measuring robots with platform body from the domatic phenomenon occurring landing, the phenomenon that simultaneously sandstone under water also can not be caused to kick up, thus ensure that measuring robots has good imaging effect, and ensure that measuring robots has good motion credibility simultaneously, stable lift-launch condition is provided for detecting operation.
Further, the angle of described angle is 90 degree.Thus ensure that the downforce that propelling unit applies platform body and the domatic of abrupt slope, platform body place are orthogonal, make platform body when along domatic moving, all the time can by firmly by domatic, prevent measuring robots with platform body from the domatic phenomenon occurring landing further.
Further, the downforce that applies to described platform body of described propelling unit is just to the center of described platform body.Thus make the downforce suffered by platform body mainly concentrate on the center of platform body, to ensure what the stressed Shi Cong center of whole platform body disperseed to surrounding, stressed comparatively even, avoid platform body and cause because of the stressed excessive of certain other positions of platform body to occur the phenomenon tilted on domatic.
Further, described propelling unit is underwater propeller, and in order to the structure design of satisfied different measuring robots, described underwater propeller can be arranged on inside or the outside of described platform body.Due to the rotation that underwater propeller is by internal helicoid oar blade, the suction face of water from blade is sucked, discharge from discharge face, the antagonistic force of water is utilized to apply downforce to platform body, and then platform body is positioned at firmly domatic on, avoid motion platform from the domatic phenomenon occurring landing.
Further, when described underwater propeller is arranged on the inside of described platform body, the inside of described platform body has part to be formed for holding described propelling unit and the discharge area be in communication with the outside.Thus make motion platform have higher integrated level, and make propelling unit more direct to the thrust of platform body, effective.
Further, described kinematic mechanism comprises N number of wheel be arranged on described platform body; Wherein, described N be greater than 1 natural number, and the surrounding that each wheel is separately positioned on described platform body supports described platform body.Thus make motion platform of the present invention be a wheeled motion platform, and the quantity of wheel can increase accordingly according to the concrete structure of platform body or reduce, to ensure that whole motion platform is along stability during domatic moving.
Or described kinematic mechanism comprises the caterpillar driving device being symmetricly set on described platform body Arbitrary Relative both sides; Wherein, described caterpillar driving device at least comprises M power wheel and the endless track being connected each power wheel, described M be greater than 1 natural number, and have at least a power wheel to be connected with described actuating device and drive described endless track to carry out the driving wheel moved.
Further, described actuating device is motor.
Further, described abrupt slope under water motion platform also comprises the pick up camera be arranged on described platform body, searchlighting light source and manipulator.Thus the function of measuring robots is possessed underwater camera, illumination, domatic maintenance and sampling.
Accompanying drawing explanation
Fig. 1 is the structural representation of the motion platform of abrupt slope under water of first embodiment of the invention;
Fig. 2 is the lateral plan of Fig. 1;
Fig. 3 is the walking schematic diagram of the motion platform of abrupt slope under water on abrupt slope is domatic of first embodiment of the invention;
Fig. 4 is the structural representation of the motion platform of abrupt slope under water of second embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in each embodiment of the present invention, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following embodiment and amendment, each claim of the application technical scheme required for protection also can be realized.
First embodiment of the present invention relates to one abrupt slope motion platform under water, as depicted in figs. 1 and 2, comprise platform body 1, support platform body 1 and for drive platform body 1 to carry out on domatic 3 of abrupt slope moving kinematic mechanism, actuation movement mechanism actuating device, be arranged on the propelling unit 2 platform body 1 applying downforce to platform body 1.Wherein, have angle between the direction and domatic 3 of abrupt slope, platform body 1 place of the downforce that propelling unit 2 pairs of platform bodies 1 apply, and the angle of this angle is 45 to 90 degree.
Be not difficult to find by foregoing, because whole motion platform is by platform body 1, kinematic mechanism, actuating device and propelling unit 2 form, and propelling unit 2 is arranged on platform body 1, for applying downforce to platform body 1, thus make platform body 1 when moving along domatic 3, all the time can be pressed on domatic 3 firmly, with the phenomenon preventing the measuring robots with platform body 1 to occur landing from domatic 3, the phenomenon that simultaneously sandstone under water also can not be caused to kick up, thus ensure that measuring robots has good imaging effect, and ensure that measuring robots has good motion credibility simultaneously, stable lift-launch condition is provided for detecting operation.
Specifically, in the present embodiment, between the direction and domatic 3 of abrupt slope, platform body 1 place of downforce that applies of the propelling unit 2 pairs of platform bodies 1, the angle of formed angle is 90.And the downforce of propelling unit 2 pairs of platform bodies 1 applyings and domatic 3 of abrupt slope, platform body 1 place are orthogonal, thus further ensure that platform body 1 is when moving along domatic 3, all the time can by firmly by domatic 3, with the phenomenon preventing the measuring robots with platform body 1 to occur landing from domatic 3.It should be noted that, in the present embodiment, between the direction and domatic 3 of abrupt slope, platform body 1 place of the downforce that propelling unit 2 pairs of platform bodies 1 apply, the angle of formed angle is only 90 degree is that example is described, and in the application process of reality, also can adjust propelling unit setting angle, only need ensure that the thrust of propelling unit 2 overwhelming majority is that apply on the platform 1 can the motion of implementation platform body 1 on domatic.
