CN103395488B - Underwater measuring robots - Google Patents
Underwater measuring robots Download PDFInfo
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- CN103395488B CN103395488B CN201310273444.8A CN201310273444A CN103395488B CN 103395488 B CN103395488 B CN 103395488B CN 201310273444 A CN201310273444 A CN 201310273444A CN 103395488 B CN103395488 B CN 103395488B
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Abstract
The present invention relates to a kind of underwater measuring robots, comprise framework, control system, electrical equipment sealed module, traveling gear, brush device for cleaning, propelling unit and disease danger vision inspection apparatus, electrical equipment sealed module, traveling gear, brush device for cleaning, propelling unit and disease danger vision inspection apparatus are arranged on framework, traveling gear comprises two walking unit, two walking unit are arranged on the both sides of framework respectively, brush device for cleaning is arranged on the bottom of framework, electrical equipment sealed module is positioned at lower portion, control system is arranged in electrical equipment sealed module, traveling gear, brush device for cleaning, propelling unit is connected with control system respectively with disease danger vision inspection apparatus.The invention has the beneficial effects as follows: this under-water robot is walked flexibly under water, convenience, clean function with water the soft or hard class impurity that water conservancy projects deposits can be cleaned up by what carry, avoid undetected and flase drop, the safe operation for water conservancy projects provides favourable guarantee.
Description
Technical field
The present invention relates to a kind of underwater measuring robots.
Background technology
Along with needs are detected in the sick danger of growing middle-size and small-size water conservancy projects, China's under-water robot is just gradually to commercialization, industrialization future development.But existing under-water robot cleans weak effect with water, detection means falls behind, and is unfavorable for that the disease danger of water conservancy projects is detected.
Summary of the invention
Technical matters to be solved by this invention is: provide one to clean excellent effect with water, the underwater measuring robots that measuring ability is powerful.
The technical solution adopted for the present invention to solve the technical problems is: a kind of underwater measuring robots, comprise framework, control system, electrical equipment sealed module, traveling gear, washing equipment, propelling unit and disease danger vision inspection apparatus, electrical equipment sealed module, traveling gear, brush device for cleaning, propelling unit and disease danger vision inspection apparatus are arranged on framework, traveling gear comprises two walking unit, two walking unit are arranged on the both sides of framework respectively, brush device for cleaning is arranged on the bottom of framework, electrical equipment sealed module is positioned at lower portion, control system is arranged in electrical equipment sealed module, traveling gear, brush device for cleaning, propelling unit is connected with control system respectively with disease danger vision inspection apparatus.
Further restriction, installs the buoyant mass of two and plural control buoyancy and center of gravity in framework.
Further restriction, sick dangerous vision inspection apparatus is binocular stereo vision detecting device, and comprise erecting frame and left and right two cameras, left and right two cameras are fixed on framework by erecting frame, and in a certain angle each other.
Further restriction, brush device for cleaning comprises cleaning head and connecting arm, clean head with water and comprise installation ring and brush, brush is arranged on the end face of installation ring, connecting arm comprises output shaft and input shaft, connected by telescoping mechanism between output shaft and input shaft, installation ring is connected with the output shaft of connecting arm, cleans head with water and is stretched out by the bottom of framework.
Further restriction, telescoping mechanism comprises connecting cylinder, inner shield ring, outer back-up ring and spring, outer back-up ring is arranged on output shaft, inner shield ring is arranged on connecting cylinder, input shaft plug-in mounting enters connecting cylinder, output shaft plug-in mounting enters connecting cylinder and is slidably connected with input shaft, and spring is arranged between inner shield ring and outer back-up ring.
Further restriction, the end face of installation ring have the multiple dovetail furrows around disc axis, the outer outlets of dovetail furrow is wide, interior side outlet is narrow, there is bottom brush the grafting block coordinating grafting with dovetail furrow, brush enters dovetail furrow by grafting block plug-in mounting, at the outer ring of installation ring suit for blocking the fixing back-up ring of the outer outlets of dovetail furrow.
Further restriction, arrange the pumping impeller coaxial with installation ring in installation ring, blade and the installation ring of pumping impeller are fixed.
Further restriction, the walking unit of traveling gear all comprises adapter plate, motor, walking pin and eccentric rod gear, walking unit has four walking pin, four walking pin lay respectively at both sides, front and the both sides, rear of adapter plate, reciprocally swinging before and after every only walking pin is driven by respective eccentric rod gear, eccentric rod gear is installed on a mounting board.
