CN110203361A - A kind of processing of underwater mud is put into antiwind underwater robot - Google Patents
A kind of processing of underwater mud is put into antiwind underwater robot Download PDFInfo
- Publication number
- CN110203361A CN110203361A CN201910595972.2A CN201910595972A CN110203361A CN 110203361 A CN110203361 A CN 110203361A CN 201910595972 A CN201910595972 A CN 201910595972A CN 110203361 A CN110203361 A CN 110203361A
- Authority
- CN
- China
- Prior art keywords
- robot
- underwater
- fixedly connected
- battery
- antiwind
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000009471 action Effects 0.000 claims abstract description 17
- 238000003756 stirring Methods 0.000 claims abstract description 16
- 230000001141 propulsive effect Effects 0.000 claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 210000003954 umbilical cord Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D44/00—Harvesting of underwater plants, e.g. harvesting of seaweed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- 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
Abstract
The invention discloses a kind of processing of underwater mud to be put into antiwind underwater robot, including two robot bodies, the inside of the robot body is fixedly installed with battery, two robot bodies are fixedly connected by connecting rod, monitor control mechanism for monitoring underwater mud situation is installed on the connecting rod, the propulsive mechanism for driving robot to advance at the bottom is mounted on the side wall of two robot bodies.The present invention passes through setting monitor control mechanism, propulsive mechanism, action of forced stirring blade and driving mechanism, and set flat for robot body, it is simple and reasonable, the flat pie structure of circular ring shape, is not easy to be wound, easy-to-operate, monitor control mechanism can record in real time robot periphery, and it is equipped with action of forced stirring blade, underwater net and water plant can be pushed aside or be sliced off while removing mud, improve the flexibility of robot.
Description
Technical field
The present invention relates to robotic technology fields more particularly to a kind of processing of underwater mud to be put into antiwind underwater
People.
Background technique
Underwater robot is also referred to as unmanned remotely controlled submersible vehicle, is a kind of to work in underwater limit operation robot, underwater ring
Border is badly dangerous, and the diving depth of people is limited, so underwater robot has become the important tool in exploitation river, is usually used in river
Water-bed mud cleaning work.
Artificially various sci-tech products are composed existing underwater, and structure is complex, are become silted up carrying out water-bed remove
When the work of mud, it is easy to be grown in the water plant on riverbed and enwinds, lead to not work normally, and flexibility is poor, it is existing
There is technology to mostly use robot pipeline packet greatly to prevent the winding problem of umbilical cord hawser, but in the specific implementation process, due to applying
Work environmental condition it is changeable, pipeline packet retractable cable is inconvenient for operation, must especially be attached on umbilical cord hawser before use, time-consuming
Arduously, working hour and cost are increased indirectly.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of underwater mud processing proposed is put
Enter antiwind underwater robot, by setting monitor control mechanism, propulsive mechanism, action of forced stirring blade and driving mechanism, and will
Robot body is set as flat, simple and reasonable, and the flat pie structure of circular ring shape is not easy to be wound, safe operation side
Just, monitor control mechanism can record in real time robot periphery, and be equipped with action of forced stirring blade, can while removing mud incite somebody to action
Underwater net and water plant is pushed aside or is sliced off, and the flexibility of robot is improved.
To achieve the goals above, present invention employs following technical solutions:
A kind of processing of underwater mud is put into antiwind underwater robot, including two robot bodies, the robot body
Inside is fixedly installed with battery, and two robot bodies are fixedly connected by connecting rod, are equipped with and are used on the connecting rod
The monitor control mechanism of underwater mud situation is monitored, is mounted on the side wall of two robot bodies for driving robot to exist
The propulsive mechanism that the bottom is advanced, the lower end of the robot body are fixedly connected with dredging storehouse, and the lower end in the dredging storehouse passes through
Flange is fixedly connected with action of forced stirring blade, and the lower end of the robot body is fixedly connected with mounting plate, the mounting plate
Lower end is equipped with the supporting mechanism for being used to support dredging storehouse, and the lower end of two robot bodies is fixedly connected dynamic jointly
Storehouse is equipped with the driving mechanism for driving action of forced stirring blade to rotate, the side wall of the robot body in the power bin
On be fixedly installed with the headlamp coupled with battery.
