CN110203361B - Anti-winding underwater robot for treating underwater sludge - Google Patents
Anti-winding underwater robot for treating underwater sludge Download PDFInfo
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- CN110203361B CN110203361B CN201910595972.2A CN201910595972A CN110203361B CN 110203361 B CN110203361 B CN 110203361B CN 201910595972 A CN201910595972 A CN 201910595972A CN 110203361 B CN110203361 B CN 110203361B
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- fixedly connected
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- robot body
- storage battery
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- 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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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Marine Sciences & Fisheries (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses an anti-winding underwater robot for underwater sludge treatment, which comprises two robot bodies, wherein a storage battery is fixedly arranged in each robot body, the two robot bodies are fixedly connected through a connecting rod, a monitoring mechanism for monitoring underwater sludge is arranged on each connecting rod, and a propelling mechanism for driving the robot to advance under water is arranged on each side wall of each robot body. According to the invention, the monitoring mechanism, the propelling mechanism, the forced stirring blade and the driving mechanism are arranged, the robot body is arranged in a flat shape, the structure is simple and reasonable, the circular flat cake-shaped structure is not easy to wind, the operation is safe and convenient, the monitoring mechanism can record the periphery of the robot in real time, the forced stirring blade is arranged, underwater nets and waterweeds can be poked or cut off while sludge is removed, and the flexibility of the robot is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an anti-winding underwater robot for underwater sludge treatment.
Background
An underwater robot is also called an unmanned remote control submersible, is a limit operation robot working underwater, has severe underwater environment and danger, and has limited diving depth, so the underwater robot becomes an important tool for developing rivers and is commonly used for cleaning silt at the bottom of a river channel.
The current underwater robot forms for the combination of various scientific and technological products, the structure is comparatively complicated, when carrying out the submarine during operation of cleaing away silt, easily by the pasture and water winding of growing on the riverbed live, lead to unable normal work, and the flexibility is relatively poor, prior art adopts the pipeline package of robot to prevent the winding problem of navel cord hawser mostly, but at concrete implementation in-process, because construction environment condition's is changeable, the pipeline package is received and is unwrapped wire operation inconvenient, still must install the navel cord hawser on adding very much before the use, it is consuming time hard, man-hour and cost have been increased indirectly.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an anti-winding underwater robot for treating underwater sludge, which is simple and reasonable in structure, is of a circular flat cake-shaped structure, is not easy to wind and safe and convenient to operate, can record the periphery of the robot in real time by virtue of a monitoring mechanism, a propelling mechanism, a forced stirring blade and a driving mechanism, and can pull or cut underwater nets and waterweeds while removing sludge, so that the flexibility of the robot is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
an anti-winding underwater robot for underwater sludge treatment comprises two robot bodies, wherein a storage battery is fixedly arranged in each robot body, the two robot bodies are fixedly connected through a connecting rod, a monitoring mechanism for monitoring the condition of underwater sludge is arranged on each connecting rod, a propelling mechanism for driving the robot to advance at the underwater is arranged on each side wall of the two robot bodies, a dredging bin is fixedly connected to the lower end of each robot body, a forced stirring blade is fixedly connected to the lower end of each dredging bin through a flange, a mounting plate is fixedly connected to the lower end of each robot body, a supporting mechanism for supporting the dredging bin is arranged at the lower end of each mounting plate, a power bin is fixedly connected to the lower ends of the two robot bodies together, and a driving mechanism for driving the forced stirring blade to rotate is arranged in each power bin, and an illuminating lamp coupled with the storage battery is fixedly mounted on the side wall of the robot body.
Preferably, the monitoring mechanism includes fixed block and camera, fixed block fixed connection is on the connecting rod, camera fixed mounting is in the upper end of fixed block, just camera and battery coupling.
Preferably, the propulsion mechanism comprises two propulsion turbines, the propulsion turbines are fixedly mounted on the side wall of the robot body, a turbine motor is mounted on the propulsion turbines, and the turbine motor is coupled with the storage battery.
Preferably, the supporting mechanism comprises a large arm and two arms, the large arm is fixedly connected to the lower end of the mounting plate, the two arms are fixedly connected to the lower end of the large arm, and the lower ends of the two arms are fixedly connected to the side wall of the dredging bin.
