CN111674529B - Omnibearing underwater monitoring robot - Google Patents
Omnibearing underwater monitoring robot Download PDFInfo
- Publication number
- CN111674529B CN111674529B CN202010551682.0A CN202010551682A CN111674529B CN 111674529 B CN111674529 B CN 111674529B CN 202010551682 A CN202010551682 A CN 202010551682A CN 111674529 B CN111674529 B CN 111674529B
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- sleeve
- rotating shaft
- frame
- detection equipment
- fixedly connected
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 125
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 16
- 238000007789 sealing Methods 0.000 claims description 8
- 238000007667 floating Methods 0.000 claims description 7
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 description 11
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 108010066114 cabin-2 Proteins 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000003954 umbilical cord Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of underwater mechanical equipment, in particular to an omnibearing underwater monitoring robot which comprises a frame, wherein an electric cabin and detection equipment are arranged on the frame, a control system is arranged in the electric cabin, the control system is connected with an above-water control box through a cable, a detection equipment driving mechanism, a rotating mechanism and a detection equipment pitching adjusting mechanism are arranged on the frame, 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 rotation angle of each motor is monitored by an angle sensor, and a counterweight balancing mechanism is arranged on the frame.
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, projects such as bridges on water are increasingly put into construction, underwater piers are built in a manner of generally adopting open caissons in the bridge construction process, the construction engineering quantity of the underwater piers is large, the engineering technical requirements are high, and the influence factors of engineering environment are complex, so that the inside and outside of the open caissons are required to be monitored in all directions in the engineering construction process, the problems are found early, the construction safety and effectiveness are guaranteed, the underwater robot is widely used for underwater environment monitoring, the engineering progress, the quality monitoring and the like, and Chinese patent CN207423824U discloses a device for detecting the flushing defects of an underwater vertical surface, which is characterized in that: the device comprises a carrying platform, a cradle head and detection equipment; the carrying platform is a remote control unmanned submersible and comprises a frame, a buoyancy block, a propeller and a control system; the cloud platform be mechanical rotation cloud platform, check out test set contain optical camera and three-dimensional imaging sonar, the loading platform, its frame both sides are equipped with vertical side rail, be equipped with horizontally baffle frame in the middle, the frame, still be fixed with control system on its baffle frame, control system set up between mechanical rotation cloud platform and buoyancy piece, control system and mechanical rotation cloud platform, check out test set and propeller pass through the cable electricity and be connected, mechanical rotation cloud platform can the horizontal rotation 180, the upper portion of mechanical rotation cloud platform is equipped with the swinging boom that can the vertical rotation 360, during the use, control system on water passes electric power and control signal to underwater robot through umbilical cord cable of a certain length to upload control system and output with data signal, check out test set can realize the adjustment of upper and lower detection, guarantee to carry out horizontal scan under water and 360 spherical scans, the not enough of above-mentioned patent. The position of check out test set can not remove, and scanning scope is limited, needs whole device to remove when the monitoring of different height or degree of depth is carried out moreover, and the operation is inconvenient, and operating personnel moves whole device to specific position after, according to sonar scanning image, whether confirm the position to, then according to sonar scanning image feedback contrast, so need remove the position of whole device many times, and whole device removes inconvenient, wastes time and energy, has increased the power loss, work efficiency is low.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an omnibearing underwater monitoring robot which has the advantages that detection equipment can be independently adjusted and can be arranged above a rack or in front of the rack or below the rack, and the omnibearing underwater monitoring robot is convenient to adjust, stable in view finding, low in cost and high in working efficiency.
In order to achieve the above 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 with the control box on water through the cable: the detection device is characterized in that a detection device driving mechanism is arranged on the frame, one end of the detection device driving mechanism is connected with the frame, the other end of the detection device driving mechanism is connected with the detection device, and the detection device is driven by the detection device driving mechanism to extend out of the frame and is arranged above the frame or in front of the frame or below the frame, so that the position of the detection device can be adjusted when monitoring of different heights or depths is needed, the operation is convenient, and the view finding is stable.