Preferably, the monitor control mechanism includes fixed block and camera, and the fixed block is fixedly connected on the upper of connecting rod, institute
The upper end that camera is fixedly mounted on fixed block is stated, and the camera is coupled with battery.
Preferably, the propulsive mechanism includes two ahead turbines, and the ahead turbine is fixedly mounted on robot body
Side wall on, turbo-dynamo is installed, and the turbo-dynamo is coupled with battery on the ahead turbine.
Preferably, the supporting mechanism includes large arm and two arms, and the large arm is fixedly connected on the lower end of mounting plate, described
Two arms are fixedly connected on the lower end of large arm, and the lower end of two arm is fixedly connected on the side wall in dredging storehouse.
Preferably, the driving mechanism includes motor, and the motor is fixedly mounted in power bin, the output of the motor
Master gear is fixedly and coaxially connected on axis, bottom lower end two sides are rotatably connected to the pair engaged with master gear in the power bin
Gear, the pinion have been fixedly and coaxially connected driving wheel, are rotatably connected to driven wheel by shaft in the dredging storehouse, described
Driving wheel and driven wheel are sequentially connected by belt, and the driven wheel is fixedly and coaxially connected with action of forced stirring blade.
Preferably, the battery is rechargeable type battery.
The invention has the following advantages:
1, by setting annular flat pie structure for robot body, while remaining each structure also uses annulus shape knot
Structure makes robot architecture's advantages of simple, is not easy the water plant grown on water-bed riverbed winding, easy-to-operate；
2, by setting monitor control mechanism, propulsive mechanism, action of forced stirring blade and driving mechanism, can be to robot periphery the case where
It is recorded in real time, and underwater net and water plant can be pushed aside or be cut while removing mud by action of forced stirring blade
It removes, improves the flexibility and safety of robot work.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of underwater mud processing proposed by the present invention is put into antiwind underwater robot；
Fig. 2 is the structural scheme of mechanism of power mechanism proposed by the present invention.
In figure: 1 robot body, 2 fixed blocks, 3 cameras, 4 headlamps, 5 turbo-dynamoes, 6 mounting plates, 7 ahead turbines,
8 power bins, 9 dredging storehouses, 10 flanges, 11 action of forced stirring blades, 12 2 arms, 13 large arm, 14 motors, 15 driving wheels, 16 driven wheels,
17 shafts, 18 master gears, 19 pinions.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Referring to Fig.1-2, a kind of underwater mud processing is put into antiwind underwater robot, including two robot bodies 1, machine
The inside of device human body 1 is fixedly installed with battery, and two robot bodies 1 are fixedly connected by connecting rod, are equipped on connecting rod
For monitoring the monitor control mechanism of underwater mud situation, monitor control mechanism includes fixed block 2 and camera 3, and fixed block 2 is fixedly connected on
Connecting rod it is upper, camera 3 is fixedly mounted on the upper end of fixed block 2, and camera 3 is coupled with battery.
It is mounted on the propulsive mechanism for driving robot to advance at the bottom on the side wall of two robot bodies 1, pushes away
It include two ahead turbines 7 into mechanism, ahead turbine 7 is fixedly mounted on the side wall of robot body 1, pacifies on ahead turbine 7
Equipped with turbo-dynamo 5, and turbo-dynamo 5 is coupled with battery.
The lower end of robot body 1 is fixedly connected with dredging storehouse 9, and the lower end in dredging storehouse 9 is fixedly connected with by flange 10
Action of forced stirring blade 11, the lower end of robot body 1 are fixedly connected with mounting plate 6, and the lower end of mounting plate 6, which is equipped with, to be used to support
The supporting mechanism in dredging storehouse 9, supporting mechanism include large arm 13 and two arms 12, and large arm 13 is fixedly connected on the lower end of mounting plate 6, and two
Arm 12 is fixedly connected on the lower end of large arm 13, and the lower end of two arms is fixedly connected on the side wall in dredging storehouse 9.
The lower end of two robot bodies 1 is fixedly connected with power bin 8 jointly, is equipped in power bin 8 strong for driving
The driving mechanism that mixing blade 11 processed rotates, driving mechanism includes motor 14, and motor 14 is fixedly mounted in power bin 8, motor
Master gear 18 is fixedly and coaxially connected on 14 output shaft, bottom lower end two sides are rotatably connected to and master gear in power bin 8
The pinion 19 of 18 engagements, pinion 19 have been fixedly and coaxially connected driving wheel 15, have been rotatably connected in dredging storehouse 9 by shaft 17
Driven wheel 16, driving wheel 15 and driven wheel 16 are sequentially connected by belt, and driven wheel 16 is coaxial fixed with action of forced stirring blade 11
Connection.