Preferably, actuating mechanism includes the motor, motor fixed mounting is in the power storehouse, coaxial fixedly connected with master gear on the output shaft of motor, bottom lower extreme both sides all rotate in the power storehouse be connected with the pinion of master gear meshing, the coaxial fixedly connected with action wheel of pinion, it is connected with from the driving wheel to rotate through the pivot in the desilting storehouse, the action wheel with pass through belt transmission from the driving wheel and be connected, from the driving wheel with force the coaxial fixed connection of stirring blade.
Preferably, the battery is a rechargeable battery.
The invention has the following beneficial effects:
1. the robot body is arranged to be of an annular flat cake-shaped structure, and the rest structures are also of annular structures, so that the robot is simple and reasonable in structure, is not easy to be wound by aquatic weeds growing on a riverbed at the bottom of water, and is safe and convenient to operate;
2. through setting up monitoring mechanism, advancing mechanism, force stirring blade and actuating mechanism, can carry out real-time recording to the peripheral condition of robot to force stirring blade and can dial out net and pasture and water under water or cut off when cleaing away silt, improve the flexibility and the security of robot work.
Drawings
FIG. 1 is a schematic structural diagram of an anti-entanglement underwater robot for underwater sludge treatment according to the present invention;
fig. 2 is a schematic mechanism diagram of a power mechanism according to the present invention.
In the figure: the robot comprises a robot body 1, a fixed block 2, a camera 3, a lighting lamp 4, a turbine motor 5, a mounting plate 6, a propulsion turbine 7, a power bin 8, a desilting bin 9, a flange 10, a forced stirring blade 11, two arms 12, a big arm 13, a motor 14, a driving wheel 15, a driven wheel 16, a rotating shaft 17, a main gear 18 and a pinion 19.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-2, an anti-winding underwater robot for underwater sludge treatment comprises two robot bodies 1, wherein a storage battery is fixedly arranged inside each robot body 1, the two robot bodies 1 are fixedly connected through a connecting rod, a monitoring mechanism for monitoring underwater sludge conditions is arranged on each connecting rod, each monitoring mechanism comprises a fixed block 2 and a camera 3, the fixed blocks 2 are fixedly connected onto the connecting rods, the cameras 3 are fixedly arranged at the upper ends of the fixed blocks 2, and the cameras 3 are coupled with the storage batteries.
All install on the lateral wall of two robot bodies 1 and be used for driving the robot advancing at the bottom propulsion mechanism, propulsion mechanism includes two propulsion turbines 7, impels turbine 7 fixed mounting on the lateral wall of robot body 1, impels and installs turbine motor 5 on the turbine 7, and turbine motor 5 and battery coupling.
Lower extreme fixedly connected with desilting storehouse 9 of robot 1, stirring blade 11 is forced through flange 10 fixedly connected with to the lower extreme in desilting storehouse 9, robot 1's lower extreme fixedly connected with mounting panel 6, the supporting mechanism who is used for supporting desilting storehouse 9 is installed to the lower extreme of mounting panel 6, the supporting mechanism includes big arm 13 and two arms 12, big arm 13 fixed connection is at the lower extreme of mounting panel 6, two arms 12 fixed connection are at the lower extreme of big arm 13, the lower extreme fixed connection of two arms is on the lateral wall of desilting storehouse 9.
The lower extreme of two robot 1 is common fixed connection has power storehouse 8, install in the power storehouse 8 and be used for driving the rotatory actuating mechanism of forced stirring blade 11, actuating mechanism includes motor 14, motor 14 fixed mounting is in power storehouse 8, coaxial fixedly connected with master gear 18 on the output shaft of motor 14, bottom lower extreme both sides all rotate in power storehouse 8 and are connected with pinion 19 with master gear 18 meshing, the coaxial fixedly connected with action wheel 15 of pinion 19, rotate through pivot 17 in the desilting storehouse 9 and be connected with from driving wheel 16, action wheel 15 is connected through belt transmission with following driving wheel 16, follow driving wheel 16 and the coaxial fixed connection of forced stirring blade 11.
The side wall of the robot body 1 is fixedly provided with an illuminating lamp 4 coupled with a storage battery, and the storage battery is a rechargeable storage battery.