The invention discloses a detection equipment driving mechanism, which 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 frame, 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 in sealing connection 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 a detection equipment, the first driving motor is fixedly connected with the inner wall of the first sleeve, the first driving motor is in favor of the first rotating shaft to drive the connecting frame to horizontally rotate, the connecting frame is fixedly connected with the second sleeve, and the second sleeve is fixedly connected with the detection equipment, and the first rotating shaft is fixedly connected with the first rotating shaft to drive the first rotating shaft to horizontally rotate, so that the first rotating shaft can not only can rotate the detection equipment, but also can be placed on the frame to a detection equipment through the first rotating shaft to horizontally rotate, but also can be placed on the detection equipment to a machine to a position to be placed below a detection machine.
The second sleeve is provided with the 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 the control system, the second rotating shaft is fixedly connected with the output shaft of the second driving motor, one end of the second rotating shaft is in sealing connection 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 out of the second sleeve to be fixedly connected with the 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 rotation scanning of the detection equipment is realized.
The invention discloses a detection equipment pitching adjusting mechanism which is arranged between a second sleeve and detection equipment, wherein 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 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 equipment, 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 in sealing connection 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 the 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, the third sleeve is arranged between two ends of the connecting plate, the third rotating shaft at two ends of the third sleeve is fixedly connected with the connecting plate, and the middle of the connecting plate is fixedly connected with the detection equipment, so that the detection equipment-90 degrees of rotation can be realized through the detection equipment pitching adjusting mechanism.
According to the invention, the second rotating shaft is hollow, the slip ring is arranged in the second rotating shaft, the wiring plug is fixedly arranged on the second sleeve, the cable through hole is arranged on the outer wall of the third sleeve, the slip ring is arranged in the second rotating shaft and is fixedly connected with the second rotating shaft, a lead wire at one end of the slip ring passes through the cable through hole to be connected with the third driving motor, a lead wire at the other end of the slip ring passes through the second rotating shaft to be connected with the control system through the wiring plug, so that the slip ring is beneficial to supplying power to the third driving motor, and the winding phenomenon caused by the fact that the cable is arranged outside the frame 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 as to be beneficial to monitoring the rotation angle of the second driving motor through the rotation angle sensor.
The invention discloses a motor rotation angle detection mechanism which is respectively arranged in a first sleeve and a third sleeve, wherein the motor rotation angle detection mechanism comprises an angle sensor, a sensor fixing cylinder and a connecting shaft, the angle sensor is fixedly connected with the inner wall of the first sleeve or the inner wall of the third sleeve through the sensor fixing cylinder, the connecting shaft of the angle sensor is fixedly connected with a first rotating shaft or a third rotating shaft, and the angle sensor is 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 sensor.
The balancing weight is arranged on the rack, so that the robot can be balanced by the balancing weight.
The invention discloses a robot balancing device, which is characterized in that a rack is provided with a counterweight balancing mechanism, the counterweight balancing mechanism comprises a counterweight block, a screw rod and a counterweight motor, the counterweight motor is fixedly connected with the rack, the screw rod is fixedly connected with an output shaft of the counterweight motor, the screw rod is provided with the counterweight block, and the counterweight block is sleeved on the screw rod and is in threaded connection with the screw rod so as to facilitate driving the counterweight block to move through the rotation of the screw rod, and the balance of the robot is adjusted.
The screw rod is provided with the screw rod protective shell which is cylindrical, one end of the screw rod protective shell is closed, the other end of the screw rod protective shell penetrates through the screw rod and the balancing weight to be fixedly connected with the counter weight motor, the balancing weight is provided with the guide sliding block, the screw rod protective shell is provided with the guide sliding groove matched with the guide sliding block, so that 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, so that the balancing weight can be conveniently moved.
The detection equipment driving mechanism is positioned in the middle of the frame, a balancing weight or a balancing weight balancing mechanism is fixed on the frame on one side of the detection equipment driving mechanism, and openings for the detection equipment driving mechanism and the detection equipment to extend out are respectively formed in the upper end and the lower end of the frame on the other side of the detection equipment driving mechanism, so that the detection equipment driving mechanism can be conveniently driven to extend out of the frame through the openings, and the detection equipment is arranged above the frame or in front of the frame or below the frame.
