CN110143268A - Wall detection robot is climbed under water - Google Patents
Wall detection robot is climbed under water Download PDFInfo
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- CN110143268A CN110143268A CN201910370830.6A CN201910370830A CN110143268A CN 110143268 A CN110143268 A CN 110143268A CN 201910370830 A CN201910370830 A CN 201910370830A CN 110143268 A CN110143268 A CN 110143268A
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- under water
- bodywork
- watertight
- detection robot
- driving
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 84
- 238000001514 detection method Methods 0.000 title claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 238000009434 installation Methods 0.000 claims abstract description 40
- 230000003028 elevating effect Effects 0.000 claims abstract description 32
- 230000008878 coupling Effects 0.000 claims description 32
- 238000010168 coupling process Methods 0.000 claims description 32
- 238000005859 coupling reaction Methods 0.000 claims description 32
- 238000007789 sealing Methods 0.000 claims description 21
- 235000004443 Ricinus communis Nutrition 0.000 claims description 10
- 238000002955 isolation Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 230000009194 climbing Effects 0.000 abstract description 40
- 239000002184 metal Substances 0.000 description 10
- 108090000565 Capsid Proteins Proteins 0.000 description 9
- 230000000007 visual effect Effects 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000002360 explosive Substances 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- UZVHFVZFNXBMQJ-UHFFFAOYSA-N butalbital Chemical compound CC(C)CC1(CC=C)C(=O)NC(=O)NC1=O UZVHFVZFNXBMQJ-UHFFFAOYSA-N 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/40—Diving chambers with mechanical link, e.g. cable, to a base of closed type adapted to specific work
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to climbing robot technical fields, more particularly to a kind of wall of climbing under water detects robot, including watertight bodywork, translucent cover, vision module, elevating mechanism and walking mechanism, installation cavity is equipped in the watertight bodywork, opening is equipped in the installation cavity, the translucent cover is installed on the opening and is tightly connected with the opening, the elevating mechanism is installed in the installation cavity, the vision module is rotatably installed on the driving end of the elevating mechanism, the test side of the vision module is arranged towards the translucent cover, the walking mechanism is installed in the watertight bodywork and is tightly connected with the watertight bodywork.Of the invention climbs wall detection robot in the walking of walking mechanism under water, and vision module can adapt to the changeable situation of underwater light by own rotation and lifting, to shoot clearly image, achieve the purpose that detect under water.
Description
Technical field
The invention belongs to climbing robot technical fields, more particularly to a kind of wall of climbing under water to detect robot.
Background technique
Underwater detection carries detection device mainly by frogman and carries out underwater operation, underwater region especially profundal zone water at present
Press it is larger, for frogman, have biggish healthy hidden danger；And environment is full of non-intellectual, has biggish security risk.And machine
Device people have movement flexibly, many advantages, such as environmental suitability is strong, so robot the application in fields such as detects all the more under water
Extensively.However when robot underwater operation, with the movement to longitudinal direction, visual condition can be worse and worse.View-based access control model
The position of wheeled underwater detecting robot camera and camera lens is fixed, and is unable to flexible modulation, robot is caused not to be able to satisfy complicated water
The job requirement of lower environment measuring.
In fields such as ship, petrochemical industries, metal outer wall is welded by magnetic conductive steel plate, since seawater impregnates, marine growth
Attachment, leads to metallic walls large area depainting, gets rusty, rots, not only affect appearance, more serious to affect making for metal outer wall
With the safety in service life and device.Attachment of the marine organisms to hull wall surface, increases the load of hull, reduces fuel oil effect
Rate, generally being detected, cleaned and derust to metal outer wall etc. using climbing robot operates.But currently, having detection function
Climbing robot be only operable on the water surface or more mostly, do not have the function of detecting under water, and camera position is not adjustable, no
Adapt to the changeable situation of underwater light.
Summary of the invention
Wall detection robot is climbed under water the purpose of the present invention is to provide a kind of, it is intended to be solved wall in the prior art of climbing and be examined
Survey robot causes it not have the function of detecting under water because the position of camera does not adapt to the changeable situation of Underwater Optical line
Technical problem.
To achieve the above object, the technical solution adopted by the present invention is that: it is a kind of to climb wall detection robot, including waterproof under water
Vehicle body, translucent cover, vision module, elevating mechanism and walking mechanism, are equipped with installation cavity in the watertight bodywork, in the installation cavity
Equipped with opening, the translucent cover is installed on the opening and is tightly connected with the opening, and the elevating mechanism is installed on institute
It states in installation cavity, the vision module is rotatably installed on the driving end of the elevating mechanism, the inspection of the vision module
It surveys end to be arranged towards the translucent cover, the walking mechanism, which is installed in the watertight bodywork and seals with the watertight bodywork, to be connected
It connects.
