CN111674529A - Omnibearing underwater monitoring robot - Google Patents
Omnibearing underwater monitoring robot Download PDFInfo
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- CN111674529A CN111674529A CN202010551682.0A CN202010551682A CN111674529A CN 111674529 A CN111674529 A CN 111674529A CN 202010551682 A CN202010551682 A CN 202010551682A CN 111674529 A CN111674529 A CN 111674529A
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- rotating shaft
- frame
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 98
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 238000007789 sealing Methods 0.000 claims 3
- 239000007787 solid Substances 0.000 claims 2
- 230000001681 protective effect Effects 0.000 description 13
- 230000008901 benefit Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 4
- 108010066114 cabin-2 Proteins 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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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
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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
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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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
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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
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
Abstract
The invention relates to the field of underwater mechanical equipment, in particular to an omnibearing underwater monitoring robot which comprises a rack, wherein an electric cabin and detection equipment are arranged on the rack, a control system is arranged in the electric cabin, the control system is connected with an overwater control box through a cable, a detection equipment driving mechanism, a rotating mechanism and a detection equipment pitching adjusting mechanism are arranged on the rack, the detection equipment driving mechanism comprises a first sleeve, a second sleeve, a connecting frame, a first driving motor and a first rotating shaft, the rotating mechanism comprises a second driving motor and a second rotating shaft, the detection equipment pitching adjusting mechanism comprises a third sleeve, a connecting seat, a third driving motor, a third rotating shaft and a connecting plate, the rotating angle of each motor is monitored by an angle sensor, and a counterweight balancing mechanism is arranged on the rack The view finding is stable and the working efficiency is high.
Description
Technical Field
The invention relates to the field of underwater mechanical equipment, in particular to an omnibearing underwater monitoring robot.
Background
In recent years, along with the development of economy, engineering such as bridge on water drops into the construction more and more, the mode that generally adopts the open caisson among the bridge construction process constructs pier under water, pier construction engineering volume under water is big, engineering technical requirement is high, engineering environment influence factor is complicated, so need carry out omnidirectional monitoring inside and outside the open caisson in engineering work progress, accomplish the early discovery of problem, early restoration, guarantee that the safety of construction effectively goes on, underwater robot is extensively used for underwater environment monitoring, engineering progress and quality monitoring etc. chinese patent CN207423824U discloses a device that is used for the perpendicular face under water to erode defect detection, its characterized in that: the device comprises a carrying platform, a holder and detection equipment; the carrying platform is a remote control unmanned submersible vehicle and comprises a frame, a buoyancy block, a propeller and a control system; the platform is a mechanical rotating platform, the detection equipment comprises an optical camera and a three-dimensional imaging sonar, the carrying platform is provided with vertical side fences at two sides of a frame, a horizontal partition plate frame is arranged in the middle of the frame, a control system is fixed on the partition plate frame and is arranged between the mechanical rotating platform and a buoyancy block, the control system is electrically connected with the mechanical rotating platform, the detection equipment and a propeller through cables, the mechanical rotating platform can horizontally rotate 180 degrees, a rotating arm capable of vertically rotating 360 degrees is arranged at the upper part of the mechanical rotating platform, when the device is used, the control system on water transmits electric power and control signals to an underwater robot through an umbilical cable with a certain length and uploads data signals to the control system and outputs the data signals, the detection equipment can realize adjustment of up-down detection elevation angles, and underwater horizontal scanning and 360-degree spherical scanning are ensured, the disadvantages of the above patents: detection equipment's position can not remove, scanning range is limited, and need whole device to remove when the monitoring of co-altitude or degree of depth is carried out to needs, the operation is inconvenient, operating personnel moves whole device behind the specific location, scan the image according to the sonar, it is right whether in the definite position, then compare according to sonar scanning image feedback, so need remove the position of whole device many times, and it is inconvenient that whole device removes moreover, waste time and energy, the power consumption has been increased, the work efficiency is low.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides the omnibearing underwater monitoring robot which has the advantages that the detection equipment can be independently adjusted, can be arranged above the rack or in front of the rack or below the rack, is convenient to adjust, has stable view finding, is low in cost and has high working efficiency.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an all-round underwater monitoring robot, includes the frame, be equipped with electric cabin and check out test set in the frame, be equipped with control system in the electric cabin, control system is connected its characterized in that through cable and above-water control box: be equipped with check out test set actuating mechanism in the frame, check out test set actuating mechanism one end is connected with the frame, and the other end is connected with check out test set, check out test set is through the scalable frame of check out test set actuating mechanism drive and arranges frame top or frame the place ahead or frame below in to do benefit to when the monitoring of different height or degree of depth is carried out to needs, check out test set position is adjustable, convenient operation, finds a view stably.
