CN110077562A - Migration combination underwater monitoring robot - Google Patents
Migration combination underwater monitoring robot Download PDFInfo
- Publication number
- CN110077562A CN110077562A CN201910400942.1A CN201910400942A CN110077562A CN 110077562 A CN110077562 A CN 110077562A CN 201910400942 A CN201910400942 A CN 201910400942A CN 110077562 A CN110077562 A CN 110077562A
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- China
- Prior art keywords
- underwater
- propeller
- robot
- module
- tracer
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Classifications
-
- 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
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/20—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material
Abstract
The invention discloses a kind of migration combination underwater monitoring robots.Including car body module, ink-jet tracer module and electronic control module；Car body module includes vehicle body frame, 4 wheel driven mobile chassis, propeller and the underwater sucker of centrifugal impeller, the migration that electronic control module is used to control underwater robot combines movement and the ink-jet of ink-jet tracer module work, the travelling function of underwater robot is realized by eight propellers, realize that the adherent function of creeping of underwater robot, function of moving about and adherent function of creeping can carry out free switching by centrifugal impeller sucker and brushless direct-current planetary reducing motor.The underwater robot structure that migration of the present invention combines is compact, compact, it is able to achieve the ability of six-freedom motion under water, reliably adsorb the function of walking on any angled wall face by homemade adsorbent equipment simultaneously, allow robot to walk by adsorbent equipment in wall surface in dam surface monitoring to detect, the ability realizing robot leaping over obstacles by propeller or quickly withdrawing.
Description
Technical field
The invention belongs to dam surface crack detection fields, and in particular to a kind of migration combination underwater monitoring robot.
Background technique
Reservoir dam in use for some time, due to the influence of current scour and own wt, it is possible to dam can be made
Body immerses underwater part and generates crack and cause to leak, and serious leakage can cause to seriously affect to dam safety.Fracture
Periodic detection and processing be essential measure.
Traditional leakage detection mode is that diver carries the pipeline that connect with pressurized equipment and pulls the plug, once find dangerous point,
I.e. openable valve, while making pressurized equipment starting on the bank that tracer is squeezed into target point, water near target point by high pressure
Domain can be colored.Crack if it exists, crack inside and outside differential pressure can force water body after dyeing to flow into crack, to observe crack position
It sets.But diver is expensive, and only 50 meters or so of submerged depth, is unable to satisfy 200 meters of dam of depth of implements.
Currently advanced engineering field is looked into frequently with ROV (Remote Operated Vehicle) subsidiary dam physical examination, but
Its in the detection process often with car body shake, water disturbance phenomena such as, bring inconvenience to underwater observation, ROV advances speed
Degree is more difficult to control, it can not be made to stop immediately in desired stopping place and remain stationary state.
In conclusion the mode in existing detection crack and the use of underwater ROV detection robot are less applicable in dam
Surface crack detection.
Summary of the invention
In order to solve the problems in background technique, the present invention provides a kind of migration combination underwater robots, are used for dam
Crack Detection, it may be convenient to carry out Tracing detection under water.
The technical solution adopted in the present invention is as follows:
The present invention includes car body module, ink-jet tracer module and electronic control module.
The car body module includes vehicle body frame, 4 wheel driven mobile chassis, eight propellers and centrifugation with driving electricity tune
The underwater sucker of vane type, 4 wheel driven mobile chassis are installed on vehicle body frame bottom, and 4 wheel driven mobile chassis includes a pair of of left and right front-wheel, one
The brushless direct-current planetary reducing motor of driver is had to left and right rear-wheel and four, each front-wheel or rear-wheel are brushless straight with one
Flow planetary reducing motor phase, 4 wheel driven mobile chassis bottom centre be equipped with centrifugal impeller sucker, centrifugal impeller sucker be located at
Waterproof direct current generator above 4 wheel driven mobile chassis is connected, and waterproof direct current generator is for driving centrifugal impeller sucker；Car body frame
Two sides of frame or so are mounted on two pairs of propellers, and one pair of them propeller is located at front wheel positions, and another pair promotes
Device is located at rear wheel position, and each pair of propeller includes the propeller arranged vertically and a horizontally disposed propulsion
Device, wherein horizontally disposed propeller and vehicle body frame side angle are 45 degree；Solid buoyancy material is installed at the top of vehicle body frame
Material, vehicle body frame front end are equipped with a pair of of underwater luminaire.