Further, the wall detection robot of climbing under water further includes fixed frame, mounting rack, shaft and rotating electric machine, institute
It states fixed frame to be fixedly installed on the driving end of the elevating mechanism, the shaft is fixedly connected with mounting rack, the shaft
End is fixedly connected after passing through the fixed frame with the output shaft of the rotating electric machine, and the rotating electric machine is installed on the fixation
On frame.
Further, the mounting rack is equipped with arc groove, and fixed frame position corresponding with the arc groove is equipped with
Gag lever post, the gag lever post are arranged in the arc groove with the angle for limiting the mounting rack rotation.
Further, the elevating mechanism includes servo motor and linear mould group, and the linear mould group is installed on the peace
In behaveing affectedly and in vertically arranged, the motor is connect with the linear mould group, and the vision module is installed on the linear mould group
Driving end on.
Further, the vision module includes camera and two light collecting barrels, and the camera is installed on the elevating mechanism
Driving end on, two light collecting barrels are mounted on the driving end of the elevating mechanism, and two light collecting barrels distinguish positions
In the opposite sides of the camera.
Further, the walking mechanism includes two driving wheels, two driving motors and a driven wheel, described in two
Driving motor is installed in the installation cavity, the output shaft of two driving motors both pass through the watertight bodywork and respectively with
Two driving wheel connections, two driving wheels are located at the opposite two sides of the watertight bodywork and are respectively positioned on described anti-
The position of the front side of waterwheel body, the driven wheel are installed on the position in the middle part of the rear side of the bottom of the watertight bodywork.
Further, the wall detection robot of climbing under water further includes magnetic shaft coupling, bearing and bearing block, the driving
The output shaft of motor is connect with the driving wheel by the magnetic shaft coupling, the internal magnet of the magnetic shaft coupling and the drive
The output axis connection of dynamic motor, the external magnet of the magnetic shaft coupling are connect with the driving wheel, the magnetic shaft coupling every
From the side that cover is fixedly installed in the watertight bodywork, the external magnet of the magnetic shaft coupling is connect with the inner ring of the bearing,
The outer ring of the bearing is installed in the bearing block, and the side of the bearing block is fixedly installed in the side of the watertight bodywork
Face.
Further, the bottom of the watertight bodywork is equipped with Universal castor, and the driven wheel is installed on the Universal castor
On.
Further, the driven wheel and two driving wheels include wheel hub, rubber sleeve, two yokes and several
Magnet, along the circumferential direction upper uniform intervals offer several installation through-holes to the rubber sleeve, and each magnet is correspondingly
It is installed in each installation through-hole, the rubber sleeve is sheathed on the wheel hub, and two yokes are fixedly installed in respectively
On the opposite sides face of the wheel hub, two yokes seal the opening at each installation through-hole both ends, the wheel hub respectively
It is connect with the driving motor.
Further, the wall detection robot of climbing under water further includes star-like sealing ring, on the inner wall of the installation cavity
Annular groove equipped with the periphery extension along the opening, the star-like sealing ring is installed in the annular groove, described
Bright cover is installed on the inner wall in the installation cavity by screw, and the star-like sealing ring is held on the translucent cover and described
Between the groove bottom of annular groove.Said one or multiple technical solutions in underwater climbing robot provided by the invention are at least
One of have the following technical effect that: for the vision module of the underwater climbing robot under the drive of elevating mechanism, vision module can
To move up and down, meanwhile, vision module is rotatably installed on the driving end of elevating mechanism, and vision module can be relative to
Elevating mechanism is rotated；With the walking of walking mechanism, vision module can adapt to water by own rotation and lifting
The changeable situation of lower light achievees the purpose that detect under water to shoot clearly image.In addition, watertight bodywork, vehicle with walking machine
The structure of the sealed connection of the sealed connection of structure and watertight bodywork and translucent cover and watertight bodywork designs, and can be improved entire
The waterproofness of underwater climbing robot, it is ensured that underwater climbing robot can work normally under water.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram at a visual angle of underwater climbing robot provided in an embodiment of the present invention.
Fig. 2 is the Section View of the line A-A along Fig. 1.
Fig. 3 is the structural schematic diagram at another visual angle of underwater climbing robot provided in an embodiment of the present invention.
Fig. 4 is the Section View of the line B-B along Fig. 3.
Fig. 5 is the partial enlarged view along Fig. 4 at C.
Fig. 6 is the cut-away illustration of the procapsid of underwater climbing robot provided in an embodiment of the present invention.
Fig. 7 is the explosive view of underwater climbing robot provided in an embodiment of the present invention.
Fig. 8 is the structural representation of the elevating mechanism and vision module of underwater climbing robot provided in an embodiment of the present invention
Figure.
Fig. 9 is the elevating mechanism of underwater climbing robot provided in an embodiment of the present invention and the explosive view of vision module.
Figure 10 is the explosive view of the driving wheel of underwater climbing robot provided in an embodiment of the present invention.