The driving mechanism of the detection equipment comprises a first sleeve, a second sleeve, a connecting frame, a first driving motor and a first rotating shaft, wherein the first sleeve and the second sleeve are arranged at intervals, the connecting frame is arranged between the first sleeve and the second sleeve, the outer wall of the first sleeve is fixedly connected with a rack, the first driving motor is arranged in the first sleeve, the two ends of the first sleeve are respectively provided with the first rotating shaft, the first rotating shaft at one end of the first sleeve is fixedly connected with an output shaft of the first driving motor, one end of the first rotating shaft is hermetically connected with the inner wall of the first sleeve through a bearing and a bearing seat, the other end of the first rotating shaft is fixedly connected with one end of the connecting frame, the other end of the connecting frame is fixedly connected with one end of the second sleeve, the other end of the second sleeve is fixedly connected with the detection equipment, and the first driving motor is fixedly connected with the inner wall of the first sleeve, first driving motor is connected with control system to do benefit to the first rotation axis horizontal rotation of first motor drive, first rotation axis drives link horizontal rotation, link and second sleeve fixed connection, second sleeve and check out test set fixed connection again, so can drive check out test set through the rotation of first rotation axis and use first sleeve as central horizontal rotation, check out test set upwards can arrange the frame top in, can arrange the frame below downwards in, so, need not move the robot, both can change check out test set's position.
The second sleeve is provided with a rotating mechanism, the rotating mechanism comprises a second driving motor and a second rotating shaft, the second driving motor is arranged in the second sleeve and is fixedly connected with the inner wall of the second sleeve, the second driving motor is connected with a control system, the second rotating shaft is fixedly connected with an output shaft of the second driving motor, one end of the second rotating shaft is hermetically connected with the inner wall of the second sleeve through a bearing and a bearing seat, and the other end of the second rotating shaft penetrates through the second sleeve and is fixedly connected with detection equipment, so that the second rotating shaft is driven to rotate through the second driving motor, the detection equipment is driven to rotate, and 360-degree rotary scanning of the detection equipment is realized.
The invention is characterized in that a detection device pitching adjusting mechanism is arranged between a second sleeve and a detection device, the detection device pitching adjusting mechanism comprises a third sleeve, a connecting seat, a third driving motor, a third rotating shaft and a connecting plate, the outer wall of the third sleeve is fixedly connected with the second rotating shaft through the connecting seat, the connecting plate is arranged between the third sleeve and the detection device, the third driving motor is arranged in the third sleeve, the third rotating shaft is arranged at two ends of the third sleeve, the third rotating shaft is hermetically connected with the inner wall of the third sleeve through a bearing and a bearing seat, the third rotating shaft at one end of the third sleeve is fixedly connected with an output shaft of the third driving motor, the third driving motor is fixedly connected with the inner wall of the third sleeve, the third driving motor is connected with a control system, the connecting plate is U-shaped, and the third sleeve is arranged between two ends of the connecting plate, and the third rotating shafts at the two ends of the third sleeve are fixedly connected with a connecting plate, and the middle of the connecting plate is fixedly connected with the detection equipment, so that the detection equipment can rotate by-90 degrees through the pitching adjusting mechanism of the detection equipment.