The electronic control module include control cabinet, power supply conversion cabin, positioned on the bank the end pc and high-voltage DC power supply, control cabinet
It is connect by umbilical cables with the end pc, control cabinet is connected with power supply conversion cabin；Control cabinet and power supply conversion cabin are respectively arranged in car body
Frame inner top two sides, control cabinet inside are equipped with control hardware, depth transducer, camara module, temperature sensor and posture
Sensor, depth transducer, camara module, temperature sensor, attitude transducer are connected with control hardware, camara module
It is placed in the translucent cover that control cabinet front end is equipped with, camara module includes camera and one-dimensional holder, and camera can be rotated up and down
90 degree；Depth transducer is located at control cabinet rear portion and extend out to outside vehicle body frame, and depth transducer is for feeding back underwater robot
The locating depth of water, attitude transducer can the athletic posture of real-time transmission robot in three dimensions to hardware is controlled, facilitate operation
Operation underwater robot is rotated by 90 ° transformation working pattern to member on the coast.
The ink-jet tracer module includes accumulator, underwater electromagnetic valve and diluent nozzle, accumulator, underwater electromagnetic valve
Be equipped in vehicle body frame with diluent nozzle, diluent nozzle be installed on vehicle body frame front end and be located at two underwater luminaires it
Between, for observing illumination；Accumulator, underwater electromagnetic valve, diluent nozzle pass sequentially through PU pipe and are connected, and underwater electromagnetic valve is connected to electricity
Control module；Accumulator includes end cap, chamber shell, bottom plate, piston, spring, spring base, and end cap is coaxially installed on chamber shell upper surface, bottom
Plate is coaxially installed below chamber shell and is connected between bottom plate and chamber shell by more copper posts；End cap central position is provided with to be run through up and down
Mounting hole, end cover is equipped with annular convex platform close to edge, and annular convex platform lateral surface and chamber shell medial surface gluing, sealing connect
It connects；Chamber shell upper surface is equipped with outward flange, is equipped with the piston slided up and down along chamber shell medial surface in chamber shell, chamber shell lower end surface is equipped with
Inward flange, inward flange appear on the stage terrace as the convex shoulder for being used to support piston, and piston bottom center opens up inner cavity, piston cavity bottom surface
Center is equipped with a screw-threaded counterbore, is tightly connected between piston outer periphery face and chamber shell medial surface by two Glais rings；On piston
The cavity that surface, chamber shell medial surface, end cap top surface three surround is provided with tracer；Bottom plate lower end surface week side is equipped with flange
Disk is provided with multiple through-holes on ring flange, aperture is provided at bottom plate center, aperture perimetral tight is uniformly distributed, and there are four size structure is identical
Circular hole, each circular-hole internal-wall two sides set that there are two the arc blocks that are arranged symmetrically, and arc block upper surface is provided with arc groove；Each circle
Spring base is mounted on inside hole, spring base is the hollow structure that bottom is equipped with outward flange, and outward flange bottom surface is equipped with annular lug,
Outward flange outer peripheral surface is set there are two symmetrical arc lug, and arc lug is flush-mounted in just in the arc groove of circular hole；Spring base is used
In support fixed spring, spring one end is fixed to spring base bottom, other end apical grafting piston bottom surface, when being full of tracer in cavity
When, spring is in impaction state.
Diluent nozzle includes spray head, upper cover, middle cover, propeller machine and lower cover, and upper cover, middle cover and lower cover are hollow set
Barrel structure, spray head are bolt-connected to upper cover upper surface, and upper cover is coaxially fixedly linked by middle cover with lower cover；Spray head is loudspeaker
Mouth structure, for spray head upper end osculum as nozzle, spray head lower end surface is equipped with annular convex platform, annular convex platform outside at marginal position
Face is connect with upper cover medial surface gluing, sealing；Upper cover two sides are provided with a side opening, and lower cover bottom is provided with the circle entered for water flow
Hole；In the cavity that propeller machine body is located at upper cover and middle cover surrounds, propeller machine body passes through middle cover side wall diameter by three
Be installed on middle cover medial surface to the fixing screws of arrangement, the paddle shaft of propeller machine downward, and under the blade installed in paddle shaft is located at
In lid cavity, the propeller electromechanics line being connected with propeller machine passes through the side opening that upper cover side is provided with and is connected with control panel；Institute
It states PU pipe one end to be connected with the mounting hole of end cap central position, the PU pipe other end stretches to diluent nozzle upper cover through underwater electromagnetic valve
The side opening that the other side is provided with.
