CN112009653B

CN112009653B - Intelligent underwater search and rescue robot combining mechanism

Info

Publication number: CN112009653B
Application number: CN202010915077.7A
Authority: CN
Inventors: 石庆国; 周学升
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2022-03-11
Anticipated expiration: 2040-01-02
Also published as: CN112009653A; CN111017167A; CN111017167B

Abstract

The invention discloses a combination mechanism of an intelligent underwater search and rescue robot, wherein a connecting column and an assembly groove are vertically arranged on the surface of a connector, a slide way is arranged on the side wall of the assembly groove, the slide way is vertical to the axis of the assembly groove, a limiting pin is slidably arranged in the slide way, a vertical limiting groove is arranged on the surface of the side wall of the connecting column and corresponds to the limiting pin, when two connectors are connected, the connecting column of one connector is inserted into the assembly groove of the other connector.

Description

Intelligent underwater search and rescue robot combining mechanism

Technical Field

The invention relates to the technical field of underwater search and rescue machinery, in particular to an intelligent underwater search and rescue robot and a quick combination structure thereof.

Background

In underwater rescue, if in a sunken ship accident, underwater personnel need to be timely salvaged, sundries pressed on the upper side need to be hoisted before being salvaged, water surface hoisting equipment is mostly adopted in the traditional hoisting, the equipment is large in size and complex in operation, the equipment is not suitable for operation in a narrow area, the carrying process is troublesome, the maneuverability is poor, and the requirement for quick rescue cannot be met.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the existing defects and provides a combined structure of an intelligent underwater search and rescue robot; the intelligent underwater search and rescue robot has strong underwater maneuvering performance, can provide large lifting force in a mode of quickly combining a plurality of groups of robots, is beneficial to quickly completing lifting operation of a covering object underwater, and can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent underwater search and rescue robot comprises an annular frame, wherein a buoyancy adjusting mechanism and a driving mechanism are fixedly installed inside the frame, at least three groups of observation mechanisms are arranged outside the frame in an annular array mode, and a mechanical arm assembling seat is arranged at the bottom of the frame;

the driving mechanism comprises a main propeller and an auxiliary propeller, the axis of the main propeller is overlapped with the axis of the frame, the auxiliary propellers are arranged on the outer circumference of the frame in an annular array, and the axis of the auxiliary propeller is parallel to the tangent of the outer circumference of the frame;

the upper end surface and the lower end surface of the frame are respectively provided with at least three groups of connectors in an annular array, connecting columns and assembling grooves are vertically arranged on the surfaces of the connectors, slide ways are arranged on the side walls of the assembling grooves and are vertical to the axis of the assembling grooves, limiting pins are slidably mounted in the slide ways, vertical limiting grooves are arranged at the positions, corresponding to the limiting pins, of the surfaces of the side walls of the connecting columns, when the two connectors are connected, the connecting column of one connector is inserted into the assembling groove of the other connector, and at the moment, the limiting pin of one connector is inserted into the limiting groove of the connecting column of the other connector; when the two connectors are disconnected, the limiting pin is separated from the limiting groove.

