CN107053124A - A kind of underwater intelligent is removed obstacles cleaning robot - Google Patents
A kind of underwater intelligent is removed obstacles cleaning robot Download PDFInfo
- Publication number
- CN107053124A CN107053124A CN201710202999.1A CN201710202999A CN107053124A CN 107053124 A CN107053124 A CN 107053124A CN 201710202999 A CN201710202999 A CN 201710202999A CN 107053124 A CN107053124 A CN 107053124A
- Authority
- CN
- China
- Prior art keywords
- electronics bay
- cleaning robot
- removed obstacles
- winch
- running gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000007789 sealing Methods 0.000 claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000010521 absorption reaction Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000686 essence Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The present invention proposes a kind of underwater intelligent and removed obstacles cleaning robot, the body in integrated mechanical sealing compartment, body bottom is provided with running gear, running gear is connected to intrinsic piggyback pod, piggyback pod is by electronics bay control, the top of body drives the rotation of support frame provided with reducing motor, and support frame top is provided with high definition camera device and focuses on scattering light source, and high definition camera device and focusing scattering light source are connected to electronics bay by circuit respectively.Bodies top is provided with waterproof machine, the rotating shaft connection winch of waterproof machine, the pitch of the laps communications cable on winch, communications cable one end is connected to electronics bay, it is cursory that the other end is connected to GPS communication, rotary encoder and pressure sensor, rotary encoder and pressure sensor connection electronics bay are also installed on winch.Real-time high-precision positioning of the present invention, can be removed obstacles for different barrier situations.
Description
Technical field
Removed obstacles cleaning robot the present invention relates to a kind of underwater intelligent.
Background technology
In detection process at power station force reduction pool bottom and slope boundary line, there is substantial amounts of thickness not in force reduction pool bottom
Equal deposit, legacy equipment can not detect the concrete condition below deposit covering, also not for detection machine herein
Device people.
The content of the invention
The present invention proposes a kind of underwater intelligent and removed obstacles cleaning robot, is adapted to more more complicated underwater environments,
Underwater penetration is improved, increases own load, high definition imaging simultaneously carries out real-time storage to image and its data being superimposed, high in real time
Precision is positioned, and the scraper bowl of carrying can be for straight shovel or tiltedly shovel can be directed to different barrier situations, is removed obstacles.
The technical proposal of the invention is realized in this way：
A kind of underwater intelligent is removed obstacles cleaning robot, includes the body in integrated mechanical sealing compartment, the body interior
By the way of segmented seal, at least including electronics bay and piggyback pod, body bottom is provided with running gear, the walking dress
Put and be connected to intrinsic piggyback pod, piggyback pod is provided with reducing motor, the deceleration by electronics bay control, the top of body
Motor connection is to electronics bay；The front portion of the body passes through the detachable installation scraper bowl of switching mechanism, the switching mechanism
It is mechanically attached to intrinsic piggyback pod；The bodies top be provided with waterproof machine, the rotating shaft connection winch of the waterproof machine,
The pitch of the laps communications cable on winch, described communications cable one end is connected to electronics bay, and it is cursory that the other end is connected to GPS communication,
Rotary encoder and pressure sensor are also installed, the rotary encoder and pressure sensor connect electronic equipment on the winch
Cabin；The top nose of the body is provided with a support frame, and the reducing motor drives the rotation of support frame, support frame as described above top
Provided with high definition camera device and focusing scattering light source, the high definition camera device and focusing scattering light source are connected by circuit respectively
To electronics bay.
Preferably, the running gear is crawler type or wheeled one of which, the running gear sidepiece fixed protection
Baffle plate.
Preferably, the front and rear of the body is respectively equipped with flusher, and it is close that the flusher is connected to water route
Tube sealing line, the sealing pipeline is arranged at body interior and is connected to self-absorption water supply device, and the self-absorption water supply device connects
The waterpipe jointing of external wall and hull back is picked up, the rear end of the body is provided with standby waterpipe jointing, and the standby water pipe connects
Mouth is connected to self-absorption water supply device.
Preferably, the top of the body is provided with handle.
Preferably, the rear body is provided with waterproof socket, and the waterproof socket circuit is connected to electronics bay.
Preferably, the body portion of robot is provided with a pneumatic striking mechanism, and the air pipe interface for being arranged at body rear end connects
Pneumatic striking mechanism is connected to, and pneumatic striking mechanism is supplied by tracheae and driven, and can smash big clitter or ratchel is smashed, play and remove obstacles
Function.