Tracer is flowed into diluent nozzle cavity by PU pipe, and the rotation of propeller machine drives water flow in cavity to stir to make
The tracer for flowing into higher concentration in cavity is mixed the tracer for being diluted to low concentration, nozzle of the last tracer from spray head
Place's discharge.
The travelling function that underwater robot is realized by eight propellers, by centrifugal impeller sucker and brushless
DC planetary reducer motor realizes the adherent function of creeping of underwater robot, and function of moving about and adherent function of creeping can carry out freedom
Switching, travelling function switch be it is adherent creep function when, underwater robot need to turn on one's side 90 degree in water, so that 4 wheel driven mobile chassis
The centrifugal impeller sucker of bottom is in contact with absorption wall surface；Four brushless direct-current planetary reducing motors pass through control front and rear wheel
The mobile front and back straight trip for realizing underwater robot of rotating Vortex, realizes underwater robot original place by the differential rotation of control front and back wheel
Turning, the rotating Vortex are that control front and back wheel moves in the same direction；The differential control left side front and back wheel that rotates to be is towards same
One direction movement, control right side front and back wheel moves in the opposite direction, to realize underwater robot pivot turn；Eight propulsions
Device controls the travelling function that robot realizes six degree of freedom, and four propellers arranged vertically realize the floating of robot, dive
And rolling, horizontally disposed four propellers realize advance, retrogressing, the turning of robot.
The mounting means of each spring base and bottom plate is arranged in dislocation, the arc lug in spring base two sides of the bottom
In the case where the position consistency from top to bottom for not installing arc block with bottom plate circular hole, upward active force is applied to spring base bottom and is made
Spring base inserting enters bottom plate circular hole, and spring upper end withstands piston bottom surface upwards, and being then rotated by 90 ° spring base makes spring base
Arc lug and the arc groove on bottom plate agree be aligned to realize circumferential limit up and down, then it is downward to spring base by spring
Press belt flexible spring seat, which falls, makes the arc lug of spring base in the arc groove of bottom plate, so that spring base nothing in circular hole
Method rotation.
The suction size of the centrifugal impeller sucker according to centrifugal impeller sucker bottom end with absorption wall surface at a distance from into
Row is adjusted.
The power supply converts DC-DC conversion module built in cabin, and the high-voltage electricity in high-voltage DC power supply is transmitted to through control cabinet
Power supply converts cabin, and the high-voltage electricity of 200v~400v is respectively converted into the low tension of 24v, 48v, 5v by power supply conversion cabin, and 24v's is low
Piezoelectricity is for electricity output to eight propellers, four brushless direct-current planetary reducing motors and ink-jet tracer module, the low pressure of 48v
Electricity is for electricity output to waterproof direct current generator, and the low tension of 5v is for electricity output to control cabinet.
The motor driving shaft of each brushless direct-current planetary reducing motor carries out dynamic sealing by O-ring seal,
Due to the artificial underwater monitoring robot of machine of the invention, brushless direct-current planetary reducing motor needs lower revolving speed, revolving speed
Only 0~100r/min.
The illumination direction of the underwater luminaire, the camera direction of camara module, the spray head direction of diluent nozzle are equal
Towards the same side, so as to illuminating watches, while the mounting inclination angle degree by adjusting diluent nozzle, to reach best tracer observation
Angle.
Data information in the control cabinet is by electric force carrier transmission to the end host computer pc, and the end pc is according to the data of reading
Information display control cabin temperature, the depth of robot, the posture of robot and vision signal；The end pc passes through electric power for signal is controlled
Carrier wave passes to the control hardware of control cabinet, to realize the movement of robot.
Beneficial effects of the present invention:
The underwater robot structure that migration of the present invention combines is compact, and compact is able to achieve six-freedom motion under water
Ability, while reliably adsorbing the function of walking on any angled wall face by homemade adsorbent equipment, make robot big
It can walk and detect in wall surface by adsorbent equipment when dam surface monitoring, by propeller realization robot leaping over obstacles or quickly
The ability of withdrawal.