Wherein, each appended drawing reference in figure:
10-watertight bodywork 11-installation cavity, 12-procapsids
13-back casing 20-translucent cover, 30-vision modules
31-camera 32-irradiation light, 33-light collecting barrels
The linear mould group of 40-41-servo motors of elevating mechanism 42-
43-connection frame 44-shaft coupling, 50-walking mechanisms
51-driving wheel 52-driven wheel, 53-driving motors
54-magnetic shaft coupling 55-bearing, 56-bearing blocks
61-fixed frame 62-mounting rack, 63-shafts
64-rotating electric machine 65-rotary flange, 66-support plates
70-Universal castor 71-U-shaped frame, 72-angular contact bearings
73-bearing (ball) cover 74-bolt, 75-sleeves
76-connecting rod 77-gasket, 78-washers
80-92-hanging rings of star-like 91-handle of sealing ring
93-sealing ring 511-wheel hub, 512-rubber sleeves
513-yoke 514-magnet, 541-internal magnets
542-external magnet 543-isolation cover, 611-fixed plates
612-the first the 622-the second connecting plate of 621-mounting plate of connecting plate
711-side plate 761-flange, 5121-installation through-holes
5131-holding holes 5421-shaft shoulder, 6121-gag lever posts
6221-arc grooves.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Fig. 1~10, in one embodiment of the invention, one kind is provided and climbs wall detection robot under water, is applicable in
It the work such as detected, cleaned and is derusted in the metal outer wall under water to equipment such as ship, petrochemical industries, such as: the water
Under climb wall detection robot and can also load corresponding operating equipment and the operations such as metal outer wall is cleaned and is derusted.
Specifically, climbing wall detection robot under water includes watertight bodywork 10, translucent cover 20, vision module 30, elevating mechanism
40 and walking mechanism 50, installation cavity 11 is equipped in watertight bodywork 10, is equipped with opening in installation cavity 11, translucent cover 20 is installed on opening
Place is simultaneously tightly connected with opening, and elevating mechanism 40 is installed in installation cavity 11, and vision module 30 is rotatably installed on elevator
On the driving end of structure 40, the test side of vision module 30 is arranged towards translucent cover 20, and walking mechanism 50 is installed on watertight bodywork 10
Above and with watertight bodywork 10 it is tightly connected.
More specifically, drive of the vision module 30 of the underwater climbing robot of the embodiment of the present invention in elevating mechanism 40
Under, vision module 30 can move up and down, meanwhile, vision module 30 is rotatably installed at the driving end of elevating mechanism 40
On, vision module 30 can also be rotated relative to elevating mechanism 40；With walking of the walking mechanism 50 on metal wall surface,
Vision module 30 can be deacclimatized the changeable situation of underwater light, clearly be schemed to shoot by own rotation and lifting
Picture achievees the purpose that detect under water.In addition, the sealed connection of watertight bodywork 10, walking mechanism 50 and watertight bodywork 10 and thoroughly
Bright cover 20 and the structure of the sealed connection of watertight bodywork 10 design, and can be improved the waterproofness of entire underwater climbing robot
It can, it is ensured that underwater climbing robot can work normally under water.
Further, the vision module 30 of the underwater climbing robot of the embodiment of the present invention can rise in watertight bodywork 10
Drop and rotation, can increase the field range of vision module 30, improve the underwater detection efficiency of underwater climbing robot.
Further, vision module 30 is arranged towards translucent cover 20, and vision module 30 can be observed through translucent cover 20
Image outside watertight bodywork 10, translucent cover 20 and opening are tightly connected, and can prevent water from entering watertight bodywork 10 in this way
Inside avoids vision module 30 and other component inside watertight bodywork 10 from damaging because of water inlet.
Preferably, translucent cover 20 is cloche.
In another embodiment of the present invention, wall detection machine is climbed under water refering to this shown in Fig. 2, Fig. 8 and Fig. 9, provided
Device people further includes fixed frame 61, mounting rack 62, shaft 63 and rotating electric machine 64, and fixed frame 61 is fixedly installed in elevating mechanism 40
It drives on end, shaft 63 is fixedly connected with mounting rack 62, and the end of shaft 63 is defeated with rotating electric machine 64 after fixed frame 61
Shaft is fixedly connected, and rotating electric machine 64 is installed on fixed frame 61.Specifically, the rotation of rotating electric machine 64 drives shaft 63 to rotate,
Shaft 63 drives mounting rack 62, so that the vision module 30 on mounting rack 62 be driven to rotate, that is, realizes turning for vision module 30
It is dynamic, and then rotated according to underwater light conditions to obtain relatively sharp image information, achieve the purpose that detect under water,
In addition, the visual field of vision module 30 can also be increased by the rotation of vision module 30, underwater detection efficiency is improved.