In addition, it is worth mentioning that, propelling unit 2 is the centers being arranged on platform body 1, and entirety is perpendicular to platform body 1, thus make propelling unit 2 can just to the center of platform body 1 to the downforce that platform body 1 applies, to guarantee that the downforce suffered by platform body 1 mainly concentrates on the center of platform body 1, to ensure what the stressed Shi Cong center of whole platform body 1 disperseed to surrounding, stressed comparatively even, avoid platform body 1 and cause because of the stressed excessive of certain other positions of platform body to occur the phenomenon tilted on domatic.
Such as, as shown in Figure 3, this abrupt slope domatic 3 inclination angle be B be 40 degree, so when platform body 1 moves along domatic 3, platform body 1 can be taken advantage of a situation and be driven propelling unit 2 together run-off the straight under the inclination angle effect of domatic 3, because propelling unit 2 is center positions of being vertically fixed on platform body 1, so make the propelling unit 2 downforce F be applied on platform body 1 be orthogonal with domatic 3 of abrupt slope, platform body 1 place all the time, with the motion of this implementation platform body 1 on abrupt slope domatic 3.It should be noted that, the domatic inclination angle on abrupt slope in the present embodiment, only be described for 40 degree in the present embodiment, and in the application process of reality, this domatic inclination angle generally, between 0 to 90 degree, can realize the walking of whole motion platform on difference is domatic by the thrust increasing or reduce propelling unit 2.
In addition, it is worth mentioning that, in the present embodiment, propelling unit 2 is underwater propeller, and in order to meet the structure design of different platform body 1, propelling unit 2 can be arranged on inside or the outside of platform body 1.Be not difficult to find out thus, because underwater propeller is mainly by the rotation of internal helicoid oar blade, the suction face of water from blade is sucked, discharge from discharge face, the antagonistic force of water is utilized to apply downforce to platform body, and then be positioned at firmly on domatic 3 by platform body, thus there is the phenomenon of landing in the motion platform avoiding present embodiment from domatic 3.
Further, it should be noted that, as depicted in figs. 1 and 2, in the present embodiment, propelling unit 2 is the inside that is arranged on platform body 1, and the inside of platform body 1 has part to be formed for holding propelling unit 2 and the discharge area be in communication with the outside.Thus make motion platform have higher integrated level, and make the thrust of propelling unit 2 pairs of platform bodies 1 more direct, effective, further increase the earth-grasping force of whole motion platform on domatic 3.
In addition, above-mentioned mentioned kinematic mechanism comprises multiple wheel 4 be arranged on platform body 1.And the surrounding that each wheel 4 is separately positioned on platform body 1 supports platform body 1, and actuating device employing is motor 5.
Specifically, in the present embodiment, the main shaft of this motor 5 is fixed with wheel 4 and is connected, and drives wheel 4 to rotate by motor 5.And, it should be noted that, as shown in Figure 1, wheel 4 is provided with four altogether and is symmetrical arranged between two, and the number of motor 5 can be multiple or also can adopt one, and in the present embodiment, motor 5 be provided with four identical with the number of wheel 4, and every platform motor 5 is respectively used to driving wheel 4, thus the action making each wheel 4 is separate, to ensure that whole motion platform can obtain larger earth-grasping force on domatic 3.Further, the quantity of wheel 4 also can increase accordingly according to the concrete structure of platform body 1 or reduce, to ensure the stability of whole motion platform when moving along domatic 3.Further, conveniently propelling unit 2 and each motor 5 are controlled, as shown in Figure 1, also can arrange on platform body 1 and drive storehouse 6 and control storehouse 11, to realize the proper motion of whole motion platform on domatic 3.
In addition, in order to possess domatic measuring ability to making the motion platform of present embodiment, can pick up camera 8, searchlighting light source 9 and manipulator 10 be set on platform body 1.Thus make the measuring robots of present embodiment also possess the function of underwater camera, illumination, domatic maintenance and sampling simultaneously.
Second embodiment of the present invention relates to one abrupt slope motion platform under water, second embodiment is roughly the same with the first embodiment, its key distinction is: in the present embodiment, as shown in Figure 4, kinematic mechanism comprises the caterpillar driving device 7 being symmetricly set on platform body 1 Arbitrary Relative both sides.
Specifically, this caterpillar driving device 7 comprises multiple power wheel 7-1 and the endless track 7-2 being connected each power wheel 7-1, and has at least a power wheel 7-1 be connected with actuating device and drive endless track 7-2 to carry out the driving wheel moved.