The present invention has deepwater work ability, can resist the external water pressure of 2.5MPa；Pressure-resistant depth is up to 250 meters, energy
Continuous service works under deepwater environment.
The underwater robot that migration of the present invention combines is a underwater operation platform, can carry various operation peripheries and set
It is standby, enrich its operation function.The present invention can be made under water in this case by sucker securely in conjunction with wall adsorption
Stability is much better than the underwater robot of floating when industry (example drilling, cutting).
Detailed description of the invention
Fig. 1 is three dimensional structure diagram of the invention.
Fig. 2 is the overall schematic view of the front view of migration combination underwater robot of the present invention.
Fig. 3 is the overall overlooking structure diagram of migration combination underwater robot of the present invention.
Fig. 4 is the overall present invention looks up structural representation of migration combination underwater robot of the present invention.
Fig. 5 is ink-jet tracer module connection figure of the invention.
Fig. 6 is accumulator structural schematic diagram of the invention.
Fig. 7 is diluent nozzle structural schematic diagram of the invention.
Fig. 8 is spring seat structure schematic diagram of the invention.
Fig. 9 is the structural schematic diagram of bottom plate of the present invention.
In figure: 1, accumulator；2, underwater electromagnetic valve；3, diluent nozzle；4, end cap；5, O-ring seal；6, chamber shell；7, copper
Column；8, bottom plate；9, piston；10, Glais ring；11, spring；12, spring base；13, tracer；14, spray head；15, rubber seal；
16, upper cover；17, PU is managed；18, propeller electromechanics line；19, fixing screws；20, middle cover；21, propeller machine；22, lower cover；101,
Solid buoyancy material；102, power supply converts cabin；103, control cabinet；104, underwater luminaire；106, centrifugal impeller sucker；107,
Waterproof brushless direct-current planetary reducing motor；108, depth transducer；110, anti-water solenoid valve；111, propeller；112, car body frame
Frame.
Specific embodiment
The technical solutions of the present invention will be further described with reference to the accompanying drawings and examples.
As shown in figures 1 and 3, the present invention includes car body module, ink-jet tracer module and electronic control module；Car body module
Including vehicle body frame 112,4 wheel driven mobile chassis, eight propellers 111 and the underwater sucker of centrifugal impeller adjusted with driving electricity
106, vehicle body frame 112 is open frame, and the long a height of 520*500*450mm of * wide * of size builds by aluminum profile, subtracts as far as possible
Small machine people's weight；112 or so two sides of vehicle body frame are mounted on two pairs of propellers 111, and 111, one pair of them propeller
In at front wheel positions, another pair propeller 111 is located at rear wheel position, and each pair of propeller 111 includes one vertical
The propeller 111 of arrangement and a horizontally disposed propeller 111, wherein horizontally disposed propeller 111 and vehicle body frame 112
Side angle is 45 degree；Solid buoyancy material 101 is installed, 112 front end of vehicle body frame is equipped with a pair of of water at the top of vehicle body frame 112
Lower headlamp 104, the visual field that the installation of headlamp 104 needs that light is made to cover camera as far as possible, and dilution spray is completely covered
The job area of mouth 3.
As shown in Fig. 2, electronic control module include control cabinet 103, power supply conversion cabin 102, positioned on the bank the end pc and high straightening
Galvanic electricity source, control cabinet 103 are connect by neutral buoyancy cable with the end pc, and control cabinet 103 is connected with power supply conversion cabin 102；Control cabinet
103 are respectively arranged in 112 inner top two sides of vehicle body frame with power supply conversion cabin 102, be equipped with inside control cabinet 103 control hardware,
Depth transducer, camara module, temperature sensor and attitude transducer, depth transducer, camara module, temperature sensing
Device, attitude transducer are connected with control hardware, and camara module is placed in the translucent cover that control cabinet front end is equipped with, video camera mould
Block includes camera and one-dimensional holder, and camera can be rotated up and down 90 degree；Depth transducer 8 is located at control cabinet rear portion and extend out to
Outside vehicle body frame 112, for depth transducer 8 for feeding back the depth of water locating for underwater robot, attitude transducer can real-time transmission machine
The athletic posture of people in three dimensions facilitates operator to operate underwater robot on the coast and is rotated by 90 ° conversion to hardware is controlled
Operating mode.