What the present invention was produced has the beneficial effect that：The present invention can be by intelligent wash, and the mode such as troubleshooting sets similar detection
Situation below the standby deposit that can't detect, is shown with clearly image data, and carries out essence to the region gone wrong
Certainly position；Chinese herbaceous peony end is equipped with straight shovel, tiltedly shovel and flusher, can tackle different detection environment take it is different remove obstacles,
Cleaning measure.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is structural representation of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
A kind of underwater intelligent as shown in Figure 1 is removed obstacles cleaning robot, includes the body 1 in integrated mechanical sealing compartment, institute
State body 1 and use high-strength aluminum alloy, and be surface-treated, plane casting die encapsulation process is done in junction using double-deck O-ring,
To adapt to underwater environment, inside is by the way of segmented seal, at least including electronics bay and piggyback pod.The bottom of body 1 is set
Have running gear 2, the running gear 2 is connected to the piggyback pod in body 1, piggyback pod by electronics bay control, body 1
Top is provided with reducing motor 3, and the reducing motor 3 is connected to electronics bay；The front portion of the body 1 passes through switching mechanism 4
Detachable installation scraper bowl 5, the switching mechanism 4 is mechanically attached to the piggyback pod in body 1；The top of body 1 is provided with anti-
The pitch of the laps communications cable 8 on hydroelectric machine 6, the rotating shaft connection winch 7 of the waterproof machine 6, winch 7, described one end of the communications cable 8 connects
Electronics bay is connected to, the other end is connected on GPS communication cursory 9, the winch 7 and also installs rotary encoder and pressure sensing
Device, the rotary encoder and pressure sensor connect electronics bay；The top nose of the body 1 is provided with a support frame
10, the reducing motor 3 drives the rotation of support frame 10, and the top of support frame as described above 10 is provided with high definition camera device 11 and focuses on scattered
Light source 12 is penetrated, the high definition camera device 11 and focusing scattering light source 12 are connected to electronics bay by circuit respectively, arranged in pairs or groups
There are the focusing scattering light source and high definition camera device of more science, on the basis of real-time high-definition imaging, add again to shadow
The real time data being superimposed as data is stored.
Running gear 2 is crawler type or wheeled one of which, the running gear sidepiece fixed protection in the present embodiment
Baffle plate 13, can prevent larger foreign matter from entering, while wheeled, caterpillar rapid replacing can be realized.It is high-power due to carrying
Motor, less foreign matter does not interfere with its normal operation yet.
The top of body described in the present embodiment is provided with handle 18, and rear body is provided with waterproof socket 17, the anti-water cutting
17 circuits of mouth are connected to electronics bay.
The front and rear of body 1 is respectively equipped with flusher 14, and the flusher 14 is connected to waterway seal pipeline,
The sealing pipeline is arranged at body interior and is connected to self-absorption water supply device, outside the self-absorption water supply device connection body
The waterpipe jointing of wall and hull back, the rear end of the body is provided with standby waterpipe jointing 15, and the standby waterpipe jointing 15 connects
It is connected to self-absorption water supply device.The body portion of robot is provided with a pneumatic striking mechanism, and the tracheae for being arranged at body rear end connects
Mouth 16 is connected to pneumatic striking mechanism, and pneumatic striking mechanism is supplied by tracheae and driven, and can smash big clitter or ratchel is smashed, rise
To the function of removing obstacles.Standby waterpipe jointing 15 is the standby water inlet of self-absorption water supply device, is supplied water by workbench, tracheae connects
Mouth is connected with anterior jump bit.When robot is entered under water, the equipment control self-absorption water supply dress on workbench
Water supply start is put to cleaning equipment, self-absorption water supply device starts automatic ink-suction (or by working by the water pipe with external connection
Platform supplies water), and the water of high pressure is injected into by cleaning equipment punching by pipeline, cleaning equipment is started working.
The present invention reaches on the premise of not influenceing normal operation by reequiping sealing mechanism in transmission portion, improves sealing
The O-ring sealing means of power transmission shaft, to improve underwater penetration, are changed to integrated mechanical sealing, electronics by the purpose of grade
Device line and cage connection use aviation plug, water pipe head using can 360 ° of rotations antiwind high-pressure pipe connector.
Scraper bowl 5 is detachable, be divided into straight shovel and tiltedly shovel two kinds of scraper bowl patterns, straight shovel be applied to deposit it is less, but have compared with
During the situation of bulk barrier, scraper bowl 5 is not using being very frequent, and in order to obtain more preferable video image, scraper bowl can be retracted into
In the groove of car body front end.It is soft deposit that tiltedly shovel, which is applied to deposit, and deposit is thicker, or is handed over to bottom plate and slope
Used when being removed obstacles at boundary line.The side for being advantageous in that and barrier need to only being shifted onto in course is tiltedly shoveled, it is easy to operate.