Further restriction, eccentric rod gear arranges with the hinge-point of walking pin and walking pin relative eccentric connecting rod mechanism mechanism can be made to carry out offseting and the elastomeric element recovered.
Further restriction, framework is lapped one another by section bar and forms, section bar has the mounting groove extended along its length, the A/F of mounting groove is less than lumen width, be connected with T-shaped bolt by angle connecting panel between section bar, in the mounting groove of the bolt cap embedding section bar of T-shaped bolt, angle connecting panel and section bar fixed.
The invention has the beneficial effects as follows: this under-water robot is walked flexibly under water, convenience, clean function with water the soft or hard class impurity that water conservancy projects deposits can be cleaned up by what carry, avoid undetected and flase drop, the safe operation for water conservancy projects provides favourable guarantee.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described;
Fig. 1 is the structural representation of installation ring of the present invention;
Fig. 2 is the structural representation cleaning head with water of the present invention;
Fig. 3 is the structural representation of brush device for cleaning of the present invention;
Fig. 4 is the cutaway view of brush device for cleaning of the present invention;
Fig. 5 is the walking pin of traveling gear of the present invention and the connection structure schematic diagram of connecting rod mechanism;
Fig. 6 is the Facad structure schematic diagram of the walking unit of traveling gear of the present invention;
Fig. 7 is the structure schematic diagram of the walking unit of traveling gear of the present invention;
Fig. 8 is Facad structure schematic diagram of the present invention;
Fig. 9 is structure schematic diagram of the present invention;
Figure 10 is the structural representation of framework of the present invention;
Figure 11 is the section bar of framework of the present invention and the connection structure schematic diagram of angle connecting panel;
In figure: 1. framework, 1-1. mounting groove, 1-2. angle connecting panel, 1-3.T type bolt, 2. sealed module, 3-1. adapter plate, 3-2. motor, 3-3. walks pin, 3-4. wavy spring, 3-5. connecting rod driven wheel, 3-6. eccentric shaft, 3-7. first swing connecting bar, 3-8. drive link, 3-9. second swing connecting bar, 3-10. main gear, 4-1. installation ring, 4-2. output shaft, 4-3. input shaft, 4-4. connecting cylinder, 4-5. inner shield ring, the outer back-up ring of 4-6., 4-7. spring, 4-8. fixes back-up ring, 4-9-1. steel wire brush, 4-9-2. scraper brush, 4-10. pumping impeller, 4-11. termination gland, 5. propelling unit, 6-1. erecting frame, 6-2. camera, 6-3. illuminating lamp, 7. buoyant mass.
Detailed description of the invention
As Fig. 8, shown in 9, a kind of underwater measuring robots, comprise framework 1, control system, electrical equipment sealed module 2, traveling gear, brush device for cleaning, propelling unit 5 and disease danger vision inspection apparatus, electrical equipment sealed module 2, traveling gear, brush device for cleaning, propelling unit 5 and disease danger vision inspection apparatus are arranged on framework 1, traveling gear comprises two walking unit, two walking unit are arranged on the both sides of framework 1 respectively, brush device for cleaning is arranged on the bottom of framework 1, control system is arranged in electrical equipment sealed module 2, traveling gear, brush device for cleaning, propelling unit 5 is connected with control system respectively with disease danger vision inspection apparatus.
The buoyant mass 7 of two and plural control buoyancy and center of gravity is installed in framework 1.
Sick dangerous vision inspection apparatus is binocular stereo vision detecting device, comprise erecting frame 6-1 and left and right two camera 6-2, left and right two camera 6-2 are fixed on framework 1 by erecting frame 6-1, and in a certain angle each other, between left and right two camera 6-2, illuminating lamp 6-3 is set.
As shown in Figure 1,2,3, 4, the brush device for cleaning of underwater robot, comprises and cleans head and connecting arm with water, cleans head with water and is stretched out by the bottom of framework 1, is pressed on structures up and down to be cleaned with water.Clean head with water and comprise installation ring 4-1 and brush, the end face of installation ring 4-1 have the multiple dovetail furrows around disc axis, the outer outlets of dovetail furrow is wide, interior side outlet is narrow, there is bottom brush the grafting block coordinating grafting with dovetail furrow, the grafting block of brush is also outer wide, interior narrow, after being in place, it can not toward the endoporus slippage of installation ring 4-1, brush enters dovetail furrow by grafting block plug-in mounting, at the outer ring of installation ring 4-1 suit for blocking the fixing back-up ring 4-8 of the outer outlets of dovetail furrow, prevents brush from skidding off in dovetail furrow because of centnifugal force.Fixing back-up ring 4-8 is fixed by screws on installation ring 4-1.