As shown in figure 4,4 wheel driven mobile chassis is installed on 112 bottom of vehicle body frame, 4 wheel driven mobile chassis includes a pair of of left and right
Front-wheel, a pair of of left and right rear-wheel and four have a brushless direct-current planetary reducing motors 107 of driver, each front-wheel or rear-wheel with
One brushless direct-current planetary reducing motor 107 is connected, and 4 wheel driven mobile chassis bottom centre is equipped with centrifugal impeller sucker 106, from
The wheeled sucker 106 of lobus cardiacus is connected with the waterproof direct current generator being located above 4 wheel driven mobile chassis, and waterproof direct current generator is for driving
Centrifugal impeller sucker 106.
As shown in figure 5, ink-jet tracer module includes accumulator 1, underwater electromagnetic valve 2, diluent nozzle 3, accumulator 1,
Underwater electromagnetic valve 2, diluent nozzle 3 pass sequentially through PU pipe 17 and are connected, the mounting hole phase of 17 one end of PU pipe and 4 center of end cap
Even, 17 other end of PU pipe stretches to the side opening that 3 upper cover of diluent nozzle, 16 other side is provided with through underwater electromagnetic valve 2.
As shown in fig. 6, accumulator 1 includes end cap 4, chamber shell 6, bottom plate 8, piston 9, spring 11, spring base 12, end cap 4 is same
Axis is installed on 6 upper surface of chamber shell, and bottom plate 8 is coaxially installed on 6 lower section of chamber shell and between bottom plate 8 and chamber shell 6 by more 7 phases of copper post
Even；4 center of end cap is provided with perforative mounting hole up and down, and 4 bottom surface of end cap is equipped with annular convex platform, annular convex platform close to edge
Lateral surface is connect with 6 medial surface gluing, sealing of chamber shell, is installed between the lateral surface of 4 annular convex platform of end cap and the medial surface of chamber shell 6
There is O-ring seal 5, O-ring seal 5 is installed between 6 flange of 4 edge of end cap and chamber shell；6 upper surface of chamber shell is equipped with outward flange,
The piston 9 slided up and down along 6 medial surface of chamber shell is installed, 6 lower end surface of chamber shell is equipped with inward flange, inward flange top bar in chamber shell 6
Face prevents piston 9 from falling off cavity out as the convex shoulder for being used to support piston 9, and 9 bottom center of piston opens up inner cavity, 9 inner cavity of piston
Bottom center is equipped with a screw-threaded counterbore and is used for manual sliding plunger 9, passes through two between 6 medial surface of 9 outer peripheral surface of piston and chamber shell
A Glais ring 10 is tightly connected；The cavity that 9 upper surface of piston, 6 medial surface of chamber shell, 4 top surface three of end cap surround is provided with tracer
Agent 13.
As shown in fig. 7, diluent nozzle 3 includes spray head 14, upper cover 16, middle cover 20, propeller machine 21 and lower cover 22, upper cover
16, middle cover 20 and lower cover 22 are hollow tube-in-tube structure, and spray head 14 is bolt-connected to 16 upper surface of upper cover, and upper cover 16 is logical
Middle cover 20 is crossed coaxially to be fixedly linked with lower cover 22；Spray head 14 is bell-mouth structure of air, and 14 upper end osculum of spray head is as nozzle, spray head 14
Lower end surface is equipped with annular convex platform at marginal position, and annular convex platform lateral surface is connect with 16 medial surface gluing, sealing of upper cover；On
16 two sides of lid are provided with a side opening, and 22 bottom of lower cover is provided with the circular hole entered for water flow；21 body of propeller machine is located at upper cover
16 and the cavity that surrounds of middle cover 20 in, 21 body of propeller machine passes through the fixing screws that 20 side wall of middle cover is radially arranged by three
19 are installed on 20 medial surface of middle cover, and downward, and the blade installed in paddle shaft is located in 22 cavity of lower cover the paddle shaft of propeller machine 21,
The propeller electromechanics line being connected with propeller machine 21 passes through the side opening that 16 side of upper cover is provided with and is connected with control panel.22 bottom of lower cover
The circular hole size in portion is close with the hole size of nozzle, and preventing propeller machine 21, quickly rotation causes on a large scale external water stream
Vortex influences, and the control to robot entirety is avoided to generate interference.The lateral surface of 14 annular convex platform of spray head and the inside of upper cover 16
Rubber seal 15 is installed, upper cover 16 and contact surface, upper cover 16 and the contact surface of middle cover 20 of middle cover 20 are respectively mounted between face
There is rubber seal 15.