The second rotating shaft is hollow, a slip ring is arranged in the second rotating shaft, a connecting plug is fixedly arranged on the second sleeve, a cable through hole is formed in the outer wall of the third sleeve, the slip ring is arranged in the second rotating shaft and fixedly connected with the second rotating shaft, a lead at one end of the slip ring penetrates through the cable through hole to be connected with a third driving motor, and a lead at the other end of the slip ring penetrates out of the second rotating shaft to be connected with a control system through the connecting plug, so that the slip ring can supply power to the third driving motor, and the phenomenon that a cable is arranged outside a rack to cause winding is avoided.
The second sleeve is internally provided with a second driving motor rotation angle detection mechanism, the second driving motor rotation angle detection mechanism comprises a driving gear, a driven gear, an angle sensor gear, a rotation angle sensor and a connecting shaft, the driving gear is fixedly connected with an output shaft of the second driving motor, the driving gear is meshed with the driven gear, the driven gear is meshed with the angle sensor gear, the driven gear is fixedly connected with a second rotating shaft, the angle sensor gear is fixedly connected with the connecting shaft on the rotation angle sensor, the rotation angle sensor is fixedly connected with the inner wall of the second sleeve, and the rotation angle sensor is connected with a control system, so that the rotation angle of the second driving motor can be monitored through the rotation angle sensor in real time.
The motor rotation angle detection mechanisms are respectively arranged in the first sleeve and the third sleeve and comprise angle sensors, sensor fixing cylinders and connecting shafts, the angle sensors are fixedly connected with the inner wall of the first sleeve or the inner wall of the third sleeve through the sensor fixing cylinders, the connecting shafts of the angle sensors are fixedly connected with the first rotating shaft or the third rotating shaft, and the angle sensors are connected with a control system so as to be beneficial to monitoring the rotation angles of the first motor and the third driving motor through the angle sensors at any time.
The frame is provided with the balancing weight, so that the robot can be balanced through the balancing weight.
The balance weight balancing mechanism is arranged on the rack and comprises a balance weight block, a screw rod and a balance weight motor, the balance weight motor is fixedly connected with the rack, the screw rod is fixedly connected with an output shaft of the balance weight motor, the screw rod is provided with the balance weight block, and the balance weight block is sleeved on the screw rod and is in threaded connection with the screw rod, so that the balance weight block is driven to move through the rotation of the screw rod, and the balance of the robot is adjusted.
The lead screw is provided with the lead screw protective shell, the lead screw protective shell is cylindrical, one end of the lead screw protective shell is closed, the other end of the lead screw protective shell penetrates through the lead screw and the balancing weight to be fixedly connected with the balancing weight motor, the balancing weight is provided with the guide sliding block, the lead screw protective shell is provided with the guide sliding groove matched with the guide sliding block, so that the lead screw is protected through the lead screw protective shell, and meanwhile, the balancing weight is guided through the guide sliding block and the guide sliding groove.
The detection device driving mechanism is positioned in the middle of the rack, a balancing weight or a balancing weight balancing mechanism is fixed on the rack on one side of the detection device driving mechanism, and openings for the detection device driving mechanism and the detection device to extend out are respectively formed in the upper end and the lower end of the rack on the other side of the detection device driving mechanism, so that the detection device driving mechanism can conveniently drive the detection device to extend out of the rack through the openings and is arranged above the rack or in front of the rack or below the rack.
The frame is provided with a propeller, a floating body, a camera and a lighting lamp, the detection equipment is a sonar, the propeller, the camera, the lighting lamp and the sonar are respectively connected with a control system, so that the robot can move forward and backward, turn bow left and right, float up, sink and the like through the propeller, and the underwater image is shot by the camera through sonar scanning and monitoring and lighting of the lighting lamp.
The lifting frame is arranged on the rack, and the lower end of the lifting frame is fixedly connected with the rack, so that the robot can be conveniently and integrally lifted.
By adopting the structure, the invention has the advantages that the detection equipment can be independently adjusted and can be arranged above the frame or in front of the frame or below the frame, the adjustment is convenient, the view finding is stable, the cost is low, the working efficiency is high and the like.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the frame of the present invention in a cut-away, angled configuration.
Fig. 3 is another angle structure diagram of the frame of the present invention.
Fig. 4 is a cross-sectional view of a first sleeve of the present invention.