As a preferred technical scheme of the invention, a spring which is coincident with the axis of the limiting pin is arranged between the limiting pin and the connector body, a wedge-shaped block is arranged at one end of the limiting pin, which is far away from an assembly groove, a vertically sliding wedge-shaped top block is arranged in the connector body, the wedge-shaped surface of the wedge-shaped top block is in contact installation with the wedge-shaped block at the end part of the limiting pin, a ratchet mechanism is arranged below the wedge-shaped top block, an eccentric wheel is coaxially and fixedly arranged on the ratchet wheel part of the ratchet mechanism, the circumferential surface of the eccentric wheel is in contact installation with the lower end surface of the wedge-shaped top block, a rack which is meshed with the ratchet wheel is arranged in the connector in a sliding way, a vertically moving pressing piece is arranged at the bottom of the assembly groove, a coaxial spring is arranged between the pressing piece and the bottom of the assembly groove, a flexible transmission shaft is arranged between the bottom of the pressing piece and one end of the rack, a slide rail is arranged in the connector body, the rack and the slide rail are installed in a sliding mode, an elastic cushion is arranged between one side, deviating from the rack, of the slide rail and the connector body, when the bottom end of the wedge-shaped top block is in point contact with the far axis of the eccentric wheel, the wedge-shaped top block moves upwards to the highest position to push the limiting pin to slide out of the slide way, when the bottom end of the wedge-shaped top block is in point contact with the near axis of the eccentric wheel, the wedge-shaped top block moves downwards to the lowest position, the limiting pin slides into the slide way under the action of a spring, when the pressing piece is pressed, the rack is driven to slide along the length direction and is meshed with the ratchet wheel through the transmission of the flexible transmission shaft, the ratchet wheel is driven to rotate forwards, after the pressing piece is pressed and removed, the pressing piece resets, the rack is pulled to slide backwards through the flexible transmission shaft, the ratchet wheel is limited by a pawl inside the ratchet mechanism at the moment, the elastic cushion is forced to be compressed, the slide rail and the rack retreat backwards, and the rack slides backwards.

As a preferable technical solution of the present invention, the length of the pressing piece pressed by the connecting column when the connecting column is completely inserted is equal to half of the circumference of the ratchet wheel.

As a preferred technical scheme of the invention, the observation mechanism comprises a mounting substrate, a sonar and a camera, the mounting substrate is fixedly mounted with the frame, the included angle between the mounting substrate and the horizontal plane is 30-60 degrees, the sonar and the camera are fixedly mounted with the mounting substrate, the surrounding environment of the search and rescue robot can be observed conveniently through the image acquisition of the cameras in a plurality of groups of observation mechanisms, the operation of mechanical arms is facilitated, the detection of a long distance or a turbid water area is completed by combining the sonar, and meanwhile, the angle of the mounting substrate is set, so that the detection angle of the camera and the sonar has the horizontal direction and the bottom position of equipment.

As a preferred technical scheme of the invention, the buoyancy regulating mechanism comprises at least three groups of fan-shaped floating bags, the floating bags are arranged in an annular array relative to the central axis of the frame, and a self-priming pump communicated with the floating bags is arranged outside the floating bags;

the frame structure is adopted to protect the floating bag inside, so that the damage caused by collision is reduced; this buoyancy adjustment mechanism of search and rescue robot under water of intelligence adopts the sectorial flotation bag of multiunit, through the adjustment of water storage capacity in the flotation bag, changes the holistic buoyancy of robot, and through the water storage capacity that changes the flotation bag of different positions, makes the interior water storage capacity of a plurality of flotation bags have the difference to make the robot each point receive buoyancy inconsistent, thereby adjust the gesture of robot.

Compared with the prior art, the invention has the beneficial effects that: this drive mechanism of search and rescue robot under water of intelligence adopts main propeller to carry out the up-and-down motion, main buoyancy is provided, and drive mechanism's auxiliary propeller axis and the circumference tangent line coincidence of frame, when auxiliary propeller during operation, can drive the robot rotatory in the original place, be convenient for adjust and the operation in narrow and small space, accomplish heavy ship rescue operation fast, adopt the connector to realize two underwater robot's quick combination and break away from, under the prerequisite that does not influence mobility and flexibility, through a plurality of underwater search and rescue robot's combination, promote the lifting capacity, the completion is heavy object under water and is lifted by crane.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a schematic view of the bladder of the present invention;

FIG. 4 is a schematic diagram of the present invention after the combination of multiple robots;

FIG. 5 is a schematic view of a connector according to the present invention;

FIG. 6 is a schematic view of the engagement and locking of two connectors according to the present invention;

FIG. 7 is a schematic view of the two connectors of the present invention being combined during the lifting process;

FIG. 8 is a schematic view of the two connectors of the present invention after being unlocked;

FIG. 9 is a schematic view of the press assembly of the present invention;

FIG. 10 is a schematic view of an eccentric wheel and ratchet mechanism assembly according to the present invention;

fig. 11 is a schematic view of the rack assembly of the present invention.