As shown in figure 8, spring base 12 is the hollow structure that bottom is equipped with flange, flange bottom surface is equipped with annular lug, flange
Outer peripheral surface is set there are two symmetrical curved flanges, and curved flanges are flush-mounted in just in the arc groove of circular hole.
As shown in figure 9,8 lower end surface week side of bottom plate is equipped with ring flange, multiple through-holes, 8 center of bottom plate are provided on ring flange
Place is provided with aperture, and aperture perimetral tight is uniformly distributed there are four the identical circular hole of size structure, there are two each circular-hole internal-wall two sides are set
The arc block being arranged symmetrically, arc block upper surface are provided with arc groove；
Specific embodiment:
Ink-jet tracer module is equipped on underwater robot to dive beneath the water start-up operation, when on the bank, staff is had found
When dam dangerous point, underwater electromagnetic valve 2 is opened by electric control gear, underwater electromagnetic valve 2 is closed immediately after time 1s, makes a small amount of height
Concentration tracer 13 flows into diluent nozzle 3, and opening propeller machine 21 makes its rotation, will make a small amount of high concentration tracer 13 and water
After being sufficiently stirred, from spray head 14 be discharged Macrodilution after tracer 13, then turn off propeller machine 21.Control
By electric force carrier transmission to the end host computer pc, host computer shows according to the data information of reading and controls data information in cabin 103
103 temperature of cabin, the depth of robot, the posture of robot and vision signal processed；Host computer passes through power carrier for signal is controlled
The control hardware for passing to control cabinet 103 realizes the travelling function and adherent function of creeping of robot.
Claims (8)
1. a kind of migration combination underwater monitoring robot, which is characterized in that including car body module, ink-jet tracer module and electricity
Control module；
The car body module includes vehicle body frame (112), 4 wheel driven mobile chassis, eight propellers (111) and centrifugal impeller water
Lower sucker (106), 4 wheel driven mobile chassis are installed on vehicle body frame (112) bottom, 4 wheel driven mobile chassis include a pair of of left and right front-wheel,
A pair of of left and right rear-wheel and four have a brushless direct-current planetary reducing motors (107) of driver, and each front-wheel or rear-wheel are with one
A brushless direct-current planetary reducing motor (107) phase, 4 wheel driven mobile chassis bottom centre are equipped with centrifugal impeller sucker (106), from
The wheeled sucker of lobus cardiacus (106) is connected with the waterproof direct current generator being located above 4 wheel driven mobile chassis；Vehicle body frame (112) left and right two
A side is mounted on two pairs of propellers (111), and one pair of them propeller (111) is located at front wheel positions, and another pair pushes away
It is located at rear wheel position into device (111), each pair of propeller (111) includes the propeller arranged vertically (111) and one
A horizontally disposed propeller (111)；Solid buoyancy material (101), vehicle body frame are installed at the top of vehicle body frame (112)
(112) front end is equipped with a pair of of underwater luminaire (104)；
The electronic control module include control cabinet (103), power supply conversion cabin (102), positioned on the bank the end pc and high-voltage DC power supply,
Control cabinet (103) is connect by umbilical cables with the end pc, and control cabinet (103) is connected with power supply conversion cabin (102)；Control cabinet (103)
Vehicle body frame (112) inner top two sides are respectively arranged in power supply conversion cabin (102), it is hard to be equipped with control inside control cabinet (103)
Part, depth transducer, camara module, temperature sensor and attitude transducer, depth transducer, camara module, temperature pass
Sensor, attitude transducer are connected with control hardware, and camara module is placed in the translucent cover that control cabinet front end is equipped with；Depth passes
Sensor (8) is located at control cabinet rear portion and extend out to vehicle body frame (112) outside；
The ink-jet tracer module includes accumulator (1), underwater electromagnetic valve (2) and diluent nozzle (3), accumulator (1), water
Lower solenoid valve (2) and diluent nozzle (3) are equipped in vehicle body frame (112), and diluent nozzle (3) is installed on vehicle body frame