Brush be divided into steel wire brush 4-9-1 and scraper brush 4-9-2, steel wire brush 4-9-1 and scraper brush 4-9-2 on installation ring 4-1 evenly, be arranged alternately.The scraper of scraper brush 4-9-2 and the radial direction of installation ring 4-1 have angle.Arrange the pumping impeller 4-10 coaxial with installation ring 4-1 in installation ring 4-1, blade and the installation ring 4-1 of pumping impeller 4-10 fix.Impurity under removing pushes away and cleans head with water by scraper brush 4-9-2, and by the impurity discharge that pumping impeller 4-10 will enter installation ring 4-1 inside, prevents impurity at installation ring 4-1 accumulated inside.The pumping action of pumping impeller 4-10 enhances simultaneously cleans the attachment pressure of head to submerged structure surface with water, improves elimination effect.
Connecting arm comprises output shaft 4-2 and input shaft 4-3, is connected between output shaft 4-2 and input shaft 4-3 by telescoping mechanism, and installation ring 4-1 is connected with the output shaft 4-2 of connecting arm.
Telescoping mechanism comprises connecting cylinder 4-4, inner shield ring 4-5, outer back-up ring 4-6 and spring 4-7, outer back-up ring 4-6 is arranged on output shaft 4-2, inner shield ring 4-5 is arranged on connecting cylinder 4-4, input shaft 4-3 plug-in mounting enters connecting cylinder 4-4, output shaft 4-2 enters connecting cylinder 4-4 through inner shield ring 4-5 plug-in mounting and passes through spending of end each other with input shaft 4-3 be good for and spend strong groove to be slidably connected, and spring 4-7 is arranged between inner shield ring 4-5 and outer back-up ring 4-6.
The two ends of connecting cylinder 4-4 arrange bearing respectively, output shaft 4-2 and input shaft 4-3 by bearings in connecting cylinder 4-4.Bearing on output shaft 4-2 is plain bearing, and the bearing on input shaft 4-3 is antifriction-bearing box.The terminal mounting ends head gland 4-11 being positioned at output shaft 4-2 side of connecting cylinder 4-4.
During work, motor drives installation ring 4-1 to rotate by input shaft 4-3, and installation ring 4-1 drives brush to rotate together, when installation ring 4-1 all installs steel wire brush 4-9-1, may be used for removing the softer class impurity of submerged structure; When installation ring 4-1 all installs scraper brush 4-9-2, may be used for removing the harder class attachment of submerged structure, moss etc.; When on installation ring 4-1 alternately, evenly, when steel wire brush 4-9-1 and scraper brush 4-9-2 is installed symmetrically, can remove all kinds of impurity of submerged structure, the video equipment for underwater measuring robots obtains image more clearly and provides strong guarantee.
As shown in Fig. 5,6,7,8, the traveling gear of underwater robot, comprise two unit of independently walking, two walking unit are arranged on the left and right sides of underwater robot respectively, walking unit all comprises adapter plate 3-1, motor 3-2, walking pin 3-3 and eccentric rod gear, walking unit has four walking pin 3-3, four walking pin 3-3 lay respectively at both sides, front and the both sides, rear of adapter plate 3-1, reciprocally swinging before and after every only walking pin 3-3 is driven by respective eccentric rod gear, eccentric rod gear is arranged on adapter plate 3-1.
Eccentric rod gear arranges with the hinge-point of walking pin 3-3 and walking pin 3-3 relative eccentric connecting rod mechanism mechanism can be made to carry out offseting and the wavy spring 3-4 recovered.
Eccentric rod gear comprises connecting rod driven wheel 3-5, eccentric shaft 3-6, first swing connecting bar 3-7, drive link 3-8 and the second swing connecting bar 3-9, one end and the adapter plate 3-1 of the first swing connecting bar 3-7 are hinged, the other end of the first swing connecting bar 3-7 and the hinged of walking pin 3-3, one end of drive link 3-8 is hinged with walking pin 3-3, the other end of drive link 3-8 is driven with connecting rod driven wheel 3-5 by eccentric shaft 3-6 and is connected, one end and the adapter plate 3-1 of the second swing connecting bar 3-9 are hinged, the other end and the drive link 3-8 of the second swing connecting bar 3-9 are hinged, first swing connecting bar 3-7 is positioned at the top of the hinge-point of drive link 3-8 and walking pin 3-3 with the hinge-point of walking pin 3-3.