The length of the communications cable 8 is released in rotary encoder control of the special underwater winch 7 on pressure sensor and winch,
There is a GPS communication cursory 9 on the top of the communications cable 8, when GPS communication cursory 9 floating to it is waterborne when, GPS communication it is cursory in GPS
System and base station communication, add the depth value that the data obtained by pressure sensor are converted into, reach acquisition geodetic coordinates,
The purpose of depth localization.Error produced by GPS communication cursory 9 is offset by the formula calculated value of built-in computer, meanwhile, this portion
Point location data is superimposed upon in real-time high definition image and stored.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (6)
- The cleaning robot 1. a kind of underwater intelligent is removed obstacles, it is characterised in that include the body in integrated mechanical sealing compartment, it is described Body interior is by the way of segmented seal, at least including electronics bay and piggyback pod, and body bottom is provided with running gear, institute State running gear and be connected to intrinsic piggyback pod, piggyback pod is provided with reducing motor by electronics bay control, the top of body, The reducing motor is connected to electronics bay；The front portion of the body is described by the detachable installation scraper bowl of switching mechanism Switching mechanism is mechanically attached to intrinsic piggyback pod；The bodies top is provided with waterproof machine, the rotating shaft of the waterproof machine The pitch of the laps communications cable on connection winch, winch, described communications cable one end is connected to electronics bay, and the other end is connected to GPS Communication is cursory, and rotary encoder and pressure sensor are also installed on the winch, and the rotary encoder and pressure sensor connect Connect electronics bay；The top nose of the body is provided with a support frame, and the reducing motor drives the rotation of support frame, described Support frame top is provided with high definition camera device and focuses on scattering light source, and the high definition camera device leads to respectively with scattering light source is focused on Oversampling circuit is connected to electronics bay.
- The cleaning robot 2. a kind of underwater intelligent as claimed in claim 1 is removed obstacles, it is characterised in that the running gear is shoe Belt or wheeled one of which, the running gear sidepiece fixed protection baffle plate.
- The cleaning robot 3. a kind of underwater intelligent as claimed in claim 1 is removed obstacles, it is characterised in that the front portion of the body and Rear portion is respectively equipped with flusher, and the flusher is connected to waterway seal pipeline, and the sealing pipeline is arranged in body Portion and self-absorption water supply device is connected to, the waterpipe jointing of the self-absorption water supply device connection body outer wall and hull back, The rear end of the body is provided with standby waterpipe jointing, and the standby waterpipe jointing is connected to self-absorption water supply device.
- The cleaning robot 4. a kind of underwater intelligent as claimed in claim 1 is removed obstacles, it is characterised in that the top of the body is set There is handle.
- The cleaning robot 5. a kind of underwater intelligent as claimed in claim 1 is removed obstacles, it is characterised in that the rear body is provided with Waterproof socket, the waterproof socket circuit is connected to electronics bay.
- The cleaning robot 6. a kind of underwater intelligent as claimed in claim 1 is removed obstacles, it is characterised in that the body portion of robot Provided with a pneumatic striking mechanism, the air pipe interface for being arranged at body rear end is connected to pneumatic striking mechanism, and pneumatic striking mechanism is by gas Pipe supply driving, big clitter can be smashed or ratchel is smashed, play the function of removing obstacles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202999.1A CN107053124A (en) | 2017-03-30 | 2017-03-30 | A kind of underwater intelligent is removed obstacles cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202999.1A CN107053124A (en) | 2017-03-30 | 2017-03-30 | A kind of underwater intelligent is removed obstacles cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107053124A true CN107053124A (en) | 2017-08-18 |
Family