(112) front end and it is located between two underwater luminaires (104)；Accumulator (1), underwater electromagnetic valve (2), diluent nozzle (3) according to
Secondary to be connected by PU pipe (17), underwater electromagnetic valve (2) is connected to electronic control module；Accumulator (1) include end cap (4), chamber shell (6),
Bottom plate (8), piston (9), spring (11), spring base (12), end cap (4) are coaxially installed on chamber shell (6) upper surface, and bottom plate (8) is same
Axis is installed below chamber shell (6) and is connected between bottom plate (8) and chamber shell (6) by more copper posts (7)；End cap (4) center
It is provided with perforative mounting hole up and down, end cap (4) bottom surface is equipped with annular convex platform, annular convex platform lateral surface and chamber shell close to edge
(6) medial surface gluing, sealing connects；Chamber shell (6) upper surface is equipped with outward flange, is equipped in chamber shell (6) along chamber shell (6) medial surface
The piston (9) slided up and down, chamber shell (6) lower end surface are equipped with inward flange, and inward flange appears on the stage terrace as being used to support piston (9)
Convex shoulder, piston (9) bottom center open up inner cavity, and piston (9) inner chamber bottom surface center is equipped with a screw-threaded counterbore, piston (9) periphery
It is tightly connected between face and chamber shell (6) medial surface by two Glais rings (10)；Piston (9) upper surface, chamber shell (6) medial surface,
The cavity that end cap (4) top surface three surrounds is provided with tracer (13)；Bottom plate (8) lower end surface week side is equipped with ring flange, flange
It is provided with multiple through-holes on disk, aperture is provided at bottom plate (8) center, aperture perimetral tight is uniformly distributed, and there are four the identical circles of size structure
Hole, each circular-hole internal-wall two sides are set there are two the arc block being arranged symmetrically, and arc block upper surface is provided with arc groove；In each circular hole
Portion is mounted on spring base (12), and spring base (12) is the hollow structure that bottom is equipped with outward flange, and outward flange bottom surface is equipped with annular
Convex block, outward flange outer peripheral surface are set there are two symmetrical arc lug, and arc lug is flush-mounted in just in the arc groove of circular hole；Spring
Seat (12) is used to support fixed spring (11), and spring (11) one end is fixed to spring base (12) bottom, other end apical grafting piston bottom
Face, when being full of tracer (13) in cavity, spring (11) is in impaction state；
Diluent nozzle (3) includes spray head (14), upper cover (16), middle cover (20), propeller machine (21) and lower cover (22), upper cover
(16), middle cover (20) and lower cover (22) are hollow tube-in-tube structure, and spray head (14) is bolt-connected to upper cover (16) upper end
Face, upper cover (16) by middle cover (20) with lower cover (22) is coaxial is fixedly linked；Spray head (14) is bell-mouth structure of air, on spray head (14)
Hold osculum as nozzle, spray head (14) lower end surface is equipped with annular convex platform, annular convex platform lateral surface and upper cover at marginal position
(16) medial surface gluing, sealing connects；Upper cover (16) two sides are provided with a side opening, and lower cover (22) bottom is provided with to be entered for water flow
Circular hole；In the cavity that propeller machine (21) body is located at upper cover (16) and middle cover (20) surrounds, propeller machine (21) body is logical
It crosses three and is installed on middle cover (20) medial surface, propeller machine (21) across the fixing screws (19) that middle cover (20) side wall is radially arranged
Paddle shaft downward, and the blade installed in paddle shaft is located in lower cover (22) cavity, the propeller machine being connected with propeller machine (21)
Electric wire passes through the side opening that upper cover (16) side is provided with and is connected with control panel；Described pipe (17) one end PU and end cap (4) centre bit
The mounting hole set is connected, and PU pipe (17) other end stretches to diluent nozzle (3) upper cover (16) other side through underwater electromagnetic valve (2) and opens
Some side openings；
Tracer (13) is flowed into diluent nozzle (3) cavity by PU pipe (17), and propeller machine (21) rotation drives water in cavity
Stream agitation is to make the mixed tracer (13) for being diluted to low concentration of the tracer (13) for flowing into higher concentration in cavity, most
Tracer (13) is discharged from the nozzle of spray head (14) afterwards.