In the figure: 1 frame, 2 buoyancy adjustment mechanism, 201 flotation bag, 202 self priming pump, 3 actuating mechanism, 301 main propeller, 302 auxiliary propeller, 4 observation mechanism, 401 sonar, 402 camera, 5 connector, 501 spliced pole, 502 spacer pin, 503 wedge kicking block, 504 ratchet mechanism, 505 eccentric wheel, 506 rack, 507 elastic pad, 508 flexible transmission shaft, 509 presser, 510 assembly groove.

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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-11, the present invention provides a technical solution: an intelligent underwater search and rescue robot comprises an annular frame 1, wherein a buoyancy adjusting mechanism 2 and a driving mechanism 3 are fixedly arranged in the frame 1, at least three groups of observation mechanisms 4 are arranged outside the frame 1 in an annular array manner, and a mechanical arm assembling seat is arranged at the bottom of the frame 1;

the mechanical arm can be assembled through the mechanical arm assembling seat at the bottom, and complex underwater operation is completed;

meanwhile, a power supply and a signal transmission device are carried in the frame 1, so that self-supply of electric power and remote transmission of signals are realized, and a positioning system is carried at the same time, so that a controller can accurately know the real-time position of the robot, wherein the signal transmission and positioning system part adopts a mature technical scheme in the prior art;

the driving mechanism 3 comprises a main propeller 301 and an auxiliary propeller 302, the axis of the main propeller 301 is overlapped with the axis of the frame 1, the auxiliary propellers 302 are arranged on the outer circumference of the frame 1 in an annular array, and the axis of the auxiliary propeller 302 is parallel to the tangent of the outer circumference of the frame 1;

the main propeller 301 works to drive the whole robot to move along the axial direction, the axial direction of the main propeller 301 is changed by matching with the adjustment of the buoyancy adjusting mechanism 2 to the posture of the robot, so that the moving direction of the robot is changed, and the auxiliary propeller 302 generates a rotating force when working to promote the robot to rotate in situ and adjust the mechanical arm combined below, so that the mechanical arm can work more flexibly and is suitable for the operation in narrow areas;

the main propeller 301 and the auxiliary propeller 302 both adopt common marine propellers, and are provided with anti-twisting nets at the front and the rear, so that sundries are prevented from entering and blocking the work of the main propeller and the auxiliary propeller;

the upper end surface and the lower end surface of the frame 1 are respectively provided with at least three groups of connectors 5 in an annular array, the surface of each connector 5 is vertically provided with a connecting column 501 and an assembling groove 510, the side wall of each assembling groove 510 is provided with a slide way, the slide way is vertical to the axis of each assembling groove 510, a limiting pin 502 is slidably arranged in the slide way, the vertical limiting groove is arranged at the position, corresponding to the limiting pin 502, of the surface of the side wall of each connecting column 501, when the two connectors 5 are connected, the connecting column 501 of one connector 5 is inserted into the assembling groove 510 of the other connector 5, and at the moment, the limiting pin 502 of one connector 5 is inserted into the limiting groove of the connecting column 501 of the other connector 5; when the two connectors 5 are disconnected, the limit pin 502 is disengaged from the limit groove.

The spacing groove is the vertical bar groove of arranging, and when two search and rescue robot combinations under water lifted by crane, the spacer pin 502 inserted the spacing inslot portion, and was in the non-extrusion state between spliced pole 501 and the pressing member 509 this moment.