Further, fixed frame 61 includes fixed plate 611 and two the first connecting plates 612, and two the first connecting plates 612 hang down
Directly it is installed on the both ends of fixed plate 611, and two 612 parallel interval of the first connecting plate settings, i.e. two 612 Hes of the first connecting plate
Fixed plate 611 is in U-shape shape；And mounting rack 62 includes mounting plate 621 and two the second connecting plates 622, two the second connecting plates 622
It is installed vertically on the both ends of mounting plate 621, and two 622 parallel interval of the second connecting plate settings, i.e. two the second connecting plates 622
It is in U-shape shape with mounting plate 621, the both ends of shaft 63 are each passed through after two the second connecting plates 622 and solid with the second connecting plate 622
After fixed connection, the both ends of shaft 63 pass through two rotary flanges 65 respectively and are rotatably connected with two the second connecting plates 622；And
Wherein one end of shaft 63 is fixedly connected with the output shaft of rotating electric machine 64, and the both ends of shaft 63 are by the first connecting plate 612
With the support of the second connecting plate 622, rotating electric machine 64 drives the rotational stability of shaft 63 good, to be mounted on mounting plate 621
On vision module 30 rotation stability it is good, vision module 30 shoot picture it is relatively sharp.
In another embodiment of the present invention, wall detection machine is climbed under water refering to this shown in Fig. 4, Fig. 8 and Fig. 9, provided
Device people mounting rack 62 is equipped with arc groove 6221, and the position corresponding with arc groove 6221 of fixed frame 61 is equipped with gag lever post 6121, limit
Position bar 6121 is arranged in arc groove 6221 with the angle for limiting the rotation of mounting rack 62.Specifically, mounting rack 62 is rotating
During the center rotating of axis 63, the gag lever post 6121 on fixed frame 61 moves in arc groove 6221, on the one hand, arc groove
Guiding is played the role of in the movement of 6221 pairs of gag lever posts 6121, improves the stability that mounting rack 62 rotates；On the other hand, arc groove
6221 restriction gag lever posts 6121 can only move in arc groove 6221, play the role of limit to the movement of gag lever post 6121, from
And the angle of the rotation of mounting rack 62 is limited, the rotation for avoiding mounting rack 62 from rotating relative to fixed frame 61 is excessive and leads to vision module
30 vision dead zones turned to inside watertight bodywork 10 and shot in vain.
Further, arc groove 6221 offers second connecting plate 622, gag lever post 6121 wherein and is mounted on first
On connecting plate 612.
In another embodiment of the present invention, wall detection machine is climbed under water refering to this shown in Fig. 2, Fig. 8 and Fig. 9, provided
The elevating mechanism 40 of device people includes servo motor 41 and linear mould group 42, and linear mould group 42 is installed in installation cavity 11 and in vertical
Setting, motor are connect with linear mould group 42, and vision module 30 is installed on the driving end of linear mould group 42.Specifically, servo electricity
Machine 41 drives the driving end oscilaltion of linear mould group 42, to drive the oscilaltion of vision module 30 to adapt to underwater difference
Light condition, can also increase the field range of vision module 30, improve detection efficiency；Using servo motor 41 and linear mould
The structure that group 42 matches, structure is simple, and the accuracy of the oscilaltion of vision module 30 is high, what vision module 30 detected
Accuracy is good.
Further, the driving end of linear mould group 42 is fixedly connected with fixed plate 611, and linear mould group 42 drives fixed frame 61
Oscilaltion and then drive 30 oscilaltion of vision module, pass through the mutual cooperation of linear mould group 42 and rotating electric machine 64, vision
Module 30 can be realized flexible adjusting, to shoot clearly figure in the underwater environment of variation, reach underwater detection
Purpose.
Further, the bottom surface of installation cavity 11 is equipped with connection frame 43, and servo motor 41 is mounted on the inside of connection frame 43,
For linear mould group 42 in being vertically fixed on the top surface of connection frame 43, the output shaft of servo motor 41 passes through shaft coupling 44 and linear mould
Group 42 connects and drives moving up and down for vision module 30, and the rotation of vision module 30 is driven in combination with rotating electric machine 64, this
Allowing for vision module 30 can rotate and move up and down simultaneously.
Further, rotating electric machine 64 and servo motor 41 can be wirelessly connected with external remote control equipment, to realize view
Feel the long-range real-time adjustment of module 30, to adapt to the environment of underwater different depth, this climbs the underwater inspection of wall detection robot under water
It surveys easy to operate.
The embodiment of the present invention this under water climb wall detection robot vision module 30 height and rotation angle in terms of into
The adjustable design of row larger range of can adapt to underwater illumination condition compared with fixed visual structure, flexible；It avoids
The problems such as detection efficiency caused by fixed cameras is low, image is fuzzy, improves the adaptation range of underwater light condition, improves
System flexibility.
Preferably, linear mould group 42 include shell, in shell and arrangement and rotatable screw rod, spiral shell along its length
Line be connected to the travelling nut of screw rod, be fixedly connected with travelling nut and expose outside shell and as driving end slide plate and be set to
The servo motor 41 connecting in shell with wherein one end of screw rod drives screw rod rotation, drives in this way, servo motor 41 rotates
Oscilaltion campaign can be realized in travelling nut linear movement, the vision module 30 for being fixedly connected on slide plate.In general, linear mould group
42 further include sliding rail or guiding axis and the hole for playing guiding and supporting role.Certainly, the cooperation of screw rod and travelling nut may be used also
To be replaced by belt and belt pulley, do not repeated herein.