Fig. 5 is a cross-sectional view of a second sleeve according to the present invention.
Fig. 6 is an enlarged view of the invention at a in fig. 5.
Fig. 7 is a cross-sectional view of a third sleeve of the present invention.
Fig. 8 is a schematic structural view of the counterweight structure of the present invention without the screw rod protection shell.
FIG. 9 is a schematic view of the detection apparatus rotated above the housing during use of the present invention.
FIG. 10 is a schematic view of the detection apparatus rotated to below the housing during use of the present invention.
In the figure: the device comprises a rack 1, an electric cabin 2, a propeller 3, a floating body 4, a detection device 6, a detection device driving mechanism 7, a first sleeve 8, a second sleeve 9, a connecting frame 10, a first driving motor 11, a first rotating shaft 12, a rotating mechanism 13, a second driving motor 14, a second rotating shaft 15, a detection device pitch adjusting mechanism 16, a third sleeve 17, a connecting seat 18, a third driving motor 19, a third rotating shaft 20, a connecting plate 21, a sliding ring 22, a wiring plug 23, a cable perforation 24, a second driving motor rotating angle detection mechanism 25, a driving gear 26, a driven gear 27, an angle sensor gear 28, a rotating angle sensor 29, a motor rotating angle detection mechanism 30, an angle sensor 31, a sensor fixing cylinder 32, a counterweight balance mechanism 33, a counterweight block 34, a screw rod 35, a counterweight motor 36, a screw rod protective shell 37, a guide sliding block 38, a guide sliding chute 39, a guide sliding, Opening 40, camera 41, light 42, hoist and mount frame 43.
Detailed Description
The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.
The utility model provides an all-round underwater monitoring robot, includes frame 1, be equipped with electric cabin 2 and check out test set 6 in the frame 1, be equipped with control system in the electric cabin 2, control system is connected its characterized in that through cable and control box on water: be equipped with check out test set actuating mechanism 7 on the frame 1, 7 one ends of check out test set actuating mechanism are connected with frame 1, and the other end is connected with check out test set 6, check out test set 6 can stretch out frame 1 through 7 drives of check out test set actuating mechanism and arrange frame 1 top or frame 1 the place ahead or frame 1 below in to do benefit to when the monitoring of different height or degree of depth is carried out to needs, the check out test set position is adjustable, convenient operation, it is stable to find a view.
The detection device driving mechanism 7 comprises a first sleeve 8, a second sleeve 9, a connecting frame 10, a first driving motor 11 and a first rotating shaft 12, wherein the first sleeve 8 and the second sleeve 9 are arranged at intervals, the connecting frame 10 is arranged between the first sleeve 8 and the second sleeve 9, the outer wall of the first sleeve 8 is fixedly connected with a frame 1, the first driving motor 11 is arranged in the first sleeve 8, the first rotating shaft 12 is respectively arranged at two ends of the first sleeve 8, the first rotating shaft 12 at one end of the first sleeve 8 is fixedly connected with an output shaft of the first driving motor 11, one end of the first rotating shaft 12 is hermetically connected with the inner wall of the first sleeve 8 through a bearing and a bearing seat, the other end of the first rotating shaft 12 is fixedly connected with one end of the connecting frame 10, the other end of the connecting frame 10 is fixedly connected with one end of the second sleeve 9, and the other end of the second sleeve 9 is fixedly connected with the detection device 6, first driving motor 11 and 8 inner wall fixed connection of first sleeve, first driving motor 11 is connected with control system to do benefit to the first rotation axis of first motor drive rotatory, it is rotatory that first rotation axis drives the link, link and second sleeve fixed connection, the second sleeve again with check out test set fixed connection, so can drive check out test set through the rotation of first rotation axis and use first sleeve to be rotatory as the center, check out test set upwards can arrange the frame top in, can arrange the frame below downwards in, so, need not remove the robot, both can change check out test set's position.