The headlamp 4 coupled with battery is fixedly installed on the side wall of robot body 1, battery is rechargeable type storage
Battery.
It should be noted that the above-mentioned power technology that relates to is the prior art.
In the present invention, when robot dredging under water, battery is the power supply of turbo-dynamo 5, drives 7 turns of ahead turbine
It is dynamic, push robot to advance, while headlamp 4 provides illuminating ray, camera 3 moment supervisory-controlled robot periphery situation；When taking the photograph
When monitoring the more region of mud as first 3, storage battery power supply motor 14 starts motor, by master gear 18 engage pinion 19,
And the transmission effect of driving wheel 15 and driven wheel 16,11 high speed rotation of action of forced stirring blade is driven, bed-silt is being removed
Water plant and the net on riverbed are cut off or push aside simultaneously, before guaranteeing that robot body will not lead to not continuation by water plant winding
Into.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of underwater mud processing is put into antiwind underwater robot, including two robot bodies (1), which is characterized in that
The inside of the robot body (1) is fixedly installed with battery, and two robot bodies (1) connect by the way that connecting rod is fixed
It connects, the monitor control mechanism for monitoring underwater mud situation, the side wall of two robot bodies (1) is installed on the connecting rod
On be mounted on for drive robot the bottom advance propulsive mechanism, the lower end of the robot body (1) is fixedly connected
Have dredging storehouse (9), the lower end of the dredging storehouse (9) is fixedly connected with action of forced stirring blade (11), the machine by flange (10)
The lower end of device human body (1) is fixedly connected with mounting plate (6), and the lower end of the mounting plate (6), which is equipped with, is used to support dredging storehouse
(9) lower end of supporting mechanism, two robot bodies (1) is fixedly connected with power bin (8), the power bin jointly
(8) driving mechanism for driving action of forced stirring blade (11) to rotate is installed in, is consolidated on the side wall of the robot body (1)
Dingan County is equipped with the headlamp (4) coupled with battery.
2. a kind of underwater mud processing according to claim 1 is put into antiwind underwater robot, which is characterized in that described
Monitor control mechanism includes fixed block (2) and camera (3), and the fixed block (2) is fixedly connected on the upper of connecting rod, the camera
(3) it is fixedly mounted on the upper end of fixed block (2), and the camera (3) is coupled with battery.
3. a kind of underwater mud processing according to claim 1 is put into antiwind underwater robot, which is characterized in that described
Propulsive mechanism includes two ahead turbines (7), and the ahead turbine (7) is fixedly mounted on the side wall of robot body (1), institute
It states and is equipped on ahead turbine (7) turbo-dynamo (5), and the turbo-dynamo (5) is coupled with battery.
4. a kind of underwater mud processing according to claim 1 is put into antiwind underwater robot, which is characterized in that described
Supporting mechanism includes large arm (13) and two arms (12), and the large arm (13) is fixedly connected on the lower end of mounting plate (6), two arm
(12) it is fixedly connected on the lower end of large arm (13), the lower end of two arm is fixedly connected on the side wall of dredging storehouse (9).
5. a kind of underwater mud processing according to claim 1 is put into antiwind underwater robot, which is characterized in that described
Driving mechanism includes motor (14), and the motor (14) is fixedly mounted in power bin (8), on the output shaft of the motor (14)
It has been fixedly and coaxially connected master gear (18), the power bin (8) interior bottom lower end two sides are rotatably connected to and master gear (18)
The pinion (19) of engagement, the pinion (19) have been fixedly and coaxially connected driving wheel (15), by turning in the dredging storehouse (9)
Axis (17) is rotatably connected to driven wheel (16), the driving wheel (15) and driven wheel (16) by belt transmission connection, it is described from
Driving wheel (16) is fixedly and coaxially connected with action of forced stirring blade (11).