In another embodiment of the present invention, wall detection machine is climbed under water refering to this shown in Fig. 6, Fig. 8 and Fig. 9, provided
The vision module 30 of device people includes that 31, two irradiation lights 32 of camera and two light collecting barrels 33, camera 31 are installed on elevating mechanism 40
Driving end on, two irradiation lights 32 are mounted on the driving end of elevating mechanism 40, and two irradiation lights 32 are located at camera
31 opposite sides, two light collecting barrels 33 are sheathed on the front of two irradiation lights 32 respectively.Specifically, the camera of vision module 30
31 for shooting underwater photo, and the irradiation light 32 of two sides emits beam, and makes up the deficiency of underwater light, and camera 31 is under water
Clear photograph can be shot, realizes underwater detection；Meanwhile the front of irradiation light 32 is arranged with light collecting barrel 33, light collecting barrel 33
The diverging that can reduce light, plays the role of optically focused, improves underwater illumination condition, it is ensured that camera 31 can be shot clearly
Image, in order to detect the expansion of work under water.
Further, two light collecting barrels 33 are respectively symmetrically fixed on the both ends of mounting plate 621 by support plate 66 respectively.
In another embodiment of the present invention, refering to fig. 1, shown in Fig. 3, Fig. 6 and Fig. 7, provide this under water climb wall inspection
The walking mechanism 50 for surveying robot includes two driving wheels, 51, two driving motors 53 and a driven wheel 52, two driving electricity
Machine 53 is installed in installation cavity 11, the output shaft of two driving motors 53 both pass through watertight bodywork 10 and respectively with two driving wheels
51 connections, two driving wheels 51 are located at the opposite two sides of watertight bodywork 10 and are respectively positioned on the position of the front side of watertight bodywork 10
It sets, driven wheel 52 is installed on the position in the middle part of the rear side of the bottom of watertight bodywork 10.Specifically, two driving motors 53 are by power
Two rotations of driving wheel 51 and a driven wheel 52 are passed to, drives this to climb wall detection robot under water and advances under water, retreats
And turning, to be detected to underwater different position；Two driving wheels 51 are located at the opposite two sides of watertight bodywork 10 simultaneously
It is respectively positioned on the position of the front side of watertight bodywork 10, driven wheel 52 is installed on the position in the middle part of the rear side of the bottom of watertight bodywork 10,
Two driving wheels 51 and driven wheel 52 form triangular shape, i.e., this climbs the structure that wall detection robot uses Three-wheel type, three-wheel under water
The underwater wall detection robot of climbing of formula structure is lighter compared to traditional four wheeled underwater wall detection machine hostage amount of climbing, and needs
Driving force it is smaller, it is more energy saving, and structure is more stable, turn to more flexible, obstacle climbing ability is also stronger.
This of the embodiment of the present invention climbs wall detection robot using Three-wheel type structure and traditional four-wheel robot phase under water
Than tricycle structure weight is lighter, and the driving force needed is smaller, and more energy saving, structure is more stable, turns to more flexible.
In another embodiment of the present invention, wall detection machine is climbed under water refering to this shown in Fig. 2, Fig. 6 and Fig. 7, provided
The walking mechanism 50 of device people further includes magnetic shaft coupling 54, bearing 55 and bearing block 56, output shaft and the active of driving motor 53
Wheel 51 is connected by magnetic shaft coupling 54, the internal magnet 541 of magnetic shaft coupling 54 and the output axis connection of driving motor 53, magnetic
The external magnet 542 of shaft coupling 54 is connect with driving wheel 51, and the isolation cover 543 of magnetic shaft coupling 54 is fixedly installed in watertight bodywork 10
Side, the external magnet 542 of magnetic shaft coupling 54 connect with the inner ring of bearing 55, and the outer ring of bearing 55 is installed on bearing block 56
Interior, the side of bearing block 56 is fixedly installed in the side of watertight bodywork 10.Specifically, the output shaft and driving wheel of driving motor 53
The magnetic shaft coupling 54 used between 51 connects, and the internal magnet 541 and external magnet 542 of magnetic shaft coupling 54 pass through isolation cover 543
It separates, using this non-contact type coupling 44, the dynamic sealing between the output shaft of driving motor 53 and driving wheel 51 is switched to
Static seal prevents water from entering the inside of watertight bodywork 10, avoids the damage of the components such as vision module 30 and driving motor 53；Magnetic
Property shaft coupling 54 external magnet 542 connect with bearing block 56 by bearing 55, the rotation of the external magnet 542 of magnetic shaft coupling 54
Resistance is small, i.e., the external magnet 542 of magnetic shaft coupling 54 drives the resistance of the rotation of driving wheel 51 also small, and the walking of driving wheel 51 is more
Flexibly, driving force needed for this climbs the walking of wall detection robot under water is smaller, and more energy saving, the flexibility of walking is good, obstacle detouring
Ability is good；Further, bearing 55 is fixed in watertight bodywork 10 by bearing block 56, and structure is more stable reliable.