A spring which is coincident with the axis of the limiting pin 502 and the connector 5 body is arranged between the limiting pin 502 and the connector 5 body, a wedge block is arranged at one end of the limiting pin 502 far away from the assembly groove 510, a wedge-shaped top block 503 which slides vertically is arranged in the connector 5 body, the wedge surface of the wedge-shaped top block 503 is installed in contact with the wedge block at the end part of the limiting pin 502, a ratchet mechanism 504 is arranged below the wedge-shaped top block 503, an eccentric wheel 505 is coaxially and fixedly arranged on the ratchet part of the ratchet mechanism 504, the circumferential surface of the eccentric wheel 505 is installed in contact with the lower end surface of the wedge-shaped top block 503, a rack 506 which is meshed with the ratchet wheel is arranged in the connector 5 body in a sliding manner, a pressing piece 509 which moves vertically is arranged at the bottom of the assembly groove 510, a coaxial spring is arranged between the pressing piece 509 and the bottom of the assembly groove 510, a flexible transmission shaft 508 is arranged between the bottom of the pressing piece 509 and one end of the rack 506, a slide rail is arranged in the connector 5 body, and the length direction of the slide rail is consistent with the sliding direction of the rack 506, the rack 506 is installed with a sliding rail in a sliding mode, an elastic pad 507 is arranged between one side, away from the rack 506, of the sliding rail and the connector 5 body, when the bottom end of the wedge-shaped top block 503 is in point contact with the far-axis point of the eccentric wheel, the wedge-shaped top block 503 moves upwards to the highest position to push the limiting pin 502 to slide out of the sliding rail, if the connecting column 501 is located inside the assembling groove 510 at the moment, the limiting pin 502 is inserted into the limiting groove, and the connecting column 501 is in a locking state relative to the assembling groove 510; when the bottom end of the wedge-shaped top block 503 is in contact with the paraxial point of the eccentric wheel, the wedge-shaped top block 503 moves downwards to the lowest position, the limit pin 502 slides into the slide way under the action of the spring, at the moment, the limit pin 502 is separated from the limit groove, and the connecting column 501 is in a free state relative to the assembling groove 510; when the pressing piece 509 is pressed, the rack 506 is driven to slide along the length direction through the transmission of the flexible transmission shaft 508 and is meshed with the ratchet wheel to drive the ratchet wheel to rotate in the forward direction, when the connecting column 501 is separated from the pressing piece 509, the pressing piece 509 is pressed and released, the pressing piece 509 resets under the action of a spring below the pressing piece 509, the rack 506 is pulled through the flexible transmission shaft 508 to slide in the reverse direction, the ratchet wheel is limited by a pawl inside the ratchet mechanism 504 at the moment, the elastic pad 507 is forced to be compressed, the sliding rail and the rack 506 retreat backwards, and the rack 506 slides in the reverse direction under the action of the flexible transmission shaft 508. The slide rail is arranged in the connector 5 in a sliding mode along the direction perpendicular to the elastic pad 507, or the slide rail is connected with the connector 5 through the elastic pad 507, and two sides of the elastic pad 507 are respectively bonded with the slide rail and the connector 5. Because the teeth on the ratchet wheel are inclined towards a rotating direction, in the orientation shown in figure 5, the teeth on the ratchet wheel are inclined towards a clockwise direction, while the teeth on the rack are inclined upwards, when the rack moves upwards, the rack and the ratchet wheel are reliably meshed, and the rack can drive the ratchet wheel to rotate; when the rack moves downwards, the contact surface of the upper teeth of the rack and the teeth of the ratchet wheel is easy to slip, and the ratchet wheel does not rotate under the action of the pawl for positioning the ratchet wheel, so that the rack extrudes the elastic pad to deform and yield, and the rack can smoothly stagger with the ratchet wheel to move downwards.

Meanwhile, a push rod with the same sliding direction as the push rod is arranged inside the pressing piece 509, and the end of the push rod is connected with the flexible transmission shaft 508, so that the flexible transmission shaft 508 is always positioned inside a sliding way sliding on the flexible transmission shaft 508, the flexible transmission shaft 508 is prevented from being bent in the direction perpendicular to the axial direction of the flexible transmission shaft, and the accuracy of the axial transmission is ensured. The pressing length of the pressing piece 509 when the connecting column 501 is completely inserted is equal to half of the ratchet circumference.