Be not difficult to find by foregoing, what the kinematic mechanism due to present embodiment adopted is caterpillar driving device, the area of contact between kinematic mechanism and domatic 3 can be increased by the endless track 7-2 of caterpillar driving device, thus further increase the earth-grasping force of whole motion platform on domatic 3, prevent motion platform to occur the phenomenon of landing from domatic 3.
3rd embodiment of the present invention relates to a kind of underwater detecting robot, and this underwater detecting robot comprises as the motion platform of abrupt slope under water in the first or second embodiment as described in any one.
Be not difficult to find by foregoing, because whole motion platform is by platform body 1, kinematic mechanism 2, actuating device and propelling unit 2 form, and propelling unit 2 is arranged on platform body 1, for applying downforce to platform body 1, and the downforce of propelling unit 2 pairs of platform bodies 1 applyings and the motion path of platform body 1 on domatic 3 are orthogonal, thus make platform body 1 when moving along domatic 3, all the time can be pressed on domatic 3 firmly, with the phenomenon preventing the measuring robots with platform body 1 to occur landing from domatic 3, the phenomenon that simultaneously sandstone under water also can not be caused to kick up, thus ensure that measuring robots has good imaging effect.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiments of the invention, and in actual applications, various change can be done to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (9)
1. an abrupt slope motion platform under water, is characterized in that: comprise platform body, support described platform body and for drive described platform body to carry out moving at abrupt slope domatic kinematic mechanism, drive the actuating device of described kinematic mechanism, be arranged on the propelling unit described platform body applying downforce to described platform body;
Wherein, described propelling unit to the direction of the downforce that described platform body applies and abrupt slope, described platform body place domatic between have angle, and the angle of described angle is 45 to 90 degree.
2. abrupt slope under water according to claim 1 motion platform, is characterized in that: the angle of described angle is 90 degree.
3. abrupt slope under water according to claim 1 motion platform, is characterized in that: the downforce that described propelling unit applies to described platform body is just to the center of described platform body.
4. abrupt slope under water according to claim 1 motion platform, it is characterized in that: described propelling unit is underwater propeller, and described underwater propeller is arranged on inside or the outside of described platform body.
5. abrupt slope under water according to claim 4 motion platform, it is characterized in that: when described underwater propeller is arranged on the inside of described platform body, the inside of described platform body has part to be formed for holding described propelling unit and the discharge area be in communication with the outside.
6. abrupt slope under water according to claim 1 motion platform, is characterized in that: described kinematic mechanism comprises N number of wheel be arranged on described platform body; Wherein, described N be greater than 1 natural number, and the surrounding that each wheel is separately positioned on described platform body supports described platform body.
7. abrupt slope under water according to claim 1 motion platform, is characterized in that: described kinematic mechanism comprises the caterpillar driving device being symmetricly set on described platform body Arbitrary Relative both sides;
Wherein, described caterpillar driving device at least comprises M power wheel and the endless track being connected each power wheel, described M be greater than 1 natural number, and have at least a power wheel to be connected with described actuating device and drive described endless track to carry out the driving wheel moved.
8. abrupt slope under water according to claim 7 motion platform, is characterized in that: described abrupt slope under water motion platform also comprises and is arranged on pick up camera on described platform body and searchlighting light source.
9. a underwater detecting robot, is characterized in that: described underwater detecting robot comprises as claimed in any of claims 1 to 8 in one of claims abrupt slope motion platform under water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510673711.XA CN105383652A (en) | 2015-10-16 | 2015-10-16 | Motion platform for underwater steep slope and underwater detection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510673711.XA CN105383652A (en) | 2015-10-16 | 2015-10-16 | Motion platform for underwater steep slope and underwater detection robot |
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| CN201510673711.XA Pending CN105383652A (en) | 2015-10-16 | 2015-10-16 | Motion platform for underwater steep slope and underwater detection robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341039A (en) * | 2018-01-12 | 2018-07-31 | 吴博恩 | Universal underwater crawling suspension workbench |
| CN108438178A (en) * | 2018-03-05 | 2018-08-24 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of glding type manned device for deep water face dam preservation ＆ testing |
| CN109311533A (en) * | 2016-06-22 | 2019-02-05 | 深圳市大疆创新科技有限公司 | The system and method for aircraft running gear |
| CN109541023A (en) * | 2018-11-05 | 2019-03-29 | 国家能源投资集团有限责任公司 | Coal mine underground reservoir detection device |
| CN111301618A (en) * | 2020-03-23 | 2020-06-19 | 水利部牧区水利科学研究所 | Patrol and examine four-wheel drive based on SMA drive |
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| CN111301618B (en) * | 2020-03-23 | 2021-07-09 | 水利部牧区水利科学研究所 | Patrol and examine four-wheel drive based on SMA drive |
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Application publication date: 20160309 |