Further, the external magnet 542 of magnetic shaft coupling 54 is equipped with the shaft shoulder 5421, and the shaft shoulder 5421 is connected to bearing 55
It on inner ring and between bearing 55 and the side of watertight bodywork 10, is abutted against, is limited by the shaft shoulder 5421 and the inner ring of bearing 55
The axial float of magnetic shaft coupling 54 processed, and radial support, driving wheel 51 are provided for components such as magnetic shaft coupling 54, driving wheels 51
The stability connecting between driving motor 53 is good, it is ensured that this climbs the walking stability of wall detection robot under water.
Further, between the output shaft of driving motor 53 and the internal magnet 541 of magnetic shaft coupling 54 and driving wheel 51
Keyway being all made of between the external magnet 542 of magnetic shaft coupling 54 to connect, connection structure is simple, it is also convenient for mounting and dismounting,
And connective stability is good between the two.
Further, isolation cover 543 is fixed by screws in the side of watertight bodywork 10, and isolation cover 543 and waterproof vehicle
Be clamped with star-like sealing ring 80 between body 10, sealed by star-like sealing ring 80, prevent water from the output shaft of driving motor 53 with
Junction between watertight bodywork 10 enters the inside of watertight bodywork 10, avoids the vision module 30 inside watertight bodywork 10, revolves
The corrosion and damage of the components such as rotating motor 64 and driving motor 53 improve this and climb the aqueous energy of wall detection machine people's air defense under water, really
Protecting the underwater wall detection robot of climbing can operate normally under water.
This of the embodiment of the present invention climbs wall detection robot using magnetic shaft coupling 54 as transmission parts under water, and use is non-
Contact dynamic sealing design concept, compared with traditional contact movable sealing structure；Avoid the sealing element of contact dynamic sealing
The problems such as abrasion, avoids seepy question resulting from, realizes zero leakage.
In another embodiment of the present invention, wall detection machine is climbed under water refering to this shown in Fig. 3, Fig. 4 and Fig. 5, provided
The bottom of the watertight bodywork 10 of device people is equipped with Universal castor 70, and driven wheel 52 is installed on Universal castor 70.Specifically, driven wheel
52 are mounted in watertight bodywork 10 by Universal castor 70, and Universal castor 70 can rotate, and driven wheel 52 can be according to driving wheel
51 walking path can voluntarily swing to the walking that suitable angle matches a driving wheel 51, improve this and climb wall detection machine under water
The stability and flexibility that device people walks under water.
Further, Universal castor 70 include the angular contact bearing 72, two of inverted U-shaped frame 71, two bearing (ball) cover 73,
The top surface of bolt 74, sleeve 75, connecting rod 76, gasket 77 and washer 78, U-shaped frame 71 is equipped with mounting hole, angular contact bearing 72
It being mounted in mounting hole, a bearing (ball) cover 73 is mounted on the lower part of mounting hole, and watertight bodywork 10 is equipped with fixation hole, another
Angular contact bearing 72 is mounted in fixation hole, and sleeve 75 is set in connecting rod 76, and the both ends of connecting rod 76 are each passed through two
The both ends of angular contact bearing 72 and sleeve 75 are connected to respectively on two angular contact bearings 72, and the lower part of connecting rod 76 is equipped with convex
Edge 761, flange 761 are connected on the bearing (ball) cover 73 of mounting hole lower part, bolt 74 sequentially pass through after washer 78 and gasket 77 with
The top of connecting rod 76 is threadedly coupled, and gasket 77 is connected on the angular contact bearing 72 in mounting hole, another bearing (ball) cover 73
It is set on nut and is fixedly connected with the top surface of watertight bodywork 10；By the withstanding effect of screw rod, sleeve 75 and flange 761,
U-shaped frame 71 is realized to connect with the axial restraint of watertight bodywork 10；It is arranged by two angular contact bearings 72, so that U-shaped frame 71
It can be rotated around the axis direction of connecting rod 76.
Further, driven wheel 52 is installed in rotation between the both side plate 711 of U-shaped frame 71, under both side plate 711
Towards same lateral curvature, the design of the curved shape can form effective torque, have when driven wheel 52 rotates in portion
Climb the flexible turning of wall detection robot under water conducive to this.