The invention is characterized in that the frame is provided with a propeller, a floating body, a camera and an illuminating lamp, the detection equipment is a sonar, the propeller, the camera, the illuminating lamp and the sonar are respectively connected with a control system so as to facilitate the forward, backward, left and right bow turning, floating, sinking and other actions of the robot through the propeller, and underwater images are shot by the camera through the sonar scanning and monitoring and the illumination of the illuminating lamp.
The lifting frame is arranged on the frame, and the lower end of the lifting frame is fixedly connected with the frame, so that the robot is convenient to lift integrally.
Due to the adoption of the structure, the invention has the advantages of independent adjustment of the detection equipment, convenient adjustment, stable framing, low cost, high working efficiency and the like, and can be arranged above the stand or in front of the stand or below the stand.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of an angle structure of a frame in the present invention.
Fig. 3 is a schematic view of another angle structure of the frame in 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 of the present invention.
Fig. 6 is an enlarged view of fig. 5 at a in accordance with the present invention.
Fig. 7 is a cross-sectional view of a third sleeve of the present invention.
Fig. 8 is a schematic view of the structure of the present invention with the weight structure removed and the lead screw protective housing.
FIG. 9 is a schematic view of the detection device rotated above the frame when the present invention is in use.
FIG. 10 is a schematic view of the detection device rotated under the frame when the present invention is in use.
In the figure: the device comprises a frame 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 pitching adjustment 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 slip ring 22, a wiring plug 23, a cable perforation 24, a second driving motor rotation angle detection mechanism 25, a driving gear 26, a driven gear 27, an angle sensor gear 28, a rotation angle sensor 29, a motor rotation angle detection mechanism 30, an angle sensor 31, a sensor fixing cylinder 32, a counterweight balancing mechanism 33, a counterweight 34, a screw 35, a counterweight motor 36, a screw protection shell 37, a guide slide block 38, a guide slide groove 39, an opening 40, a camera 41, an illuminating lamp 42 and a hoisting frame 43.
Detailed Description
The following describes the embodiments of the present invention in further detail 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 on the frame 1, be equipped with control system in the electric cabin 2, control system is connected its characterized in that with the control box on water through the cable: the machine frame 1 is provided with a detection equipment driving mechanism 7, one end of the detection equipment driving mechanism 7 is connected with the machine frame 1, the other end of the detection equipment driving mechanism 7 is connected with the detection equipment 6, and the detection equipment 6 is driven by the detection equipment driving mechanism 7 to extend out of the machine frame 1 and be arranged above the machine frame 1 or in front of the machine frame 1 or below the machine frame 1, so that the position of the detection equipment can be adjusted when monitoring of different heights or depths is needed, the operation is convenient, and the view finding is stable.
The invention discloses a detection equipment driving mechanism 7, which 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 shafts 12 are 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 in sealing connection 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, the other end of the second sleeve 9 is fixedly connected with a detection equipment 6, the first driving motor 11 is fixedly connected with a control system so as to facilitate the first rotating shaft to drive the first rotating shaft, the first rotating shaft is fixedly connected with the inner wall of the first sleeve 8, the first rotating shaft is rotatably connected with the first sleeve 9, the first rotating shaft is rotatably connected with the detection equipment through a bearing seat, and the first rotating shaft is fixedly connected with the first rotating shaft through the first rotating frame, the first rotating frame is fixedly connected with the detection equipment through the first rotating frame, the first rotating shaft can be rotated, the first rotating frame can rotate, the detection equipment can be placed on the machine, and the first rotating equipment can rotate down, the detection equipment can be fixedly, and the detection equipment can rotate, and the detection equipment can be placed on the machine, and the machine can rotate, and can change the machine can and can be well.
The second sleeve 9 is provided with the 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 is fixedly connected with the inner wall of the second sleeve 9, the second driving motor 14 is connected with the 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 in sealing connection with the inner wall of the second sleeve 9 through a bearing and a bearing seat, and the other end of the second rotating shaft 15 penetrates out of the second sleeve 9 and is fixedly connected with the detection equipment 6 so as to facilitate the rotation of the second rotating shaft driven by the second driving motor and further drive the detection equipment to rotate, and 360-degree rotating scanning of the detection equipment is realized.