The second sleeve 9 is provided with a rotating mechanism 13, the rotating mechanism 13 comprises a second driving motor 14 and a second rotating shaft 15, the second driving motor 14 is arranged in the second sleeve 9 and fixedly connected with the inner wall of the second sleeve 9, the second driving motor 14 is connected with a control system, the second rotating shaft 15 is fixedly connected with an output shaft of the second driving motor 14, one end of the second rotating shaft 15 is hermetically connected with the inner wall of the second sleeve 9 through a bearing and a bearing seat, and the other end penetrates through the second sleeve 9 and is fixedly connected with the detection equipment 6, so that the second driving motor is used for driving the second rotating shaft to rotate, the detection equipment is driven to rotate, and 360-degree rotary scanning of the detection equipment is realized.
According to the invention, a detection device pitch adjusting mechanism 16 is arranged between a second sleeve 9 and a detection device 6, the detection device pitch adjusting mechanism 16 comprises a third sleeve 17, a connecting seat 18, a third driving motor 19, a third rotating shaft 20 and a connecting plate 21, the outer wall of the third sleeve 17 is fixedly connected with a second rotating shaft 15 through the connecting seat 18, the connecting plate 21 is arranged between the third sleeve 17 and the detection device 6, the third driving motor 19 is arranged in the third sleeve 17, third rotating shafts 20 are arranged at two ends of the third sleeve 17, the third rotating shafts 20 are hermetically connected with the inner wall of the third sleeve 17 through bearings and bearing seats, the third rotating shaft 20 at one end of the third sleeve 17 is fixedly connected with an output shaft of the third driving motor 19, the third driving motor 19 is fixedly connected with the inner wall of the third sleeve 17, and the third driving motor 19 is connected with a control system, the connecting plate 21 is U-shaped, the third sleeve 17 is arranged between two ends of the connecting plate 21, the third rotating shafts 20 at two ends of the third sleeve 17 are fixedly connected with the connecting plate 21, and the middle of the connecting plate 21 is fixedly connected with the detection device 6, so that the detection device can rotate by-90 degrees to-90 degrees through the pitching adjusting mechanism of the detection device.
According to the invention, the second rotating shaft 15 is hollow, a slip ring 22 is arranged in the second rotating shaft 15, a connecting plug 23 is fixedly arranged on the second sleeve 9, a cable through hole 24 is arranged on the outer wall of the third sleeve 17, the slip ring 22 is arranged in the second rotating shaft 15 and is fixedly connected with the second rotating shaft 15, a lead at one end of the slip ring 22 penetrates through the cable through hole 24 to be connected with the third driving motor 19, and a lead at the other end of the slip ring 22 penetrates through the second rotating shaft 15 to be connected with a control system through the connecting plug 23, so that the slip ring can supply power to the third driving motor, and the phenomenon that a cable is wound when the cable is arranged outside a rack is.
The second sleeve 9 of the invention is internally provided with a second driving motor rotation angle detection mechanism 25, the second driving motor rotation angle detection mechanism 25 comprises a driving gear 26, a driven gear 27, an angle sensor gear 28, a rotation angle sensor 29 and a connecting shaft, the driving gear 26 is fixedly connected with the output shaft of the second driving motor 14, the driving gear 26 is engaged with the driven gear 27, the driven gear 27 is engaged with the angle sensor gear 28, the driven gear 27 is fixedly connected with the second rotating shaft 15, the angle sensor gear 28 is fixedly connected with the upper connecting shaft of the rotation angle sensor 29, the rotation angle sensor 29 is fixedly connected with the inner wall of the second sleeve 9, the rotation angle sensor 29 is connected to the control system to facilitate monitoring of the rotation angle of the second drive motor from time to time by the rotation angle sensor.
The motor rotation angle detection mechanisms 30 are respectively arranged in the first sleeve 8 and the third sleeve 17, each motor rotation angle detection mechanism 30 comprises an angle sensor 31, a sensor fixing cylinder 32 and a connecting shaft, each angle sensor 31 is fixedly connected with the inner wall of the first sleeve 8 or the inner wall of the third sleeve 17 through the sensor fixing cylinder 32, the connecting shaft of each angle sensor 31 is fixedly connected with the first rotating shaft 12 or the third rotating shaft 20, and each angle sensor 31 is connected with a control system, so that the rotation angles of the first motor and the third driving motor can be monitored through the angle sensors at any time.