In another embodiment of the present invention, wall inspection is climbed under water refering to this shown in Fig. 2, Fig. 4, Fig. 7 and Figure 10, provided
The driven wheel 52 and two driving wheels 51 for surveying robot include wheel hub 511,512, two yokes 513 of rubber sleeve and several magnetic
Body 514, along the circumferential direction upper uniform intervals offer several installation through-holes 5121 to rubber sleeve 512, and each magnet is correspondingly
It is installed in each installation through-hole 5121, rubber sleeve 512 is sheathed on wheel hub 511, and two yokes 513 are fixedly installed in wheel hub respectively
On 511 opposite sides face, two yokes 513 seal the opening at each 5121 both ends of installation through-hole, wheel hub 511 and driving electricity respectively
Machine 53 connects.Specifically, magnetic force is passed to metal wall surface by two yokes 513 by magnet, to realize 51 He of driving wheel
The magnetic absorption of driven wheel 52 and metal wall surface, and magnet 514 is arranged in the inside of driving wheel 51 and driven wheel 52, can prevent
Due to the interference phenomenon that magnet 514 is arranged in climbing robot abdomen and generates, the obstacle detouring of the underwater climbing robot is improved
Ability；Rubber sleeve 512 provides installation base body for magnet, and magnet is evenly spaced apart annular spread in rubber sleeve 512, and rubber sleeve
512 are set on wheel hub 511, i.e., magnet is evenly spaced apart annular spread on the circumference of wheel hub 511, so that driving wheel 51
It can steadily be adsorbed on metal wall surface with driven wheel 52 turning to any position, driving wheel 51 and driven wheel 52.
Further, magnet is cylindrical, and magnet is arranged in installation through-hole 5121, and the side of two yokes 513 opens up
There are holding holes 5131, the both ends of magnet are located in the holding holes 5131 on two yokes 513, and two yokes 513 are installed
On the opposite sides face of wheel hub 511, two yokes 513 clamp magnet 514, realize the axially position of magnet 514, the knot
Structure setting, simplifies the assembly manipulation of magnet, has saved the assembling cost of driving wheel 51 and driven wheel 52.
Further, magnet can be the shapes such as rectangular, triangle, and array quantity and magnet size are variable, to meet
Different magnetic requirements.
The driving wheel 51 for climbing wall detection robot under water and driven wheel 52 provided in an embodiment of the present invention are all made of array
Formula magnet 514 distribution design, small size, regular shape magnet 514 not only reduce production and the assembly difficulty of magnet, save
Cost；
Provided in an embodiment of the present invention this climbs adsorption design that wall detection robot uses magnet-wheel under water, compared to by magnetic
Adsorption device is arranged in climbing robot abdomen, under the premise of guaranteeing enough adsorption capacities, greatly improves the obstacle detouring of robot
Ability.Also improve the obstacle climbing ability of climbing robot.
In another embodiment of the present invention, as shown in fig.4, this provided climbs the underwater of wall detection robot under water
Climbing wall detection robot further includes star-like sealing ring 80, and the inner wall of installation cavity 11 is equipped with the annular extended along the periphery of opening
Groove, star-like sealing ring 80 are installed in annular groove, and translucent cover 20 is installed on the inner wall in installation cavity 11 by screw,
Star-like sealing ring 80 is held between translucent cover 20 and the groove bottom of annular groove.Specifically, the setting of star-like sealing ring 80 is prevented
Junction of the sealing between translucent cover 20 and the inner wall of installation cavity 11 penetrates into the inside of watertight bodywork 10, and it is underwater to improve this
Climb the waterproof performance of wall detection robot.
Further, watertight bodywork 10 includes the procapsid 12 and back casing 13 being interlocked, procapsid 12 and back casing 13
Between by screw connection, the stable connection of procapsid 12 and back casing 13 is reliable, is also convenient for procapsid 12 and back casing 13
Installation and removal.
Further, elevating mechanism 40, vision module 30 and driving motor 53 are mounted in procapsid 12, actively
Wheel 51 is installed on the side of procapsid 12, and driven wheel 52 is installed on back casing 13.
Further, the top surface of procapsid 12 is equipped with handle 91, in order to which this climbs the movement of wall detection robot under water.
Further, the top surface of back casing 13 is equipped with hanging ring 92 and connecting rope is fixed on hanging ring 92 when in use
On, then this is climbed into wall under water and detects robot into the water, then gradually broadcasts connecting rope, this climbs wall detection robot certainly under water
Under the action of body gravity, sink at leisure, is adsorbed on metal wall surface until this climbs wall detection robot under water；When need by
When the underwater climbing robot needs are pulled out from water, connecting rope only need to be pulled, this is climbed to wall detection robot under water from water
It pulls out；By the cooperation of hanging ring 92 and connecting rope, this climbs the safety with the pull-out water surface into the water of wall detection robot under water
It is good with stability, and should operation is simple and reliable.
Further, procapsid 12 and 13 place of being fastened and connected of back casing are additionally provided with sealing ring 93, prevent water the past shell
12 and 13 place of being fastened and connected of back casing penetrate into the inside of waterproof shell, improve the waterproofness for climbing wall detection robot under water
Energy.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of climb wall detection robot under water, it is characterised in that: including watertight bodywork, translucent cover, vision module, elevating mechanism
And walking mechanism, it is equipped with installation cavity in the watertight bodywork, opening is equipped in the installation cavity, the translucent cover is installed on described
Opening is simultaneously tightly connected with the opening, and the elevating mechanism is installed in the installation cavity, and the vision module can be rotated
Ground is installed on the driving end of the elevating mechanism, and the test side of the vision module is arranged towards the translucent cover, the row
Mechanism is walked to be installed in the watertight bodywork and be tightly connected with the watertight bodywork.