The connecting rod driven wheel 5 of the walking pin 3 of both sides, adapter plate 1 front is coaxially installed, eccentric shaft difference 180 degree on two coaxial connecting rod driven wheels, the connecting rod driven wheel 5 of the walking pin 3 of both sides, adapter plate 1 rear is also coaxially installed, eccentric shaft difference 180 degree on two coaxial connecting rod driven wheels, motor 2 is rotated by the main gear 10 drivening rod driven wheel 5 engaged with connecting rod driven wheel 5, is positioned at the eccentric shaft difference 0 degree on two connecting rod driven wheels of adapter plate the same side.
The course of action of this traveling gear is as follows:
Walking unit the same side former and later two walking pin 3 pedal respectively under the driving of eccentric rod gear with lift leg action, two walking pin 3 of the front and back of the opposite side of same walking unit also pedal respectively under the driving of eccentric rod gear with lift leg action, but sequencing is contrary with opposite side.
Two walking unit of this traveling gear are driven by respective motor, when two motor speeds are identical, traveling gear drives underwater cleaning robot straight ahead or retrogressing, when two motor speeds are different, traveling gear drives underwater cleaning robot to turn, speed discrepancy is larger, and turning amplitude is larger, until pivot turn.
Except the framework shown in Fig. 8,9, preferred employing framework as shown in FIG. 10 and 11, the quadra that this framework 1 is lapped one another by section bar, section bar has the mounting groove 1-1 extended along its length, the A/F of mounting groove 1-1 is less than lumen width, be connected with T-shaped bolt 1-3 by angle connecting panel 1-2 between section bar, in the mounting groove 1-1 of the bolt cap embedding section bar of T-shaped bolt 1-3, angle connecting panel 1-2 and section bar fixed.Electrical equipment sealed module 2, traveling gear, washing equipment, propelling unit 5, sick dangerous vision inspection apparatus and buoyant mass 7 can be arranged on this section bar by T-shaped bolt easily, and position is easy to adjust, is conducive to the adjustment of buoyancy and center of gravity.
Claims (9)
1. a underwater measuring robots, it is characterized in that: comprise framework (1), control system, electrical equipment sealed module (2), traveling gear, brush device for cleaning, propelling unit (5) and disease danger vision inspection apparatus, electrical equipment sealed module (2), traveling gear, brush device for cleaning, propelling unit (5) and disease danger vision inspection apparatus are arranged on framework (1), traveling gear comprises two walking unit, two walking unit are arranged on the both sides of framework (1) respectively, brush device for cleaning is arranged on the bottom of framework (1), control system is arranged in electrical equipment sealed module (2), traveling gear, brush device for cleaning, propelling unit (5) is connected with control system respectively with disease danger vision inspection apparatus,
The walking unit of described traveling gear all comprises adapter plate (3-1), motor (3-2), walking pin (3-3) and eccentric rod gear, walking unit has four walkings pin (3-3), four walkings pin (3-3) lay respectively at both sides, front and the both sides, rear of adapter plate (3-1), reciprocally swinging before and after every pin (3-3) of only walking is driven by respective eccentric rod gear, eccentric rod gear is arranged on adapter plate (3-1).
2. underwater measuring robots according to claim 1, is characterized in that: the buoyant mass (7) of installing plural control buoyancy and center of gravity in described framework (1).
3. underwater measuring robots according to claim 1, it is characterized in that: described disease danger vision inspection apparatus is binocular stereo vision detecting device, comprise erecting frame (6-1) and left and right two cameras (6-2), left and right two cameras (6-2) are fixed on framework (1) by erecting frame (6-1), and in a certain angle each other.
4. underwater measuring robots according to claim 1, it is characterized in that: described brush device for cleaning comprises cleans head and connecting arm with water, described head of cleaning with water comprises installation ring (4-1) and brush, brush is arranged on the end face of installation ring (4-1), connecting arm comprises output shaft (4-2) and input shaft (4-3), connected by telescoping mechanism between output shaft (4-2) and input shaft (4-3), installation ring (4-1) is connected with the output shaft (4-2) of connecting arm, cleans head with water and is stretched out by the bottom of framework (1).
5. underwater measuring robots according to claim 4, it is characterized in that: described telescoping mechanism comprises connecting cylinder (4-4), inner shield ring (4-5), outer back-up ring (4-6) and spring (4-7), outer back-up ring (4-6) is arranged on output shaft (4-2), inner shield ring (4-5) is arranged on connecting cylinder (4-4), input shaft (4-3) plug-in mounting enters connecting cylinder (4-4), output shaft (4-2) plug-in mounting enters connecting cylinder (4-4) and is slidably connected with input shaft (4-3), spring (4-7) is arranged between inner shield ring (4-5) and outer back-up ring (4-6).