The frame 1 is provided with the balancing weight, so that the robot can be balanced through the balancing weight.
The balance weight balancing mechanism 33 is arranged on the rack 1, the balance weight balancing mechanism 33 comprises a balance weight block 34, a screw rod 35 and a balance weight motor 36, the balance weight motor 36 is fixedly connected with the rack 1, the screw rod 35 is fixedly connected with an output shaft of the balance weight motor 36, the balance weight block 34 is arranged on the screw rod 35, and the balance weight block 34 is sleeved on the screw rod 35 and is in threaded connection with the screw rod 35, so that the balance weight block is driven to move through the rotation of the screw rod, and the balance of the robot is adjusted.
The screw rod 35 is provided with the screw rod protective shell 37, the screw rod protective shell 37 is cylindrical, one end of the screw rod protective shell 37 is closed, the other end of the screw rod protective shell 37 penetrates through the screw rod 35 and the balancing weight 34 to be fixedly connected with the balancing weight motor 36, the balancing weight 34 is provided with the guide sliding block 38, the screw rod protective shell 37 is provided with the guide sliding groove 39 matched with the guide sliding block 38, the screw rod is protected through the screw rod protective shell, and meanwhile, the balancing weight is guided through the guide sliding block and the guide sliding groove.
The detection device driving mechanism 7 is positioned in the middle of the rack 1, a balancing weight or a balancing weight balancing mechanism 33 is fixed on the rack 1 on one side of the detection device driving mechanism 7, and the upper end and the lower end of the rack 1 on the other side of the detection device driving mechanism 7 are respectively provided with an opening 40 for the detection device driving mechanism 7 and the detection device 6 to extend out, so that the detection device driving mechanism can conveniently drive the detection device to extend out of the rack through the opening and be placed above the rack or in front of the rack or below the rack.
According to the invention, a propeller 3, a floating body 4, a camera 41 and an illuminating lamp 42 are arranged on a frame 1, the detection equipment 6 is a sonar, the propeller 3, the camera 41, the illuminating lamp 42 and the sonar are respectively connected with a control system, so that the robot can move forward and backward, turn left and right, float up, sink and the like through the propeller, and the underwater image is shot by the camera through sonar scanning and monitoring and illumination of the illuminating lamp.
The lifting frame 43 is arranged on the rack 1, and the lower end of the lifting frame 43 is fixedly connected with the rack 1, so that the robot can be conveniently and integrally lifted.
Before the invention is used, firstly, the invention and an above-water control box are placed on a water bank or a ship, a detection device is in a horizontal position shown in an attached drawing 1 or an attached drawing 2 or an attached drawing 3, the invention is connected with the above-water control box through a cable, the cable can be connected with a cable car and is connected into the above-water control box, the cable is convenient to control, then the invention is thrown into water, a display screen on the above-water control box is utilized to observe the underwater condition, an operation handle is utilized to control the underwater course of the invention, such as forward movement, backward movement, left-right turning heading, upward floating, sinking and other movements, and the rotation angle of the detection device is controlled, particularly, a detection device driving mechanism, a rotation mechanism and a detection device pitching adjustment mechanism are arranged on a rack, a first rotation shaft in a first sleeve can drive a second sleeve, a third sleeve and the detection device to rotate at-90 degrees, when the, as shown in fig. 1, fig. 2 or fig. 3, the third rotating shaft can drive the detection device to rotate by-90 to 90 degrees; the first rotating shaft rotates to a 90-degree position, as shown in fig. 9, the third rotating shaft can drive the detection equipment to rotate by-90 degrees, and then the second rotating shaft can drive the detection equipment to rotate by 360 degrees, so that all positions in a visual range of the detection equipment in a water area above the robot can be scanned; the first rotating shaft rotates to a position of 90 degrees, as shown in figure 10, the third rotating shaft can drive the detection equipment to rotate 90 degrees to 90 degrees, then the second rotating shaft can drive the detection equipment to rotate 360 degrees, all positions in a visual range of the detection equipment in a water area below the robot can be scanned, so that the robot is in the scanning range in all directions with the same depth, in order to adjust the gravity center of the robot conveniently, the frame is provided with the counterweight balance mechanism, the counterweight motor drives the screw rod to rotate, the screw rod rotates to drive the counterweight block to move back and forth, and the balance of the robot is adjusted. And the scanning range is complete, the view finding is stable, the underwater working efficiency is greatly improved, and the electric energy is saved.