2. according to claim 1 climb wall detection robot under water, it is characterised in that: described to climb wall detection robot under water
It further include fixed frame, mounting rack, shaft and rotating electric machine, the fixed frame is fixedly installed in the driving end of the elevating mechanism
On, the shaft is fixedly connected with mounting rack, and the end of the shaft is defeated with the rotating electric machine after the fixed frame
Shaft is fixedly connected, and the rotating electric machine is installed on the fixed frame.
3. according to claim 1 climb wall detection robot under water, it is characterised in that: the mounting rack is equipped with arc
Slot, fixed frame position corresponding with the arc groove are equipped with gag lever post, the gag lever post be arranged in the arc groove with
For limiting the angle of the mounting rack rotation.
4. according to claim 1 climb wall detection robot under water, it is characterised in that: the elevating mechanism includes servo electricity
Machine and linear mould group, the linear mould group are installed in the installation cavity and in vertically arranged, the motor and the linear moulds
Group connection, the vision module are installed on the driving end of the linear mould group.
5. it is according to claim 1 under water climb wall detection robot, it is characterised in that: the vision module include camera and
Two light collecting barrels, the camera are installed on the driving end of the elevating mechanism, and two light collecting barrels are mounted on the liter
On the driving end of descending mechanism, two light collecting barrels are located at the opposite sides of the camera.
6. described in any item according to claim 1~5 climb wall detection robot under water, it is characterised in that: the walking mechanism
Including two driving wheels, two driving motors and a driven wheel, two driving motors are installed in the installation cavity, and two
The output shaft of a driving motor both passes through the watertight bodywork and connect respectively with two driving wheels, two masters
Driving wheel is located at the opposite two sides of the watertight bodywork and is respectively positioned on the position of the front side of the watertight bodywork, the driven wheel
It is installed on the position in the middle part of the rear side of the bottom of the watertight bodywork.
7. according to claim 6 climb wall detection robot under water, it is characterised in that: described to climb wall detection robot under water
It further include magnetic shaft coupling, bearing and bearing block, the output shaft of the driving motor and the driving wheel pass through the magnetic connection
Axis device connects, the output axis connection of the internal magnet of the magnetic shaft coupling and the driving motor, outside the magnetic shaft coupling
Magnet is connect with the driving wheel, and the isolation cover of the magnetic shaft coupling is fixedly installed in the side of the watertight bodywork, described
The external magnet of magnetic shaft coupling is connect with the inner ring of the bearing, and the outer ring of the bearing is installed in the bearing block, described
The side of bearing block is fixedly installed in the side of the watertight bodywork.
8. according to claim 6 climb wall detection robot under water, it is characterised in that: the bottom of the watertight bodywork is equipped with
Universal castor, the driven wheel are installed on the Universal castor.
9. according to claim 6 climb wall detection robot under water, it is characterised in that: the driven wheel and two masters
Driving wheel includes wheel hub, rubber sleeve, two yokes and several magnets, and along the circumferential direction upper uniform intervals open up the rubber sleeve
There are several installation through-holes, each magnet is installed on correspondingly in each installation through-hole, and the rubber sleeve is sheathed on
On the wheel hub, two yokes are fixedly installed in respectively on the opposite sides face of the wheel hub, two yoke difference
The opening at each installation through-hole both ends is sealed, the wheel hub is connect with the driving motor.
10. described in any item according to claim 1~5 climb wall detection robot under water, it is characterised in that: described to climb wall under water
Detection robot further includes star-like sealing ring, and the inner wall of the installation cavity is equipped with the annular extended along the periphery of the opening
Groove, the star-like sealing ring are installed in the annular groove, and the translucent cover is installed in the installation cavity by screw
Inner wall on, the star-like sealing ring is held between the translucent cover and the groove bottom of the annular groove.
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| CN201910370830.6A CN110143268A (en) | 2019-05-06 | 2019-05-06 | Wall detection robot is climbed under water |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910370830.6A CN110143268A (en) | 2019-05-06 | 2019-05-06 | Wall detection robot is climbed under water |
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| CN110694830A (en) * | 2019-09-11 | 2020-01-17 | 北京唯极科技有限公司 | Automatic maintenance device for ship surface |
| CN111688836A (en) * | 2020-05-19 | 2020-09-22 | 北京中安吉泰科技有限公司 | Multifunctional magnetic adsorption wall-climbing robot device |
| CN113619704A (en) * | 2021-08-27 | 2021-11-09 | 中国船舶科学研究中心 | Magnetic force self-adaptive amphibious wall-climbing robot |
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