According to the invention, a detection equipment pitching adjusting mechanism 16 is arranged between the second sleeve 9 and the detection equipment 6, the detection equipment pitching 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 equipment 6, the third driving motor 19 is arranged in the third sleeve 17, the third rotating shafts 20 are arranged at two ends of the third sleeve 17, the third rotating shaft 20 is in sealing connection with the inner wall of the third sleeve 17 through a bearing and a bearing seat, 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, the third driving motor 19 is connected with a control system, the connecting plate 21 is U-shaped, the third rotating shaft 20 at two ends of the third sleeve 17 is fixedly connected with the connecting plate 21, the middle of the connecting plate 21 is fixedly connected with the inner wall of the detection equipment 17, and the detection equipment is fixedly connected with the inner wall of the third sleeve 17 through 90 DEG to realize the detection equipment pitching adjusting mechanism.
According to the invention, the second rotating shaft 15 is hollow, the slip ring 22 is arranged in the second rotating shaft 15, the wiring plug 23 is fixedly arranged on the second sleeve 9, the cable perforation 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 wire at one end of the slip ring 22 passes through the cable perforation 24 to be connected with the third driving motor 19, and a lead wire at the other end of the slip ring 22 passes through the second rotating shaft 15 to be connected with the control system through the wiring plug 23, so that the slip ring is beneficial to supplying power to the third driving motor, and the winding phenomenon caused by the cable arranged outside the frame is avoided.
The second sleeve 9 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 an output shaft of the second driving motor 14, the driving gear 26 is meshed with the driven gear 27, the driven gear 27 is meshed 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 connecting shaft on the rotation angle sensor 29, the rotation angle sensor 29 is fixedly connected with the inner wall of the second sleeve 9, and the rotation angle sensor 29 is connected with a control system so as to facilitate real-time monitoring of the rotation angle of the second driving motor through the rotation angle sensor.
The motor rotation angle detection mechanisms 30 are respectively arranged in the first sleeve 8 and the third sleeve 17, the motor rotation angle detection mechanisms 30 comprise angle sensors 31, sensor fixing barrels 32 and connecting shafts, the angle sensors 31 are fixedly connected with the inner wall of the first sleeve 8 or the inner wall of the third sleeve 17 through the sensor fixing barrels 32, the connecting shafts of the angle sensors 31 are fixedly connected with the first rotating shaft 12 or the third rotating shaft 20, and the angle sensors 31 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.
The machine frame 1 is provided with a balancing weight, so that the robot can be balanced by the balancing weight.
The invention discloses a robot balancing mechanism, which is characterized in that a counterweight balancing mechanism 33 is arranged on a frame 1, the counterweight balancing mechanism 33 comprises a counterweight 34, a screw rod 35 and a counterweight motor 36, the counterweight motor 36 is fixedly connected with the frame 1, the screw rod 35 is fixedly connected with an output shaft of the counterweight motor 36, the screw rod 35 is provided with the counterweight 34, and the counterweight 34 is sleeved on the screw rod 35 and is in threaded connection with the screw rod 35 so as to facilitate driving the counterweight to move through screw rod rotation and adjust the balance of the robot.
The screw rod 35 is provided with the screw rod protective shell 37, one end of the screw rod protective shell 37 is sealed, 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, and the screw rod protective shell 37 is provided with the guide sliding groove 39 matched with the guide sliding block 38 so as to facilitate the protection of the screw rod through the screw rod protective shell, and meanwhile, the balancing weight is guided through the guide sliding block and the guide sliding groove to facilitate the movement of the balancing weight.
The detection device driving mechanism 7 is positioned in the middle of the frame 1, a balancing weight or a balance weight mechanism 33 is fixed on the frame 1 at one side of the detection device driving mechanism 7, and openings 40 for the detection device driving mechanism 7 and the detection device 6 to extend out are respectively arranged at the upper end and the lower end of the frame 1 at the other side of the detection device driving mechanism 7, so that the detection device driving mechanism can be conveniently driven to extend out of the frame to be arranged above the frame or in front of the frame or below the frame through the openings.
The frame 1 is provided with the propeller 3, the floating body 4, the camera 41 and the illuminating lamp 42, 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 as to facilitate the forward, backward, left and right bow turning, floating, sinking and other actions of the robot through the propeller, and underwater images are shot by the camera through sonar scanning and monitoring and illumination through the illuminating lamp.