By adopting the structure, the invention has the advantages that the detection equipment can be independently adjusted and can be arranged above the frame or in front of the frame or below the frame, the adjustment is convenient, the view finding is stable, the cost is low, the working efficiency is high and the like.
Claims (12)
1. The utility model provides an all-round underwater monitoring robot, includes frame (1), be equipped with electric cabin (2) and check out test set (6) on frame (1), be equipped with control system in electric cabin (2), control system is connected its characterized in that through cable and control box on water: be equipped with check out test set actuating mechanism (7) on frame (1), check out test set actuating mechanism (7) one end is connected with frame (1), and the other end is connected with check out test set (6), check out test set (6) are arranged in frame (1) top or frame (1) the place ahead or frame (1) below through check out test set actuating mechanism (7) drive protractile frame (1).
2. The omnidirectional underwater monitoring robot of claim 1, wherein: the detection device driving mechanism (7) comprises a first sleeve (8), a second sleeve (9), a connecting frame (10), a first driving motor (11) and a first rotating shaft (12), the first sleeve (8) and the second sleeve (9) are arranged at intervals, the connecting frame (10) is arranged between the first sleeve (8) and the second sleeve (9), the outer wall of the first sleeve (8) is fixedly connected with the rack (1), the first driving motor (11) is arranged in the first sleeve (8), the first rotating shaft (12) is respectively arranged at two ends of the first sleeve (8), the first rotating shaft (12) at one end of the first sleeve (8) is fixedly connected with an output shaft of the first driving motor (11), one end of the first rotating shaft (12) is connected with the inner wall of the first sleeve (8) in a sealing mode through a bearing and a bearing seat, and the other end of the first rotating shaft (12) is fixedly connected with one end of the connecting frame (10), the other end of the connecting frame (10) is fixedly connected with one end of a second sleeve (9), the other end of the second sleeve (9) is fixedly connected with the detection device (6), a first driving motor (11) is fixedly connected with the inner wall of a first sleeve (8), and the first driving motor (11) is connected with a control system.
3. The omnidirectional underwater monitoring robot of claim 2, wherein: be equipped with rotary mechanism (13) on second sleeve (9), rotary mechanism (13) include second driving motor (14) and second rotation axis (15), second driving motor (14) are arranged in second sleeve (9) and with second sleeve (9) inner wall fixed connection, second driving motor (14) are connected with control system, second rotation axis (15) and the output shaft fixed connection of second driving motor (14), second rotation axis (15) one end is through bearing, bearing frame and second sleeve (9) inner wall sealing connection, and second sleeve (9) and check out equipment (6) fixed connection are worn out to the other end.
4. The omnidirectional underwater monitoring robot of claim 3, wherein: a detection device pitch adjusting mechanism (16) is arranged between the second sleeve (9) and the detection device (6), the detection device pitch adjusting mechanism (16) comprises a third sleeve (17), a connecting seat (18), a third driving motor (19), a third rotating shaft (20) and a connecting plate (21), the outer wall of the third sleeve (17) is fixedly connected with the second rotating shaft (15) through the connecting seat (18), the connecting plate (21) is arranged between the third sleeve (17) and the detection device (6), the third driving motor (19) is arranged in the third sleeve (17), the third rotating shaft (20) is arranged at two ends of the third sleeve (17), the third rotating shaft (20) is connected with the inner wall of the third sleeve (17) through a bearing and a bearing seat in a sealing manner, the third rotating shaft (20) at one end of the third sleeve (17) is fixedly connected with an output shaft of the third driving motor (19), third driving motor (19) and third sleeve (17) inner wall fixed connection, third driving motor (19) are connected with control system, connecting plate (21) are the U type, connecting plate (21) both ends are arranged in to third sleeve (17), third rotation axis (20) and connecting plate (21) fixed connection at third sleeve (17) both ends, in the middle of connecting plate (21) and check out test set (6) fixed connection.