The above-described electric-related technologies are all prior arts.
In the invention, when the robot is desilted underwater, the storage battery supplies power to the turbine motor 5 to drive the propulsion turbine 7 to rotate, so as to propel the robot to advance, meanwhile, the lighting lamp 4 provides lighting rays, and the camera 3 monitors the peripheral condition of the robot all the time; when the camera 3 monitors a region with more sludge, the storage battery supplies power to the motor 14, the motor is started, the main gear 18 is meshed with the pinion 19, and the driving wheel 15 and the driven wheel 16 are in transmission action, so that the forced stirring blade 11 is driven to rotate at a high speed, the waterweeds and the net on the river bed are cut off or pulled away while the sludge at the river bottom is removed, and the robot body is prevented from being wound by the waterweeds and cannot move forward continuously.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The utility model provides an antiwind underwater robot is handled to submarine silt, includes two robot bodies (1), its characterized in that, robot body (1) sets up to the platykurtic, the inside fixed mounting of robot body (1) has the battery, two robot body (1) is through connecting rod fixed connection, install the monitoring mechanism who is used for monitoring submarine silt condition on the connecting rod, two all install on the lateral wall of robot body (1) and be used for driving the advancing mechanism that the robot gos forward at the submarine, the lower extreme fixedly connected with desilting storehouse (9) of robot body (1), the lower extreme of desilting storehouse (9) is through flange (10) fixedly connected with compulsory stirring blade (11), the lower extreme fixedly connected with mounting panel (6) of robot body (1), the support mechanism who is used for supporting desilting storehouse (9) is installed to the lower extreme of mounting panel (6), the supporting mechanism comprises a big arm (13) and two arms (12), the big arm (13) is fixedly connected with the lower end of the mounting plate (6), the two arms (12) are fixedly connected with the lower end of the big arm (13), the lower end of the two arms is fixedly connected with the side wall of the desilting bin (9), two the lower end of the robot body (1) is fixedly connected with a power bin (8) together, a driving mechanism for driving the forced stirring blade (11) to rotate is installed in the power bin (8), a lighting lamp (4) coupled with a storage battery is fixedly installed on the side wall of the robot body (1), the driving mechanism comprises a motor (14), the motor (14) is fixedly installed in the power bin (8), a main gear (18) is coaxially and fixedly connected with the output shaft of the motor (14), two sides of the lower end of the bottom in the power bin (8) are both rotatably connected with an auxiliary gear (19) meshed with the main gear (18), the coaxial fixedly connected with action wheel (15) of pinion (19), it is connected with from driving wheel (16) to rotate through pivot (17) in desilting storehouse (9), action wheel (15) are connected through belt transmission with from driving wheel (16), from driving wheel (16) and compulsory stirring blade (11) coaxial fixed connection.
2. The underwater sludge treatment entanglement preventing underwater robot of claim 1, wherein the monitoring mechanism comprises a fixed block (2) and a camera (3), the fixed block (2) is fixedly connected to the connecting rod, the camera (3) is fixedly installed at the upper end of the fixed block (2), and the camera (3) is coupled with a storage battery.
3. The underwater sludge treatment entanglement preventing underwater robot of claim 1, wherein the propulsion mechanism comprises two propulsion turbines (7), the propulsion turbines (7) are fixedly installed on the side wall of the robot body (1), the propulsion turbines (7) are provided with turbine motors (5), and the turbine motors (5) are coupled with a storage battery.
4. The underwater sludge treatment entanglement preventing underwater robot of claim 1, wherein the storage battery is a rechargeable storage 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 CN110203361A (en) | 2019-09-06 |
| CN110203361B true CN110203361B (en) | 2021-06-04 |
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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 |
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| CN (2) | CN112339953A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113501111B (en) * | 2021-06-25 | 2022-09-30 | 上海海事大学 | Underwater robot with underwater high-stability positioning device |
| 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 (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| HUP9602430A1 (en) * | 1996-09-05 | 1998-12-28 | Tibor Baráth | Mobile mud dredger |
-
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 (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
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| CN112339953A (en) | 2021-02-09 |
| CN110203361A (en) | 2019-09-06 |
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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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