The lifting frame 43 is arranged on the frame 1, and the lower end of the lifting frame 43 is fixedly connected with the frame 1, so that the whole lifting of the robot is facilitated.
Before the invention is used, firstly, the invention and the water control box are placed on a water bank or a ship, the detection equipment is positioned at the horizontal position in the attached drawing 1, the attached drawing 2 or the attached drawing 3, the invention is connected with the water control box through a cable, the cable can be connected with the cable car and is connected with the water control box, the cable is convenient to control, then the invention is put into the water, the underwater condition is observed by utilizing a display screen on the water control box, the heading of the invention under water is controlled by utilizing an operation handle, such as forward, backward, left and right turning bow, floating, sinking and the like, and the rotation angle of the detection equipment is controlled, specifically, a detection equipment driving mechanism, a rotation mechanism and a detection equipment pitching adjusting 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 equipment to rotate by-90 degrees to 90 degrees, and when the first rotation shaft is positioned at the horizontal position of 0 degrees, such as the attached drawing 1, the attached drawing 2 or the attached drawing 3, the third rotation shaft can drive the detection equipment to rotate by-90 degrees; the first rotating shaft rotates to a 90-degree position, as shown in figure 9, the third rotating shaft can drive the detection equipment to rotate by-90 degrees, then the second rotating shaft can drive the detection equipment to rotate by 360 degrees, and all positions in the visual range of the detection equipment in the water area above the robot can be scanned; the first rotating shaft rotates to the position of-90 degrees, as shown in figure 10, the third rotating shaft can drive the detection equipment to rotate by-90 degrees to 90 degrees, then the second rotating shaft can drive the detection equipment to rotate by 360 degrees, all positions of the detection equipment in a visible range of the detection equipment in a water area below the robot can be scanned, so that all directions of the same depth of the robot are in the scanning range, a counterweight balance mechanism is arranged on a rack for conveniently adjusting the gravity center of the robot, a counterweight motor drives a screw rod to rotate, the screw rod rotates to drive a counterweight to move back and forth, and the balance of the robot is adjusted.
Due to the adoption of the structure, the invention has the advantages of independent adjustment of the detection equipment, convenient adjustment, stable framing, low cost, high working efficiency and the like, and can be arranged above the stand or in front of the stand or below the stand.
Claims (11)
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 with the control box on water through the cable: the machine frame (1) is provided with a detection equipment driving mechanism (7), one end of the detection equipment driving mechanism (7) is connected with the machine frame (1), the other end of the detection equipment driving mechanism (7) is connected with the detection equipment (6), the detection equipment (6) is driven by the detection equipment driving mechanism (7) to extend out of the machine frame (1) and is arranged above the machine frame (1) or in front of the machine frame (1) or below the machine frame (1), the detection equipment 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), a 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 machine frame (1), a first driving motor (11) is arranged in the first sleeve (8), two ends of the first sleeve (8) are respectively provided with a first rotating shaft (12), the first rotating shaft (12) at one end of the first sleeve (8) is fixedly connected with the first rotating shaft (11) through the first bearing seat (12) and the first rotating shaft at one end of the first rotating shaft is fixedly connected with the first rotating shaft (12 through the bearing seat (12), 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), the other end of the second sleeve (9) is fixedly connected with the detection equipment (6), the first driving motor (11) is fixedly connected with the inner wall of the first sleeve (8), and the first driving motor (11) is connected with the control system.
2. An all-round underwater monitoring robot as claimed in claim 1, wherein: be equipped with rotary mechanism (13) on second sleeve (9), rotary mechanism (13) are including 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 test set (6) fixed connection are worn out to the other end.
3. An all-round underwater monitoring robot as claimed in claim 2, wherein: the utility model discloses a detection equipment pitching adjusting mechanism (16) is arranged between a second sleeve (9) and a detection equipment (6), the detection equipment pitching 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 equipment (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 in sealing connection with the inner wall of the third sleeve (17) through a bearing and a bearing seat, the third rotating shaft (20) at one end of the third sleeve (17) is fixedly connected with the 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) through the connecting plate, the third driving motor (19) is connected with a control system, the U-shaped sleeve (21) is fixedly connected with the connecting plate (21) at two ends of the third sleeve (17), the middle of the connecting plate (21) is fixedly connected with the detection equipment (6).