When the pressing member 509 is pressed once, the ratchet is driven to rotate for a half turn, so that the contact point between the wedge-shaped top block 503 and the eccentric wheel 505 is switched between the near-axis point and the far-axis point, and the wedge-shaped top block 503 and the wedge-shaped surface at the end of the limit pin 502 are driven to interact with each other, so that the limit pin 502 is driven to slide along the axial direction. The observation mechanism 4 comprises a mounting substrate, a sonar 401 and a camera 402, the mounting substrate is fixedly mounted with the frame 1, the included angle between the mounting substrate and the horizontal plane is 30-60 degrees, the sonar 401 and the camera 402 are fixedly mounted with the mounting substrate, the surrounding environment of the search and rescue robot can be observed conveniently through image acquisition of the cameras 402 in the observation mechanism 4, the operation of mechanical arms can be completed conveniently, the detection of a long distance or a turbid water area can be completed by combining the sonar 401, and meanwhile, the detection angle of the camera 402 and the sonar 401 can be set by the angle of the mounting substrate, so that the horizontal direction and the bottom position of equipment can be realized;

if three groups of observation mechanisms 4 are adopted to carry out annular array arrangement, multi-azimuth scene acquisition is realized, and the observation of the surrounding environment is facilitated.

The buoyancy adjusting mechanism 2 comprises at least three groups of fan-shaped floating bags 201, the floating bags 201 are arranged in an annular array relative to the central axis of the frame 1, and a self-sucking pump 202 communicated with the floating bags 201 is arranged outside the floating bags 201;

the water storage capacity in the floating bag 201 is adjusted under the action of the self-priming pump 202, so that the posture of the robot is adjusted;

meanwhile, a mature posture detection system in the prior art is carried in the frame 1, the posture of the frame 1 is detected in real time, the self-sucking pump 202 in the corresponding position is controlled, the automatic adjustment of the posture of the frame 1 is realized, and the detection and regulation modes of the posture adopt common modes in the prior art.

When in use: assembling a mechanical arm at a mechanical arm assembling seat, then placing the robot in water, filling water in a floating bag 201 through the operation of a self-sucking pump 202 until the self gravity and the buoyancy of the robot are balanced, synchronously cooperating a main propeller 301 and a buoyancy adjusting mechanism 2 at the moment to drive the robot to maneuver underwater, and detecting an underwater scene through an observation mechanism 4, when a scene to be rescued is found, the approach to the operation point is tried, and in the approach process, the auxiliary propeller 302 acts, the angles of the mechanical arms are adjusted to facilitate the operation of the arms, when the mechanical arms finish the clamping of the hoisted objects, the self-priming pump 202 acts to discharge the water stored in the floating bag 201, so that the buoyancy of the robot is larger than the self-gravity, an upward acting force is generated at the moment, meanwhile, the main thruster 301 acts to synchronously generate an upward acting force to complete the lifting of the hoisted object;

when the lifting force is not enough to complete the lifting of the lifted object, the real-time position of the robot is obtained through a positioning system, then the rest robots are manually collected and driven to an operation point, the connection of a plurality of groups of robots is carried out through a connector 5, the plurality of groups of robots synchronously operate to realize the collection of a plurality of upward acting forces, and therefore the lifting operation of the lifted object is completed;

the working modes of the positioning system, the camera 402 and the sonar 401 are similar to those in the publication with the patent number of CN 203958575U, and are not described herein again.

For ship sinking accidents, in most scenes, the passing space is small, large-sized operation machines are difficult to pass, and the robot can be combined at the operation point after passing through the robot singly, so that the influence of the space on the operation is reduced.