2. a kind of migration combination underwater monitoring robot according to claim 1, which is characterized in that pass through described eight
Propeller (111) realizes the travelling function of underwater robot, passes through centrifugal impeller sucker (106) and brushless direct-current planetary reduction gear
Motor (107) realizes the adherent function of creeping of underwater robot, and function of moving about and adherent function of creeping can carry out free switching；Four
A brushless direct-current planetary reducing motor (107) is straight by the mobile front and back for realizing underwater robot of control front and rear wheel rotating Vortex
Row realizes underwater robot pivot turn by the differential rotation of control front and back wheel；Eight propeller (111) control robots realize
The travelling function of six degree of freedom, four propellers (111) arranged vertically realize floating, dive and the rolling of robot, horizontal
Four propellers (111) of arrangement realize advance, retrogressing, the turning of robot.
3. a kind of migration combination underwater monitoring robot according to claim 1, it is characterised in that: each spring
Seat (12) and the mounting means of bottom plate (8) are arranged in dislocation, in the arc lug of spring base (12) two sides of the bottom and bottom plate (8) circle
In the case that the position consistency from top to bottom of arc block is not installed in hole, upward active force is applied to spring base (12) bottom and makes spring
Seat (12) inserting enters bottom plate (8) circular hole, and piston (9) bottom surface is withstood in spring (11) upper end upwards, then revolves spring base (12)
Turning 90 degrees, which agrees with the arc lug of spring base (12) up and down with the arc groove on bottom plate (8), is aligned to realize circumferential limit, then
Keep the arc lug of spring base (12) embedding by spring (11) press belt flexible spring seat (12) whereabouts downward to spring base (12)
It is attached in the arc groove of bottom plate (8), so that spring base (12) can not rotate in circular hole.
4. a kind of migration combination underwater monitoring robot according to claim 1, which is characterized in that the centrifugal impeller
The suction size of sucker is adjusted at a distance from absorption wall surface according to centrifugal impeller sucker bottom end.
5. a kind of migration combination underwater monitoring robot according to claim 1, which is characterized in that the power supply converts cabin
(2) DC-DC conversion module built in, the high-voltage electricity in high-voltage DC power supply are transmitted to power supply conversion cabin (2) through control cabinet (103),
The high-voltage electricity of 200v~400v is respectively converted into the low tension of 24v, 48v, 5v, the low tension power supply of 24v by power supply conversion cabin (2)
To eight propellers (11), four brushless direct-current planetary reducing motors (107) and ink-jet tracer module, 48v's is low for output
Piezoelectricity is for electricity output to waterproof direct current generator, and the low tension of 5v is for electricity output to control cabinet (103).
6. a kind of migration combination underwater monitoring robot according to claim 1, which is characterized in that brushless described in each
The motor driving shaft of DC planetary reducer motor (107) carries out dynamic sealing by O-ring seal, and revolving speed is 0~100r/min.
7. a kind of migration combination underwater monitoring robot according to claim 1, which is characterized in that the underwater luminaire
(104) the camera direction of illumination direction, camara module, diluent nozzle (3) spray head (14) direction towards the same side,
So as to illuminating watches.
8. a kind of migration combination underwater monitoring robot according to claim 1, which is characterized in that the control cabinet
(103) data information in is by electric force carrier transmission to the end pc, and the end pc is according to the data information display control cabin (103) of reading
Temperature, the depth of robot, the posture of robot and vision signal；The end pc will control signal and pass to control by power carrier
The control hardware in cabin (103), to realize the movement of robot.
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| CN113501112A (en) * | 2021-07-09 | 2021-10-15 | 江苏科技大学 | Muddy water imaging unmanned remote control submersible and design method thereof |
| CN115649396A (en) * | 2022-11-03 | 2023-01-31 | 江苏科技大学 | Anticollision multi-azimuth control's high degree of freedom underwater robot |
| CN116022313A (en) * | 2023-03-29 | 2023-04-28 | 无锡学院 | Multi-sensing robot for underwater detection and use method |
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