4. An all-round underwater monitoring robot as claimed in claim 3 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 perforation (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 fixedly connected with the second rotating shaft (15), a lead wire at one end of the slip ring (22) penetrates through the cable perforation (24) to be connected with a third driving motor (19), and a lead wire at the other end of the slip ring (22) penetrates out of the second rotating shaft (15) to be connected with a control system through the wiring plug (23).
5. An all-round underwater monitoring robot according to claim 3 or 4, characterized in that: be equipped with second driving motor rotation angle detection mechanism (25) in second sleeve (9), second driving motor rotation angle detection mechanism (25) include driving gear (26), driven gear (27), angle sensor gear (28), rotation angle sensor (29) and connecting axle, driving gear (26) and second driving motor (14) output shaft fixed connection, driving gear (26) and driven gear (27) meshing, driven gear (27) and angle sensor gear (28) meshing, driven gear (27) and second rotation axis (15) fixed connection, connecting axle fixed connection on angle sensor gear (28) and the rotation angle sensor (29), rotation angle sensor (29) and second sleeve (9) inner wall fixed connection, rotation angle sensor (29) are connected with control system.
6. The omni-directional underwater monitoring robot of claim 5 wherein: the motor rotation angle detection mechanism (30) is arranged in the first sleeve (8) and in the third sleeve (17) respectively, the motor rotation angle detection mechanism (30) comprises an angle sensor (31), a sensor fixing cylinder (32) and a connecting shaft, the 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 the angle sensor (31) is fixedly connected with the first rotating shaft (12) or the third rotating shaft (20), and the angle sensor (31) is connected with the control system.
7. The omni-directional underwater monitoring robot of claim 6 wherein: the rack (1) is provided with a balancing weight.
8. The omni-directional underwater monitoring robot of claim 6 wherein: be equipped with counter weight balance mechanism (33) on frame (1), counter weight balance mechanism (33) include balancing weight (34), lead screw (35) and counter weight motor (36), counter weight motor (36) and frame (1) fixed connection, 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 is on lead screw (35) and with lead screw (35) threaded connection.
9. An all-round underwater monitoring robot according to claim 7 or 8, characterized in that: the detection equipment driving mechanism (7) is positioned in the middle of the frame (1), a balancing weight or a balancing weight balancing mechanism (33) is fixed on the frame (1) on one side of the detection equipment driving mechanism (7), and openings (40) for the detection equipment driving mechanism (7) and the detection equipment (6) to extend out are respectively formed in the upper end and the lower end of the frame (1) on the other side of the detection equipment driving mechanism (7).
10. An all-round underwater monitoring robot as claimed in claim 9 wherein: the novel intelligent control device is characterized in that a propeller (3), a floating body (4), a camera (41) and an illuminating lamp (42) are arranged on the frame (1), the detecting equipment (6) is a sonar, and the propeller (3), the camera (41), the illuminating lamp (42) and the sonar are respectively connected with a control system.
11. An all-round underwater monitoring robot as claimed in claim 10 wherein: the lifting frame (43) is arranged on the frame (1), and the lower end of the lifting frame (43) is fixedly connected with the frame (1).
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| CN202010551682.0A CN111674529B (en) | 2020-06-17 | 2020-06-17 | Omnibearing underwater monitoring robot |
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| CN202010551682.0A CN111674529B (en) | 2020-06-17 | 2020-06-17 | Omnibearing underwater monitoring robot |
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| CN112278204B (en) * | 2020-11-30 | 2024-06-18 | 山东未来机器人有限公司 | Underwater operation device |
| CN114704733B (en) * | 2022-04-12 | 2023-05-23 | 南通理工学院 | Robot vision balance control device for automatic driving system test |
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Effective date of registration: 20240114 Address after: No.10-3, Futian Road, gaoqu District, Weihai City, Shandong Province, 264200 Applicant after: SHANDONG FUTURE ROBOT Co.,Ltd. Address before: 266000 in Bihai science and Technology Park, country garden, Shatan 2nd Road, Aoshan sub district office, Jimo City, Qingdao City, Shandong Province Applicant before: Qingdao duxingxia Intelligent Technology Co.,Ltd. |
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