5. The all-directional underwater monitoring robot of claim 4, wherein: the second rotating shaft (15) is hollow, a slip ring (22) is arranged in the second rotating shaft (15), a wiring plug (23) is fixedly arranged on the second sleeve (9), a cable through hole (24) is formed in the outer wall of the third sleeve (17), the slip ring (22) is arranged in the second rotating shaft (15) and fixedly connected with the second rotating shaft (15), a lead at one end of the slip ring (22) penetrates through the cable through hole (24) to be connected with the third driving motor (19), and a lead at the other end of the slip ring (22) penetrates out of the second rotating shaft (15) to be connected with the control system through the wiring plug (23).
6. An omnidirectional underwater monitoring robot as recited in claim 4 or 5, wherein: a second driving motor rotation angle detection mechanism (25) is arranged in the second sleeve (9), the second driving motor rotation angle detection mechanism (25) comprises a driving gear (26), a driven gear (27), an angle sensor gear (28), a rotation angle sensor (29) and a connecting shaft, the driving gear (26) is fixedly connected with an output shaft of the second driving motor (14), the driving gear (26) is meshed with a driven gear (27), the driven gear (27) is meshed with an angle sensor gear (28), the driven gear (27) is fixedly connected with the second rotating shaft (15), the angle sensor gear (28) is fixedly connected with the upper connecting shaft of the rotating angle sensor (29), the rotating angle sensor (29) is fixedly connected with the inner wall of the second sleeve (9), and the rotating angle sensor (29) is connected with a control system.
7. The omnidirectional underwater monitoring robot of claim 6, wherein: be equipped with motor rotation angle detection mechanism (30) in first sleeve (8) and in third sleeve (17) respectively, motor rotation angle detection mechanism (30) include angle sensor (31), the solid fixed cylinder of sensor (32) and connecting axle, angle sensor (31) are through the solid fixed cylinder of sensor (32) and first sleeve (8) inner wall or third sleeve (17) inner wall fixed connection, the connecting axle and first rotation axis (12) or third rotation axis (20) fixed connection of angle sensor (31), angle sensor (31) are connected with control system.
8. The omnidirectional underwater monitoring robot of claim 7, wherein: and a balancing weight is arranged on the frame (1).
9. The omnidirectional underwater monitoring robot of claim 7, wherein: be equipped with counter weight balance mechanism (33) on frame (1), counter weight balance mechanism (33) includes balancing weight (34), lead screw (35) and counter weight motor (36), counter weight motor (36) and frame (1) fixed connection, the output shaft fixed connection of lead screw (35) and counter weight motor (36), be equipped with balancing weight (34) on lead screw (35), balancing weight (34) cover on lead screw (35) and with lead screw (35) threaded connection.
10. An omnidirectional underwater monitoring robot as recited in claim 8 or 9, wherein: the detection device driving mechanism (7) is located in the middle of the rack (1), a balancing weight or a balancing weight balancing mechanism (33) is fixed on the rack (1) on one side of the detection device driving mechanism (7), and an opening (40) for the detection device driving mechanism (7) and the detection device (6) to stretch out is formed in the upper end and the lower end of the rack (1) on the other side of the detection device driving mechanism (7) respectively.
11. The omnidirectional underwater monitoring robot of claim 10, wherein: the detection device is characterized in that a propeller (3), a floating body (4), a camera (41) and a lighting lamp (42) are arranged on the rack (1), the detection device (6) is a sonar, and the propeller (3), the camera (41), the lighting lamp (42) and the sonar are respectively connected with a control system.
12. The omnidirectional underwater monitoring robot of claim 11, wherein: the lifting frame (43) is arranged on the rack (1), and the lower end of the lifting frame (43) is fixedly connected with the rack (1).
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114704733A (en) * | 2022-04-12 | 2022-07-05 | 南通理工学院 | Robot vision balance control device for automatic driving system test |
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| CN111674529B (en) | 2024-02-27 |
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