The invention adopts the structure of the frame 1 to protect the floating bag 201 inside, thus reducing the damage caused by collision; the buoyancy adjusting mechanism 2 of the intelligent underwater search and rescue robot adopts a plurality of groups of fan-shaped floating bags 201, changes the overall buoyancy of the robot through the adjustment of the water storage amount in the floating bags 201, and makes the water storage amounts in the floating bags 201 different through changing the water storage amounts in the floating bags 201 at different positions, so that each point of the robot is inconsistent in buoyancy, and the posture of the robot is adjusted; this intelligence searches for ands rescue robot's actuating mechanism 3 under water adopts main propeller 301 to carry out the up-and-down motion, main buoyancy is provided, and the buoyancy that the cooperation buoyancy bag 201 produced, promote whole lifting capacity, and the adjustment of cooperation buoyancy adjustment mechanism 2 to whole gesture, realize the horizontal motion and the tilt motion of robot under water, and actuating mechanism 3's supplementary propeller 302 axis and the coincidence of the circumference tangent line of frame 1, when supplementary propeller 302 during operation, can drive the robot and rotate in the original place, be convenient for adjust and the operation in narrow and small space, accomplish the rescue operation of sinking the ship fast.

Adopt frame 1 upper and lower both sides to set up connector 5 simultaneously, spliced pole 501 single extrusion assembly groove 510 bottom realizes that spacer pin 502 locks spliced pole 501, makes two search for and rescue the robot under water combine into a whole, provides ascending lifting power jointly, when spliced pole 501 extrudees assembly groove 510 bottom once more, spacer pin 502 unblock makes two search for and rescue the robot under water can break away from fast, has higher flexible.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an intelligence is combination mechanism of search and rescue robot under water which characterized in that: the combination mechanism comprises an annular frame (1) of the intelligent underwater search and rescue robot, a mechanical arm assembly seat is arranged at the bottom of the frame (1), the upper end surface and the lower end surface of the frame (1) are respectively provided with at least three groups of connectors (5) in an annular array, the surface of the connector (5) is vertically provided with a connecting column (501) and an assembling groove (510), the side wall of the assembling groove (510) is provided with a slideway, the slideway is vertical to the axis of the assembling groove (510), a limiting pin (502) is arranged in the slide way in a sliding way, a vertical limiting groove is arranged on the surface of the side wall of the connecting column (501) and at the position corresponding to the limiting pin (502), when the two connectors (5) are connected, the connecting column (501) of one connector (5) is inserted into the assembly groove (510) of the other connector (5), and at the same time, the limiting pin (502) of one connector (5) is inserted into the limiting groove of the connecting column (501) of the other connector (5); after two connectors (5) are disconnected, the limit pin (502) is separated from the limit groove, a spring coincident with the axis of the limit pin (502) and the connector (5) is arranged between the bodies, one end of the limit pin (502) far away from the assembling groove (510) is provided with a wedge block, the connector (5) is internally provided with a vertically sliding wedge-shaped top block (503), the wedge surface of the wedge-shaped top block (503) is installed in contact with the wedge block at the end part of the limit pin (502), a ratchet mechanism (504) is arranged below the wedge-shaped top block (503), the ratchet wheel part of the ratchet mechanism (504) is coaxially and fixedly provided with an eccentric wheel (505), the circumferential surface of the eccentric wheel (505) is installed in contact with the lower end surface of the wedge-shaped top block (503), a rack (506) meshed with a ratchet wheel is arranged in the connector (5) in a sliding mode, the bottom of the assembling groove (510) is provided with a pressing piece (509) in vertical motion, be provided with coaxial spring between pressing piece (509) and assembly groove (510) bottom, be provided with flexible transmission shaft (508) between the bottom of pressing piece (509) and the one end of rack (506), the inside slide rail that sets up of connector (5) body, rack (506) and slide rail slidable mounting, set up elastic pad (507) between one side that the slide rail deviates from rack (506) and connector (5) body, when the bottom of wedge kicking block (503) and the distal axis point contact of eccentric wheel, wedge kicking block (503) upward movement to the highest position promotes spacer pin (502) roll-off slide, when the bottom of wedge kicking block (503) and the proximal axis point contact of eccentric wheel, wedge kicking block (503) downstream to the lowest position, inside spacer pin (502) slided into the slide under the spring action.

2. The combination mechanism of intelligent underwater search and rescue robot of claim 1, characterized in that: the pressing length of the connecting column (501) to the pressing piece (509) when the connecting column is completely inserted is equal to half of the circumference of the ratchet wheel.