ID=59601575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710202999.1A Pending CN107053124A (en) | 2017-03-30 | 2017-03-30 | A kind of underwater intelligent is removed obstacles cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053124A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746924A (en) * | 2017-11-08 | 2019-05-14 | 天津职业技术师范大学 | Wushu ring fights vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08326098A (en) * | 1995-03-30 | 1996-12-10 | Unyusho Daiyon Kowan Kensetsu Kyokucho | Dredging method by underwater dredging robot |
| CN101659053A (en) * | 2009-06-29 | 2010-03-03 | 雷学军 | Robot suitable for cleaning and sterilizing under a plurality of environments |
| CN101845832A (en) * | 2010-05-07 | 2010-09-29 | 武汉理工大学 | Multifunctional rescuing and barrier-breaking robot |
| CN203160297U (en) * | 2013-04-16 | 2013-08-28 | 舟山市宏达交通工程有限责任公司 | Seawall silt removal device |
| CN104802966A (en) * | 2015-01-20 | 2015-07-29 | 上海优爱宝机器人技术有限公司 | Modular underwater robot and control system thereof |
| CN205111836U (en) * | 2015-08-12 | 2016-03-30 | 润泰救援装备科技河北有限公司 | Rescue robot removes obstacles |
| CN205220253U (en) * | 2015-11-13 | 2016-05-11 | 苏州飞驰环保科技股份有限公司 | Multi -functional amphibious workboat |
| CN206795814U (en) * | 2017-03-30 | 2017-12-26 | 武汉力博物探有限公司 | A kind of underwater intelligent is removed obstacles cleaning robot |
-
2017
- 2017-03-30 CN CN201710202999.1A patent/CN107053124A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08326098A (en) * | 1995-03-30 | 1996-12-10 | Unyusho Daiyon Kowan Kensetsu Kyokucho | Dredging method by underwater dredging robot |
| CN101659053A (en) * | 2009-06-29 | 2010-03-03 | 雷学军 | Robot suitable for cleaning and sterilizing under a plurality of environments |
| CN101845832A (en) * | 2010-05-07 | 2010-09-29 | 武汉理工大学 | Multifunctional rescuing and barrier-breaking robot |
| CN203160297U (en) * | 2013-04-16 | 2013-08-28 | 舟山市宏达交通工程有限责任公司 | Seawall silt removal device |
| CN104802966A (en) * | 2015-01-20 | 2015-07-29 | 上海优爱宝机器人技术有限公司 | Modular underwater robot and control system thereof |
| CN205111836U (en) * | 2015-08-12 | 2016-03-30 | 润泰救援装备科技河北有限公司 | Rescue robot removes obstacles |
| CN205220253U (en) * | 2015-11-13 | 2016-05-11 | 苏州飞驰环保科技股份有限公司 | Multi -functional amphibious workboat |
| CN206795814U (en) * | 2017-03-30 | 2017-12-26 | 武汉力博物探有限公司 | A kind of underwater intelligent is removed obstacles cleaning robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746924A (en) * | 2017-11-08 | 2019-05-14 | 天津职业技术师范大学 | Wushu ring fights vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104354843B (en) | Coordinate the miniature salvaging drilling equipment of over seat anker and the method for ROV | |
| JP5754581B2 (en) | Mining method and unit for submarine deposits | |
| CN111521619B (en) | Dam crack detection robot based on ROV and application method thereof | |
| CN203891091U (en) | Environment-friendly dredging system for contaminated bottom mud | |
| JP2012144944A (en) | Seabed deposit mining method and mining unit for the same | |
| KR20100000477A (en) | Remote control underwater dredging apparatus | |
| CN114991298B (en) | Urban drainage pipeline detection and dredging intelligent robot and working method | |
| CN206795814U (en) | A kind of underwater intelligent is removed obstacles cleaning robot | |
| CN107053124A (en) | A kind of underwater intelligent is removed obstacles cleaning robot | |
| CN104278657B (en) | A kind of dredging method | |
| CN106882348A (en) | The system that wrecked boat is docked with salvor is completed under sea situation high | |
| CN113212708A (en) | Detection navigation ware based on pipeline | |
| CN112758287B (en) | Underwater remote control detection and disposal operation equipment and construction method thereof | |
| CN206360072U (en) | A kind of municipal sewer pipe dredging machine device people | |
| CN115891527A (en) | Variable-structure crawler-type full-water-depth propulsion amphibious robot and control method thereof | |
| CN217043836U (en) | Underwater rescue dredging robot | |
| CN105113561A (en) | Underwater dirt removing robot | |
| CN209686492U (en) | A kind of visual mating Accrete clearing device of deep water | |
| CN211391632U (en) | Underwater rescue robot | |
| CN109647647B (en) | Novel coating device for seabed long oil pipe | |
| KR20120039234A (en) | A mechanized system for underwater rubble leveling work | |
| CN207419571U (en) | Depth measurement aircraft is cleared up in a kind of exploratory heading air draft | |
| CN116142425A (en) | Maintenance equipment for underwater reverse check water valve | |
| CN105735398A (en) | Robot for damming and land reclamation | |
| CN111337202A (en) | Underwater leakage tracing detection equipment and detection method carried on ROV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170818 |