6. underwater measuring robots according to claim 4, it is characterized in that: the end face of described installation ring (4-1) has the multiple dovetail furrows around disc axis, the outer outlets of dovetail furrow is wide, interior side outlet is narrow, there is bottom brush the grafting block coordinating grafting with dovetail furrow, brush enters dovetail furrow by grafting block plug-in mounting, at the outer ring of installation ring (4-1) suit for blocking the fixing back-up ring (4-8) of the outer outlets of dovetail furrow.
7. underwater measuring robots according to claim 4, it is characterized in that: arrange the pumping impeller (4-10) coaxial with installation ring (4-1) in described installation ring (4-1), the blade of pumping impeller (4-10) and installation ring (4-1) are fixed.
8. underwater measuring robots according to claim 1, is characterized in that: described eccentric rod gear arranges with the hinge-point of walking pin (3-3) and walking pin (3-3) relative eccentric connecting rod mechanism mechanism can be made to carry out offseting and the elastomeric element recovered.
9. underwater measuring robots according to claim 1, it is characterized in that: described framework (1) is lapped one another by section bar and forms, section bar has the mounting groove (1-1) extended along its length, the A/F of mounting groove (1-1) is less than lumen width, be connected with T-shaped bolt (1-3) by angle connecting panel (1-2) between section bar, in the mounting groove (1-1) of the bolt cap embedding section bar of T-shaped bolt (1-3), angle connecting panel (1-2) and section bar fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310273444.8A CN103395488B (en) | 2013-07-01 | 2013-07-01 | Underwater measuring robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310273444.8A CN103395488B (en) | 2013-07-01 | 2013-07-01 | Underwater measuring robots |
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| Publication Number | Publication Date |
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| CN103395488A CN103395488A (en) | 2013-11-20 |
| CN103395488B true CN103395488B (en) | 2016-01-20 |
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| CN201310273444.8A Expired - Fee Related CN103395488B (en) | 2013-07-01 | 2013-07-01 | Underwater measuring robots |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103600822B (en) * | 2013-11-26 | 2016-05-25 | 西南大学 | One is running gear under water |
| CN103698340B (en) * | 2013-12-27 | 2016-03-09 | 河海大学常州校区 | A kind of pick-up unit of submerged structure |
| CN104121891B (en) * | 2014-07-07 | 2016-04-27 | 北京理工大学 | Based on the intelligent robot sighting device of 5 cameras |
| CN104691727B (en) * | 2015-02-13 | 2016-10-12 | 山东省水利科学研究院 | Underwater robot axial encoded data acquisition device rotary annular support |
| CN104590516B (en) * | 2015-02-16 | 2016-10-05 | 福州大学 | A kind of detection method of shallow water bridge pier underwater detecting robot |
| CN105711779B (en) * | 2016-03-16 | 2018-02-27 | 河海大学常州校区 | A kind of eight propeller underwater robots |
| CN106516039B (en) * | 2016-11-16 | 2018-04-03 | 南通市海鸥救生防护用品有限公司 | Hull cleans monitoring underwater robot frame with water |
| CN106741647B (en) * | 2017-02-08 | 2018-10-26 | 哈尔滨工程大学 | A kind of ground tackle and method that the seabeds UUV are resident |
| CN107010183B (en) * | 2017-03-29 | 2019-01-18 | 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 underwater structure surface clean detection system based on buoyancy compartment |
| CN108382547A (en) * | 2018-02-22 | 2018-08-10 | 河海大学常州校区 | A kind of robot for underwater works cleaning |
| CN110351462A (en) * | 2019-07-08 | 2019-10-18 | 河海大学常州校区 | A kind of detection device of underwater works |
| CN110482717A (en) * | 2019-08-20 | 2019-11-22 | 哈尔滨工程大学 | A kind of cleaning robot system for aeration plate in cesspool |
| CN111842231A (en) * | 2020-07-16 | 2020-10-30 | 王晓菲 | Dried bean processing baffle cleaning device |
| CN114248872B (en) * | 2021-12-09 | 2023-04-18 | 中国船舶科学研究中心 | Deep sea is assembled main ballast water tank for ship of considering displacement compensation |
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| CN103395488A (en) | 2013-11-20 |
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Granted publication date: 20160120 Termination date: 20190701 |