6. a kind of underwater mud processing according to claim 1 is put into antiwind underwater robot, which is characterized in that described
Battery is rechargeable type battery.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011227235.6A CN112339953A (en) | 2019-07-03 | 2019-07-03 | Underwater robot for cleaning underwater sludge |
| CN201910595972.2A CN110203361B (en) | 2019-07-03 | 2019-07-03 | Anti-winding underwater robot for treating underwater sludge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595972.2A CN110203361B (en) | 2019-07-03 | 2019-07-03 | Anti-winding underwater robot for treating underwater sludge |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011227235.6A Division CN112339953A (en) | 2019-07-03 | 2019-07-03 | Underwater robot for cleaning underwater sludge |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110203361A true CN110203361A (en) | 2019-09-06 |
| CN110203361B CN110203361B (en) | 2021-06-04 |
Family
ID=67796073
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011227235.6A Withdrawn CN112339953A (en) | 2019-07-03 | 2019-07-03 | Underwater robot for cleaning underwater sludge |
| CN201910595972.2A Active CN110203361B (en) | 2019-07-03 | 2019-07-03 | Anti-winding underwater robot for treating underwater sludge |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011227235.6A Withdrawn CN112339953A (en) | 2019-07-03 | 2019-07-03 | Underwater robot for cleaning underwater sludge |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112339953A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113501111A (en) * | 2021-06-25 | 2021-10-15 | 上海海事大学 | Underwater robot with underwater high-stability positioning device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113856259A (en) * | 2021-10-26 | 2021-12-31 | 青海天普伟业环保科技有限公司 | Sludge discharge device for sewage treatment and use method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| HUP9602430A1 (en) * | 1996-09-05 | 1998-12-28 | Tibor Baráth | Mobile mud dredger |
| DE19949678A1 (en) * | 1999-10-18 | 2001-05-23 | Frischke Reinhard | Mower and litter clearing device, especially for verges, comprises jib mounted basis frame with vegetation removing and receiving devices |
| CN203145074U (en) * | 2013-01-15 | 2013-08-21 | 唐万兴 | Underwater dredging remote conveyor |
| CN106759599A (en) * | 2016-12-01 | 2017-05-31 | 衡阳市稼乐农机科技有限公司 | A kind of shallow water silt remover |
| CN107663871A (en) * | 2017-11-05 | 2018-02-06 | 刘毓玉 | A kind of silt cleaning device |
| CN109235523A (en) * | 2018-10-19 | 2019-01-18 | 深圳市优沃斯科技有限公司 | A kind of underwater self-balancing dredging robot |
-
2019
- 2019-07-03 CN CN202011227235.6A patent/CN112339953A/en not_active Withdrawn
- 2019-07-03 CN CN201910595972.2A patent/CN110203361B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| HUP9602430A1 (en) * | 1996-09-05 | 1998-12-28 | Tibor Baráth | Mobile mud dredger |
| DE19949678A1 (en) * | 1999-10-18 | 2001-05-23 | Frischke Reinhard | Mower and litter clearing device, especially for verges, comprises jib mounted basis frame with vegetation removing and receiving devices |
| CN203145074U (en) * | 2013-01-15 | 2013-08-21 | 唐万兴 | Underwater dredging remote conveyor |
| CN106759599A (en) * | 2016-12-01 | 2017-05-31 | 衡阳市稼乐农机科技有限公司 | A kind of shallow water silt remover |
| CN107663871A (en) * | 2017-11-05 | 2018-02-06 | 刘毓玉 | A kind of silt cleaning device |
| CN109235523A (en) * | 2018-10-19 | 2019-01-18 | 深圳市优沃斯科技有限公司 | A kind of underwater self-balancing dredging robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113501111A (en) * | 2021-06-25 | 2021-10-15 | 上海海事大学 | Underwater robot with underwater high-stability positioning device |
| CN113501111B (en) * | 2021-06-25 | 2022-09-30 | 上海海事大学 | Underwater robot with underwater high-stability positioning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110203361B (en) | 2021-06-04 |
| CN112339953A (en) | 2021-02-09 |
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Effective date of registration: 20210429 Address after: 518000 516, building 10, Shenzhen Bay science and technology ecological park, No. 10, Gaoxin South ninth Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN LANGFEI INNOVATION TECHNOLOGY Co.,Ltd. Address before: 233000 408, 4 / F, Ande complex, Chung Ping Street, Bengbu, Anhui. Applicant before: BENGBU CITY CIRCULATION RATE ELECTRONIC TECHNOLOGY Co.,Ltd. |
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